WO2023040685A1 - 一种线激光设备的***标定方法和装置 - Google Patents
一种线激光设备的***标定方法和装置 Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2504—Calibration devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/03—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2518—Projection by scanning of the object
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/045—Correction of measurements
Definitions
- the present application relates to the field of artificial intelligence, in particular to a system calibration method and device for line laser equipment.
- the system calibration of the line laser equipment refers to the calibration of the relationship between the line laser equipment and the moving mechanism, such as the coordinate system transformation between the line laser equipment and the moving mechanism, the movement speed of the moving mechanism, etc.
- the moving mechanism here may be a moving conveyor belt.
- the commonly used system calibration method of line laser equipment is to use the calibration board to complete.
- the method can be as follows: use an optical camera to take images of the calibration board at two positions before and after moving along the motion mechanism, and calculate the coordinates of several designated points on the calibration board in the camera coordinate system according to the predetermined camera internal parameters. Coordinate values; and, when the two images are taken, use a measuring tool to determine the coordinate values of the specified point in the coordinate system of the motion mechanism; Set the coordinate values and determine the transformation matrix between the two coordinate systems, thus realizing the system calibration of the line laser equipment.
- the coordinate value of the specified point is usually estimated by using the measurement tool and the grid of the calibration board, and if the accuracy of the calibration board or the measurement tool is low, the measured The error of the coordinate value is also large, which affects the reliability of the calibration results.
- the embodiment of the present application provides a system calibration method for line laser equipment to provide another alternative system calibration method for line laser equipment, and avoid the above-mentioned inconveniences in the system calibration method for line laser equipment in the related art.
- a system calibration method for a line laser device is provided, the system calibration method for a line laser device is used to calibrate the relationship between the line laser device and a motion mechanism, and the motion mechanism At least one calibration object is set on it, and the calibration size of the at least one calibration object in the first coordinate system is known.
- the first coordinate system is the coordinate system where the motion mechanism is located.
- the at least one calibration object is in the The initial position of the motion mechanism is outside the range of the laser line area where the laser line output by the line laser device is located, and the method includes:
- the scanning data of the line laser device scanning the at least one calibration object at different scanning time points are obtained; wherein, For each calibration object in the at least one calibration object, the scan data includes scanning time information and the coordinates of at least one position point on the calibration object scanned by the line laser device in the second coordinate system information; the second coordinate system is the coordinate system where the line laser equipment is located;
- a system calibration device for line laser equipment the system calibration device for line laser equipment is used to calibrate the relationship between the line laser equipment and a motion mechanism, and the motion mechanism At least one calibration object is set on it, and the calibration size of the at least one calibration object in the first coordinate system is known.
- the first coordinate system is the coordinate system where the motion mechanism is located.
- the at least one calibration object is in the The initial position of the motion mechanism is outside the range of the laser line area where the laser line output by the line laser equipment is located, and the device includes:
- a scanning data acquisition unit configured to acquire the scanning of the at least one calibration object by the line laser device at different scanning time points during the process of the movement mechanism driving the at least one calibration object through the range of the laser line area Scanning data at the time; wherein, for each of the at least one calibration object, the scan data includes scanning time information corresponding to the scanning time point, and the calibration object scanned by the line laser device
- the coordinate information of at least one position point in the second coordinate system; the second coordinate system is the coordinate system where the line laser equipment is located;
- a calibration parameter determination unit configured to predict the at least one calibration object in the at least one calibration object based on the obtained scan data of the at least one calibration object and the estimated multiple sets of estimated calibration parameters used for the system calibration of the line laser equipment.
- the predicted size of each calibration object, and according to the predicted size of each calibration object in the at least one calibration object, and the calibration size of each calibration object in the at least one calibration object, from the plurality of groups of estimated calibration parameters Determine the target calibration parameters used in the calibration of the line laser equipment system.
- an electronic device including: a processor;
- memory for storing machine-executable instructions
- the processor is prompted to realize the system calibration method of the line laser device in the first aspect above.
- An embodiment of the present application achieves the acquisition of the scan data output by the line laser device after scanning the calibration object, and then predicting the predicted size of the calibration object based on the scan data and multiple sets of estimated calibration parameters, and then the predicted size and the calibration object can be to determine the target calibration parameters for system calibration. According to the method of this embodiment, there is no need for measuring tools and manual measurement, avoiding the accuracy of tools and errors caused by manual measurement, and improving the reliability of system calibration.
- Fig. 1 is a schematic diagram of a scenario of system calibration using a calibration board according to an exemplary embodiment.
- Fig. 2a is a schematic diagram of an application scenario shown by an exemplary embodiment.
- Fig. 2b is a schematic diagram of another application scenario shown by an exemplary embodiment.
- Fig. 3 is a schematic flowchart of a system calibration method for a line laser device shown in an exemplary embodiment.
- Fig. 4 is a schematic flowchart of another system calibration method for a line laser device shown in an exemplary embodiment.
- Fig. 5 is a schematic flowchart of another system calibration method for a line laser device shown in an exemplary embodiment.
- Fig. 6 is a schematic flowchart of a method for determining estimated calibration parameters shown in an exemplary embodiment.
- Fig. 7 is a schematic flowchart of determining a prediction size shown in an exemplary embodiment.
- Fig. 8 is a schematic structural diagram of a system calibration device for line laser equipment shown in an exemplary embodiment of the present application.
- Fig. 9 is a block diagram of a system calibration device for a line laser device shown in an exemplary embodiment of the present application.
- first, second, third, etc. may be used in this specification to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this specification, first information may also be called second information, and similarly, second information may also be called first information. Depending on the context, the word “if” as used herein may be interpreted as “at” or “when” or “in response to a determination.”
- Three-dimensional reconstruction is a very important technology in the field of artificial intelligence, and it is a common method to use line laser equipment to scan objects to determine object coordinates, so as to perform three-dimensional reconstruction based on object coordinates.
- a line laser device usually includes a camera and a line laser sensor.
- the line laser sensor can output laser light and form a laser plane
- the camera can receive the laser light reflected by the object when the object passes through the laser plane. Therefore, the line laser device can determine the coordinates of each position point on the scanned object according to the laser light emitted by the sensor and the reflected laser light received by the camera, and by using the principle of triangulation.
- the coordinates determined by the line laser device are the coordinate system established by the line laser device itself, for example, the coordinate system may be established with the laser source as the origin and the laser plane as the xOz plane.
- the coordinate system specified by the user can be the coordinate system established according to the movement of the object , for example, the direction of object motion can be a coordinate axis, and the plane of object motion is a coordinate plane.
- the commonly used system calibration method of line laser equipment is completed by using a calibration plate.
- the moving mechanism is a conveyor belt
- the calibration plate can be set on the conveyor belt.
- the conveyor belt moves, it drives the calibration plate.
- the line laser device uses the camera to take images of the calibration plate at two positions before and after moving along the conveyor belt, and then calculates the coordinates of several specified points on the calibration plate in the camera coordinate system with the help of the pre-obtained camera internal parameters.
- a measuring tool such as a scale
- the transformation parameters between the two coordinate systems are determined.
- this method has many inconveniences, such as requiring the user to manually measure with a measuring tool, which is cumbersome to operate, and tool accuracy and manual measurement may cause errors, resulting in low reliability of system calibration.
- this application proposes a system calibration method for line laser equipment, which can avoid the inconvenience of the system calibration method for line laser equipment in the above-mentioned related art, and the method of this application is easy to operate and has high reliability.
- Fig. 2a is a schematic diagram of the application scene of the embodiment of the present application.
- the motion mechanism is a conveyor belt
- the calibration object is a cuboid ABCDEFGH.
- the calibration object is set on the conveyer belt, and the initial position of the calibration object is outside the area range of the laser line where the laser line output by the line laser device is located.
- the area range of the laser line here can be regarded as a laser plane, that is, the O2PQ plane shown in FIG. 2a.
- the conveyor belt moves, it can drive the calibration object to pass through the laser line area.
- the laser line emitted by the line laser device can scan the calibration object until the calibration object completely passes through the laser line area.
- the motion mechanism may also be other motion equipment, and the calibration object may also be in other shapes, which are not limited in this embodiment.
- an embodiment of the present application provides a system calibration method for a line laser device, which is used to calibrate the relationship between the line laser device and the motion mechanism, wherein the motion mechanism At least one calibration object is set on it, the calibration size of the at least one calibration object in the first coordinate system is known, the first coordinate system is the coordinate system where the motion mechanism is located, and the at least one calibration object is in the motion mechanism The initial position of is outside the range of the laser line area where the laser line output by the line laser device is located.
- FIG. 3 it is a schematic flow chart of the system calibration method for the line laser equipment.
- This method can be applied to electronic equipment, such as servers, PCs, etc.
- the electronic equipment can interact with the line laser equipment and obtain relevant data from the line laser equipment.
- the method may include:
- Step S301 Obtain scan data of the line laser device scanning the calibration object at different scanning time points during the process of the movement mechanism driving the calibration object through the laser line area.
- the scan data includes scan time information corresponding to the scan time point, and coordinate information of at least one position point on the calibration object scanned by the line laser device in the second coordinate system;
- the second The coordinate system is the coordinate system where the line laser device is located.
- the first coordinate system may be a coordinate system set according to the motion mechanism.
- the motion plane of the motion mechanism can be taken as the xOy plane, and the motion direction of the motion mechanism can be used as the y-axis.
- the coordinate axis is based on a specified point O1 on the conveyor belt as the origin, the y-axis is horizontally to the right, and the z-axis is vertically upward.
- first coordinate system can also be set in other ways, which is not limited in this embodiment.
- the calibrated size of the calibrated object in the first coordinate system is consistent with the actual size of the calibrated object in the world coordinate system, and the electronic device can obtain the calibrated size of the calibrated object in advance, for example, the electronic device can be based on User instruction to determine nominal size.
- the calibration size may include the side lengths of each side in the calibration object.
- the calibration object can be a cuboid, and you can get the side lengths of its three sides; or the calibration object can also be a cube, and you can get only the side length of one side. .
- the movement mechanism can drive the calibration object to move and pass through the laser line area, and the calibration object moves from outside the laser line area to entering the laser line area, and then moves to leave the laser line area.
- the line laser equipment scans the calibration object at different scanning time points, and outputs the scanning time information corresponding to the scanning time point and the time information corresponding to the The scanned coordinate information of several position points on the calibration object.
- the scanning time information output by the line laser device may be a specific time stamp or a scanning frame number.
- the electronic device can determine the time difference between the scan data and the scan data output when the line laser device scans the calibration object for the first time according to the scanning time information, for example: according to the time
- the time difference can be determined by the difference of the stamps, or the time difference can be determined according to the product of the frame number difference and the pre-acquired frame interval.
- the scanning time information output by the line laser device may also be the time difference from the first scanning to the calibration object.
- the line laser device records and outputs time information as 0, and when the calibration object is subsequently scanned, the line laser device can directly output the time difference from the first scan to the calibration object to the electronic device.
- the electronic device can directly obtain the time difference without additional calculation.
- the coordinate information in the scan data output by the line laser device corresponds to the coordinate system established by the line laser device itself.
- the coordinate system may be a coordinate system established by the line laser device with the laser light source as the origin and the laser plane as the xOz plane.
- the laser light source is O2
- the coordinate system O2X2Y2Z2 can be established with O2 as the origin.
- Step S302 Predict the predicted size of the calibration object according to the obtained scan data of the calibration object and the estimated multiple sets of calibration parameters used for system calibration of the line laser equipment, and according to the calibration The predicted size of the object and the calibrated size of the calibrated object are used to determine target calibration parameters for system calibration of the line laser device from the multiple sets of estimated calibration parameters.
- the calibration parameters used for system calibration of the line laser equipment may include multiple categories, and for convenience of description, the calibration parameters of multiple categories may be referred to as a set of calibration parameters.
- a set of estimated calibration parameters may include the following seven types of parameter values: the x-axis rotation transformation parameter ⁇ between the first coordinate system and the second coordinate system, the y-axis rotation transformation parameter ⁇ , and the z-axis rotation transformation parameter One or more of ⁇ , an x-axis translation transformation parameter tx, a y-axis translation transformation parameter ty, a z-axis translation transformation parameter tz, and a movement speed speed of the movement mechanism.
- the electronic device can first estimate multiple sets of estimated calibration parameters, and use each set of estimated calibration parameters to perform specified operations with the scan data, thereby converting the coordinate information in the scan data to the first coordinate system , and predict the predicted size of the calibration object according to the converted coordinate information.
- the calibration object can be reconstructed according to the converted coordinate information, and then the side length, surface area, volume and other information of the calibration object can be determined according to the coordinates of each vertex of the calibration object.
- the electronic device can calculate the predicted size of each calibration object under the set of estimated calibration parameters, and then determine each The deviation value corresponding to the calibration object and the set of estimated calibration parameters.
- the electronic device may use the deviation value corresponding to the calibration object determined according to each set of estimated calibration parameters as the deviation value corresponding to the set of estimated calibration parameters .
- the electronic device can combine the deviation values corresponding to the multiple calibration objects determined according to each set of estimated calibration parameters, for example, the multiple calibration objects The sum of deviation values corresponding to the group of estimated calibration parameters is used as the deviation value corresponding to the group of estimated calibration parameters.
- a calibration object ABCDEFGH If a calibration object ABCDEFGH is set, calculate the predicted size p1 of the calibration object ABCDEFGH under the estimated calibration parameter group 1, and calculate the deviation value q1 between the predicted size and the calibrated size, which can be determined with the estimated calibration parameter group 1 The corresponding deviation value is q1.
- the deviation value corresponding to the estimated calibration parameter set 1 can be determined as (q1+q'1).
- the electronic device can determine the deviation value of each group of estimated calibration parameters according to the above method. Subsequently, the target calibration parameter can be determined based on the deviation value of each group of estimated calibration parameters. For example, the minimum deviation value can be corresponding to A set of estimated calibration parameters of is used as the target calibration parameters.
- the target calibration parameters can be determined based on the deviation value of each group of estimated calibration parameters.
- the minimum deviation value can be corresponding to A set of estimated calibration parameters of is used as the target calibration parameters.
- FIG. 4-FIG. 5 which will not be described here. So far, the embodiment shown in FIG. 3 is completed.
- the electronic device can obtain the scan data output by the line laser device after scanning the calibration object, and then predict the predicted size of the calibration object according to the scan data and the estimated calibration parameters, and then can use the predicted size and Calibration Dimensions to determine the target calibration dimensions for system calibration. According to the method of this embodiment, there is no need for measuring tools and manual measurement, avoiding the accuracy of tools and errors caused by manual measurement, and improving the reliability of system calibration.
- Fig. 4 is a schematic flowchart of another system calibration method for a line laser device shown in an exemplary embodiment.
- step S302 "according to the obtained scan data of the calibration object and the estimated multiple sets of estimated calibration parameters used for the calibration of the line laser equipment system, predict the calibration object's Predict the size, and according to the predicted size of the calibration object and the calibration size of the calibration object, determine the target calibration parameters for the system calibration of the line laser equipment from the multiple sets of estimated calibration parameters", Can include:
- Step S401 Based on the acquired scan data of the calibration object and the multiple sets of estimated calibration parameters, predict the predicted size of the calibration object under each set of estimated calibration parameters.
- the line laser device scans the calibration object at different scanning time points, and outputs the scanning coordinates and scanning time information of the calibration object scanned at the scanning time points.
- the scanning time information may be a time stamp, or may also be a frame number and the like.
- the electronic device can calculate the predicted size of the calibration object under each set of estimated calibration parameters according to the scan data obtained from the line laser device. For example, the electronic device may first calculate the predicted coordinates of the calibration object based on the first coordinate system under each set of estimated calibration parameters, so as to calculate the predicted size.
- the predicted size may be the length, area, volume, etc. of several sides in the calibrated object.
- Step S402 For each set of estimated calibration parameters, calculate a deviation value between the predicted size of the calibration object predicted under the set of estimated calibration parameters and the calibrated size of the calibration object.
- the electronic device can calculate the deviation value corresponding to each set of estimated calibration parameters for each set of estimated calibration parameters, for example, according to each set of estimated calibration parameters, the difference between the predicted size and the calibrated size to determine the deviation value.
- the electronic device may, for each set of estimated calibration parameters, calculate a deviation value between the predicted size of each calibration object under the set of estimated calibration parameters and the calibrated size of the calibration object.
- the deviation value of the calibration object under each set of estimated calibration parameters may be used as the deviation value corresponding to the set of estimated calibration parameters.
- the sum of the deviation values of the multiple calibration objects under the same set of estimated calibration parameters can be used as the deviation corresponding to the set of estimated calibration parameters value.
- the predicted size p1 of the calibration object H under the estimated calibration parameter group GP1 can be calculated, and thus the deviation q1 between the predicted size and the calibrated size can be determined. That is to say, the deviation value corresponding to the estimated calibration parameter group GP1 is q1.
- the deviation value corresponding to the estimated calibration parameter group GP1 is (q1+q'1).
- the calibrated object includes at least one specified side
- the calibrated size may include a calibrated side length of each specified side
- the predicted size may include a predicted side length of each specified side. Therefore, the method for the electronic device to determine the deviation value corresponding to each set of estimated calibration parameters may include:
- For each of the calibration objects calculate the deviation value between the predicted side length of each specified side of the calibration object under the set of estimated calibration parameters and the calibration side length of the specified side, and use the calibration The sum of the deviation values corresponding to each specified edge of the object is used as the deviation value corresponding to the calibration object.
- the specified side can be the N sides of the calibration object, then for each of the N sides, the deviation value between the predicted side length and the calibrated side length of the side is calculated, for example, the deviation value can be The absolute value of the difference between the predicted side length and the calibrated side length; then, add the N deviation values corresponding to the N sides, and the obtained sum is used as the deviation value of the calibration object under the estimated calibration parameter.
- the specified side can be the length, width and height of the cuboid, and the length, width and height of the cuboid can be determined in advance as a, b and c respectively.
- the length, width, and height of the predicted size are a1, b1, and c1 respectively, then it can be determined that the corresponding deviation value of the cuboid under the estimated calibration parameter group GP1 is
- the thickness of the calibration board is usually ignored, that is, the coordinates of the specified point on the calibration board in the camera coordinate system are determined , treat the z-axis coordinate as 0.
- the calibration object in this application is usually a three-dimensional object such as a cuboid, and the height of the calibration object is not ignored, thereby reducing errors and improving the reliability of system calibration.
- Step S403 Determine the minimum deviation value among the deviation values corresponding to the plurality of sets of estimated calibration parameters, and use the set of estimated calibration parameters corresponding to the minimum deviation value as target calibration parameters.
- the electronic device after the electronic device determines the deviation value corresponding to each set of estimated calibration parameters, it can compare the magnitudes of the deviation values, and determine the deviation value with the smallest value. Therefore, the electronic device may use a group of estimated calibration parameters corresponding to the smallest deviation value as target calibration parameters.
- the electronic device in addition to the method shown in FIG. 4, can also use the method shown in FIG. multiple sets of estimated calibration parameters calibrated by the line laser equipment system, predict the predicted size of the calibration object, and estimate the calibration parameters from the multiple groups according to the predicted size of the calibration object and the calibration size of the calibration object The step of determining the target calibration parameters used for the calibration of the line laser equipment system.
- Fig. 5 is a schematic flowchart of another system calibration method for a line laser device shown in an exemplary embodiment. As shown in Figure 5, the method may include:
- Step S501 Based on the value ranges corresponding to various estimated calibration parameters and the first preset step size, multiple sets of estimated calibration parameters are determined. Wherein, each group of estimated calibration parameters includes estimated calibration parameter values respectively corresponding to various estimated calibration parameters.
- the type of the estimated calibration parameter may be determined according to the type of the target calibration parameter to be determined.
- the x-axis rotation transformation parameter ⁇ between the first coordinate system and the second coordinate system
- the y-axis rotation transformation parameter ⁇ the z-axis rotation transformation parameter ⁇
- the x-axis translation The transformation parameter tx, the y-axis translation transformation parameter ty, the z-axis translation transformation parameter tz, and the movement speed speed of the motion mechanism, the estimated calibration parameters also include the above seven categories.
- a corresponding value range and a first preset step size may be determined, thereby determining multiple sets of estimated calibration parameters.
- the value range and the first preset step size corresponding to each type of estimated calibration parameter can be preset by the user according to actual application conditions.
- the value range of each type of estimated calibration parameter can be determined according to the deployment method of the line laser equipment and the motion mechanism. Taking the application scenario shown in Figure 2a as an example, since the line laser must be irradiated to the surface of the object, when the line laser device takes the laser plane as the xOz plane, the values of the x-axis rotation transformation parameter ⁇ and the y-axis rotation transformation parameter ⁇ The range can be (-pi/2, pi/2), and the z-axis rotation transformation parameter ⁇ is (-pi, pi). For other parameters, it can also be determined according to the actual situation.
- the movement speed of the movement mechanism can be determined according to the movement speed of the conveyor belt, and its value range is determined to be (1m/s, 2m/s); for the x-axis translation transformation parameters tx, The y-axis translation transformation parameter ty and the z-axis translation transformation parameter tz may both be (0,10) and so on.
- the above range of values is only an illustration, and is not limited in this embodiment.
- the determination of multiple sets of estimated calibration parameters based on the range of values corresponding to various estimated calibration parameters and the first preset step size includes:
- Step S5011 For each type of estimated calibration parameter, determine the value range and first preset step size of this type of estimated calibration parameter, and select at least one estimated value range from the value range according to the first preset step size. Estimated calibration parameter values to form a set of parameter values corresponding to this type of estimated calibration parameters.
- the electronic device can predetermine the value range and first preset step size of each group of estimated calibration parameters, so that within the value range, according to the first preset step size, parameter values are selected one by one , forming a set of parameter values.
- the value range may be (-pi/2, pi/2), and the first preset step size may be pi/8.
- seven estimated calibration parameter values can be selected within this value range, which are -3pi/8, -pi/4, -pi/8, 0, pi/8, pi/4, 3pi/8 .
- the y-axis rotation transformation parameter ⁇ with a value range of (-pi/2,pi/2) seven estimated calibration parameter values can be selected according to the step size pi/8; for the value range of (- pi,pi) z-axis rotation transformation parameter ⁇ , 15 estimated calibration parameter values can be selected according to the step size pi/8.
- a similar method can also be used to determine estimated calibration parameter values, which will not be repeated here.
- Step S5012 Based on the parameter value sets corresponding to various estimated calibration parameters, multiple sets of estimated calibration parameters are formed; wherein, the estimated calibration parameter values contained in each set of estimated calibration parameters are not completely the same.
- the electronic device when the electronic device determines each group of estimated calibration parameters, it may select one estimated calibration parameter value from the set of parameter values corresponding to each type of estimated calibration parameter to form a set of estimated calibration parameters.
- the electronic device uses the same method to go through all combinations, and can form multiple sets of estimated calibration parameters.
- x-axis rotation transformation parameter ⁇ includes 7 estimated calibration parameter values
- y-axis rotation transformation parameter ⁇ includes 7 estimated calibration parameter values
- z-axis rotation transformation parameter ⁇ includes 15 estimated calibration parameter values
- Select a parameter value from the parameter value set corresponding to each category for example, select -3pi/8 from the parameter value set corresponding to the x-axis rotation transformation parameter ⁇ , and select from the parameter value set corresponding to the y-axis rotation transformation parameter ⁇ -3pi/8, select -7pi/8 from the parameter value set corresponding to the z-axis rotation transformation parameter ⁇ to form a set of estimated calibration parameters ⁇ -3pi/8, -3pi/8, -7pi/8 ⁇ .
- traverse all the combinations of parameter values and you can get 7*7*15 sets of estimated calibration parameters.
- the electronic device can determine the parameter value set corresponding to each type of estimated calibration parameter according to the value range of each type of estimated calibration parameter and the first preset step size, so that it can The set of parameter values corresponding to the calibration parameters form multiple sets of estimated calibration parameters.
- Step S502 Based on the acquired scan data of the calibration object and the multiple sets of estimated calibration parameters, predict the predicted size of the calibration object under each set of estimated calibration parameters.
- Step S503 For each set of estimated calibration parameters, calculate a deviation value between the predicted size of the calibration object predicted under the set of estimated calibration parameters and the calibrated size of the calibration object.
- the method for determining the predicted size by the electronic device and determining the deviation value may refer to the embodiment shown in FIG. 4 , which will not be repeated here.
- Step S504 Determine the minimum deviation value among the deviation values corresponding to each group of estimated calibration parameters, and use the group of estimated calibration parameters corresponding to the minimum deviation value as a candidate calibration parameter group.
- the electronic device may determine the minimum deviation value with reference to the method in the embodiment shown in FIG. 4 .
- the difference from the embodiment shown in Figure 4 is that this embodiment does not directly use the estimated calibration parameter corresponding to the minimum deviation value as the target calibration parameter, but on the basis of the estimated calibration parameter corresponding to the minimum deviation value, and then re- Determine a new set of estimated calibration parameters.
- the electronic device may use a set of estimated calibration parameters corresponding to the minimum deviation value as a set of candidate calibration parameters, and then determine multiple sets of new estimated calibration parameters according to the method in steps S505-S506.
- Step S505 For each type of estimated calibration parameter, based on the estimated calibration parameter value corresponding to this type of estimated calibration parameter in the candidate calibration parameter group and the second preset step size corresponding to this type of estimated calibration parameter, determine The set of parameter values corresponding to the estimated calibration parameters of this type. Wherein, the second preset step size is smaller than the first preset step size.
- the electronic device may use the estimated calibration parameter value corresponding to this type of estimated calibration parameter in the candidate calibration parameter group as a reference, and use the estimated calibration parameter value corresponding to this type of estimated calibration parameter
- the corresponding second preset step size is an interval, and the value is taken in the directions of numerical increase and numerical decrease respectively to obtain a preset number of estimated calibration parameter values as a set of parameter values corresponding to this type of estimated calibration parameter.
- the set of parameter values corresponding to ⁇ can be determined based on “-pi/8” respectively, and according to “pi/ 8" as the reference to determine the parameter value set corresponding to ⁇ , and determine the parameter value set corresponding to ⁇ based on "pi/4" as the reference.
- the electronic device For each type of estimated calibration parameter, in addition to the reference in the candidate calibration parameter group, the electronic device also presets a second preset step size corresponding to each type of candidate calibration parameter, and a preset number corresponding to each type of candidate calibration parameter .
- the second preset step size is smaller than the first preset step size, for example, it can be 1/10, 1/5, 1/2, etc. of the first preset step size; the preset number can be set by the user, for example, 5 , 10, etc. Therefore, based on the estimated calibration parameter values corresponding to this type of estimated calibration parameter in the candidate calibration parameter group, the value can be increased and decreased respectively at the interval of the second preset step size corresponding to this type. , to obtain a preset number of estimated calibration parameter values.
- the preset numbers corresponding to different types of candidate calibration parameters may be the same or different.
- the corresponding parameter value among the candidate calibration parameters is -pi/8.
- the second preset step size can be pi/16, and the preset number M can be 5 (including the parameter value in the candidate calibration parameter), then take 2 parameter values to increase and decrease the value respectively, and obtain the parameter value including the candidate calibration 5 parameter values including the parameter value in the parameter, get the parameter value set ⁇ -4pi/16, -3pi/16, -2pi/16, -pi/16, 0 ⁇ .
- a similar method can also be used to determine the corresponding set of parameter values, which will not be repeated here.
- Step S506 Based on the parameter value sets corresponding to various estimated calibration parameters, multiple sets of new estimated calibration parameters are formed; wherein, the estimated calibration parameter values contained in the multiple sets of new estimated calibration parameters are not completely the same.
- the method for the electronic device to determine multiple sets of new estimated calibration parameters according to the set of parameter values is similar to step S5012. That is, when determining each new set of estimated calibration parameters, one estimated calibration parameter value is selected from the set of parameter values corresponding to each type of estimated calibration parameter, and all combinations are traversed in a similar way to form multiple Set new estimated calibration parameters.
- Step S507 Based on the multiple sets of new estimated calibration parameters, re-execute the calibration based on the obtained scan data of the calibration object and the multiple sets of estimated calibration parameters, and predict the calibration under each set of estimated calibration parameters.
- step S502 may be performed again: based on the acquired scan data of the calibration object and the multiple sets of estimated calibration parameters, predict the The predicted size of the calibration object under the estimated calibration parameters; and step S503, for each set of estimated calibration parameters, calculate the predicted size of the calibration object predicted under the set of estimated calibration parameters, and the calibration object The deviation value between the calibrated dimensions.
- step S503 after step S503 is performed for the second time to determine the deviation values corresponding to multiple sets of new estimated calibration parameters, the minimum deviation value among the deviation values corresponding to multiple sets of new estimated calibration parameters may be determined again, and The minimum deviation value is compared with a preset threshold. If the minimum deviation value is less than the preset threshold value, a set of estimated calibration parameters corresponding to the minimum deviation value is determined as the target calibration parameter; if the minimum deviation value is greater than or equal to the preset threshold value, it can be considered that the system calibration error is too large, and re-calibrate the system. For example, after adjusting the placement position of the calibration object, adjusting the motion speed of the motion mechanism, etc., the system calibration can be performed again according to the method described in the above embodiment.
- the prediction of the predicted size of the calibration object under each set of estimated calibration parameters based on the obtained scan data of the calibration object and the multiple sets of estimated calibration parameters includes:
- Step S4011 For each set of estimated calibration parameters, perform specified calculations on the set of estimated calibration parameters and each scan data obtained when the line laser device scans each calibration object to obtain each calibration
- the predicted coordinates corresponding to the object under the set of estimated calibration parameters, the predicted coordinates are coordinates based on the first coordinate system.
- the electronic device may use each set of estimated calibration parameters as an operation parameter in a specified operation, and then perform specified operations on the scan data to obtain the corresponding predicted coordinates of each calibration object under the set of estimated calibration parameters.
- each set of estimated calibration parameters may include: x-axis rotation transformation parameter ⁇ , y-axis rotation transformation parameter ⁇ , z-axis rotation transformation parameter ⁇ , x-axis rotation transformation parameter ⁇ between the first coordinate system and the second coordinate system.
- the electronic device can determine a rotation transformation matrix R by estimating the rotation transformation parameter ⁇ of the x-axis, the rotation transformation parameter ⁇ of the y-axis, and the rotation transformation parameter ⁇ of the z-axis in the calibration parameters, as shown in formula (1) .
- the coordinate information in the scan data is recorded as (x1, y1, z1), and each number r11, r12, r13, r21, r22 in the rotation transformation matrix determined based on the above formula (1) , r23, r31, r32, r33, combined with the x-axis translation transformation parameter tx, y-axis translation transformation parameter ty, and z-axis translation transformation parameter tz in the estimated calibration parameters, calculate through the following formula (2) to obtain a candidate Predict coordinates x2, y20 and z2.
- the coordinates in the moving direction of the moving mechanism (that is, the y-axis direction in the moving mechanism) determined by it are constant, and it is necessary to combine the time information in the scanning data with the prediction Estimate the speed of the motion mechanism in the calibration parameters to further determine the coordinate value y2 of the y-axis in the predicted coordinates, for example, it can be calculated by formula (3).
- the first set of scanning data is the scanning data output when the line laser device scans to the first position of the calibrated object.
- the above formula is applicable to the case where the y-axis direction in the coordinate system of the motion mechanism is consistent with the motion direction of the motion mechanism.
- the velocity components in each direction can also be calculated according to the angle difference between the motion direction and the coordinate system, and then combined with the above formula to determine the predicted coordinates corresponding to the calibration object. Therefore, in practical applications, the electronic device may choose other methods for determining the predicted coordinates of the calibration object according to the actual situation, which will not be repeated here.
- Step S4012 According to the predicted coordinates corresponding to each calibration object, predict the predicted size of each calibration object in the at least one calibration object under the set of estimated calibration parameters.
- the predicted coordinates corresponding to each scan data may be determined. Since the scanning range of the line laser equipment is a plane, the obtained scanning data is the data of each point on the line intersecting the line laser plane (that is, the points on the contour of the calibration object), and the predicted coordinates obtained from this are also on the contour of the calibration object. The coordinates of the point. Therefore, based on the coordinates of each contour point obtained during the scanning process, the complete contour of the calibration object can be determined. For example, if the calibration object is a cuboid, the coordinates of each vertex of the cuboid can be determined.
- the predicted size of the calibration object can be determined according to the above predicted coordinates.
- the length, width and height of the cuboid can be determined according to the coordinates of the vertices of the cuboid.
- the moving speed of the moving mechanism is also used as a calibration parameter for system calibration, that is, the determined target calibration parameters for system calibration may include transformation parameters of coordinate axes and moving speed of the moving mechanism. That is to say, while determining the target calibration parameters through this embodiment, the transformation parameters and movement speed of the coordinate axes can also be determined.
- the calibration board when the calibration board is used for system calibration, at least two images need to be collected by the calibration board moving with the motion mechanism, and the coordinates of the designated points on the calibration board under the coordinate system of the motion mechanism need to be measured separately when the two images are collected.
- the method of this embodiment does not need to separately calculate the transformation parameters of the coordinate axes and the movement speed of the movement mechanism, which simplifies the process of system calibration and improves the efficiency.
- the embodiment shown in FIG. 7 is completed.
- the predicted size of each calibration object can be determined for each group of estimated calibration parameters.
- the embodiment shown in FIG. 4 or FIG. 5 can be used to calculate the deviation value corresponding to each group of estimated calibration parameters, so as to determine the target calibration parameters.
- the present application also provides embodiments of a system calibration device for line laser equipment.
- Embodiments of the system calibration device for line laser equipment in the present application can be applied to electronic equipment.
- the device embodiments can be implemented by software, or by hardware or a combination of software and hardware. Taking software implementation as an example, as a device in a logical sense, it is formed by reading the corresponding computer program instructions in the non-volatile memory into the memory for operation by the processor of the electronic device where it is located.
- FIG. 8 it is a hardware structure diagram of the electronic equipment where the system calibration device of the line laser equipment of the present application is located, except for the processor, memory, network interface, and non-volatile
- the electronic device where the device in the embodiment is located usually may also include other hardware according to the actual function of the electronic device, which will not be repeated here.
- Fig. 9 is a block diagram of a system calibration device for a line laser device shown in an exemplary embodiment of the present application.
- the system calibration device 900 of the line laser equipment can be applied in the electronic equipment shown in FIG. 8, the system calibration method of the line laser equipment is used to calibrate the relationship between the line laser equipment and the movement mechanism , at least one calibration object is set on the motion mechanism, the calibration size of the at least one calibration object in the first coordinate system is known, the first coordinate system is the coordinate system where the motion mechanism is located, and the at least A calibration object is outside the range of the laser line area where the laser line output by the line laser equipment is located at the initial position of the movement mechanism, and the device includes:
- the scan data acquisition unit 901 is configured to obtain the at least one calibration object scanned by the line laser device at different scanning time points during the process of the movement mechanism driving the at least one calibration object through the range of the laser line area. Scanning data of objects; wherein, for each of the at least one calibration object, the scan data includes scanning time information and at least one position point on the calibration object scanned by the line laser device Coordinate information in the second coordinate system; the second coordinate system is the coordinate system where the line laser equipment is located;
- a calibration parameter determination unit 802 configured to predict the at least one calibration object based on the obtained scan data of the at least one calibration object and estimated multiple sets of estimated calibration parameters used for system calibration of the line laser equipment The predicted size of each calibration object in the at least one calibration object, and according to the predicted size of each calibration object in the at least one calibration object, and the calibration size of each calibration object in the at least one calibration object, from the plurality of groups of estimated calibration Parameters determine the target calibration parameters used for system calibration of the line laser equipment.
- the prediction size determining unit 802 is specifically configured to:
- each calibration object in the at least one calibration object based on the scan data of the calibration object and the multiple sets of estimated calibration parameters, predict each set of estimated calibration parameters in the multiple sets of estimated calibration parameters described below Calibrate the predicted size of the object;
- each set of estimated calibration parameters in the multiple sets of estimated calibration parameters and each calibration object in the at least one calibration object calculate the predicted size of the calibration object predicted under the set of estimated calibration parameters, and the calculated The deviation value between the calibration sizes of the calibration objects, and based on the deviation value between the predicted size of each calibration object in the at least one calibration object predicted under the set of estimated calibration parameters and the corresponding calibration size, determine The deviation value corresponding to the set of estimated calibration parameters;
- the prediction size determining unit 802 is specifically configured to:
- each set of estimated calibration parameters in the multiple sets of estimated calibration parameters includes Describe the estimated calibration parameter values corresponding to the various estimated calibration parameters;
- each calibration object in the at least one calibration object based on the scan data of the calibration object and the multiple sets of estimated calibration parameters, predict each set of estimated calibration parameters in the multiple sets of estimated calibration parameters described below Calibrate the predicted size of the object;
- Multiple sets of new estimated calibration parameters are formed based on the parameter value sets corresponding to the various estimated calibration parameters; wherein, the estimated calibration parameter values contained in the multiple new sets of estimated calibration parameters are not completely the same ;
- the prediction size determination unit 802 determines the multiple sets of estimated calibration parameters based on the value ranges corresponding to various estimated calibration parameters and the first preset step size, specifically for:
- the multiple sets of estimated calibration parameters are formed; wherein, the estimated calibration parameter values included in the multiple sets of estimated calibration parameters are not completely the same.
- the predictive size determination unit 802 implements a second preset step based on the estimated calibration parameter value corresponding to this type of estimated calibration parameter in the candidate calibration parameter group and the second preset step corresponding to this type of estimated calibration parameter.
- the parameter value set corresponding to this type of estimated calibration parameter it is specifically used for:
- the estimated calibration parameter value corresponding to this type of estimated calibration parameter in the candidate calibration parameter group is used as a reference, and the second preset step size corresponding to this type of estimated calibration parameter is Intervals, taking values in the direction of numerical increase and numerical decrease, respectively, to obtain a preset number of estimated calibration parameter values, as a parameter value set corresponding to this type of estimated calibration parameter; wherein, the second preset step size is less than The first preset step size corresponding to this type of estimated calibration parameter.
- the prediction size determination unit 802 is specifically configured to:
- Each group of estimated calibration parameters in the M groups of estimated calibration parameters is formed by the following method: one estimated calibration parameter value is selected from the set of parameter values corresponding to each type of estimated calibration parameter in the N types of estimated calibration parameters .
- the predicted size determination unit 802 based on the scan data of the calibration object and the multiple sets of estimated calibration parameters, predicts the size of each set of estimated calibration parameters in the multiple sets of estimated calibration parameters.
- it is specifically used for:
- For each set of estimated calibration parameters in the multiple sets of estimated calibration parameters perform a specified operation on the set of estimated calibration parameters and the obtained scan data output when the line laser device scans the calibration object, to obtain the Calibrate the predicted coordinates corresponding to the set of estimated calibration parameters of the object, the predicted coordinates are coordinates based on the first coordinate system;
- the predicted size of the calibration object under the set of estimated calibration parameters is predicted.
- the predicted size determining unit 802 when implementing the deviation value between the predicted size of each calibration object in the at least one calibration object predicted under the set of estimated calibration parameters and the corresponding calibration size, Determine the deviation value corresponding to the group of estimated calibration parameters, specifically for:
- the deviation value of the calibration object is used as the deviation value corresponding to the set of estimated calibration parameters
- the sum of the deviation values corresponding to the multiple calibration objects is used as the deviation value corresponding to the set of estimated calibration parameters.
- each of the at least one calibrated object includes at least one specified side; the calibrated size includes a calibrated side length of each specified side in the at least one specified side; the predicted size includes the The predicted side length of each specified side in at least one specified side; the predicted size determination unit 802, when realizing the calculation of the predicted size of the calibration object predicted under the set of estimated calibration parameters, and the calibration size of the calibration object When the deviation value between the specific is used:
- the calibration object is a cuboid
- the specified sides include the length, width and height of the cuboid.
- each set of estimated calibration parameters in the multiple sets of estimated calibration parameters includes: an x-axis rotation transformation parameter ⁇ between the first coordinate system and the second coordinate system, and a y-axis rotation transformation parameter ⁇ .
- the predicted size determination unit 802 performs a specified operation on the set of estimated calibration parameters and the obtained scanning data output by the line laser device when scanning the calibration object, and obtains the calibration object in the set of estimated dimensions. When calibrating the corresponding predicted coordinates under the parameters, it is specifically used for:
- the rotation transformation matrix is determined by the following formula:
- the predicted coordinates (x2, y2, z2) are determined by the following formula:
- (x1, y1, z1) is the coordinate information in the scan data corresponding to the calibration object
- ⁇ T is the time difference between the time information corresponding to the scan data corresponding to the calibration object and the time information corresponding to the first set of scan data.
- the device embodiment since it basically corresponds to the method embodiment, for related parts, please refer to the part description of the method embodiment.
- the device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this application. It can be understood and implemented by those skilled in the art without creative effort.
- a typical implementing device is a computer, which may take the form of a personal computer, laptop computer, cellular phone, camera phone, smart phone, personal digital assistant, media player, navigation device, e-mail device, game control device, etc. desktops, tablets, wearables, or any combination of these.
- the present application further provides a system calibration device for a line laser device, which includes: a processor and a memory for storing machine-executable instructions.
- the processor and the memory are usually connected to each other by an internal bus.
- the device may further include an external interface, so as to be able to communicate with other devices or components.
- the processor is prompted to:
- the scanning data of the line laser device scanning the at least one calibration object at different scanning time points are obtained; wherein, For each calibration object in the at least one calibration object, the scan data includes scanning time information and coordinate information of at least one position point on the calibration object scanned by the line laser device in the second coordinate system ;
- the second coordinate system is the coordinate system where the line laser equipment is located;
- the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the following steps are implemented :
- the scanning data of the line laser device scanning the at least one calibration object at different scanning time points are obtained; wherein , for each of the at least one calibration object, the scan data includes scanning time information, and at least one position point on the calibration object scanned by the line laser device in the second coordinate system Coordinate information; the second coordinate system is the coordinate system where the line laser equipment is located;
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Abstract
Description
Claims (12)
- 一种线激光设备的***标定方法,所述线激光设备的***标定方法用于标定所述线激光设备和运动机构之间的关系,所述运动机构上设置了至少一个标定物体,所述至少一个标定物体在第一坐标系下的标定尺寸已知,所述第一坐标系为所述运动机构所在的坐标系,所述至少一个标定物体在所述运动机构的初始位置处于所述线激光设备输出的激光线所处的激光线区域范围之外,所述方法包括:在所述运动机构带动所述至少一个标定物体穿过所述激光线区域范围的过程中,获得所述线激光设备在不同扫描时间点下扫描所述至少一个标定物体时的扫描数据;其中,针对所述至少一个标定物体中的每个标定物体,所述扫描数据包括扫描时间信息、以及所述线激光设备扫描到的该标定物体上的至少一个位置点在第二坐标系下的坐标信息;所述第二坐标系为所述线激光设备所处的坐标系;依据已获得的所述至少一个标定物体的扫描数据、以及预估的用于所述线激光设备***标定的多组预估标定参数,预测所述至少一个标定物体中每个标定物体的预测尺寸,并依据所述至少一个标定物体中每个标定物体的预测尺寸、以及所述至少一个标定物体中每个标定物体的标定尺寸,从所述多组预估标定参数中确定用于所述线激光设备***标定的目标标定参数。
- 根据权利要求1所述的方法,其特征在于,依据已获得的所述至少一个标定物体的扫描数据、以及预估的用于所述线激光设备***标定的多组预估标定参数,预测所述至少一个标定物体中每个标定物体的预测尺寸,并依据所述至少一个标定物体中每个标定物体的预测尺寸、以及所述至少一个标定物体中每个标定物体的标定尺寸,从所述多组预估标定参数中确定用于所述线激光设备***标定的目标标定参数,包括:针对所述至少一个标定物体中每个标定物体,基于该标定物体的扫描数据、以及所述多组预估标定参数,预测所述多组预估标定参数中每组预估标定参数下该标定物体的预测尺寸;针对所述多组预估标定参数中每组预估标定参数和所述至少一个标定物体中每个标定物体,计算该组预估标定参数下预测出的该标定物体的预测尺寸、与该标定物体的标定尺寸之间的偏差值,并基于在该组预估标定参数下预测的所述至少一个标定物体中每个标定物体的预测尺寸与对应的标定尺寸之间的偏差值,确定该组预估标定参数对应的偏差值;确定所述多组预估标定参数对应的偏差值中的最小偏差值,并将所述最小偏差值对应的一组预估标定参数作为目标标定参数。
- 根据权利要求1所述的方法,其特征在于,依据已获得的所述至少一个标定物体的扫描数据、以及预估的用于所述线激光设备***标定的多组预估标定参数,预测所述至少一个标定物体中每个标定物体的预测尺寸,并依据所述至少一个标定物体中每个标定物体的预测尺寸、以及所述至少一个标定物体中每个标定物体的标定尺寸,从所述多组预估标定参数中确定用于所述线激光设备***标定的目标标定参数,包括:基于各类预估标定参数分别对应的取值范围和第一预设步长,确定所述多组预估标定参数;其中,所述多组预估标定参数中每组预估标定参数包括与所述各类预估标定参数分别对应的预估标定参数值;针对所述至少一个标定物体中每个标定物体,基于该标定物体的扫描数据、以及所述多组预估标定参数,预测所述多组预估标定参数中每组预估标定参数下该标定物体的预测尺寸;针对所述多组预估标定参数中每组预估标定参数,计算该组预估标定参数下预测出的该标定物体的预测尺寸、与该标定物体的标定尺寸之间的偏差值,并基于在该组预估标定参数下预测的所述至少一个标定物体中每个标定物体的预测尺寸与对应的标定尺寸之间的偏差值,确定该组预估标定参数对应的偏差值;确定所述多组预估标定参数对应的偏差值中的最小偏差值,并将所述最小偏差值对应的一组预估标定参数作为候选标定参数组;针对所述每类预估标定参数,基于所述候选标定参数组中与该类预估标定参数对应的预估标定参数值、和与该类预估标定参数对应的第二预设步长,确定该类预估标定参数对应的参数值集合;其中,所述第二预设步长小于与该类预估标定参数对应的第一预设步长;基于所述各类预估标定参数对应的参数值集合,形成多组新的预估标定参数;其中,所述多组新的预估标定参数所包含的预估标定参数值不完全相同;基于所述多组新的预估标定参数,重新执行针对所述至少一个标定物体中每个标定物体,基于该标定物体的扫描数据、以及所述多组预估标定参数,预测所述多组预估标定参数中每组预估标定参数下该标定物体的预测尺寸的步骤;以及针对所述多组预估标定参数中每组预估标定参数,计算该组预估标定参数下预测出的该标定物体的预测尺寸、与该标定物体的标定尺寸之间的偏差值,基于在该组预估标定参数下预测的所述至少一个标定物体中每个标定物体的预测尺寸与对应的标定尺寸之间的偏差值,确定该组预估标定参数对应的偏差值,以及确定所述多组预估标定参数对应的偏差值中的最小偏差值的步骤;若重新确定出的最小偏差值小于预设阈值,则将所述重新确定的最小偏差值对应的一组预估标定参数作为目标标定参数。
- 根据权利要求3所述的方法,其特征在于,所述基于各类预估标定参数对应的取值范围和第一预设步长,确定所述多组预估标定参数,包括:针对所述每类预估标定参数,确定该类预估标定参数的取值范围和第一预设步长,并依据该第一预设步长从该取值范围内选择出至少一个预估标定参数值,形成该类预估标定参数对应的参数值集合;基于所述各类预估标定参数对应的参数值集合,形成所述多组预估标定参数;其中,所述多组预估标定参数所包含的预估标定参数值不完全相同;基于所述候选标定参数组中与该类预估标定参数对应的预估标定参数值、和与该类预估标定参数对应的第二预设步长,确定该类预估标定参数对应的参数值集合,包括:针对所述每类预估标定参数,以所述候选标定参数组中与该类预估标定参数对应的预估标定参数值为基准、以与该类预估标定参数对应的第二预设步长为间隔,分别向数值增大和数值减小方向取值,得到预设数量的预估标定参数值,作为与该类预估标定参数对应的参数值集合;其中,所述第二预设步长小于与该类预估标定参数对应的第一预设步长。
- 根据权利要求3或4所述的方法,其特征在于,基于所述各类预估标定参数对应的参数值集合,形成所述多组预估标定参数,包括:基于N类预估标定参数对应的参数值集合,形成M组预估标定参数,M=A1*A2*...*AN;其中,Ai(i=1,2,…,N)为第i类预估标定参数对应的参数值集合所包含的参数值数量;所述M组预估标定参数中每组预估标定参数通过如下方法形成:从所述N类预估标定参数中每类预估标定参数对应的参数值集合中各选择一个预估标定参数值。
- 根据权利要求2或3所述的方法,其特征在于,基于该标定物体的扫描数据、以及所述多组预估标定参数,预测所述多组预估标定参数中每组预估标定参数下该标定物体的预测尺寸,包括:针对所述多组预估标定参数中每组预估标定参数,将该组预估标定参数、以及已获得的所述线激光设备扫描该标定物体时输出的扫描数据,进行指定运算,得到该标定物体在该组预估标定参数下对应的预测坐标,所述预测坐标为基于所述第一坐标系的坐标;依据该标定物体在该组预估标定参数下对应的预测坐标,预测在该组预估标定参数下该标定物体的预测尺寸。
- 根据权利要求2或3所述的方法,其特征在于,基于在该组预估标定参数下预测的所述至少一个标定物体中每个标定物体的预测尺寸与对应的标定尺寸之间的偏差值,确定该组预估标定参数对应的偏差值,包括:当所述运动机构上设置有一个标定物体时,将所述一个标定物体的偏差值作为该组预估标定参数对应的偏差值;当所述运动机构上设置有多个标定物体时,将所述多个标定物体对应的偏差值之和,作为该组预估标定参数对应的偏差值。
- 根据权利要求7所述的方法,其特征在于,所述至少一个标定物体中每个标定物体中包括至少一条指定边;所述标定尺寸包括所述至少一条指定边中每条指定边的标定边长;所述预测尺寸包括所述至少一条指定边中每条指定边的预测边长;计算在该组预估标定参数下预测出的该标定物体的预测尺寸、与该标定物体的标定尺寸之间的偏差值,包括:分别计算该标定物体的所述至少一条指定边中每条指定边在该组预估标定参数下的预测边长、与该条指定边的标定边长之间的偏差值,并将该标定物体的所述至少一条指定边对应的偏差值之和,作为该标定物体对应的偏差值。
- 根据权利要求8所述的方法,其特征在于,所述标定物体为长方体,所述指定边包括长方体的长、宽和高。
- 根据权利要求6所述的方法,其特征在于,所述多组预估标定参数中每组所述预估标定参数包括:所述第一坐标系和所述第二坐标系之间的x轴旋转变换参数α、y轴旋转变换参数β、z轴旋转变换参数γ、x轴平移变换参数tx、y轴平移变换参数ty、z轴平移变换参数tz、所述运动机构的运动速度speed;将该组预估标定参数、以及已获得的所述线激光设备扫描该标定物体时输出的扫描数据,进行指定运算,得到该标定物体在该组预估标定参数下对应的预测坐标,包括:针对该组预估标定参数,通过如下公式确定旋转变换矩阵:针对该标定物体对应的扫描数据,基于该组预估标定参数下确定的所述旋转变换矩阵,通过如下公式确定预测坐标(x2,y2,z2):y2=y20+ΔT*speed;其中,(x1,y1,z1)为该标定物体对应的扫描数据中的坐标信息;ΔT为该标定物体对应的扫描数据对应的时间信息与第一组扫描数据对应的时间信息之间的时间差。
- 一种线激光设备的***标定装置,所述线激光设备的***标定装置用于标定所述线激光设备和运动机构之间的关系,所述运动机构上设置了至少一个标定物体,所述至少一个标定物体在第一坐标系下的标定尺寸已知,所述第一坐标系为所述运动机构所在的坐标系,所述至少一个标定物体在所述运动机构的初始位置处于所述线激光设备输出的激光线所处的激光线区域范围之外,所述装置包括:扫描数据获取单元,用于在所述运动机构带动所述至少一个标定物体穿过所述激光 线区域范围的过程中,获得所述线激光设备在不同扫描时间点下扫描所述至少一个标定物体时的扫描数据;其中,针对所述至少一个标定物体中的每个标定物体,所述扫描数据包括与扫描时间点对应的扫描时间信息、以及所述线激光设备扫描到的该标定物体上的至少一个位置点在第二坐标系下的坐标信息;所述第二坐标系为所述线激光设备所处的坐标系;标定参数确定单元,用于依据已获得的所述至少一个标定物体的扫描数据、以及预估的用于所述线激光设备***标定的多组预估标定参数,预测所述至少一个标定物体中每个标定物体的预测尺寸,并依据所述至少一个标定物体中每个标定物体的预测尺寸、以及所述至少一个标定物体中每个标定物体的标定尺寸,从所述多组预估标定参数中确定用于所述线激光设备***标定的目标标定参数。
- 一种电子设备,包括:处理器;用于存储机器可执行指令的存储器;其中,通过读取并执行所述存储器存储的与线激光设备的***标定对应的机器可执行指令,所述处理器被促使实现权利要求1至10中任一项所述的线激光设备的***标定方法。
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