Calibration methods, apparatus, equipment, media and products

Abstract

This application provides a calibration method, apparatus, device, medium, and product. The method includes: acquiring a first transformation matrix between a first rotation axis and a second rotation axis on a turntable body; controlling the turntable body to rotate along the first rotation axis and / or the second rotation axis to multiple acquisition positions; for each acquisition position, using a sensing device to acquire the first spatial position of multiple calibration feature points on a calibration component, and using a scanning device to acquire the second spatial position of multiple reference feature points on a calibration reference object; and constructing a target transformation matrix between the first coordinate system where the sensing device is located and the second spatial position, based on the first transformation matrix, the first spatial position, and the second spatial position, and the second coordinate system where the turntable body is located. This method aims to reduce the influence of parameter coupling and single feature extraction errors, thereby improving calibration accuracy, stability, and engineering applicability.

Description

Technical Field

[0001] This application relates to the field of optical measurement technology, and in particular to a calibration method, apparatus, equipment, medium and product. Background Technology

[0002] In the field of optical measurement, dual-axis rotation tracking systems typically use a camera in conjunction with a calibration plate to acquire multi-angle images and establish transformation relationships between various coordinate systems.

[0003] However, this type of calibration method relies on image feature extraction and joint solution, which is susceptible to ambient light, lens distortion and image quality fluctuations, leading to increased calculation errors of conversion parameters. At the same time, biaxial geometric deviation will cause multiple parameters to be coupled together, increasing the solution complexity and making the calibration results unstable under complex working conditions. Summary of the Invention

[0004] This application provides a calibration method, apparatus, device, medium, and product to reduce the impact of parameter coupling and single feature extraction errors, thereby improving calibration accuracy, stability, and engineering applicability.

[0005] A calibration method is applied to an optical measurement system, the optical measurement system including a turntable body, a sensing device disposed on the turntable body, a calibration component, and a scanning device disposed on the calibration component;

[0006] The methods include:

[0007] Obtain the first transformation matrix between the first rotation axis and the second rotation axis on the turntable body;

[0008] Control the turntable body to rotate along the first rotation axis and / or the second rotation axis to multiple acquisition positions;

[0009] For each acquisition location, a sensing device is used to acquire the first spatial position of multiple calibration feature points on the calibration component, and a scanning device is used to acquire the second spatial position of multiple reference feature points on the calibration reference object;

[0010] Based on the first transformation matrix, the first spatial position, and the second spatial position, a target transformation matrix is ​​constructed between the first coordinate system in which the sensing device is located and the second coordinate system in which the turntable body is located.

[0011] In one possible embodiment, obtaining the first transformation matrix between the first rotation axis and the second rotation axis on the turntable body includes:

[0012] Obtain the first axis parameter of the first rotation axis and the second axis parameter of the second rotation axis;

[0013] Based on the first axis parameters and the second axis parameters, the relative pose of the first rotation axis and the second rotation axis is calculated to construct the first transformation matrix;

[0014] The first transformation matrix includes the spatial position deviation and angular deviation between the first rotation axis and the second rotation axis.

[0015] In one possible embodiment, obtaining the first axis parameter of the first rotation axis and the second axis parameter of the second rotation axis includes:

[0016] The turntable body is controlled to rotate along the first rotation axis to multiple first stop positions, and the third spatial position of the measurement target corresponding to each first stop position is obtained;

[0017] The turntable body is controlled to rotate along the second rotation axis to multiple second stop positions, and the fourth spatial position of the measurement target corresponding to each second stop position is obtained;

[0018] Spatial fitting is performed on multiple third spatial locations to obtain the first axis parameters, and spatial fitting is performed on multiple fourth spatial locations to obtain the second axis parameters.

[0019] In one possible embodiment, a second transformation matrix is ​​pre-set between the third coordinate system where the calibration component is located and the fourth coordinate system where the scanning device is located;

[0020] Each calibration feature point is pre-set with a reference spatial position in the third coordinate system where the calibration component is located;

[0021] Based on the first transformation matrix, the first spatial position, and the second spatial position, a target transformation matrix is ​​constructed between the first coordinate system in which the sensing device is located and the second coordinate system in which the turntable body is located, including:

[0022] Based on the reference spatial position in the third coordinate system and the first spatial position in the first coordinate system, a third transformation matrix corresponding to the current acquisition position of the sensing device and the calibration component is constructed.

[0023] Based on the second spatial position, the second transformation matrix, and the third transformation matrix in the fourth coordinate system, the first mapping spatial position of multiple reference feature points corresponding to the current acquisition position in the first coordinate system is obtained;

[0024] Based on the first transformation matrix and the first mapping space position of the same reference feature point at different acquisition positions, a target transformation matrix is ​​constructed.

[0025] In one possible embodiment, based on the second spatial position in the fourth coordinate system, the second transformation matrix, and the third transformation matrix, the first mapped spatial position of multiple reference feature points corresponding to the current acquisition position in the first coordinate system is obtained, including:

[0026] Based on the second spatial position in the fourth coordinate system and the second transformation matrix, obtain the second mapped spatial position of multiple reference feature points corresponding to the current acquisition position in the third coordinate system;

[0027] Based on the second mapping space position in the third coordinate system and the third transformation matrix, the first mapping space position of multiple reference feature points corresponding to the current acquisition position in the first coordinate system is obtained.

[0028] In one possible embodiment, a target transformation matrix is ​​constructed based on the first transformation matrix and the first mapping spatial positions of the same reference feature point at different acquisition locations, including:

[0029] Under the constraint that the spatial position of the same reference feature point corresponding to different acquisition positions remains consistent in the second coordinate system, a target transformation matrix is ​​constructed based on the first mapping spatial position of the same reference feature point at different acquisition positions.

[0030] Secondly, embodiments of this application provide a calibration device applied to an optical measurement system. The optical measurement system includes a turntable body, a sensing device disposed on the turntable body, a calibration component, and a scanning device disposed on the calibration component.

[0031] The device includes:

[0032] The first acquisition module is used to acquire the first transformation matrix between the first rotation axis and the second rotation axis on the turntable body;

[0033] A rotation module is used to control the turntable body to rotate along a first rotation axis and / or a second rotation axis to multiple acquisition positions;

[0034] The second acquisition module is used to acquire the first spatial position of multiple calibration feature points on the calibration component using a sensing device for each acquisition position, and to acquire the second spatial position of multiple reference feature points on the calibration reference object using a scanning device.

[0035] The construction module is used to construct a target transformation matrix between the first coordinate system in which the sensing device is located and the second coordinate system in which the turntable body is located, based on the first transformation matrix, the first spatial position, and the second spatial position.

[0036] Thirdly, this application provides an optical measurement system, which includes a turntable body, a sensing device disposed on the turntable body, a calibration component, and a scanning device disposed on the calibration component.

[0037] An optical measurement system is used to perform steps including the methods provided above.

[0038] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the method provided above.

[0039] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the steps of the method provided above.

[0040] The calibration method, apparatus, equipment, medium, and product provided in this application embodiment obtain a first transformation matrix between a first rotation axis and a second rotation axis on the turntable body, and control the turntable body to rotate along the first rotation axis and / or the second rotation axis to multiple acquisition positions. At each acquisition position, the first spatial position of multiple calibration feature points on the calibration component and the second spatial position of multiple reference feature points on the calibration reference object are obtained respectively. Based on the first transformation matrix, the first spatial position, and the second spatial position, a target transformation matrix is ​​constructed between the first coordinate system where the sensing device is located and the second coordinate system where the turntable body is located. This can incorporate the dual-axis rotation relationship and multi-position spatial observation information into the calibration process, reduce the influence of geometric deviation and fluctuation of single measurement information on the solution of transformation relationship, and thus improve the accuracy, efficiency, and stability of coordinate system transformation calibration of optical measurement systems. Attached Figure Description

[0041] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0042] Figure 1 A schematic diagram of the optical measurement system provided in this application;

[0043] Figure 2 A flowchart illustrating the calibration method provided in this application;

[0044] Figure 3 A schematic diagram of the calibration device provided in this application;

[0045] Figure 4 A schematic diagram of the structure of the electronic device provided in this application.

[0046] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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 made by those skilled in the art under the guidance of these embodiments are within the scope of protection of this application.

[0048] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a 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.

[0049] like Figure 1 As shown, this application provides an optical measurement system 100, which includes a turntable body 110, a sensing device 120 disposed on the turntable body 110, a calibration component 130, and a scanning device 140 disposed on the calibration component 130.

[0050] An optical measurement system 100 is a comprehensive technical system based on optical principles that acquires and processes light signals to measure the geometric parameters, physical properties (such as refractive index and reflectivity) or motion state of an object. The geometric parameters include size, shape, and position, while the physical characteristics include refractive index and reflectivity. The optical measurement system 100 features non-contact operation, high precision, and high efficiency, and is commonly used in precision manufacturing, 3D reconstruction, robot guidance, workpiece positioning, and online quality inspection.

[0051] The turntable body 110 is the load-bearing and motion reference component of the optical measurement system 100. It is a mechanical structure with controllable rotation function, used to provide a stable mounting platform and precise angle adjustment capability. The rotational accuracy of the turntable body 110 directly affects the measurement accuracy of the optical measurement system 100.

[0052] The sensing device 120 is a signal acquisition component installed on the turntable body 110. The sensing device 120 can receive optical signals reflected and refracted by the measured object or calibration component 130 and convert them into electrical signals that can be processed by subsequent equipment. The sensing device 120 can be, for example, a photoelectric sensor, an image sensor, a spectral sensor, etc.

[0053] In actual deployment, the turntable body 110 often has a first rotation axis and a second rotation axis. The two axes rotate in coordination to drive the sensor 120 to change the observation direction, so that the sensor 120 can observe the calibration component 130 or the object to be observed in a large working space.

[0054] Meanwhile, in order to establish the correspondence between the coordinate system of the sensing device 120 and the coordinate system of the turntable body 110, the system is usually equipped with a calibration component 130 and a scanning device 140 set on the calibration component 130, and a calibration reference is arranged in the measurement space.

[0055] The sensing device 120 is responsible for acquiring the spatial position of the calibration feature points on the calibration component 130, and the scanning device 140 is responsible for acquiring the spatial position of the reference feature points on the calibration reference object, thereby providing a data basis for the establishment of the coordinate conversion model.

[0056] In specific implementation, the sensing device 120 can be a monocular camera, a binocular camera, a depth camera, a structured light camera, an optical tracker, or other optical sensing devices capable of identifying the features of the calibration component and calculating the spatial position of points. If the sensing device 120 is a binocular camera or a depth camera, the three-dimensional coordinates of multiple calibration feature points in the first coordinate system of the sensing device 120 can be directly reconstructed based on binocular parallax or depth information. If the sensing device 120 is a monocular camera, the coordinates of two-dimensional feature points in the image acquired by the monocular camera can be extracted first. Then, combined with the intrinsic parameters and distortion parameters of the monocular camera and the known three-dimensional layout model of each calibration feature point on the calibration component 130, the pose of the calibration component 130 relative to the sensing device 120 can be obtained using the n-point perspective (PnP) pose solving algorithm. Then, the three-dimensional position of each calibration feature point in the first coordinate system of the sensing device 120 can be calculated.

[0057] The calibration component 130 is a standard component in the optical measurement system 100 used to calibrate accuracy and establish measurement references. It typically has known precise geometric parameters, such as standard length, standard angle, standard surface profile, or optical characteristics. The calibration component 130 is used to eliminate systematic errors of the sensing device 120 and the scanning device 140, and to ensure the reliability and accuracy of the measurement results.

[0058] The calibration component 130 is a physical component used to be identified by the sensing device 130 and to provide known geometric features. It can be a calibration rod, calibration pointer, light pen, feature ball, or a rigid component with a coded dot matrix. Multiple calibration feature points can be corner points, round points, reflective points, coded points, or geometric center points with unique identification attributes.

[0059] The scanning device 140 is an optical emission and scanning execution component mounted on the calibration component 130. It can generate detection light of a specific wavelength and intensity, and control the propagation path of the beam through mechanical or optical means to achieve full coverage or fixed-point scanning of the measured object, so that the sensing device 120 can acquire complete optical signal data.

[0060] Typically, the calibration of the aforementioned optical measurement system 100 involves using a camera or other optical sensor in conjunction with the calibration component 130, a feature target, or other objects to perform multi-angle sampling. By extracting corner points, dots, or other geometric features from the acquired images, the transformation relationship between the coordinate system of the sensing device 120, the coordinate system of the calibration component 130, and the coordinate system of the turntable body 110 is established.

[0061] In practice, staff usually place the calibration component 130 in the measurement space first, and then control the turntable body 110 to rotate around different axes to multiple positions, so that the sensing device 120 set on the turntable body 110 can collect calibration images or spatial feature data from multiple directions. Then, based on the observation results at different acquisition positions, the relevant transformation parameters are solved in combination with the camera model, spatial geometric constraints and coordinate transformation equations.

[0062] In one possible embodiment, the optical measurement system 100 further includes a controller, which can be communicatively connected to the turntable body 110, the sensing device 120, the calibration component 130, and the scanning device 140, respectively.

[0063] The basic idea behind this type of approach is to establish a unified optimization problem using multiple sets of observation data, thereby determining the relative relationships between multiple coordinate systems in the system at once. While this method is feasible under normal operating conditions, it reveals significant shortcomings in real-world industrial settings where high precision is required and structural errors are complex.

[0064] First, existing solutions largely rely on image feature extraction or single observation chains for parameter inversion. The accuracy of feature point localization is easily affected by changes in ambient light, surface reflection, occlusion, lens distortion, and imaging noise, leading to instability in the input data itself and amplifying the error in solving the transformation parameters. Second, dual-axis rotating structures are often not in ideal geometric relationships during actual assembly. The first and second rotation axes may not be perpendicular, intersecting, or have installation offsets. Existing joint calibration schemes often mix these structural errors with sensor installation errors and sampling errors, resulting in high coupling between parameters and making it difficult to clearly distinguish the source of error.

[0065] Secondly, when the turntable body 110 needs to repeatedly move at multiple acquisition positions and superimpose different observation data, the solution model easily becomes complex if there is a lack of independent constraints on the true relationship between the two rotation axes. The optimization process not only involves a large computational load but is also easily affected by initial values ​​and local extrema, leading to insufficient stability of the calibration results. Especially under complex working conditions, once the biaxial geometric deviation is not accurately reflected, even if the number of subsequent observation data increases, it is difficult to fundamentally eliminate the coordinate mapping distortion problem, resulting in an increase in cumulative errors in large-space measurement, long-distance positioning, or high-precision assembly guidance scenarios. Therefore, how to establish a clearer, more stable, and engineering-suitable coordinate transformation calibration method under the condition that biaxial geometric errors objectively exist has become an urgent problem to be solved in this technical field.

[0066] In one embodiment, a calibration method is provided, and this embodiment specifically applies this calibration method to the optical measurement system in any of the above embodiments. For example... Figure 2 As shown, the calibration method includes:

[0067] Step 202: Obtain the first transformation matrix between the first rotation axis and the second rotation axis on the turntable body.

[0068] The first and second rotation axes correspond to two rotational degrees of freedom of the turntable body. Under ideal design conditions, the first and second rotation axes can form a definite spatial geometric relationship. However, in actual assembly, processing and long-term use, there are often non-ideal factors such as the axes of the first and second rotation axes not being completely intersected, installation offset, angular error and structural thermal drift. Therefore, it is necessary to independently characterize the real spatial relationship between the two rotation axes.

[0069] The first transformation matrix is ​​used to describe the fixed spatial transformation relationship between the coordinate system associated with the first rotation axis and the coordinate system associated with the second rotation axis. This spatial transformation relationship usually includes rotation components and translation components. In terms of matrix expression, a four-by-four homogeneous transformation matrix can be used, where the three-by-three part in the upper left corner represents the attitude rotation relationship, the first three elements in the rightmost column represent the origin translation relationship, and the last row is the homogeneous coordinate constraint term.

[0070] The process of obtaining the first transformation matrix can be completed by an external high-precision measuring device, which can be a laser tracker, total station, photogrammetry system or other non-contact measuring device with three-dimensional coordinate acquisition capability.

[0071] Step 204: Control the turntable body to rotate along the first rotation axis and / or the second rotation axis to multiple acquisition positions.

[0072] In this embodiment of the application, multiple acquisition positions refer to a set of different attitude states corresponding to the turntable body during the calibration process. Each acquisition position can be defined by the first rotation axis angle value, the second rotation axis angle value, and the attitude stabilization time when necessary.

[0073] The purpose of setting up multiple acquisition locations is to obtain observation data covering different observation directions, different rotation combinations, and different spatial configurations, so that the coordinate transformation model constructed subsequently can be solved under richer geometric constraints, thereby reducing the error amplification problems caused by observation degradation, local occlusion, or insufficient geometric sensitivity under a single attitude.

[0074] Rotation along the first and / or second rotation axis includes single-axis motion (changing only around the first axis while the second axis remains stationary), single-axis motion (changing only around the second axis while the first axis remains stationary), and dual-axis coordinated motion (changing both the first and second axes simultaneously). Multiple acquisition positions formed by different motion modes can collectively constitute an attitude sample set to cover a larger measurement space and more complex viewpoint distributions.

[0075] Specifically, in one possible implementation, the controller first determines a set of candidate postures based on the target workspace, the visible area of ​​the calibration component, the scannable area of ​​the calibration reference object, and the field of view of the sensing device. Then, it selects multiple acquisition positions from the set of candidate postures that meet the requirements of the threshold of the number of observable feature points and the uniformity of posture distribution.

[0076] This threshold quantity can be determined by solving the minimum constraints required by the target transformation matrix, or redundant sampling can be added based on the minimum constraints according to accuracy requirements. The controller drives the first and second rotating axes in a predetermined sequence. The driving process can adopt a position closed-loop control method, using the deviation between the actual angle fed back by the angle encoder and the target angle as the control input for correction.

[0077] If the actual angle deviation exceeds the preset allowable range, fine-tuning will continue until the actual posture meets the acquisition conditions.

[0078] Step 206: For each acquisition location, a sensing device is used to acquire the first spatial position of multiple calibration feature points on the calibration component, and a scanning device is used to acquire the second spatial position of multiple reference feature points on the calibration reference object.

[0079] In this embodiment, the first coordinate system in which the sensing device is located is usually a local coordinate system established with the sensing device itself as a reference, and the first spatial position is the three-dimensional coordinate expression of multiple calibration feature points in the first coordinate system.

[0080] The second coordinate system in which the scanning device is located is usually a local coordinate system established with the scanning device itself as a reference. The second spatial position is the three-dimensional coordinate expression of multiple reference feature points on the calibration reference object in the second coordinate system.

[0081] The calibration reference object is a stable reference object arranged in the measurement space. It can be a checkerboard, a ball target array plate, a regular aperture array plate, a planar target, or other reference components with a known geometric distribution. Multiple reference feature points are used to provide external spatial constraints to the optical measurement system.

[0082] By simultaneously acquiring the first spatial position and the second spatial position at each acquisition location, a correspondence between the sensor observation chain and the external reference observation chain can be established, providing multi-source geometric information for subsequent solution of the target transformation matrix between the first coordinate system and the second coordinate system.

[0083] Step 208: Based on the first transformation matrix, the first spatial position, and the second spatial position, construct the target transformation matrix between the first coordinate system where the sensing device is located and the second coordinate system where the turntable body is located.

[0084] In this embodiment, the target transformation matrix is ​​used to describe the fixed spatial transformation relationship between the coordinate system of the sensing device and the coordinate system of the turntable body.

[0085] The second coordinate system can be set on the base of the turntable body, or it can be set on the reference position associated with the first or second rotation axis, as long as the definition remains consistent throughout the calibration and application process.

[0086] When constructing the target transformation matrix, the aforementioned first transformation matrix needs to be used as a priori condition for the geometric relationship of the dual-axis structure, and the first and second spatial positions obtained from multiple acquisition locations need to be used as observation constraints to establish a unified spatial mapping model.

[0087] Since the attitude of the turntable body is known at different acquisition positions, in each set of acquisition position samples, the observation results in the first coordinate system and the attitude relationship in the second coordinate system can be linked through the rotation axis motion model. Combined with the external reference information corresponding to the second spatial position observed by the scanning device, multiple sets of equations about the target transformation matrix are formed. To adapt to actual noise environments, a constrained nonlinear least squares method is typically used to solve the problem, minimizing the overall residuals between corresponding spatial points after transformation by the target transformation matrix and attitude relationship. Here, the residual can be defined as the Euclidean distance between the predicted and measured positions of reference feature points at the same acquisition position, or as the consistency error of the corresponding point set under multi-attitude conditions.

[0088] The aforementioned calibration method first establishes a fixed geometric relationship between the two-axis rotating structures independently. Then, it synchronously introduces spatial information of calibration feature points from the sensing device side and spatial information of reference feature points from the scanning device side at multiple acquisition locations. This ultimately forms a coordinate transformation solution model constrained by the two-axis priors, organically integrating the two-axis structural errors, attitude change information, and external spatial reference information into the same calibration process. It unifies the two-axis structural priors, sensing device observations, and scanning device observations into a single mathematical model for processing, rather than simply mixing various errors and performing indiscriminate inversion. Since the first transformation matrix has already pre-characterized the true geometric relationship between the first and second rotation axes, the interference of shaft structure errors on the estimation of the sensing device installation relationship can be significantly reduced when solving the target transformation matrix, making the physical meaning of the optimization variables clearer. The first and second spatial positions at multiple acquisition locations together constitute redundant observations, improving model observability and enhancing noise resistance. The target transformation matrix can take into account the consistency requirements under different attitudes and observation directions, thus exhibiting better stability and engineering applicability in large-space measurement, long-distance positioning and high-precision assembly guidance scenarios.

[0089] In some alternative embodiments, step 202 includes:

[0090] Obtain the first axis parameter of the first rotation axis and the second axis parameter of the second rotation axis;

[0091] Based on the first axis parameters and the second axis parameters, the relative pose of the first rotation axis and the second rotation axis is calculated to construct the first transformation matrix;

[0092] The first transformation matrix includes the spatial position deviation and angular deviation between the first rotation axis and the second rotation axis.

[0093] The first axis parameter is used to characterize the spatial linear relationship of the first rotation axis in the second coordinate system corresponding to the turntable body, and typically includes at least the direction vector of the first rotation axis and the coordinates of a reference point on the first rotation axis; the second axis parameter is used to characterize the spatial linear relationship of the second rotation axis in the second coordinate system corresponding to the turntable body, and similarly includes at least the direction vector of the second rotation axis and the coordinates of a reference point on the second rotation axis.

[0094] After obtaining the axis parameters of the two rotation axes, the controller can solve the relative pose based on the directional relationship between the two spatial straight lines and the positional relationship between the reference points on the two rotation axes. The angular deviation is used to describe the angle between the direction vectors of the two rotation axes and the non-parallelism of the pose, while the spatial position deviation is used to describe the shortest distance and relative offset between the two rotation axes in the direction perpendicular to the axis.

[0095] Relative pose can be represented as transformation parameters that include rotational and displacement relationships. These transformation parameters are then written into a homogeneous transformation matrix to form the first transformation matrix. The first transformation matrix numerically reflects the installation offset, assembly deviation, and structural error between the first and second rotation axes, allowing the fixed relationship to be directly invoked during subsequent coordinate conversion. This first transformation matrix serves as the basic calibration parameter for the dual-axis turntable, compensating for non-ideal errors between the two axes during subsequent control of turntable rotation and coordinate conversion, thereby improving the consistency and stability of the overall calibration model.

[0096] The above calibration method can explicitly incorporate the spatial position deviation and angular deviation between the two axes into the calibration model, avoiding the mixing of structural errors and acquisition errors, thereby reducing the degree of parameter coupling, improving the solution accuracy and repeatability of the first transformation matrix, and providing a reliable foundation for the subsequent construction of the target transformation matrix between the sensing device and the turntable body.

[0097] In some optional embodiments, the step of obtaining the first axis parameter of the first rotation axis and the second axis parameter of the second rotation axis includes:

[0098] The turntable body is controlled to rotate along the first rotation axis to multiple first stop positions, and the third spatial position of the measurement target corresponding to each first stop position is obtained;

[0099] The turntable body is controlled to rotate along the second rotation axis to multiple second stop positions, and the fourth spatial position of the measurement target corresponding to each second stop position is obtained;

[0100] Spatial fitting is performed on multiple third spatial locations to obtain the first axis parameters, and spatial fitting is performed on multiple fourth spatial locations to obtain the second axis parameters.

[0101] The measurement target can be a spherical target, prism target, or reflective target with high spatial coordinate measurement accuracy. Its surface features facilitate stable identification and positioning by external measuring equipment. As an example, the measurement target can be set at a fixed position on the turntable body.

[0102] In practical applications, external measuring equipment can be laser trackers, total stations, or three-dimensional measuring sensors to obtain the third spatial position of the measuring target at each first stop position and the fourth spatial coordinate at each second stop position. This application does not limit this.

[0103] The first and second stop positions can be set at fixed angular intervals, or they can be set at non-equal intervals according to different test conditions, so as to cover multiple postures of the first and second rotation axes in the workspace, thereby improving the uniformity of the distribution of the fitted data.

[0104] After acquiring the third and fourth spatial positions, the controller can uniformly transform the corresponding coordinates to the same measurement coordinate system and perform least-squares spatial fitting on multiple sets of spatial points corresponding to the same rotation axis to obtain the axis direction vector and the coordinates of a point on the axis.

[0105] Spatial fitting can employ a linear fitting model, or a robust fitting model that incorporates the measurement error distribution, to mitigate the impact of individual outliers on the results. The first axis parameter obtained by fitting multiple third spatial positions can be used to characterize the spatial orientation of the first rotation axis in the measurement coordinate system; the second axis parameter obtained by fitting multiple fourth spatial positions is used to characterize the spatial orientation of the second rotation axis.

[0106] As an example, the turntable body rotates around either the first or second rotation axis while keeping the other rotation axis fixed. This ensures that the spatial position change of the target is primarily determined by the geometric relationship of the corresponding single rotation axis, allowing the acquired spatial position to reflect the true axial characteristics of both rotation axes. By independently fitting the two sets of spatial positions, the axial parameters of the first and second rotation axes can be solved separately, providing fundamental data for subsequently constructing the relative pose between the two rotation axes. Since the axial parameters are directly derived from the multi-position spatial coordinate fitting results, the impact of single measurement errors and local assembly deviations on the results can be reduced.

[0107] The above calibration method can obtain the axis parameters of the first and second rotation axes by independent sampling and independent fitting, respectively, avoiding the instability problem caused by the coupling of the two axis parameters, thereby improving the construction accuracy of the first transformation matrix. Since the axis parameters are derived from multi-point spatial data, the optical measurement system has a stronger ability to suppress occasional measurement noise, thereby improving the consistency and repeatability of the dual-axis calibration results and providing a reliable foundation for subsequent coordinate transformation, attitude compensation and high-precision measurement.

[0108] In some optional embodiments, a second transformation matrix is ​​pre-set between the third coordinate system where the calibration component is located and the fourth coordinate system where the scanning device is located;

[0109] Each calibration feature point is pre-set with a reference spatial position in the third coordinate system where the calibration component is located;

[0110] Step 208 includes:

[0111] Based on the reference spatial position in the third coordinate system and the first spatial position in the first coordinate system, a third transformation matrix corresponding to the current acquisition position of the sensing device and the calibration component is constructed.

[0112] Based on the second spatial position, the second transformation matrix, and the third transformation matrix in the fourth coordinate system, the first mapping spatial position of multiple reference feature points corresponding to the current acquisition position in the first coordinate system is obtained;

[0113] Based on the first transformation matrix and the first mapping space position of the same reference feature point at different acquisition positions, a target transformation matrix is ​​constructed.

[0114] The third coordinate system is used to characterize the spatial reference of the calibration component itself, the fourth coordinate system is used to characterize the measurement reference of the scanning device, and the second transformation matrix is ​​used to describe the fixed spatial relationship between the two obtained through pre-calibration.

[0115] The reference spatial location can be determined by the design dimensions of the calibration component or the preset target position, and is usually stored in the controller in the form of three-dimensional coordinates so that it can be directly called during the acquisition process.

[0116] The third transformation matrix is ​​used to reflect the pose change of the sensing device relative to the calibration component at the current acquisition position. It can be obtained by solving the correspondence of feature points at the current acquisition position.

[0117] In one specific embodiment, after the sensing device collects the calibration feature points, it can first match the first spatial position of the feature points in the first coordinate system with the reference spatial position in the third coordinate system, and then combine the spatial rigid body transformation model to solve the third transformation matrix between the sensing device and the calibration component.

[0118] Subsequently, the second spatial position acquired by the scanning device is mapped to the third coordinate system through the second transformation matrix, and further converted to the first coordinate system by combining the third transformation matrix, thereby obtaining the first mapped spatial position corresponding to multiple reference feature points at the same acquisition position.

[0119] After summarizing the first mapped spatial positions of the same reference feature point under different acquisition locations, the controller can establish unified constraints by combining the first transformation matrix, and obtain the target transformation matrix by least squares fitting, so as to accurately represent the spatial correspondence between the sensing device and the turntable body.

[0120] The above calibration method uses the known fixed relationship between the scanning device and the calibration component to participate in the coordinate chain transfer. The mapping results of the reference feature points at multiple acquisition positions can form redundant constraints, thereby reducing the impact of single sampling error on the final result. This method makes the solution link of the transformation matrix clearer, which can improve the stability and repeatability of coordinate conversion between the sensing device and the turntable body, and help improve the accuracy of subsequent measurement, positioning and attitude calculation.

[0121] In some optional embodiments, the step of obtaining the first mapped spatial position of multiple reference feature points corresponding to the current acquisition position in the first coordinate system based on the second spatial position in the fourth coordinate system, the second transformation matrix, and the third transformation matrix includes:

[0122] Based on the second spatial position in the fourth coordinate system and the second transformation matrix, obtain the second mapped spatial position of multiple reference feature points corresponding to the current acquisition position in the third coordinate system;

[0123] Based on the second mapping space position in the third coordinate system and the third transformation matrix, the first mapping space position of multiple reference feature points corresponding to the current acquisition position in the first coordinate system is obtained.

[0124] Among them, the fourth coordinate system is used to characterize the acquisition coordinate reference of the scanning device, the second spatial position is the position data obtained by the scanning device after spatial measurement of the reference feature point, the second transformation matrix is ​​used to characterize the fixed spatial relationship between the calibration component and the scanning device, the third coordinate system is used to uniformly express the position of the feature point on the calibration component, the third transformation matrix is ​​used to characterize the pose relationship between the calibration component and the first coordinate system at the current acquisition position, the first coordinate system is used to characterize the coordinate reference of the sensing device, and the first mapped spatial position is the spatial position result of the reference feature point in the first coordinate system obtained by mapping the reference feature point step by step.

[0125] In one specific embodiment, the scanning device can be a scanning device installed on the calibration component to sample multiple reference feature points on the calibration reference object and output the corresponding second spatial position, which is usually stored in the form of a three-dimensional coordinate vector.

[0126] The second transformation matrix can be obtained in advance through assembly calibration, and the rotation and translation relationships of the calibration component relative to the scanning device are recorded so as to uniformly transform the second spatial position to the third coordinate system. Subsequently, by combining the pose relationship between the third coordinate system corresponding to the calibration component and the first coordinate system corresponding to the sensing device at the current acquisition position, the second mapped spatial position is further converted to the first coordinate system to obtain the first mapped spatial position in the first coordinate system, thereby providing a unified reference for subsequent target transformation matrix solving based on multiple acquisition positions.

[0127] This embodiment can transform the reference feature point from the fourth coordinate system to the third coordinate system, and then from the third coordinate system to the first coordinate system. This step-by-step transformation avoids the error accumulation caused by simultaneous multi-coordinate coupling, providing a clearer source link for the positional representation of the reference feature point and reducing numerical instability during direct conversion between different coordinate systems. This method ensures consistency in the mapping results of the reference feature point at different acquisition locations, thereby improving the constraint reliability and solution stability when constructing the target transformation matrix, which is beneficial for enhancing the calibration accuracy and engineering applicability of the optical measurement system.

[0128] In some optional embodiments, the step of constructing the target transformation matrix based on the first transformation matrix and the first mapping spatial positions of the same reference feature point at different acquisition locations includes:

[0129] Under the constraint that the spatial position of the same reference feature point corresponding to different acquisition positions remains consistent in the second coordinate system, a target transformation matrix is ​​constructed based on the first mapping spatial position of the same reference feature point at different acquisition positions.

[0130] The first mapped spatial position of the same reference feature point at different acquisition positions usually refers to the intermediate spatial coordinates obtained by transforming the reference feature point through the third coordinate system, the fourth coordinate system and the first coordinate system. The first mapped spatial position changes with the attitude of the turntable body, but the actual position of the corresponding physical point in the second coordinate system should remain unchanged.

[0131] The second coordinate system can be understood as the equipment coordinate system fixedly associated with the turntable body, and the first coordinate system can be understood as the sensor coordinate system fixedly associated with the sensing device. The relationship between the two is described by the target transformation matrix.

[0132] In one embodiment, the controller can first establish a consistency constraint model based on the first mapping spatial position obtained at different acquisition locations, and set the spatial position of the same reference feature point in the second coordinate system as a shared variable, so that the mapping results corresponding to different acquisition locations converge to the same spatial position within a unified coordinate framework.

[0133] Subsequently, the observation residuals at each acquisition location are used to construct an objective function, and the coordinate transformation relationship is jointly optimized using the first transformation matrix to obtain the objective transformation matrix that satisfies the constraints. To improve anti-interference capability, abnormal sampling can be assigned a lower weight during the solution process, or a robust loss function can be used to suppress the effects of reflection, occlusion, and local identification bias. In practical applications, other models of this component can also be selected, and this application embodiment does not limit this.

[0134] The working principle of this construction method lies in utilizing the physical constraint that the position of the same reference feature point remains consistent in the second coordinate system. This unifies the related but not entirely consistent first mapping spatial positions at different acquisition locations into a single optimization framework, thereby transforming the differences introduced by changes in acquisition posture into solvable constraint relationships. Combined with the first transformation matrix, the target transformation matrix is ​​then inverted. This avoids the accumulation of local errors caused by relying solely on a single observation, allowing turntable motion errors, installation deviations, and spatial mapping relationships to be coordinated and handled within the same model.

[0135] The above calibration method makes the solution of the target transformation matrix no longer dependent on isolated single-point observations, but improves the calibration stability by using the consistency constraints of the same reference feature points under multiple acquisition positions. It can effectively reduce the impact of attitude changes, noise disturbances and abnormal sampling on the results, and improve the global consistency and repeatability of the transformation relationship between the first coordinate system and the second coordinate system, thereby helping to improve the measurement accuracy of the optical measurement system in high-precision positioning, workpiece inspection and spatial reconstruction.

[0136] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0137] Based on the same inventive concept, this application also provides a calibration apparatus for implementing the calibration method described above. The solution provided by this calibration apparatus is similar to the implementation scheme described in the calibration method above; therefore, the specific limitations in one or more apparatus embodiments provided below can be found in the limitations of the calibration method described above, and will not be repeated here.

[0138] In one embodiment, such as Figure 3 As shown, a calibration device 300 is provided for use in an optical measurement system. The optical measurement system includes a turntable body, a sensing device disposed on the turntable body, a calibration component, and a scanning device disposed on the calibration component.

[0139] The calibration device 300 includes:

[0140] The first acquisition module 302 is used to acquire the first transformation matrix between the first rotation axis and the second rotation axis on the turntable body;

[0141] Rotation module 304 is used to control the turntable body to rotate along the first rotation axis and / or the second rotation axis to multiple acquisition positions;

[0142] The second acquisition module 306 is used to acquire, for each acquisition location, the first spatial position of multiple calibration feature points on the calibration component by using a sensing device, and the second spatial position of multiple reference feature points on the calibration reference object by using a scanning device.

[0143] The construction module 308 is used to construct a target transformation matrix between the first coordinate system in which the sensing device is located and the second coordinate system in which the turntable body is located, based on the first transformation matrix, the first spatial position and the second spatial position.

[0144] In some optional embodiments, the first acquisition module 302 is further configured to:

[0145] Obtain the first axis parameter of the first rotation axis and the second axis parameter of the second rotation axis;

[0146] Based on the first axis parameters and the second axis parameters, the relative pose of the first rotation axis and the second rotation axis is calculated to construct the first transformation matrix;

[0147] The first transformation matrix includes the spatial position deviation and angular deviation between the first rotation axis and the second rotation axis.

[0148] In some optional embodiments, the first acquisition module 302 is further configured to:

[0149] The turntable body is controlled to rotate along the first rotation axis to multiple first stop positions, and the third spatial position of the measurement target corresponding to each first stop position is obtained;

[0150] The turntable body is controlled to rotate along the second rotation axis to multiple second stop positions, and the fourth spatial position of the measurement target corresponding to each second stop position is obtained;

[0151] Spatial fitting is performed on multiple third spatial locations to obtain the first axis parameters, and spatial fitting is performed on multiple fourth spatial locations to obtain the second axis parameters.

[0152] In some optional embodiments, a second transformation matrix is ​​pre-set between the third coordinate system where the calibration component is located and the fourth coordinate system where the scanning device is located;

[0153] Each calibration feature point is pre-set with a reference spatial position in the third coordinate system where the calibration component is located;

[0154] Module 308 is also configured as follows:

[0155] Based on the reference spatial position in the third coordinate system and the first spatial position in the first coordinate system, a third transformation matrix corresponding to the current acquisition position of the sensing device and the calibration component is constructed.

[0156] Based on the second spatial position, the second transformation matrix, and the third transformation matrix in the fourth coordinate system, the first mapping spatial position of multiple reference feature points corresponding to the current acquisition position in the first coordinate system is obtained;

[0157] Based on the first transformation matrix and the first mapping space position of the same reference feature point at different acquisition positions, a target transformation matrix is ​​constructed.

[0158] In some optional embodiments, the construction module 308 is also configured to:

[0159] Based on the second spatial position in the fourth coordinate system and the second transformation matrix, obtain the second mapped spatial position of multiple reference feature points corresponding to the current acquisition position in the third coordinate system;

[0160] Based on the second mapping space position in the third coordinate system and the third transformation matrix, the first mapping space position of multiple reference feature points corresponding to the current acquisition position in the first coordinate system is obtained.

[0161] In some optional embodiments, the construction module 308 is also configured to:

[0162] Under the constraint that the spatial position of the same reference feature point corresponding to different acquisition positions remains consistent in the second coordinate system, a target transformation matrix is ​​constructed based on the first mapping spatial position of the same reference feature point at different acquisition positions.

[0163] Each module in the above-mentioned device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0164] Figure 4 A schematic diagram of the structure of the electronic device provided in this application. Figure 4 As shown, the electronic device 400 provided in this embodiment includes at least one processor 401 and a memory 402. Optionally, the device 400 further includes a communication component 403. The processor 401, memory 402, and communication component 403 are connected via a bus 404.

[0165] In a specific implementation, at least one processor 401 executes computer execution instructions stored in memory 402, causing at least one processor 401 to perform the above-described method.

[0166] The specific implementation process of processor 401 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0167] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0168] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0169] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0170] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0171] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0172] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0173] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0174] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0175] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0176] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0177] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0178] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0179] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A calibration method, characterized in that, Applied to optical measurement systems, the optical measurement system includes a turntable body, a sensing device mounted on the turntable body, a calibration component, and a scanning device mounted on the calibration component; The method includes: Obtain the first transformation matrix between the first rotation axis and the second rotation axis on the turntable body; Control the turntable body to rotate along the first rotation axis and / or the second rotation axis to multiple acquisition positions; For each acquisition location, the sensing device is used to acquire the first spatial position of multiple calibration feature points on the calibration component, and the scanning device is used to acquire the second spatial position of multiple reference feature points on the calibration reference object; the calibration reference object is set independently of the turntable body; Based on the first transformation matrix, the first spatial position, and the second spatial position, a target transformation matrix is ​​constructed between the first coordinate system in which the sensing device is located and the second coordinate system in which the turntable body is located.

2. The method according to claim 1, characterized in that, The step of obtaining the first transformation matrix between the first rotation axis and the second rotation axis on the turntable body includes: Obtain the first axis parameter of the first rotation axis and the second axis parameter of the second rotation axis; Based on the first axis parameter and the second axis parameter, the relative pose of the first rotation axis and the second rotation axis is calculated to construct the first transformation matrix; The first transformation matrix includes the spatial position deviation and angular deviation between the first rotation axis and the second rotation axis.

3. The method according to claim 2, characterized in that, The step of obtaining the first axis parameter of the first rotation axis and the second axis parameter of the second rotation axis includes: The turntable body is controlled to rotate along the first rotation axis to multiple first stop positions, and the third spatial position of the measurement target corresponding to each first stop position is obtained; The turntable body is controlled to rotate along the second rotation axis to multiple second stop positions, and the fourth spatial position of the measurement target corresponding to each second stop position is obtained; Spatial fitting is performed on multiple third spatial positions to obtain the first axis parameter, and spatial fitting is performed on multiple fourth spatial positions to obtain the second axis parameter.

4. The method according to claim 1, characterized in that, A second transformation matrix is ​​pre-set between the third coordinate system where the calibration component is located and the fourth coordinate system where the scanning device is located; Each of the calibration feature points is pre-set with a reference spatial position in the third coordinate system where the calibration component is located; The step of constructing a target transformation matrix between the first coordinate system in which the sensing device is located and the second coordinate system in which the turntable body is located, based on the first transformation matrix, the first spatial position, and the second spatial position, includes: Based on the reference spatial position in the third coordinate system and the first spatial position in the first coordinate system, a third transformation matrix corresponding to the current acquisition position of the sensing device and the calibration component is constructed. Based on the second spatial position in the fourth coordinate system, the second transformation matrix, and the third transformation matrix, the first mapping spatial position of multiple reference feature points corresponding to the current acquisition position in the first coordinate system is obtained; The target transformation matrix is ​​constructed based on the first transformation matrix and the first mapping space position of the same reference feature point at different acquisition positions.

5. The method according to claim 4, characterized in that, The step of obtaining the first mapped spatial position of multiple reference feature points corresponding to the current acquisition position in the first coordinate system based on the second spatial position in the fourth coordinate system, the second transformation matrix, and the third transformation matrix includes: Based on the second spatial position in the fourth coordinate system and the second transformation matrix, the second mapped spatial position of multiple reference feature points corresponding to the current acquisition position in the third coordinate system is obtained; Based on the second mapping space position in the third coordinate system and the third transformation matrix, the first mapping space position of multiple reference feature points corresponding to the current acquisition position in the first coordinate system is obtained.

6. The method according to claim 4, characterized in that, The construction of the target transformation matrix based on the first transformation matrix and the first mapping space positions corresponding to the same reference feature point at different acquisition locations includes: Under the constraint that the spatial position of the same reference feature point corresponding to different acquisition positions remains consistent in the second coordinate system, the target transformation matrix is ​​constructed based on the first mapping spatial position of the same reference feature point at different acquisition positions.

7. A calibration device, characterized in that, Applied to optical measurement systems, the optical measurement system includes a turntable body, a sensing device mounted on the turntable body, a calibration component, and a scanning device mounted on the calibration component; The device includes: The first acquisition module is used to acquire the first transformation matrix between the first rotation axis and the second rotation axis on the turntable body; A rotation module is used to control the turntable body to rotate along the first rotation axis and / or the second rotation axis to multiple acquisition positions; The second acquisition module is used to acquire, for each acquisition location, the first spatial position of multiple calibration feature points on the calibration component using the sensing device, and the second spatial position of multiple reference feature points on the calibration reference using the scanning device; the calibration reference is set independently of the turntable body. The construction module is used to construct a target transformation matrix between the first coordinate system in which the sensing device is located and the second coordinate system in which the turntable body is located, based on the first transformation matrix, the first spatial position, and the second spatial position.

8. An optical measurement system, characterized in that, The optical measurement system includes a turntable body, a sensing device mounted on the turntable body, a calibration component, and a scanning device mounted on the calibration component; The optical measurement system is used to perform the steps of the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

Images