CN114199124B - Coordinate calibration method, device, system and medium based on linear fitting - Google Patents
Coordinate calibration method, device, system and medium based on linear fitting Download PDFInfo
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- 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
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Abstract
The invention provides a coordinate calibration method, a device, a system and a medium based on linear fitting, and relates to the technical field of calibration, wherein the method comprises the steps of obtaining coordinate pairs of an LED chip at a plurality of positions, and determining pixel increment coordinates and world increment coordinates for the coordinate pairs of the LED chip at any two positions; forming a first increment pair from an abscissa in the pixel increment coordinates and an abscissa in the world increment coordinates, and forming a second increment pair from an ordinate in the pixel increment coordinates and an ordinate in the world increment coordinates; performing linear fitting on a plurality of groups of first increment pairs to obtain a first linear function; performing linear fitting on a plurality of groups of the second increment pairs to obtain a second linear function; calibrating the reference pixel coordinates and the reference world coordinates of the platform, and acquiring the pixel coordinates of the LED chip at the current position to determine the world coordinates of the LED chip at the current position; the method and the device can improve the efficiency of coordinate calibration.
Description
Technical Field
The disclosure relates to the technical field of calibration, and in particular relates to a coordinate calibration method, device, system and medium based on linear fitting.
Background
In the process flow of the LED chip production, photoelectric parameter test is required before the LED chip is packaged, then classification and sorting are carried out, and in the subsequent chip packaging process, the arrangement precision requirement of the classified chips is high. The LED quality inspection equipment is required to be adopted to inspect the quality of the chips after classification and sorting; in order to ensure that the LED quality inspection equipment accurately detects the chip arrangement precision, the LED quality inspection equipment must be calibrated before leaving the factory.
However, the precision calibration operation of the LED quality inspection equipment in the prior art is complex, and the current calibration efficiency is very low. Therefore, it is very important to design a simple and convenient precision calibration method.
Disclosure of Invention
The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.
The embodiment of the disclosure provides a coordinate calibration method, a device, a system and a medium based on linear fitting, and aims to provide a reliable and efficient calibration mode to solve the problem of LED chip calibration, and meanwhile, higher precision and robustness can be maintained.
In a first aspect, an embodiment of the present disclosure provides a coordinate calibration method based on linear fitting, including:
the platform is controlled to move so as to drive the LED chips arranged on the platform to be positioned at a plurality of different positions;
acquiring coordinate pairs of the LED chip at a plurality of positions, wherein the coordinate pairs comprise pixel coordinates and world coordinates;
determining pixel increment coordinates and world increment coordinates for the coordinate pairs of the LED chip at any two positions; the pixel increment coordinates represent the change of the LED chip in the pixel coordinates at any two positions, and the world increment coordinates represent the change of the LED chip in the world coordinates at any two positions;
forming a first increment pair from an abscissa in the pixel increment coordinates and an abscissa in the world increment coordinates, and forming a second increment pair from an ordinate in the pixel increment coordinates and an ordinate in the world increment coordinates;
performing linear fitting on a plurality of groups of first increment pairs to obtain a first linear function; performing linear fitting on a plurality of groups of the second increment pairs to obtain a second linear function;
calibrating the reference pixel coordinates and the reference world coordinates of the platform to obtain the pixel coordinates of the LED chip at the current position;
and determining the world coordinate of the LED chip at the current position according to the first linear function, the second linear function, the reference pixel coordinate, the reference world coordinate and the pixel coordinate of the LED chip at the current position.
In some embodiments, the abscissa in the pixel delta coordinates is the abscissa of the first delta pair, and the abscissa in the world delta coordinates is the ordinate of the first delta pair; the ordinate of the pixel increment coordinates is the abscissa of the first increment pair, and the ordinate of the world increment coordinates is the ordinate of the first increment pair.
In some embodiments, the pair of coordinates of the LED chip at any two locations determines a pixel delta coordinate and a world delta coordinate, comprising:
selecting a coordinate pair of the LED chip at any two positions;
performing difference value calculation on pixel coordinates corresponding to the coordinate pairs of any two positions of the LED chip to obtain a plurality of pixel increment coordinates; and carrying out difference value calculation on world coordinates corresponding to the coordinate pairs of any two positions of the LED chip to obtain a plurality of world increment coordinates.
In some embodiments, the formula for calculating the difference value between the pixel coordinates corresponding to the coordinate pairs of any two positions of the LED chip is:
Δu i ＝u i -u j ，Δv i ＝v i -v j ；
the formula for calculating the difference value of the world coordinates corresponding to the coordinate pairs of any two positions of the LED chip is as follows:
Δx i ＝x i -x j ，Δy i ＝y i -y j ；
wherein the pixel coordinate of the LED chip at the ith position is (u) i ,v i ) World coordinates are (x i ,y i ) The method comprises the steps of carrying out a first treatment on the surface of the The pixel coordinate of the LED chip at the j-th position is (u) j ,v j ) World coordinates are (x j ,y j ) The method comprises the steps of carrying out a first treatment on the surface of the i=1, 2,3, n, j=1, 2,3, n; n is the total number of coordinate pairs; deltau i Abscissa, deltav, representing pixel increment coordinates i An ordinate representing pixel increment coordinates; Δx i Axis, Δy, representing world delta coordinates i Representing the ordinate of the world delta coordinates.
In some embodiments, the linear fitting is performed on a plurality of sets of the first increment pairs to obtain a first linear function; performing linear fitting on the plurality of groups of the second increment pairs to obtain a second linear function, including:
obtaining a plurality of sets of said first increments (Deltau i ,Δx i ) Performing linear fitting to obtain a first linear function, wherein the expression of the first linear function is as follows: Δx=a 1 Δu+b 1 ；
Obtaining a plurality of sets of said second increments (Deltav i ,Δy i ) Performing linear fitting to obtain a second linear function, wherein the expression of the second linear function is as follows: Δy=a 2 Δv+b 2 ；
Wherein Deltau is the independent variable of the first linear function, deltax is the dependent variable of the first linear function, deltav is the independent variable of the second linear function, deltay is the dependent variable of the second linear function, a 1 、a 2 Is a linear coefficient, b 2 、b 1 Is constant.
In some embodiments, the world coordinates of the LED chip at the current location are calculated according to the following formula:
x′＝a 1 Δu′+b 1 +x 0 ，y′＝a 2 Δv′+b 2 +y 0 ；
Δu′＝u′-u 0 ，Δv′＝v′-v 0 ；
wherein, (u) 0 ,v 0 ) Representing reference pixel coordinates, (x) 0 ,y 0 ) Representing reference world coordinates, (u ', v') representing pixel coordinates of the LED chip at the current position, and (x ', y') representing world coordinates of the LED chip at the current position.
In a second aspect, an embodiment of the present disclosure further provides a coordinate calibration device based on linear fitting, where the coordinate calibration device based on linear fitting includes:
the control module is used for controlling the platform to move so as to drive the LED chips arranged on the platform to be positioned at a plurality of different positions;
the acquisition module is used for acquiring coordinate pairs of the LED chip at a plurality of positions, wherein the coordinate pairs comprise pixel coordinates and world coordinates;
the incremental coordinate determining module is used for determining pixel incremental coordinates and world incremental coordinates for the coordinate pairs of the LED chip at any two positions; the pixel increment coordinates represent the change of the LED chip in the pixel coordinates at any two positions, and the world increment coordinates represent the change of the LED chip in the world coordinates at any two positions;
the increment pair determining module is used for forming a first increment pair from the abscissa of the pixel increment coordinates and the abscissa of the world increment coordinates, and forming a second increment pair from the ordinate of the pixel increment coordinates and the ordinate of the world increment coordinates;
the linear fitting module is used for performing linear fitting on a plurality of groups of the first increment pairs to obtain a first linear function; performing linear fitting on a plurality of groups of the second increment pairs to obtain a second linear function;
the coordinate acquisition module is used for calibrating the reference pixel coordinate and the reference world coordinate of the platform and acquiring the pixel coordinate of the LED chip at the current position;
and the world coordinate determining module is used for determining the world coordinate of the LED chip at the current position according to the first linear function, the second linear function, the reference pixel coordinate, the reference world coordinate and the pixel coordinate of the LED chip at the current position.
In a third aspect, an embodiment of the present disclosure further provides a coordinate calibration system based on linear fitting, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the linear fitting based coordinate calibration method as described in the first aspect when the computer program is executed.
In a fourth aspect, embodiments of the present disclosure also provide a computer-readable storage medium storing computer-executable instructions for performing the linear fitting-based coordinate calibration method according to the first aspect.
The disclosed embodiments include: the platform is controlled to move so as to drive the LED chips arranged on the platform to be positioned at a plurality of different positions; acquiring coordinate pairs of the LED chip at a plurality of positions, wherein the coordinate pairs comprise pixel coordinates and world coordinates; determining pixel increment coordinates and world increment coordinates for the coordinate pairs of the LED chip at any two positions; the pixel increment coordinates represent the change of the LED chip in the pixel coordinates at any two positions, and the world increment coordinates represent the change of the LED chip in the world coordinates at any two positions; forming a first increment pair from an abscissa in the pixel increment coordinates and an abscissa in the world increment coordinates, and forming a second increment pair from an ordinate in the pixel increment coordinates and an ordinate in the world increment coordinates; performing linear fitting on a plurality of groups of first increment pairs to obtain a first linear function; performing linear fitting on a plurality of groups of the second increment pairs to obtain a second linear function; calibrating the reference pixel coordinates and the reference world coordinates of the platform to obtain the pixel coordinates of the LED chip at the current position; and determining the world coordinate of the LED chip at the current position according to the first linear function, the second linear function, the reference pixel coordinate, the reference world coordinate and the pixel coordinate of the LED chip at the current position.
Additional features and advantages of the disclosure will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the disclosure. The objectives and other advantages of the disclosure will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the disclosed embodiments and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain, without limitation, the disclosed embodiments.
FIG. 1 is a flow chart of a method for linear fitting based coordinate calibration provided in one embodiment of the present disclosure;
FIG. 2 is an effect diagram of coordinate expression of an LED chip in an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of the principle of aperture imaging in an embodiment of the present disclosure;
FIG. 4 is a schematic structural view of a coordinate calibration device based on linear fitting according to one embodiment of the present disclosure;
FIG. 5 is a schematic diagram of a coordinate calibration system based on linear fitting according to one embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the present disclosure more apparent, the present disclosure will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present disclosure.
It should be noted that although functional block division is performed in a device diagram and a logic sequence is shown in a flowchart, in some cases, the steps shown or described may be performed in a different order than the block division in the device, or in the flowchart. The terms first, second and the like in the description, in the claims and in the above-described figures, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order.
As shown in fig. 1, fig. 1 is a flowchart of a coordinate calibration method based on linear fitting according to one embodiment of the present disclosure, in which the method includes, but is not limited to, the following steps:
step S100, controlling the platform to move so as to drive the LED chips arranged on the platform to be positioned at a plurality of different positions;
step S200, coordinate pairs of the LED chip at a plurality of positions are obtained, wherein the coordinate pairs comprise pixel coordinates and world coordinates;
step S300, determining pixel increment coordinates and world increment coordinates for coordinate pairs of the LED chip at any two positions; the pixel increment coordinates represent the change of the LED chip in the pixel coordinates at any two positions, and the world increment coordinates represent the change of the LED chip in the world coordinates at any two positions;
step S400, forming a first increment pair from the abscissa of the pixel increment coordinates and the abscissa of the world increment coordinates, and forming a second increment pair from the ordinate of the pixel increment coordinates and the ordinate of the world increment coordinates;
step S500, performing linear fitting on a plurality of groups of the first increment pairs to obtain a first linear function; performing linear fitting on a plurality of groups of the second increment pairs to obtain a second linear function;
step S600, calibrating the reference pixel coordinates and the reference world coordinates of the platform, and acquiring the pixel coordinates of the LED chip at the current position;
and step S700, determining world coordinates of the LED chip at the current position according to the first linear function, the second linear function, the reference pixel coordinates, the reference world coordinates and the pixel coordinates of the LED chip at the current position.
It should be noted that, referring to fig. 2, the coordinate calibration method based on linear fitting in the present embodiment is applied to an LED quality inspection device, where the LED quality inspection device includes: the platform is used for setting the LED chips to be tested, the controller is used for controlling the platform to move and controlling the camera to shoot images of the platform area, the LED chips are matched and identified by extracting LED chip pictures from the images acquired by the camera, and the specific coordinate positions of the LED chips meeting the requirements in the LED chip images are obtained.
The pixel coordinate system is a coordinate system where the LED chip is read from the camera, and is used for describing the coordinates of the image point (image) imaged by the LED chip on the digital image. The unit is one (number of pixels). The world coordinate system is used to define a three-dimensional world coordinate system in order to describe the location of the LED chip in the real world. The unit is m.
According to the embodiment provided by the disclosure, the first linear function and the second linear function are determined in a linear fitting mode, so that algorithm complexity is reduced, the established first linear function and second linear function can reliably determine the world coordinates of the LED chip at the current position, the field of view of a camera is not required to be adjusted according to the size of the LED chip before calibration, and the coordinate calibration efficiency can be improved; compared with the precision requirement of an active vision camera calibration method on a platform, the hardware cost can be reduced; compared with a nonlinear calibration method, the embodiment provided by the disclosure has better robustness.
As a modification of the above embodiment, in step S400, the abscissa in the pixel increment coordinates is the abscissa of the first increment pair, and the abscissa in the world increment coordinates is the ordinate of the first increment pair; the ordinate of the pixel increment coordinates is the abscissa of the first increment pair, and the ordinate of the world increment coordinates is the ordinate of the first increment pair.
In a modified embodiment, the pair of coordinates of the LED chip at any two positions determines a pixel increment coordinate and a world increment coordinate, comprising:
selecting a coordinate pair of the LED chip at any two positions;
performing difference value calculation on pixel coordinates corresponding to the coordinate pairs of any two positions of the LED chip to obtain a plurality of pixel increment coordinates; and carrying out difference value calculation on world coordinates corresponding to the coordinate pairs of any two positions of the LED chip to obtain a plurality of world increment coordinates.
In an improved embodiment, the formula for calculating the difference value between the pixel coordinates corresponding to the coordinate pairs of any two positions of the LED chip is as follows:
Δu i ＝u i -u j ，Δv i ＝v i -v j ；
the formula for calculating the difference value of the world coordinates corresponding to the coordinate pairs of any two positions of the LED chip is as follows:
Δx i ＝x i -x j ，Δy i ＝y i -y j ；
wherein the pixel coordinate of the LED chip at the ith position is (u) i ,v i ) World coordinates are (x i ,y i ) The method comprises the steps of carrying out a first treatment on the surface of the The pixel coordinate of the LED chip at the j-th position is (u) j ,v j ) World coordinates are (x j ,y j ) The method comprises the steps of carrying out a first treatment on the surface of the i=1, 2,3, n, j=1, 2,3, n; n is the total number of coordinate pairs; deltau i Abscissa, deltav, representing pixel increment coordinates i An ordinate representing pixel increment coordinates; Δx i Axis, Δy, representing world delta coordinates i Representing the ordinate of the world delta coordinates.
In a modified embodiment, the linear fitting is performed on a plurality of groups of the first increment pairs to obtain a first linear function; performing linear fitting on the plurality of groups of the second increment pairs to obtain a second linear function, including:
obtaining a plurality of sets of said first increments (Deltau i ,Δx i ) Performing linear fitting to obtain a first linear function, wherein the expression of the first linear function is as follows: Δx=a 1 Δu+b 1 ；
Obtaining a plurality of sets of said second increments (Deltav i ,Δy i ) Performing linear fitting to obtain a second linear functionThe expression is: Δy=a 2 Δv+b 2 ；
Wherein Deltau is the independent variable of the first linear function, deltax is the dependent variable of the first linear function, deltav is the independent variable of the second linear function, deltay is the dependent variable of the second linear function, a 1 、a 2 Is a linear coefficient, b 2 、b 1 Is constant.
Referring to fig. 3, the inventor has studied by referring to the principle of aperture imaging, that is, the light source is exchanged between upper and lower portions as the light passes through the aperture, but the imaging shape is unchanged and the imaging shape is the same as the shape of the light source. The expression formula is: k=l/L ', where K is the imaging ratio, L is the size of the light source shape, and L' is the size of the imaging shape. Based on this, the inventors reasonably assume that the first increment (Δu i ,Δx i ) A second increment (Deltav i ,Δy i ) The first linear function and the second linear function formed by the embodiment have practical significance.
In a modified embodiment, the world coordinates of the LED chip at the current position are calculated according to the following formula:
x′＝a 1 Δu′+b 1 +x 0 ，y′＝a 2 Δv′+b 2 +y 0 ；
Δu′＝u′-u 0 ，Δv′＝v′-v 0 ；
wherein, (u) 0 ,v 0 ) Representing reference pixel coordinates, (x) 0 ,y 0 ) Representing reference world coordinates, (u ', v') representing pixel coordinates of the LED chip at the current position, and (x ', y') representing world coordinates of the LED chip at the current position.
In addition, referring to fig. 4, in an embodiment, there is also provided a coordinate calibration device based on linear fitting, the coordinate calibration device based on linear fitting including;
the control module 100 is used for controlling the platform to move so as to drive the LED chips arranged on the platform to be positioned at a plurality of different positions;
an obtaining module 200, configured to obtain coordinate pairs of the LED chip at a plurality of positions, where the coordinate pairs include pixel coordinates and world coordinates;
the incremental coordinate determining module 300 is configured to determine a pixel incremental coordinate and a world incremental coordinate for a coordinate pair of the LED chip at any two positions; the pixel increment coordinates represent the change of the LED chip in the pixel coordinates at any two positions, and the world increment coordinates represent the change of the LED chip in the world coordinates at any two positions;
an increment pair determining module 400, configured to form a first increment pair from an abscissa in the pixel increment coordinates and an abscissa in the world increment coordinates, and form a second increment pair from an ordinate in the pixel increment coordinates and an ordinate in the world increment coordinates;
the linear fitting module 500 is configured to perform linear fitting on a plurality of groups of the first increment pairs to obtain a first linear function; performing linear fitting on a plurality of groups of the second increment pairs to obtain a second linear function;
the coordinate acquisition module 600 is used for calibrating the reference pixel coordinate and the reference world coordinate of the platform and acquiring the pixel coordinate of the LED chip at the current position;
the world coordinate determining module 700 is configured to determine world coordinates of the LED chip at the current position according to the first linear function, the second linear function, the reference pixel coordinates, the reference world coordinates, and the pixel coordinates of the LED chip at the current position.
The above described apparatus embodiments are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, referring to fig. 5, an embodiment of the present disclosure further provides a coordinate calibration system based on linear fitting, the coordinate calibration system based on linear fitting including: memory 11, processor 12, and a computer program stored on memory 11 and executable on processor 12.
The processor 12 and the memory 11 may be connected by a bus or other means.
The non-transitory software programs and instructions required to implement the linear fit based coordinate calibration method of the above embodiments are stored in the memory 11, which when executed by the processor 12, perform the linear fit based coordinate calibration method of the above embodiments.
In addition, an embodiment of the present disclosure further provides a computer readable storage medium storing computer executable instructions that are executed by a processor or controller, for example, by one of the above-described electronic device embodiments, and that cause the above-described processor to perform the linear fitting-based coordinate calibration method of the above-described embodiment.
Those of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Furthermore, as is well known to those of ordinary skill in the art, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media.
While the preferred embodiments of the present disclosure have been illustrated and described, the present disclosure is not limited to the above-described embodiments, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the present disclosure, and these equivalent modifications and substitutions are intended to be included in the scope of the present disclosure as defined in the appended claims.
Claims (8)
1. The coordinate calibration method based on linear fitting is characterized by comprising the following steps of:
the platform is controlled to move so as to drive the LED chips arranged on the platform to be positioned at a plurality of different positions;
acquiring coordinate pairs of the LED chip at a plurality of positions, wherein the coordinate pairs comprise pixel coordinates and world coordinates;
determining pixel increment coordinates and world increment coordinates for the coordinate pairs of the LED chip at any two positions; the pixel increment coordinates represent the change of the LED chip in the pixel coordinates at any two positions, and the world increment coordinates represent the change of the LED chip in the world coordinates at any two positions;
forming a first increment pair from an abscissa in the pixel increment coordinates and an abscissa in the world increment coordinates, and forming a second increment pair from an ordinate in the pixel increment coordinates and an ordinate in the world increment coordinates;
performing linear fitting on a plurality of groups of first increment pairs to obtain a first linear function; performing linear fitting on a plurality of groups of the second increment pairs to obtain a second linear function;
calibrating the reference pixel coordinates and the reference world coordinates of the platform to obtain the pixel coordinates of the LED chip at the current position;
determining world coordinates of the LED chip at the current position according to the first linear function, the second linear function, the reference pixel coordinates, the reference world coordinates and the pixel coordinates of the LED chip at the current position;
world coordinates of the LED chip at the current position are calculated according to the following formula:
，/>；
，/>；
wherein,,representing reference pixel coordinates, +.>Representing reference world coordinates>Pixel coordinates representing the current position of the LED chip, for example>Representing the world coordinates of the LED chip at the current location.
2. The coordinate calibration method based on linear fitting according to claim 1, wherein the abscissa in the pixel increment coordinates is the abscissa of the first increment pair, and the abscissa in the world increment coordinates is the ordinate of the first increment pair; the ordinate of the pixel increment coordinates is the abscissa of the second increment pair, and the ordinate of the world increment coordinates is the ordinate of the second increment pair.
3. The coordinate calibration method based on linear fitting according to claim 2, wherein the determining the pixel increment coordinates and the world increment coordinates of the coordinate pairs of the LED chips at any two positions comprises:
selecting a coordinate pair of the LED chip at any two positions;
performing difference value calculation on pixel coordinates corresponding to the coordinate pairs of any two positions of the LED chip to obtain a plurality of pixel increment coordinates; and carrying out difference value calculation on world coordinates corresponding to the coordinate pairs of any two positions of the LED chip to obtain a plurality of world increment coordinates.
4. The coordinate calibration method based on linear fitting according to claim 3, wherein the formula for calculating the difference value of the pixel coordinates corresponding to the coordinate pair of any two positions of the LED chip is:
，/>；
the formula for calculating the difference value of the world coordinates corresponding to the coordinate pairs of any two positions of the LED chip is as follows:
，/>；
wherein the pixel coordinate of the LED chip at the ith position isWorld coordinate is +.>The method comprises the steps of carrying out a first treatment on the surface of the The pixel coordinate of the LED chip at the j-th position is +.>World coordinate is +.>；/>，/>The method comprises the steps of carrying out a first treatment on the surface of the n is the total number of coordinate pairs; />Abscissa representing pixel increment coordinates, +.>An ordinate representing pixel increment coordinates; />Abscissa representing world increment coordinates, +.>Representing the ordinate of the world delta coordinates.
5. The coordinate calibration method based on linear fitting according to claim 4, wherein the linear fitting is performed on a plurality of groups of the first increment pairs to obtain a first linear function; performing linear fitting on the plurality of groups of the second increment pairs to obtain a second linear function, including:
acquiring multiple groups of the first incrementPerforming linear fitting to obtain a first linear function, wherein the expression of the first linear function is as follows: />；
Obtaining multiple sets of the second incrementsPerforming linear fitting to obtain a second linear function, wherein the expression of the second linear function is as follows: />；
Wherein,,is an argument of the first linear function, +.>Is a dependent variable of the first linear function, +.>Is an argument of a second linear function, +.>Is a dependent variable of the second linear function, +.>、/>Is a linear coefficient>、/>Is constant.
6. A coordinate calibration device based on linear fitting, characterized in that the coordinate calibration device based on linear fitting comprises:
the control module is used for controlling the platform to move so as to drive the LED chips arranged on the platform to be positioned at a plurality of different positions;
the acquisition module is used for acquiring coordinate pairs of the LED chip at a plurality of positions, wherein the coordinate pairs comprise pixel coordinates and world coordinates;
the incremental coordinate determining module is used for determining pixel incremental coordinates and world incremental coordinates for the coordinate pairs of the LED chip at any two positions; the pixel increment coordinates represent the change of the LED chip in the pixel coordinates at any two positions, and the world increment coordinates represent the change of the LED chip in the world coordinates at any two positions;
the increment pair determining module is used for forming a first increment pair from the abscissa of the pixel increment coordinates and the abscissa of the world increment coordinates, and forming a second increment pair from the ordinate of the pixel increment coordinates and the ordinate of the world increment coordinates;
the linear fitting module is used for performing linear fitting on a plurality of groups of the first increment pairs to obtain a first linear function; performing linear fitting on a plurality of groups of the second increment pairs to obtain a second linear function;
the coordinate acquisition module is used for calibrating the reference pixel coordinate and the reference world coordinate of the platform and acquiring the pixel coordinate of the LED chip at the current position;
the world coordinate determining module is used for determining the world coordinate of the LED chip at the current position according to the first linear function, the second linear function, the reference pixel coordinate, the reference world coordinate and the pixel coordinate of the LED chip at the current position;
world coordinates of the LED chip at the current position are calculated according to the following formula:
，/>；
，/>；
wherein,,representing reference pixel coordinates, +.>Representing reference world coordinates>Pixel coordinates representing the current position of the LED chip, for example>Representing the world coordinates of the LED chip at the current location.
7. A coordinate calibration system based on linear fitting, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the linear fitting based coordinate calibration method according to any one of claims 1 to 5 when executing the computer program.
8. A computer-readable storage medium storing computer-executable instructions for performing the linear fitting-based coordinate calibration method according to any one of claims 1 to 5.
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