CN114488098A - TOF-based correction test method and system - Google Patents
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Abstract
The invention relates to the technical field of optics, and discloses a correction test method and a system based on TOF (time of flight), which comprises a processor module, and a TOF module, a test tool and a tool regulator which are respectively connected with the processor module; through carrying out three different correction tests to TOF respectively to the performance of comprehensive evaluation present TOF module, whole test procedure not only easy operation, measuring distance are far away, and with low costs, stability is high moreover, has higher security performance. The invention has the advantages of simplifying the test process of the TOF technology and improving the safety of the test process.
Description
Technical Field
The invention relates to the technical field of optics, in particular to a correction test method and system based on TOF.
Background
The time-of-flight technology, namely the TOF technology, specifically refers to that a sensor emits modulated near-infrared light, and reflects the modulated near-infrared light after encountering an object, and the sensor converts the distance of a shot scene by calculating the time difference or phase difference between light emission and reflection to generate depth information.
At present, there are two main types of test schemes based on TOF technology, one is a laser scheme, and the other is a non-laser scheme, where the laser scheme has the advantages of long measurement distance and high accuracy, but the disadvantages are also obvious, and the main disadvantages are: (1) the concentrated energy density is high, with the risk of burning the skin and eyes; (2) the laser transmitter is sensitive to the working temperature, is easy to damage under the high-temperature condition, and has larger variation of luminous intensity and luminous efficiency along with the working temperature; (3) the manufacturing cost is high; (4) and cannot work in a strong light environment.
The other non-laser scheme has relatively low cost, almost no harm to human bodies and normal work at high temperature, but the energy is not easy to concentrate, so that the measuring distance is short, and the non-laser scheme cannot work in a strong illumination environment. In addition, the existing distance measuring method has multiple steps and complex operation when the measured distance of the sensor is corrected and calibrated, has higher requirement on the level of an operator, and is inconvenient for common users to use.
Disclosure of Invention
The invention aims to provide a correction test method and a correction test system based on TOF (time of flight) so as to solve the problems in the process of testing a TOF module by the laser scheme and the non-laser scheme.
In order to achieve the purpose, the invention adopts the following technical scheme: a TOF-based correction testing method comprises the following steps:
step S1, preparing a test tool and a test environment, and performing production line verification and correction;
step S2, respectively carrying out a test under a single material Chart Char, a test under a 3D material Chart Chart and a test under multiple distances on the TOF module;
and step S3, correcting the TOF module according to the test results under the three conditions.
The principle and the advantages of the scheme are as follows: during practical application, line verification and correction are carried out on the TOF module according to a preset method, shooting tests under various conditions are carried out by the TOF module, shooting performance of the TOF module is obtained, and shooting correction is carried out on the TOF module subsequently, so that performance of the TOF module is improved.
Preferably, as an improvement, the testing tool comprises a PC (personal computer), a foot stool, a letter box, a steering engine and a three-side correcting plate; the test environment was a flat white wall.
By adopting the test tool and the test environment, the accuracy and the referential property of the test result can be ensured to the greatest extent, and data support is provided for the performance evaluation of the TOF module.
Preferably, as an improvement, the test under the single sheet material Chart includes the following:
releasing a TOF correction program, determining a first station IQC after the module is assembled, and then carrying out a light equalization test and a focusing test;
and releasing the batch file running program file after the test is finished, and correcting according to a preset first correction scheme.
Through this test, can measure the shooting ability of TOF module to the sola chart to and the even light and the performance of focusing, thereby judge the shooting performance of TOF module under this kind of condition, then rectify the shooting parameter of TOF module according to the shooting result that obtains, thereby improve the image shooting performance of TOF, also can accomplish the test to TOF better.
Preferably, as an improvement, the first correction scheme includes the following:
firstly, determining whether the distance between the wall surface and the TOF module is within a specified range, specifically 60 +/-1.8 centimeters, if so, continuing to confirm the next environment, otherwise, adjusting the distance between the wall surface and the TOF module to be within the specified range;
then determining whether the TOF module is inclined with the wall surface, wherein included angles between the TOF module and the wall surface in x, y and z axes are required to be less than 4 degrees, if the included angles between the TOF module and the wall surface in the x, y and z axes are all within 4 degrees, continuing to confirm the next environment, otherwise, adjusting the included angle between the TOF module and the wall surface to be within 4 degrees;
and finally, determining whether the three-dimensional coordinate is positioned at the right lower part of the checkerboard, wherein the right lower corner of the checkerboard is a white gap, if the three-dimensional coordinate is positioned at the right lower part of the checkerboard, continuing to determine the next environment, and otherwise, rotating the single-material Chart Chart by 180 degrees.
The target is shot within a specified distance range, the wall surface is not inclined, and the three-dimensional coordinate is at the specific lower right corner, so that the shooting performance of the TOF module under the current condition is reflected, and the shooting performance of the TOF module can be effectively improved through the improvement of parameters.
Preferably, as an improvement, the test under the 3D material Chart includes the following:
collecting one original image of each module, enabling the checkerboard to be full of pictures, cutting three surfaces according to lines, and shooting according to a preset shooting rule;
after shooting is finished, testing the shooting result, displaying all the chess grids in the picture by using 3 black-white special material charts, namely Chart chess grids, and confirming that the three panels are all positioned at the inner sides of yellow lines;
if fail appears when the sum result of the shot imaging is reprojError >0.265, confirming that the checkerboard is in the picture, then confirming whether the checkerboard is bent, if not, continuing to confirm the next environment, otherwise, replacing a new checkerboard; then confirming whether the image is fuzzy or not, if the image is not fuzzy, continuing to confirm the next environment, and if not, replacing the TOF module; finally, confirming whether the steering engine shakes or not, if the steering engine does not shake, continuing to confirm the next environment, and if not, fixing the steering engine again;
confirming whether the focal length is wrong or not, wherein the percectErFx shows that the focal length x is wrong, the percectErFy shows that the focal length y is wrong, if the focal length is correct, continuing to confirm the next environment, and if not, adjusting the focal length according to the graph; then confirming whether the three panels are full, if so, continuing to confirm the next environment, otherwise, adjusting the positions of the three panels; finally, whether the checkerboards are bent or not is confirmed, if the checkerboards are not bent, next environment confirmation is continued, and if not, new checkerboards are replaced;
confirming whether the optical axis deviates or not, wherein permercx represents the deviation of the optical axis x, permercy represents the deviation of the optical axis y, if the optical axis does not deviate, the next environment confirmation is continued, and otherwise, the relative positions of the adjusting module and the optical axis up, down, left and right are adjusted; then confirming whether the three panels are full, if so, continuing to confirm the next environment, and otherwise, adjusting the positions of the three panels; and finally, determining whether the checkerboard is bent or not, if not, continuing to determine the next environment, and if not, replacing the new checkerboard.
The shooting performance of the TOF under the condition of the 3D chart is tested according to the steps, and then the parameters of the TOF module under the condition are adjusted through judgment on whether the value of the lens imaging sum result exceeds the standard and judgment on whether the focal length and the optical axis are accurate, so that the image acquisition precision and effect of the TOF module are improved, and the test effect and the shooting effect of the TOF module are improved.
Preferably, as an improvement, the shooting rule is that the three correction plates are arranged perpendicular to each other, the whole picture is covered on the plate surface, the distance between the three correction plates and the lens is 60-80 cm, and one picture is shot each time.
When carrying out 3D diagram test, guarantee that trilateral correction plate mutually perpendicular sets up and all in taking the picture to set up fixed acquisition distance, thereby test out TOF module shooting effect and performance under the current condition through the method of fixed variable, reach the purpose of testing and correcting the TOF module.
Preferably, as an improvement, the test at multiple distances comprises the following:
setting a plurality of testing distances, and shooting and testing the special white small card by utilizing a TOF module;
and after shooting is finished, correcting the test result according to a preset second correction strategy.
Through setting up a plurality of different distances, shoot the test to dedicated white small card under the distance condition of difference, through a plurality of different shooting distances, not only can test out the different image acquisition performance under the different shooting distance of TOF, also can compare out the shooting performance of TOF module under which kind of distance condition best through the mode of controlling other variables to give the most comprehensive test result.
Preferably, as an improvement, the second correction strategy comprises the following:
checking whether the central black square is 60 cm, if so, continuing to confirm the next environment, otherwise, adjusting the black square to 60 cm, and then checking the absolute value distance between the TOF module and each white board;
keeping each distance point aligned with 60 cm, then checking whether the distance plate is skewed, if not, continuing to confirm the next environment, otherwise, righting the position of the small white card;
checking whether the distance plate is in the nine-square grid, if so, continuing to confirm the next environment, otherwise, adjusting the distance plate to the nine-square grid, finally checking whether the distance plates are overlapped, if not, continuing to confirm the next environment, otherwise, adjusting the distance plate to be not overlapped.
By the method, the TOF module is subjected to performance test and correction when being shot at various distances, and the test accuracy and shooting performance of the TOF module under the condition of multi-distance test can be accurately judged.
The invention also provides a correction test system based on TOF, which comprises a processor module, and a TOF module, a test tool and a tool regulator which are respectively connected with the processor module;
the TOF module is used for shooting a test photo and transmitting the test photo to the processor module;
the test tool is used for providing a test component for the performance test of the TOF;
the tool adjuster is used for adjusting the test tool in the test process and keeping the correct working state of the test tool;
the processor module comprises a photo analysis unit and a parameter adjusting unit, wherein the photo analysis unit is used for analyzing and processing the shot test photo and judging whether the current test is qualified; and the parameter adjusting unit is used for adjusting the test parameters of the TOF in real time according to the analysis result of the test picture.
Through this test system, can accurately accomplish the capability test to the TOF module high-efficiently, can also rectify according to the test result simultaneously, revise test work and test environment's error parameter to guarantee to the test accuracy of TOF module, also can improve the shooting performance of TOF module through the mode of constantly rectifying, the at utmost guarantees the test effect to the module.
Preferably, as an improvement, the test device further comprises a display module, and the display module is used for synchronously displaying the test picture and the corresponding TOF test parameter.
Through the display module who sets up, will test photo and test parameter synchronous display, not only make things convenient for the tester to look over the test procedure, also be convenient for simultaneously in the test procedure to test parameter and test tool rectify, guarantee the test effect to the TOF module.
Drawings
Fig. 1 is a schematic test flow diagram of a TOF-based calibration test method according to a first embodiment of the present invention.
Fig. 2 is a schematic diagram of a three-plane calibration board according to an embodiment of a calibration testing method based on TOF of the invention.
Fig. 3 is a system diagram of a TOF-based calibration testing system according to a first embodiment of the invention.
Detailed Description
The following is further detailed by way of specific embodiments:
the reference numbers in the drawings of the specification include: the device comprises a processor module 1, a TOF module 2, a test tool 3, a tool adjustor 4, a photo analysis unit 5, a parameter adjusting unit 6 and a display module 7.
The first embodiment is as follows:
this embodiment is substantially as shown in figure 1: a TOF-based correction testing method comprises the following steps:
step S1, preparing a test tool 3 and a test environment, and performing production line verification and correction;
step S2, performing a test under a single sheet material Chart Char (i.e., a paper material Chart with a pattern having a high reflectivity or a film material Chart with a high transmittance), a test under a 3D material Chart Char, and a test under multiple distances, respectively, on the TOF module 2;
and step S3, correcting the TOF module 2 according to the test results under the three conditions.
The test tool 3 comprises a PC, a foot rest, a letter box, a steering engine and a three-surface correcting plate; and when the test environment is a flat white wall surface and the test is carried out under the Chart of single material Chart Chart, releasing a TOF correction program release program, determining a first station IQC after the module is assembled, and carrying out uniform light test and focusing test.
As shown in fig. 2, the three-sided correction plate is a checkerboard plate with three alternating black and white sides, and the three checkerboard plates are perpendicular to each other.
During the light equalization test, according to ROI _0, ROI _1, ROI _2, ROI _3 and ROI _4, the light intensity of five regions is checked, the shooting distance is 60 cm, a checkerboard is placed in the center of a picture, the normal range of the light intensity is about 400 +/-100, and when the light equalization display fail indicates display error, whether the module is dark or light equalization deviation is confirmed.
During focusing test, sampling is carried out according to the five ROI, and when the focusing average value is less than 13.5, fail is displayed, whether an image is fuzzy or not is confirmed, and whether a steering engine shakes or not is confirmed; and displaying fail when the focusing score is less than 0.9, confirming whether the ROI distribution of the checkerboard is in the checkerboard, and then confirming whether the image is fuzzy and whether the steering engine shakes.
Releasing a batch file running program file after the test is finished, correcting according to a preset first correction scheme, firstly determining whether the distance between the wall surface and the TOF module 2 is within a specified range of 60 +/-1.8 centimeters, if so, continuing to confirm the next environment, otherwise, adjusting the distance between the wall surface and the TOF module 2 to be within the specified range; the included angles of the TOF module 2 and the wall surface in the x axis, the y axis and the z axis are required to be less than 4 degrees, if the included angles of the TOF module 2 and the wall surface in the x axis, the y axis and the z axis are all within 4 degrees, the next environment is continuously confirmed, otherwise, the included angle of the TOF module 2 and the wall surface is adjusted to be within 4 degrees; and finally, determining whether the three-dimensional coordinate is positioned at the right lower part of the checkerboard, wherein the right lower corner of the checkerboard is a white gap, if the three-dimensional coordinate is positioned at the right lower part of the checkerboard, continuing to determine the next environment, and otherwise, rotating the single-material Chart Chart by 180 degrees.
And then testing under a 3D material Chart Chart, collecting one original image of each module, enabling the checkerboard to be full of pictures, cutting three surfaces according to a line, arranging three correction plates in a mutually vertical mode, enabling the plate surfaces to be full of the whole picture, enabling the distance between the three correction plates and a lens to be 60-80 cm, shooting one picture at a time, testing the shooting result after the shooting is finished, displaying all the checkerboard grids in the pictures by utilizing 3 black-white special material charts Chart Chart checkerboard grids, and confirming that the three panels are all on the inner sides of yellow lines.
If fail appears when the sum result of the shot imaging is reprojError >0.265, confirming that the checkerboard is in the picture, then confirming whether the checkerboard is bent, if not, continuing to confirm the next environment, otherwise, replacing a new checkerboard; then confirming whether the image is fuzzy or not, if the image is not fuzzy, continuing to confirm the next environment, and if not, replacing the TOF module 2; finally, confirming whether the steering engine shakes or not, if the steering engine does not shake, continuing to confirm the next environment, and if not, fixing the steering engine again;
confirming whether the focal length is wrong or not, wherein permerfx shows that the focal length x is wrong, permerfy shows that the focal length y is wrong, if the focal length is correct, continuing to confirm the next environment, and otherwise, adjusting the focal length according to the graph; then confirming whether the three panels are full, if so, continuing to confirm the next environment, otherwise, adjusting the positions of the three panels; finally, whether the checkerboards are bent or not is confirmed, if the checkerboards are not bent, next environment confirmation is continued, and if not, new checkerboards are replaced;
confirming whether the optical axis deviates or not, wherein permercx represents the deviation of the optical axis x, permercy represents the deviation of the optical axis y, if the optical axis does not deviate, the next environment confirmation is continued, and otherwise, the relative positions of the adjusting module and the optical axis up, down, left and right are adjusted; then confirming whether the three panels are full, if so, continuing to confirm the next environment, and otherwise, adjusting the positions of the three panels; and finally, determining whether the checkerboard is bent or not, if not, continuing to determine the next environment, and if not, replacing the new checkerboard.
Finally, testing at multiple distances, including 40 cm, 60 cm, 80 cm, 100 cm, 120 cm, 140 cm and 170 cm, wherein the distance error during each distance test is within +/-0.3 cm, testing special white small cards under the 7 different distance conditions, checking whether the central black square is 60 cm, and checking the absolute value distance between the TOF module 2 and the white board at each distance; keeping each distance point aligned with 60 centimeters, namely-20, 0, +20, +40, +60, +80 and +110 centimeters respectively, then checking whether the distance plate is skewed, if not, continuing to confirm next environment, otherwise, righting the position of the small white card, finally checking whether the distance plate is in the nine-grid, if so, continuing to confirm next environment, otherwise, adjusting the distance plate to the nine-grid, finally checking whether the distance plates are overlapped, if not, continuing to confirm next environment, otherwise, adjusting the distance plates to be not overlapped.
As shown in fig. 3, the invention also provides a TOF-based calibration test system using the test method, which comprises a processor module 1, and a TOF module 2, a test tool 3 and a tool adjustor 4 which are respectively connected with the processor module 1;
the TOF module 2 is used for shooting a test picture and transmitting the test picture to the processor module 1;
the test tool 3 is used for providing a test component for the performance test of the TOF;
the tool adjuster 4 is used for adjusting the test tool 3 in the test process and keeping the correct working state of the test tool 3;
the processor module 1 comprises a photo analysis unit 5 and a parameter adjusting unit 6, wherein the photo analysis unit 5 is used for analyzing and processing a test photo obtained by shooting and judging whether the current test is qualified or not; and the parameter adjusting unit 6 is used for adjusting the test parameters of the TOF in real time according to the analysis result of the test picture.
The test system further comprises a display module 7, wherein the display module 7 is used for synchronously displaying the test picture and the corresponding TOF test parameters and displaying the correction test result of the TOF module 2.
The specific implementation process of this embodiment is as follows:
the method comprises the steps of firstly, preparing a testing tool 3 and a testing environment which comprises a PC (personal computer), a foot rest, a confidence box, a steering engine and a three-surface correcting plate, wherein the testing environment is a flat white wall surface, and then respectively testing a single material Chart Chart, a 3D material Chart Chart and multiple distances of a TOF module 2.
Secondly, testing a single material Chart Chart, releasing a TOF correction program release program, determining a first station IQC (incoming material quality control) after the module is assembled, performing light equalization testing, and checking light intensity of five regions according to ROI _0, ROI _1, ROI _2, ROI _3 and ROI _4, wherein the shooting distance is 60 cm, a checkerboard is placed in the center of a picture, the normal range of the light intensity is about 400 +/-100, and when the light equalization display fail indicates display error, whether the module is dark or light equalization deviation is confirmed; performing a focusing test, sampling according to the five ROIs, and displaying fail when the focusing mean value is less than 13.5, determining whether the image is fuzzy and determining whether the steering engine shakes; displaying fail when the focusing score is less than 0.9, confirming whether the ROI distribution of the checkerboard is in the checkerboard, and then confirming whether the image is fuzzy and whether the steering engine shakes; and releasing a batch file running program file after the test is finished, correcting according to a preset first correction scheme, firstly determining whether the distance between the wall surface and the TOF module 2 is within a specified range of 60 +/-1.8 cm, then determining whether the TOF module 2 and the wall surface are inclined, wherein the included angle between the X axis, the Y axis and the Z axis is less than 4 degrees, and finally determining whether the three-dimensional coordinate is positioned at the right lower part of the checkerboard, wherein the lower right corner of the checkerboard is a white gap.
And thirdly, testing the Chart under the 3D material Chart Chart, collecting one original Chart of each module, enabling the checkerboard to be full of pictures, cutting three surfaces according to a line, arranging three correction plates in a mutually vertical mode, enabling the plate surfaces to be full of the whole picture, enabling the distance between the three correction plates and a lens to be 60-80 cm, shooting one picture each time, testing the shooting result after the shooting is finished, utilizing 3 black-white special material charts Chart checkerboards, displaying all the checkerboard grids in the picture, and confirming that the three panels are all on the inner side of a yellow line. If fail appears when the sum result of the lens imaging reprojError is greater than 0.265, confirming that the checkerboard is in the picture, then confirming whether the checkerboard is bent, confirming whether the image is fuzzy, and finally confirming whether the steering engine shakes; confirming that the focal length is wrong, wherein percerefx represents that the focal length x is wrong, and percerefy represents that the focal length y is wrong, confirming whether the three panels are full, and finally confirming whether the checkerboard is bent; confirm the optical axis shift, perfectorrcx stands for the optical axis x shift, perfectorrcy stands for the optical axis y shift, then confirm whether the three panels are full, and finally confirm whether the checkerboard is curved.
Fourthly, testing at multiple distances, including 40 cm, 60 cm, 80 cm, 100 cm, 120 cm, 140 cm and 170 cm, wherein the distance error during testing at each distance is within +/-0.3 cm, testing special white small cards at the 7 different distances, then checking whether the central black square is 60 cm, and checking the absolute value distance between the TOF module 2 and the white board at each distance; keeping each distance point aligned with 60 cm, respectively-20, 0, +20, +40, +60, +80, +110 cm, then checking whether the distance plates are skewed, and finally checking whether the distance plates are within the squared grid and whether the distance plates overlap.
And fifthly, after the three tests are finished, displaying the correction test result of the TOF module 2 in real time through the display module 7.
At present, conventional test schemes based on time of flight (TOF) technology mainly comprise two types, one type is a laser scheme, and the other type is a non-laser scheme, and the two schemes have the inevitable defects, namely high requirements and high risks for a test environment, or the problems that energy is not concentrated, the test distance is short, and the test cannot be applied to a strong illumination environment. These inevitable disadvantages also result in slow development of TOF technology, which is not effectively accelerated.
In the scheme, simple testing tools such as a PC (personal computer), a white wall, a foot rest, a confidence box, a steering engine, a checkerboard and the like are utilized to respectively test the TOF module under a single material Chart Chart, a 3D material Chart Chart and multiple distances, so that the TOF module can be tested under multiple illumination environments, and can also be tested at multiple distances, the testing cost can be effectively reduced, the safety of the testing process is improved, the testing result of the TOF module can be deeper and more accurate, and the testing effect of the TOF technology is ensured.
Compared with the conventional laser scheme and non-laser scheme, the test condition is simplified in the scheme, the mandatory requirements in other two schemes are not met, and the test condition limit of the TOF module is greatly reduced only by adopting the conventional industrial camera and keeping the illumination intensity within a normal value range, so that the popularization of the test method in the scheme is facilitated, and the test can be conveniently completed by a common user; meanwhile, in the scheme, only single Chart, 3D Chart and multi-distance testing are needed to be carried out on the TOF module, and the performance of the TOF module can be effectively and accurately tested.
Example two:
this embodiment is basically the same as the first embodiment, except that: the test system further comprises a cloud data module, wherein the cloud data module is used for uploading the test parameters of the equipment and the test data of the TOF module 2 to a cloud disk for storage, and can call all historical test data for comparison in the subsequent process so as to accurately find the optimal parameter group of the TOF module 2.
The specific implementation process of this embodiment is the same as that of the first embodiment, except that:
and fifthly, after the three tests are completed, the correction test result of the TOF module 2 is displayed in real time through the display module 7, meanwhile, in the test process, the cloud data module is utilized to upload the test parameters of the equipment and all the test data of the TOF module 2 to a cloud disk for storage, all the data are called for comparison when the parameters of the TOF module 2 are determined, and the optimal parameter set of the TOF module 2 is quickly and accurately found.
Through setting up cloud data module and come storage test parameter and test data, not only reduced the data storage pressure of system itself, improved the circulation convenience of data through the mode of cloud storage simultaneously, also can follow-up make the parameter confirm to the TOF module in order to improve TOF module parameter collocation efficiency by carrying out the data contrast fast.
The foregoing is merely an example of the present invention and common general knowledge in the art of designing and/or characterizing particular aspects and/or features is not described in any greater detail herein. It should be noted that, for those skilled in the art, without departing from the technical solution of the present invention, several variations and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (10)
1. A calibration test method based on TOF is characterized in that: the method comprises the following steps:
step S1, preparing a test tool and a test environment, and performing production line verification and correction;
step S2, respectively carrying out a test under a single material Chart Chart, a test under a 3D material Chart Chart and a test under multiple distances on the TOF module;
and step S3, correcting the TOF module according to the test results under the three conditions.
2. The TOF-based correction testing method of claim 1, wherein: the testing tool comprises a PC (personal computer), a foot rest, a letter box, a steering engine and a three-surface correcting plate; the test environment is a flat white wall.
3. The TOF-based correction testing method of claim 1, wherein: the test under the single sheet Chart comprises the following:
releasing a TOF correction program, determining a first station IQC after the module is assembled, and then performing a light equalization test and a focusing test;
and releasing the batch file running program files after the test is finished, and correcting according to a preset first correction scheme.
4. A TOF based correction testing method according to claim 3 wherein: the first correction scheme includes the following:
firstly, determining whether the distance between the wall surface and the TOF module is within a specified range, specifically 60 +/-1.8 centimeters, if so, continuing to confirm the next environment, otherwise, adjusting the distance between the wall surface and the TOF module to be within the specified range;
then determining whether the TOF module is inclined with the wall surface, wherein included angles between the TOF module and the wall surface in x, y and z axes are required to be less than 4 degrees, if the included angles between the TOF module and the wall surface in the x, y and z axes are all within 4 degrees, continuing to confirm the next environment, otherwise, adjusting the included angle between the TOF module and the wall surface to be within 4 degrees;
and finally, determining whether the three-dimensional coordinate is positioned at the right lower part of the checkerboard, wherein the right lower corner of the checkerboard is a white gap, if the three-dimensional coordinate is positioned at the right lower part of the checkerboard, continuing to determine the next environment, and otherwise, rotating the single-material Chart Chart by 180 degrees.
5. The TOF-based correction testing method of claim 1, wherein: the test under the 3D material Chart, includes the following:
collecting one original image of each module, enabling the checkerboard to be full of pictures, cutting three surfaces according to lines, and shooting according to a preset shooting rule;
after shooting is finished, testing the shooting result, displaying all the chess grids in the picture by using 3 black-white special material charts, namely Chart chess grids, and confirming that the three panels are all positioned at the inner sides of yellow lines;
if fail appears when the sum result of the shot imaging is reprojError >0.265, confirming that the checkerboard is in the picture, then confirming whether the checkerboard is bent, if not, continuing to confirm the next environment, otherwise, replacing a new checkerboard; then confirming whether the image is fuzzy or not, if the image is not fuzzy, continuing to confirm the next environment, and if not, replacing the TOF module; finally, confirming whether the steering engine shakes or not, if the steering engine does not shake, continuing to confirm the next environment, and if not, fixing the steering engine again;
confirming whether the focal length is wrong or not, wherein permerfx shows that the focal length x is wrong, permerfy shows that the focal length y is wrong, if the focal length is correct, continuing to confirm the next environment, and otherwise, adjusting the focal length according to the graph; then confirming whether the three panels are full, if so, continuing to confirm the next environment, otherwise, adjusting the positions of the three panels; finally, whether the checkerboards are bent or not is confirmed, if the checkerboards are not bent, next environment confirmation is continued, and if not, new checkerboards are replaced;
confirming whether the optical axis deviates or not, wherein permercx represents the deviation of the optical axis x, permercy represents the deviation of the optical axis y, if the optical axis does not deviate, the next environment confirmation is continued, and otherwise, the relative positions of the adjusting module and the optical axis up, down, left and right are adjusted; then confirming whether the three panels are full, if so, continuing to confirm the next environment, and otherwise, adjusting the positions of the three panels; and finally, determining whether the checkerboard is bent or not, if not, continuing to determine the next environment, and if not, replacing the new checkerboard.
6. The TOF-based correction testing method of claim 5, wherein: the shooting rule is that the three correction plates are arranged perpendicular to each other, the whole picture is distributed on the plate surface, the distance between the three correction plates and the lens is 60-80 cm, and one picture is shot each time.
7. The TOF-based correction testing method of claim 1, wherein: the test at multiple distances includes the following:
setting a plurality of testing distances, and shooting and testing the special white small card by utilizing a TOF module;
and after shooting is finished, correcting the test result according to a preset second correction strategy.
8. The TOF-based correction testing method of claim 7, wherein: the second correction policy includes the following:
checking whether the central black square is 60 cm, if so, continuing to confirm the next environment, otherwise, adjusting the black square to 60 cm, and then checking the absolute value distance between the TOF module and each white board;
keeping each distance point aligned with 60 cm, then checking whether the distance plate is skewed, if not, continuing to confirm the next environment, otherwise, righting the position of the small white card;
checking whether the distance plate is in the nine-square grid, if so, continuing to confirm the next environment, otherwise, adjusting the distance plate to the nine-square grid, finally checking whether the distance plates are overlapped, if not, continuing to confirm the next environment, otherwise, adjusting the distance plate to be not overlapped.
9. A calibration test system based on TOF, characterized by: the system comprises a processor module, a TOF module, a test tool and a tool regulator, wherein the TOF module, the test tool and the tool regulator are respectively connected with the processor module;
the TOF module is used for shooting a test photo and transmitting the test photo to the processor module;
the test tool is used for providing a test component for the performance test of the TOF;
the tool adjuster is used for adjusting the test tool in the test process and keeping the correct working state of the test tool;
the processor module comprises a photo analysis unit and a parameter adjusting unit, wherein the photo analysis unit is used for analyzing and processing the shot test photo and judging whether the current test is qualified; and the parameter adjusting unit is used for adjusting the test parameters of the TOF in real time according to the analysis result of the test picture.
10. A TOF based correction test system according to claim 9 wherein: the test device also comprises a display module, wherein the display module is used for synchronously displaying the test picture and the corresponding TOF test parameters.
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| CN109946681A (en) * | 2019-03-06 | 2019-06-28 | 武汉市聚芯微电子有限责任公司 | A kind of TOF fast calibration device and method |
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| US20210149054A1 (en) * | 2019-11-20 | 2021-05-20 | Beijing Xiaomi Mobile Software Co., Ltd. | Multipath light test device for tof module, depth error measuring method and system |
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