WO2021208582A1

WO2021208582A1 - Calibration apparatus, calibration system, electronic device and calibration method

Info

Publication number: WO2021208582A1
Application number: PCT/CN2021/076336
Authority: WO
Inventors: 杨小威
Original assignee: Oppo广东移动通信有限公司
Priority date: 2020-04-15
Filing date: 2021-02-09
Publication date: 2021-10-21
Also published as: CN111473747B; CN111473747A; TW202140996A; TWI799817B

Abstract

A calibration apparatus (10), a calibration system (40) and a calibration method. The calibration apparatus (10) comprises a collimation component (11) and a reflection component (12). A transceiver module (20) comprises a transmitting component (21) and a receiving component (22). The reflection component (12) reflects light collimated by the collimation component (11) to the receiving component (22), the collimated light is parallel to the reflected light, and the light of the receiving component (22) is used to determine the angle between the optical axes of the transmitting component (21) and the receiving component (22).

Description

Calibration device, calibration system, electronic equipment and calibration method

Priority information

This application requests the priority and rights of the patent application with the patent application number 202010293416.2 filed with the State Intellectual Property Office of China on April 15, 2020, and the full text is incorporated herein by reference.

Technical field

This application relates to the field of measurement technology, in particular to a calibration device, a calibration system, electronic equipment, and a calibration method.

Background technique

Time of Flight (TOF) depth cameras can be used to measure the distance from objects in the scene to the camera. A time-of-flight depth camera usually includes a transmitter and a receiver. The transmitter emits modulated light pulses, and the receiver receives the light pulses reflected by the object. In the subsequent algorithm processing, the object can be calculated according to the round-trip time of the light pulse The distance from the camera.

Summary of the invention

The embodiments of the present application provide a calibration device, a calibration system, electronic equipment, and a calibration method.

The calibration device of the embodiment of the present application is used for a transceiver module. The transceiver module includes a transmitting component and a receiving component. The transmitting component is used for transmitting light, and the receiving component is used for receiving the light emitted by the transmitting component and reflected back by an object. The calibration device includes a collimating component and a reflecting component. The collimating component is used to collimate the light emitted by the emitting component. The reflecting component is used to reflect the light collimated by the collimating component into the receiving component, and the light after collimating by the collimating component is parallel to the light reflecting by the reflecting component . The light reflected into the receiving component can be used to determine the angle between the optical axis of the transmitting component and the optical axis of the receiving component.

The calibration system of the embodiment of the present application includes a transceiver module and a calibration device. The transceiver module includes a transmitting component and a receiving component. The calibration device is used to calibrate the included angle between the optical axis of the transmitting component and the optical axis of the receiving component. The calibration device includes a collimating component and a reflecting component. The collimating component is used to collimate the light emitted by the emitting component. The reflecting component is used to reflect the light collimated by the collimating component into the receiving component, and the light after collimating by the collimating component is parallel to the light reflecting by the reflecting component . The light reflected into the receiving component can be used to determine the angle between the optical axis of the transmitting component and the optical axis of the receiving component.

The electronic device of the embodiment of the present application includes a housing and a calibration system. The calibration system is combined with the housing. The calibration system includes a transceiver module and a calibration device. The transceiver module includes a transmitting component and a receiving component. The calibration device is used to calibrate the included angle between the optical axis of the transmitting component and the optical axis of the receiving component. The calibration device includes a collimating component and a reflecting component. The collimating component is used to collimate the light emitted by the emitting component. The reflecting component is used to reflect the light collimated by the collimating component into the receiving component, and the light after collimating by the collimating component is parallel to the light reflecting by the reflecting component . The light reflected into the receiving component can be used to determine the angle between the optical axis of the transmitting component and the optical axis of the receiving component.

The calibration method of the embodiment of the present application is applied to the transceiver module. The transceiver module includes a transmitting component and a receiving component. The transmitting component is used to transmit light, and the receiving component is used to receive the light emitted by the transmitting component and reflected back by an object. The calibration method includes: using a collimating component to collimate the light emitted by the emitting component; using a reflecting component to reflect the light collimated by the collimating component to the receiving component, and the collimating component to collimate The latter light rays are parallel to the light rays reflected by the reflecting component; and determining the distance between the optical axis of the transmitting component and the optical axis of the receiving component according to the light reflected into the receiving component Angle.

The additional aspects and advantages of the embodiments of the present application will be partly given in the following description, and part of them will become obvious from the following description, or be understood through the practice of the present application.

Description of the drawings

The above-mentioned and/or additional aspects and advantages of the present application will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, in which:

Fig. 1 is a schematic diagram of the working principle of a calibration system according to some embodiments of the present application;

Fig. 2 is a schematic diagram of the working principle of the calibration system of some embodiments of the present application;

FIG. 3 is a schematic diagram of a test image acquired by a calibration system according to some embodiments of the present application;

FIG. 4 is a schematic diagram of a test image acquired by a calibration system according to some embodiments of the present application;

Fig. 5 is a schematic diagram of an electronic device according to some embodiments of the present application;

FIG. 6 is a schematic diagram of a scenario where a calibration device moves in an electronic device according to some embodiments of the present application;

FIG. 7 is a schematic flowchart of a calibration method according to some embodiments of the present application;

FIG. 8 is a schematic flowchart of a calibration method according to some embodiments of the present application.

Detailed ways

The embodiments of the present application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals indicate the same or similar elements or elements with the same or similar functions throughout. The following embodiments described with reference to the drawings are exemplary, and are only used to explain the embodiments of the present application, and should not be understood as limitations on the embodiments of the present application.

Please refer to FIG. 1, the calibration device 10 according to the embodiment of the present application includes a collimating component 11 and a reflecting component 12. The calibration device 10 is used for the transceiver module 20. The transceiver module 20 includes a transmitting component 21 and a receiving component 22. The transmitting component 21 is used to transmit light, and the receiving component 22 is used to receive the light emitted by the transmitting component 21 and reflected back by the object; the collimating component 11 is used to collimate the transmitting component 21 The light emitted; the reflective component 12 is used to reflect the light collimated by the collimating component 11 into the receiving component 22, the light collimated by the collimating component 11 is parallel to the light reflected by the reflective component 12, and reflected to the receiving component The light in the component 22 can be used to determine the angle between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22.

In some embodiments, the reflective component 12 includes a first reflective surface 121 and a second reflective surface 122. The angle between the first reflective surface 121 and the second reflective surface 122 is 90°, and the first reflective surface 121 is aligned with the The light emitting surface of the straight component 11 is opposite to the optical axis of the collimating component 11 at an angle of 45°, and the second reflective surface 122 is opposite to the light receiving surface of the receiving component 22.

In some embodiments, the reflective assembly 12 includes a first reflective mirror 123 and a second reflective mirror 124. The first reflective mirror 123 includes a first reflective surface 121, and the second reflective mirror 124 includes a second reflective surface 122.

In some embodiments, the reflective assembly 12 includes a mirror, which is a K-shaped mirror.

In some embodiments, the difference between the distance between the collimating component 11 and the emitting component 21 and the focal length of the collimating component 11 is less than a predetermined value.

In some embodiments, the optical axis of the collimating component 11 is parallel to or coincides with the optical axis of the emitting component 21.

In some embodiments, the transceiver module 20 includes at least one of a time-of-flight depth camera, a structured light depth camera, a lidar, and a proximity sensor.

In some embodiments, the reflecting assembly 12 includes two reflecting mirrors, and the shape of the reflecting mirrors is an isosceles direct triangle or a right-angled trapezoid.

Please refer to FIG. 1, the calibration system 40 of the embodiment of the present application includes a transceiver module 20 and a calibration device 10. The transceiver module 20 includes a transmitting component 21 and a receiving component 22. The transmitting component 21 is used to transmit light, and the receiving component 22 is used to receive the light emitted by the transmitting component 21 and reflected back by the object; the calibration device 10 is used to calibrate the transmitting component 21 The angle between the optical axis and the optical axis of the receiving assembly 22; the calibration device 10 includes a collimating assembly 11 and a reflecting assembly 12; the collimating assembly 11 is used to collimate the light emitted by the transmitting assembly 21; the reflecting assembly 12 is used to pass through The light collimated by the collimating component 11 is reflected to the receiving component 22, the light collimated by the collimating component 11 is parallel to the light reflected by the reflecting component 12, and the light reflected to the receiving component 22 can be used to determine the transmitting component 21 The angle between the optical axis of and the optical axis of the receiving assembly 22.

In some embodiments, the receiving component 22 receives the light reflected by the reflective component 12 to form a test image. The calibration system 40 further includes a processor 30 for determining that the light received by the receiving component 22 corresponds to the test image. Calculate the offset of the center position of the imaging area relative to the center position of the test image; and calculate the included angle based on the offset and the focal length of the receiving component 22.

Referring to FIG. 5, the electronic device 100 of the embodiment of the present application includes a housing 50 and the calibration system 40 of any of the above embodiments. The calibration system 40 is combined with the housing 50.

Please refer to FIG. 1 and FIG. 7, the calibration method of the embodiment of the present application is used for the transceiver module 20. The transceiver module 20 includes a transmitting component 21 and a receiving component 22. The transmitting component 21 is used for transmitting light, and the receiving component 22 is used for receiving the light emitted by the transmitting component 21 and reflected by the object. The calibration method includes using the collimating component 11 to collimate the light emitted by the emitting component 21; using the reflecting component 12 to reflect the light collimated by the collimating component 11 to the receiving component 22, and the collimated light and reflection of the collimating component 11 The light reflected by the component 12 is parallel; and the angle between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22 is determined according to the light reflected into the receiving component 22.

In some embodiments, the receiving component 22 receives the light reflected by the reflective component 12 to form a test image, and the light reflected into the receiving component 22 determines the clamp between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22. The angle includes: determining the imaging area on the test image corresponding to the light received by the receiving component 22; calculating the offset of the center position of the imaging area relative to the center position of the test image; and according to the offset and the focal length of the receiving component 22 Calculate the included angle.

Please refer to FIG. 1, an embodiment of the present application provides a calibration device 10 applied to the transceiver module 20. The transceiver module 20 includes a transmitting component 21 and a receiving component 22. The transmitting component 21 is used for transmitting light, and the receiving component 22 is used for receiving the light emitted by the transmitting component 21 and reflected by the object. The calibration device 10 includes a collimating component 11 and a reflecting component 12. The collimating component 11 is used to collimate the light emitted by the emitting component 21. The reflective component 12 is used to reflect the light collimated by the collimating component 11 to the receiving component 22, and the light collimated by the collimating component 11 is parallel to the light reflected by the reflective component 12. The light reflected into the receiving component 22 can be used to determine the angle between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22. The calibration device 10 of the embodiment of the present application determines the angle between the optical axis of the emitting component 21 and the optical axis of the receiving component 22 by receiving the light reflected into the receiving component 22, so as to accurately detect and calibrate the optical axis of the emitting component 21 and Whether the optical axis of the receiving assembly 22 is parallel. The calibration result of the parallelism of the two can be used as a basis for adjustment of the transceiver module 20, and the working accuracy of the transceiver module 20 can be improved.

Please refer to FIG. 1 again. The embodiment of the present application also provides a calibration system 40. The calibration system 40 includes a transceiver module 20, a calibration device 10 and a processor 30. The processor 30 is electrically connected to the transceiver module 20.

The transceiver module 20 may be a time of flight (TOF) depth camera, a structured light depth camera, a lidar, a proximity sensor, etc., which is not limited here. The transceiver module 20 includes a transmitting component 21 and a receiving component 22. The emission component 21 is used to emit light. The light emitted by the emitting component 21 may be invisible light such as infrared light and ultraviolet light. The receiving component 22 is used for receiving the light emitted by the transmitting component 21 and reflected back by the object.

The calibration device 10 includes a collimating component 11 and a reflecting component 12.

The collimating component 11 is used for collimating the light emitted by the emitting component 21 so as to collimate the multiple non-parallel lights emitted by the emitting component 21 into multiple parallel rays of light. The optical axis of the collimating component 11 is parallel to or coincides with the optical axis of the emitting component 21. The collimating component 11 can be a collimating optical element such as a collimating lens, which is not limited here. The collimating assembly 11 can be composed of one collimating lens or multiple collimating lenses, and it is not limited here. The difference between the distance between the collimating component 11 and the emitting component 21 and the focal length of the collimating component 11 is smaller than a predetermined value. The distance between the collimating component 11 and the emitting component 21 can be understood as the vertical distance from the optical center of the collimating component 11 to the light emitting surface of the light source in the emitting component 21. The predetermined value should be a small value, for example, the predetermined value may be 0, of course, the specific value of the predetermined value is not limited to this. For ease of understanding and description, for example, the distance between the collimating component 11 and the emitting component 21 is called the first distance, the focal length of the collimating component 11 is called the second distance, and the difference between the first distance and the second distance The value is less than the predetermined value. It can be understood that the closer the light emitting surface of the light source in the emitting component 21 is to the focal plane of the collimating component 11, the higher the collimating effect of the collimating component 11 on the light emitted by the emitting component 21 is. Therefore, when the difference between the first distance and the second distance is less than the predetermined value, the collimating component 11 has a better collimating effect on the light emitted by the emitting component 21.

The reflecting component 12 is used to reflect the light collimated by the collimating component 11 to the receiving component 22. The light rays collimated by the collimating component 11 are parallel to the light rays reflected by the reflecting component 12. Among them, since the reflective component 12 may be aligned with the collimated light of the collimating component 11 for one or more reflections, the light reflected by the reflective component 12 here specifically refers to the light that has been reflected by the reflective component 11 and is about to be incident. To the light in the receiving assembly 22. The light reflected into the receiving component 22 can be used to determine the angle between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22, that is, to determine the difference between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22. Parallelism between.

The reflective component 12 includes a first reflective surface 121 and a second reflective surface 122. The included angle between the first reflective surface 121 and the second reflective surface 122 is 90°, the first reflective surface 121 is opposite to the light-emitting surface 111 of the collimating component 11, and forms an angle of 45° with the optical axis of the collimating component 11 , The second reflective surface 122 is opposite to the light-receiving surface 221 of the receiving component 22.

Specifically, the first reflecting surface 121 may be used for the first reflection of the light collimated by the alignment component 11. According to the principle that the angle between the incident light and the normal is equal to the angle between the reflected light and the normal, the light reflected by the first reflecting surface 121 and the light collimated by the collimating component 11 form an angle of 90°. That is, the light reflected by the first reflecting surface 121 is perpendicular to the light collimated by the collimating component 11. The light reflected by the first reflective surface 121 continues to be directed toward the second reflective surface 122, and the second reflective surface 122 is used to reflect the light reflected by the first reflective surface 121 a second time. The light reflected by the second reflective surface 122 is perpendicular to the light reflected by the first reflective surface 121 and is parallel to the light collimated by the collimating component 11. Since the optical axis of the collimating component 11 and the optical axis of the emitting component 21 are parallel or coincident, according to the principle that a is parallel to b and b is parallel to c, then a is parallel to c. The light is parallel to the optical axis of the emitting assembly 21. Further, the principle that a is parallel to b and b is parallel to c, then a is parallel to c, and whether the light reflected by the reflecting assembly 12 is parallel to the optical axis of the receiving assembly 22 can be used to determine whether the transmitting assembly 21 is parallel. Whether the optical axis is parallel to the optical axis of the receiving assembly 22. If the light reflected by the reflective component 12 is parallel to the optical axis of the receiving component 22, the optical axis of the transmitting component 21 is parallel to the optical axis of the receiving component 22; if the light reflected by the reflective component 12 is parallel to the optical axis of the receiving component 22 If they are not parallel, the optical axis of the transmitting component 21 and the optical axis of the receiving component 22 are not parallel.

Please refer to FIG. 2. In an example, the reflective component 12 can be formed by a combination of a first reflective mirror 123 and a second reflective mirror 124. The first reflecting mirror 123 includes a first reflecting surface 121, and the second reflecting mirror 124 includes a second reflecting surface 122. The first reflecting surface 121 on the first reflecting mirror 123 is opposite to the light emitting surface 111 of the collimating component 11 and forms an angle of 45° with the optical axis of the collimating component 11. The second reflecting surface 122 on the second reflecting mirror 124 is opposite to the light receiving surface 221 of the receiving component 22. The first reflecting mirror 123 and the second reflecting mirror 124 may be 45° reflecting mirrors, for example. The reflective component 12 can be composed of two mirrors with a right-angled isosceles triangle shape, or two mirrors with a right-angled trapezoid shape (the acute angle of the right-angled trapezoid is 45°), or two mirrors. The plane mirrors with the included angle of 90° are combined, as long as the included angle formed by the two reflecting surfaces of the two mirrors is 90°, which is not limited here.

Please refer to FIG. 1. In another example, the reflective assembly 12 may only include one reflective mirror, where the reflective mirror is a K-shaped mirror. The K-shaped mirror includes a first reflective surface 121 and a second reflective surface 122. The first reflective surface 121 is opposite to the light-emitting surface 111 of the collimating component 11 and forms an angle of 45° with the optical axis of the collimating component 11. The second reflective surface 122 is opposite to the light-receiving surface 221 of the receiving component 22. The K-shaped mirror can be regarded as a mirror obtained by integrally molding the first mirror 123 and the second mirror 124 shown in FIG. 2. In the process of using the K-shaped mirror for parallelism detection, only the relative position between the K-shaped mirror and the collimating assembly 11 needs to be adjusted. There is no need to install or adjust the K-shaped mirror itself, which can simplify the inspection process. The operation reduces the difficulty of detection operation.

The processor 30 may be a processor in a computer, a processor in a mobile phone, or a processor in a server, etc., which is not limited here. The processor 30 may determine the parallelism between the optical axis of the transmitting assembly 21 and the optical axis of the receiving assembly 22 according to the imaging position of the light received by the receiving assembly 22 on the receiving assembly 22. Specifically, the processor 30 may be used to determine the imaging area on the test image corresponding to the light received by the receiving component 22, to calculate the offset of the center position of the imaging area with respect to the center position of the test image, and to calculate the offset according to the offset and The focal length of the receiving component 22 calculates the included angle.

3 and 4, the receiving component 22 receives the light reflected by the reflective component 21 to form a test image. Since the multiple beams of light reflected by the reflective component 22 are parallel rays, the light received by the receiving component 22 corresponds to the test image. The imaging area on the image is a point A. If the light reflected into the receiving component 22 is parallel to the optical axis of the receiving component 22, after the light is received by the receiving component 22, the position corresponding to the imaging area (point A) on the test image should be located at the center of the test image. At (as shown in Figure 3). If the light reflected into the receiving component 22 is not parallel to the optical axis of the receiving component 22, after the light is received by the receiving component 22, the position of the light corresponding to the imaging area (ie point A) on the test image will be the same as the center of the test image. There is an offset in position (as shown in Figure 4). Therefore, the processor 30 can determine the distance between the light reflected by the reflective component 12 and the optical axis of the receiving component 22 according to the offset of the position of the imaging area (that is, the center position of the imaging area) relative to the center position of the test image. The included angle, thereby further determining the included angle between the transmitting component 21 and the receiving component 22. For example, as shown in FIG. 4, the imaging area on the test image is A, and the processor 30 calculates the offset between the pixel corresponding to the center position of the imaging area A and the pixel corresponding to the center position of the test image as: The Y direction is offset by a pixels, and the size of each pixel in the Y direction is b. Assuming that the focal length of the receiving component 22 is f, and x is the angle between the light reflected by the reflecting component 12 and the optical axis of the receiving component 22, the reflected component can be calculated according to the formula tanx=a*b/f 12 The angle x between the reflected light and the optical axis of the receiving assembly 22, which is also the angle between the optical axis of the transmitting assembly 21 and the optical axis of the receiving assembly 22.

After determining the included angle between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22, in an example, the optical axis of the transmitting component 21 and/or the optical axis of the receiving component 22 can be adjusted according to the included angle. The angle between the optical axis of the transmitting assembly 21 and the optical axis of the receiving assembly 22 is 0°. Wherein, adjusting the optical axis of the transmitting assembly 21 and/or the optical axis of the receiving assembly 22 may be manual adjustment, or may be adjusted by the driving assembly, which is not limited here. In another example, the optical axis of the transmitting component 21 and/or the optical axis of the receiving component 22 may not be adjusted, but the back-end processing algorithm may be directly adjusted. For example, when the transceiver module 20 is a time-of-flight depth camera, it can be adjusted according to The included angle is used to adaptively adjust the processing algorithm related to the calculation of the depth information in the time-of-flight depth camera to ensure the accuracy of the depth information obtained by the time-of-flight depth camera.

In the process of algorithm processing, the parallelism between the optical axis of the transmitter and the optical axis of the receiver is very important for the calculation of the distance. How to determine the parallelism between the optical axis of the transmitter and the optical axis of the receiver becomes a Problems to be solved.

In summary, the calibration system 40 of the embodiment of the present application determines the included angle between the optical axis of the emitting component 21 and the optical axis of the receiving component 22 by receiving the light reflected into the receiving component 22, so as to accurately detect and calibrate the emitting component Whether the optical axis of 21 and the optical axis of the receiving assembly 22 are parallel. Subsequently, the parallelism between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22 can be corrected according to the parallelism calibration results of the two, or the processing algorithm at the back end of the transceiver component 20 can be modified to ensure the working accuracy of the transceiver module 20 .

Referring to FIG. 5, an embodiment of the present application also provides an electronic device 100. The electronic device 100 includes a housing 50 and the calibration system 40 described above. The calibration system 40 is combined with the housing 50. For example, the housing 50 is formed with an accommodation space 51, and the calibration system 40 is accommodated in the accommodation space 51.

Among them, the electronic device 100 may be a mobile phone, a tablet computer, a notebook computer, a smart wearable device (such as a smart bracelet, a smart watch, a smart helmet, and a smart glasses), a virtual reality device, etc., without any limitation here. In a specific embodiment of the present invention, the electronic device 100 is a mobile phone.

1 and 6, in some embodiments, the processor 30 may calculate the angle between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22 before each time the transceiver component 20 is activated, and based on The included angle is adjusted accordingly to the transceiver assembly 20 (the optical axes of the two are adjusted to be parallel, or the rear end algorithm is adjusted). After the adjustment is completed, move the calibration device 10 out of the optical path of the transceiver component 20. For example, as shown in FIG. The influence of the emitted and received light. Of course, in other embodiments, the processor 30 may also calculate the included angle between the transmitting component 21 and the receiving component 22 when the electronic device 100 falls, and adjust the transceiver component 20 accordingly based on the included angle. It can be understood that when the electronic device 100 is dropped, the angle between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22 is likely to change. At this time, the angle between the two optical axes needs to be reset. , So as to ensure the working accuracy of the transceiver module 20.

In summary, the electronic device 100 of the embodiment of the present application determines the angle between the optical axis of the emitting component 21 and the optical axis of the receiving component 22 by receiving the light reflected into the receiving component 22, so as to accurately detect and calibrate the optical axis of the emitting component 21 Whether the optical axis and the optical axis of the receiving assembly 22 are parallel. The electronic device 100 can modify the parallelism between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22 according to the parallelism calibration results of the two, or modify the processing algorithm at the back end of the transceiver component 20 to ensure the transceiver module 20 Work accuracy.

Please refer to FIG. 1 and FIG. 7, the embodiment of the present application also provides a calibration method. The calibration method of the embodiment of the present application can be used for the above-mentioned transceiver module 20. The transceiver module 20 includes a transmitting component 21 and a receiving component 22. The transmitting component 21 is used to transmit light, and the receiving component 22 is used to receive the light emitted by the transmitting component 21 and reflected by the object; the calibration method includes:

01: Use the collimating component 11 to collimate the light emitted by the emitting component 21;

02: Use the reflective component 12 to reflect the light collimated by the collimating component 11 into the receiving component 22, and the light collimated by the collimating component 11 is parallel to the light reflected by the reflective component 12;

03: Determine the angle between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22 according to the light reflected into the receiving component 22.

Referring to FIGS. 1 and 8, in some embodiments, the receiving component 22 receives the light reflected by the reflecting component 21 to form a test image. Step 03 Determining the included angle between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22 according to the light reflected into the receiving component 22 includes:

031: Determine that the light received by the receiving component 22 corresponds to the imaging area on the test image;

032: Calculate the offset of the center position of the imaging area relative to the center position of the test image; and

033: Calculate the included angle based on the offset and the focal length of the receiving component 22.

The specific implementation process of the calibration method of the embodiment of the present application for calibrating the included angle between the optical axis of the transmitting assembly 21 and the optical axis of the receiving assembly 22 is the same as the aforementioned calibration system 40 for calibrating the optical axis of the transmitting assembly 21 and the receiving assembly 22 The specific implementation process of the included angle between the optical axes is the same, and will not be repeated here.

The calibration method of the embodiment of the present application uses the collimating component 11 to collimate the light emitted by the transmitting component 21, and uses the reflecting component 12 to align the collimated light of the collimating component 11 for reflection, so that the receiving component 22 can be immediately received by the reflecting component. 12 The light after launch. The light received by the receiving component 22 can determine the angle between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22, so that it can accurately detect and calibrate whether the optical axis of the transmitting component 21 and the optical axis of the receiving component 22 are parallel. . Subsequently, the parallelism between the optical axis of the transmitting component 21 and the optical axis of the receiving component 22 can be corrected according to the parallelism calibration results of the two, or the processing algorithm at the back end of the transceiver component 20 can be modified to ensure the working accuracy of the transceiver module 20 .

In the description of this specification, the description with reference to the terms “one embodiment”, “some embodiments”, “exemplary embodiments”, “examples”, “specific examples” or “some examples” etc. means to combine the described implementations The specific features, structures, materials, or characteristics described by the manners or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above-mentioned terms does not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials, or characteristics can be combined in an appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples and the features of the different embodiments or examples described in this specification without contradicting each other.

Any process or method description in the flowchart or described in other ways herein can be understood as a module, segment or part of code that includes one or more executable instructions for implementing specific logical functions or steps of the process , And the scope of the preferred embodiments of the present application includes additional implementations, which may not be in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order according to the functions involved. This should It is understood by those skilled in the art to which the embodiments of the present application belong.

Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations on the present application. Those of ordinary skill in the art can comment on the above within the scope of the present application. The implementation mode undergoes changes, modifications, replacements and modifications.

Claims

A calibration device for a transceiver module, characterized in that the transceiver module includes a transmitting component and a receiving component, the transmitting component is used to transmit light, and the receiving component is used to receive and The light rays reflected by the object; the calibration device includes:

A collimating component, the collimating component is used to collimate the light emitted by the emitting component; and

A reflective component, the reflective component is used to reflect the light collimated by the collimating component to the receiving component, the light collimated by the collimating component and all the light reflected by the reflective component The light rays are parallel, and the light rays reflected into the receiving component can be used to determine the angle between the optical axis of the transmitting component and the optical axis of the receiving component.
The calibration device according to claim 1, wherein the reflective component comprises a first reflective surface and a second reflective surface, and the included angle between the first reflective surface and the second reflective surface is 90°, The first reflective surface is opposite to the light-emitting surface of the collimating component and forms an angle of 45° with the optical axis of the collimating component, and the second reflective surface is opposite to the light-receiving surface of the receiving component.
The calibration device according to claim 2, wherein the reflection component comprises a first reflection mirror and a second reflection mirror, the first reflection mirror comprises the first reflection surface, and the second reflection mirror comprises The second reflecting surface.
The calibration device according to claim 2, wherein the reflecting component comprises a reflecting mirror, and the reflecting mirror is a K-shaped mirror.
The calibration device according to claim 1, wherein the difference between the distance between the collimating component and the emitting component and the focal length of the collimating component is less than a predetermined value.
The calibration device according to claim 1, wherein the optical axis of the collimating component is parallel to or coincides with the optical axis of the emitting component.
The calibration device according to claim 1, wherein the transceiver module includes at least one of a time-of-flight depth camera, a structured light depth camera, a lidar, and a proximity sensor.
The calibration device according to claim 2, wherein the reflecting component comprises two reflecting mirrors, and the shape of the reflecting mirrors is an isosceles direct triangle or a right-angled trapezoid.
A calibration system is characterized in that it comprises:

A transceiver module, the transceiver module includes a transmitting component and a receiving component, the transmitting component is used to transmit light, and the receiving component is used to receive the light emitted by the transmitting component and reflected back by an object; and

The calibration device is used to calibrate the angle between the optical axis of the transmitting component and the optical axis of the receiving component; the calibration device includes a collimating component and a reflecting component; the collimating component is used to Collimate the light emitted by the emitting component; the reflecting component is used to reflect the light collimated by the collimating component into the receiving component, and the light collimated by the collimating component and the light The light rays reflected by the reflection component are parallel, and the light rays reflected into the receiving component can be used to determine the angle between the optical axis of the transmitting component and the optical axis of the receiving component.
The calibration system according to claim 9, wherein the reflective component comprises a first reflective surface and a second reflective surface, and the included angle between the first reflective surface and the second reflective surface is 90° , The first reflective surface is opposite to the light-emitting surface of the collimating component and forms an angle of 45° with the optical axis of the collimating component, and the second reflective surface is opposite to the light-receiving surface of the receiving component .
The calibration system according to claim 10, wherein the reflection component comprises a first reflection mirror and a second reflection mirror, the first reflection mirror comprises the first reflection surface, and the second reflection mirror comprises The second reflecting surface.
The calibration system according to claim 10, wherein the reflecting component comprises a reflecting mirror, and the reflecting mirror is a K-shaped mirror.
The calibration system according to claim 9, wherein the difference between the distance between the collimating component and the emitting component and the focal length of the collimating component is less than a predetermined value.
The calibration system according to claim 9, wherein the optical axis of the collimating component is parallel to or coincides with the optical axis of the emitting component.
The calibration system according to claim 9, wherein the transceiver module includes at least one of a time-of-flight depth camera, a structured light depth camera, a lidar, and a proximity sensor.
The calibration system according to claim 9, wherein the reflection component includes two reflection mirrors, and the shape of the reflection mirrors is an isosceles direct triangle or a right-angled trapezoid.
The calibration system according to claim 9, wherein the receiving component receives the light reflected by the reflecting component to form a test image, the calibration system further comprises a processor, and the processor is configured to:

Determining that the light received by the receiving component corresponds to the imaging area on the test image;

Calculating the offset of the center position of the imaging area relative to the center position of the test image; and

The included angle is calculated according to the offset and the focal length of the receiving component.
An electronic device, characterized in that it comprises:

Shell; and

The calibration system according to claim 9 or 10, which is combined with the housing.
A calibration method for a transceiver module, wherein the transceiver module includes a transmitting component and a receiving component. The light rays reflected by the object; the calibration method includes:

Collimating the light emitted by the emitting component by using a collimating component;

Using a reflective component to reflect the light collimated by the collimating component to the receiving component, the light collimated by the collimating component is parallel to the light reflected by the reflective component; and

The angle between the optical axis of the transmitting component and the optical axis of the receiving component is determined according to the light reflected into the receiving component.
The calibration method according to claim 19, wherein the receiving component receives the light reflected by the reflecting component to form a test image, and the transmitting component is determined according to the light reflected into the receiving component. The angle between the optical axis of the component and the optical axis of the receiving component includes:

Determining that the light received by the receiving component corresponds to the imaging area on the test image;

Calculating the offset of the center position of the imaging area relative to the center position of the test image; and

The included angle is calculated according to the offset and the focal length of the receiving component.