CN118857461A - Calibration method, calibration light source, electronic device and storage medium - Google Patents

Abstract

The embodiment of the application discloses a calibration method, a calibration light source, electronic equipment and a storage medium. The method comprises the following steps: acquiring first calibration data of a standard multispectral sensor under a broadband light source and second calibration data of the standard multispectral sensor under a slope light source; acquiring third calibration data of the multispectral sensor to be calibrated under a broadband light source and fourth calibration data of the multispectral sensor to be calibrated under a slope light source; according to the first calibration data, the second calibration data, the third calibration data and the fourth calibration data, the multispectral sensor to be calibrated is calibrated, a calibration result of the multispectral sensor to be calibrated is obtained, and the multispectral sensor can be calibrated rapidly by using the slope light source, and the accuracy of the multispectral sensor calibration can be guaranteed.

Description

Calibration method, calibration light source, electronic device and storage medium

Technical Field

The present application relates to the technical field of multispectral sensors, and in particular to a calibration method, a calibration light source, an electronic device and a storage medium.

Background Art

Multispectral sensors consist of system structure and optical pathways, and are widely used in agriculture, environmental protection, geological exploration and other fields. Due to the particularity of optical coatings, the generated spectral response curve of multispectral sensors often has deviations. Therefore, it is necessary to calibrate the multispectral sensor to solve the technical problem of deviation in the spectral response curve of the multispectral sensor.

Summary of the invention

In view of the deficiencies in the prior art, the present application provides a calibration method, a calibration light source, an electronic device and a storage medium, which can not only quickly calibrate a multispectral sensor, but also ensure the accuracy of the calibration of the multispectral sensor.

To solve the above-mentioned technical problems, in a first aspect, an embodiment of the present application provides a calibration method, which includes: obtaining first calibration data under a broadband light source and second calibration data under a slope light source when calibrating a standard multispectral sensor; the luminous intensity of the slope light source within a preset first frequency deviation range corresponding to at least one color channel spectrum of the standard multispectral sensor is monotonically increasing or monotonically decreasing; obtaining third calibration data under a broadband light source and fourth calibration data under a slope light source when calibrating the multispectral sensor to be calibrated; calibrating the multispectral sensor to be calibrated according to the first calibration data, the second calibration data, the third calibration data, the fourth calibration data and the frequency deviation model of the standard multispectral sensor to obtain the calibration result of the multispectral sensor to be calibrated.

In the second aspect, an embodiment of the present application also provides a calibration device, which includes: a first acquisition unit, used to acquire first calibration data under a broadband light source and second calibration data under a slope light source when calibrating a standard multispectral sensor; the luminous intensity of the slope light source within a preset first frequency deviation range corresponding to at least one color channel spectrum of the standard multispectral sensor is monotonically increasing or monotonically decreasing; a second acquisition unit, used to acquire third calibration data under a broadband light source and fourth calibration data under a slope light source when calibrating the multispectral sensor to be calibrated; a calibration unit, used to calibrate the multispectral sensor to be calibrated according to the first calibration data, the second calibration data, the third calibration data, the fourth calibration data and the frequency deviation model of the standard multispectral sensor to obtain the calibration result of the multispectral sensor to be calibrated.

In a third aspect, an embodiment of the present application further provides an electronic device, comprising a memory storing a plurality of instructions; a processor loads instructions from the memory to execute the calibration method provided in the first aspect.

In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, which stores a plurality of instructions, and the instructions are suitable for a processor to load and execute the calibration method provided in the first aspect.

In a fifth aspect, an embodiment of the present application further provides a computer program product, including a computer program or instructions, where the computer program or instructions are executed by a processor to implement the calibration method provided in the first aspect.

In the sixth aspect, the present application also provides a calibration light source, which is applied to the calibration method provided in the first aspect, the calibration light source includes a ramp light source, and the luminous intensity of the ramp light source is monotonically increasing or monotonically decreasing within a preset first frequency deviation range corresponding to the spectral response curve of each color channel of the multi-spectral sensor to be calibrated.

In the calibration method provided in the present application, by obtaining first calibration data of a standard multispectral sensor under a broadband light source and second calibration data under a slope light source, third calibration data of the multispectral sensor to be calibrated under a broadband light source and fourth calibration data under a slope light source are obtained at the same time; according to the first calibration data, the second calibration data, the third calibration data and the fourth calibration data, the multispectral sensor to be calibrated is calibrated. Since the luminous intensity within a preset first frequency deviation range corresponding to at least one color channel spectrum of the slope light source standard multispectral sensor is monotonically increasing or monotonically decreasing, the calibration of the multispectral sensor to be calibrated can be achieved using one or fewer slope light sources. In this way, not only can the multispectral sensor be calibrated quickly, but also the accuracy of the multispectral sensor calibration can be guaranteed.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

FIG1 is a schematic diagram of a frequency deviation of a spectral response curve of a multi-spectral sensor in the prior art;

FIG2 is a schematic diagram of the up and down shift of the spectral response curve of a multi-spectral sensor in the prior art;

FIG3 is a schematic diagram of a flow chart of a calibration method provided in an embodiment of the present application;

FIG4 is a schematic diagram of a spectrum of a slope light source provided in an embodiment of the present application;

FIG5 is a schematic block diagram of a calibration device provided in an embodiment of the present application;

FIG6 is a schematic block diagram of an electronic device provided in an embodiment of the present application;

FIG7 is a schematic diagram of the structure of a calibration device provided in an embodiment of the present application;

FIG8 is a cross-sectional schematic diagram of a calibration device provided in an embodiment of the present application;

FIG9 is a schematic diagram of some components included in a site provided in an embodiment of the present application;

FIG. 10 is a schematic diagram showing the change in the correspondence between the calibration station and the multi-spectral sensor to be calibrated provided in an embodiment of the present application.

DETAILED DESCRIPTION

The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and/or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and/or combinations thereof.

It should also be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

It should be further understood that the term “and/or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

The embodiments of the present application provide a calibration method, a calibration light source, an electronic device and a storage medium. Specifically, the calibration method of the embodiments of the present application can be performed by an electronic device or a calibration device. Among them, the electronic device can be a terminal or a server device. The terminal can be a smart phone, a tablet computer, a laptop computer, a touch screen, a game console, a wearable device, a personal computer (PC, Personal Computer), a personal digital assistant (Personal Digital Assistant, PDA), an intelligent robot, an intelligent vehicle-mounted terminal device. The server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN, and basic cloud computing services such as big data and artificial intelligence platforms.

The multispectral sensor has multiple color channels. Each color channel has different sensitivities to a specific wavelength of spectrum through optical coating, that is, the spectral response curve. The response value of each color channel in the multispectral sensor can be simply understood as the integral result of the spectral response curve of each color channel in the multispectral sensor to the ambient light intensity at different wavelengths.

Due to the particularity of optical coating, the spectral response curve of multispectral sensors often has some deviations during mass production: frequency deviation error and/or response error.

Among them, the frequency deviation error refers to the situation where the spectral response curve of the color channel is offset to the left or right. As shown in Figure 1, the spectral response curve with a wavelength of 550nm is the spectral response curve of the standard multi-spectral sensor (also called the gold machine), and the spectral response curves of the two multi-spectral sensors to be calibrated (also called prototypes, prototype 1 and prototype 2) are respectively offset to the left and right relative to the spectral response curve of the gold machine, corresponding to the spectral response curve on the left and the spectral response curve on the right. It should be noted that the peak values of the spectral response curve of the gold machine and the spectral response curve of the prototype in Figure 1 are the same.

At present, the main reasons for the frequency deviation error are the change in coating thickness caused by manufacturing tolerance and the change in the incident angle distribution caused by the tolerance in the optical system. In multiple multispectral sensors produced in large quantities, the spectral offsets of different multispectral sensors are inconsistent, and the spectral offsets of different color channels of the same multispectral sensor are also inconsistent. In actual use, for narrow-band spectra such as fluorescent sources or LED light sources, even a 1% spectral offset will still seriously affect the spectral recognition results.

Among them, the response error refers to the inconsistency of the peak response of the spectral response curve of the color channel. As shown in Figure 2, the spectral response curve with the peak in the middle is the spectral response curve of the gold machine, the bottom curve represents the spectral response curve of a prototype, the amplitude/peak value of the spectral response curve of the prototype is 0.9 times the amplitude/peak value of the spectral response curve of the gold machine, that is, the response is too small, and the top curve represents the spectral response curve of another prototype, the amplitude/peak value of the spectral response curve of the prototype is 1.2 times the amplitude/peak value of the spectral response curve of the gold machine, that is, the response is too large.

The response error is mainly related to the coating thickness, transmittance, etc. The coating thickness and transmittance will affect the intensity of ambient light received by the color channel, further affecting the response value.

Therefore, the frequency offset error and/or response error of the multispectral sensor needs to be calibrated and corrected to reduce/eliminate the corresponding errors.

At present, when calibrating a multi-spectral sensor, it is necessary to start the multiple light sources used in the calibration in sequence in time series, obtain the response values of each color channel of the gold machine and the prototype under each light source, and then obtain the response matrix of the gold machine and the response matrix of the prototype according to the response values, and calculate the channel correction matrix of the prototype according to the response matrix of the gold machine and the response matrix of the prototype. During calibration, in order to obtain the response value of the multi-spectral sensor under each light source, it is necessary to start the light sources in sequence in time series. Usually, the time required for the light source to be stable after switching is relatively long, such as 1-2s or even longer. If 12 light sources are used for calibration, the waiting time for the light source to be stable is as long as 12-24s, which reduces the calibration efficiency of the multi-spectral sensor; if the waiting time for the light source to be stable after switching is too short (for example, less than 0.5s), the calibration effect will be affected due to the unstable light intensity of the light source.

Therefore, the present application provides a calibration method, a calibration light source, an electronic device and a storage medium. During the calibration process, there is no need to switch the light source. Each light source is in a continuous and stable light-emitting state, which saves the time of waiting for the light source to stabilize, improves the calibration efficiency of the multi-spectral sensor, and at the same time ensures the accuracy of the spectral sensor calibration.

A calibration method, calibration light source, electronic device, and storage medium provided in an embodiment of the present application can be used in any multispectral sensor calibration scenario, or even in the calibration scenario of other sensors or similar components. A calibration method, calibration light source, electronic device, and storage medium provided in an embodiment of the present application will be described in detail below.

The following is a detailed description of a calibration method, a calibration light source, an electronic device and a storage medium provided in an embodiment of the present application.

Please refer to Figure 3, which is a flow chart of the calibration method provided in the embodiment of the present application. The calibration method provided in the embodiment of the present application is applied to a terminal device, and the method is executed by an application software installed in the terminal device. The terminal device may be a desktop computer, a laptop computer, a tablet computer, a mobile phone, etc.

It should be noted that the application scenarios described in the following embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. A person of ordinary skill in the art can know that with the emergence of new application scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

The calibration method provided by the present disclosure is described in detail below.

As shown in FIG. 3 , the method includes the following steps S110 to S130 .

S110. Acquire first calibration data under a broadband light source and second calibration data under a ramp light source when calibrating a standard multi-spectral sensor; the luminous intensity of the ramp light source within a preset first frequency deviation range corresponding to at least one color channel spectrum of the standard multi-spectral sensor is monotonically increasing or monotonically decreasing.

In this embodiment, the first calibration data is data collected under a broadband light source when calibrating a standard multi-spectral sensor, and the second calibration data is data collected under a slope light source when calibrating a standard multi-spectral sensor. The first calibration data includes a first response value and/or a first luminous intensity, and the second calibration data includes a second response value and/or a second luminous intensity.

A ramp light source is a light source whose luminous intensity monotonically increases or decreases within a preset wavelength range corresponding to the spectra of each color channel of a standard multispectral sensor. It can be understood that in the spectral curve of the ramp light source, there is a peak, and at the same time, there are a first trough and a second trough on both sides of the peak. The first trough to the peak and the second trough to the peak are monotonically increasing. The peaks in the spectral response curve of each color channel of the standard multispectral sensor are all near the curve formed between the first trough and the peak or between the second trough and the peak. At this time, it can be defined as a ramp light source.

That is to say, as shown in FIG4 , the bold black curve is the spectral curve of the ramp light source. The ramp light source is actually a type of light source. However, when selecting the ramp light source, it is necessary to ensure that the peaks in the spectral response curves of each color channel of the standard multispectral sensor are all near the curve formed between the first trough and the peak or between the second trough and the peak.

Specifically, the ramp light source can be a monochromatic light source or a composite light source composed of multiple monochromatic light sources. It only requires that the peaks in the spectral response curve of each color channel of the standard multispectral sensor are near a monotonically increasing or monotonically decreasing curve in the spectral curve of the ramp light source.

At the same time, the number of ramp light sources can be one, and the luminous intensity of one ramp light source within a preset first frequency deviation range corresponding to the spectrum of each color channel of the standard multi-spectral sensor monotonically increases or monotonically decreases, and one ramp light source is used to calibrate the frequency deviation value of each color channel; or, the number of ramp light sources can be multiple, and multiple ramp light sources are used together to calibrate the frequency deviation value of each color channel, each ramp light source calibrates the spectrum of at least one color channel, and the luminous intensity of each ramp light source within the preset first frequency deviation range corresponding to the spectrum of at least one color channel monotonically increases or monotonically decreases.

Among them, the first frequency deviation range is the wavelength range of a monotonically increasing or monotonically decreasing curve in the spectral curve of the slope light source, that is, the first frequency deviation range can be determined according to the wavelength range of a monotonically increasing or monotonically decreasing curve in the spectral curve of the slope light source.

In addition, the first response value can be understood as the value obtained by integrating the spectral response curve of the standard multi-spectral sensor with the spectral curve of the broadband light source, the first luminous intensity is the intensity of the luminescence of the broadband light source, and the first luminous intensity can be determined by the spectral curve of the broadband light source; the second response value can be understood as the value obtained by integrating the spectral response curve of the standard multi-spectral sensor with the spectral curve of the ramp light source, the second luminous intensity is the intensity of the luminescence of the ramp light source, and the second luminous intensity can be determined by the spectral curve of the ramp light source. Among them, the standard multi-spectral sensor is a multi-spectral sensor that does not need to be calibrated, that is, the golden machine mentioned above in this application, which can be obtained by screening multiple prototypes.

S120, obtaining third calibration data under a broadband light source and fourth calibration data under a slope light source when calibrating the multispectral sensor to be calibrated.

In this embodiment, the third calibration data is data collected under a broadband light source when the multi-spectral sensor to be calibrated is calibrated, and the fourth calibration data is data collected under a slope light source when the multi-spectral sensor to be calibrated is calibrated. The third calibration data includes a third response value and/or a third luminous intensity of the broadband light source, and the fourth calibration data includes a fourth response value and/or a fourth luminous intensity. The third response value can be understood as a value obtained by integrating the spectral response curve of the multi-spectral sensor to be calibrated with the spectral curve of the broadband light source, and the third luminous intensity is the intensity of the luminescence of the broadband light source, which can be determined by the spectral curve of the broadband light source; the fourth response value can be understood as a value obtained by integrating the spectral response curve of the multi-spectral sensor to be calibrated with the spectral curve of the slope light source, and the fourth luminous intensity is the intensity of the luminescence of the slope light source, which can be determined by the spectral curve of the slope light source.

It can be understood that the multispectral sensor to be calibrated mentioned in this embodiment, that is, the prototype mentioned above in this application, is a multispectral sensor that needs to be calibrated. At the same time, the first luminous intensity and the third luminous intensity may be the same or different, and the second luminous intensity and the fourth luminous intensity may be the same or different. The selection of the first luminous intensity, the second luminous intensity, the third luminous intensity and the fourth luminous intensity can be selected according to the actual application scenario, and this application does not make specific limitations.

It should also be noted that the first luminous intensity, the second luminous intensity, the third luminous intensity and the fourth luminous intensity can be obtained through a preset light intensity monitoring module. The light intensity monitoring module mentioned here can obtain the luminous intensity of the slope light source and the broadband light source in real time.

S130, calibrating the multispectral sensor to be calibrated according to the first calibration data, the second calibration data, the third calibration data, the fourth calibration data, and the frequency deviation model of the standard multispectral sensor to obtain a calibration result of the multispectral sensor to be calibrated.

Specifically, after obtaining the first calibration data, the second calibration data, the third calibration data and the fourth calibration data, the first response value, the first luminous intensity, the second response value, the second luminous intensity, the third response value, the third luminous intensity, the fourth response value and the fourth luminous intensity can be obtained from each calibration data, and then the response error of the multi-spectral sensor to be calibrated can be calibrated based on this, and then the frequency deviation model of the standard multi-spectral sensor is used to calibrate the frequency deviation error. In other words, the calibration result includes at least one of the response error and the frequency deviation error of the multi-spectral sensor.

In this embodiment, the frequency deviation model can be understood as generating frequency deviation data for calibrating the frequency deviation error of the multi-spectral sensor based on the first calibration data, the second calibration data, the third calibration data and the fourth calibration data, thereby realizing the calibration of the frequency deviation error of the multi-spectral sensor.

It can be understood that when the multi-spectral sensor to be calibrated only needs to calibrate the response error and does not consider the influence of the intensity of the broadband light source, it can be calibrated by the first response value and the third response value. At this time, the calculation formula 1 of the response error of the multi-spectral sensor to be calibrated can be: R_Coef=R1/R3, where R_Coef is the response error, R1 is the first response value, and R3 is the third response value.

When the multi-spectral sensor to be calibrated only needs to calibrate the response error, and taking into account the influence of the intensity of the broadband light source, the calibration can be performed by the first response value, the first luminous intensity, the third response value, and the third luminous intensity. At this time, the calculation formula 2 of the response error of the multi-spectral sensor to be calibrated can be: R_Coef=(R1/E1)/(R3/E3); wherein E1 is the first luminous intensity and E3 is the third luminous intensity.

When the multi-spectral sensor to be calibrated has no response error, only the frequency offset error needs to be calibrated, and the influence of the intensity of the slope light source is not considered, the calibration can be performed using the second response value and the fourth response value. At this time, the calculation formula 3 for the frequency offset error of the multi-spectral sensor to be calibrated can be: ratioSimp=R4/R2; wherein ratioSimp is the ratio of the response values of the standard multi-spectral sensor and the multi-spectral sensor to be calibrated, R2 is the second response value, and R4 is the fourth response value.

When the multi-spectral sensor to be calibrated has no response error, only the frequency offset error needs to be calibrated, and taking into account the influence of the intensity of the slope light source, the calibration can be performed by the second response value, the second luminous intensity, the fourth response value, and the fourth luminous intensity. At this time, the calculation formula 4 of the frequency offset error of the multi-spectral sensor to be calibrated can be: ratioSimp=R4/(E4/E2)/R2, wherein E2 is the second luminous intensity and E4 is the fourth luminous intensity.

When the multi-spectral sensor to be calibrated needs to calibrate the response error and frequency deviation error, and the influence of the intensity of the broadband light source and the ramp light source is not considered, the calibration can be performed by the first response value, the second response value, the third response value and the fourth response value. The calculation formula can be obtained by multiplying calculation formula 1 by calculation formula 3.

When the multi-spectral sensor to be calibrated needs to calibrate the response error and frequency deviation error, and considers the influence of the intensity of the broadband light source and the ramp light source, the calibration can be performed by the first response value, the first luminous intensity, the second response value, the second luminous intensity, the third response value, the third luminous intensity, the fourth response value, and the fourth luminous intensity. The calculation formula can be obtained by multiplying calculation formula 2 by calculation formula 4.

In some embodiments, when calibrating the multispectral sensor to be calibrated according to the first calibration data, the second calibration data, the third calibration data, the fourth calibration data and the frequency deviation model of the standard multispectral sensor, the following steps are specifically included: determining the response error of the multispectral sensor to be calibrated according to the first response value, the first luminous intensity, the third response value and the third luminous intensity; determining the frequency deviation data of the multispectral sensor to be calibrated according to the response error, the second response value, the second luminous intensity, the fourth response value, the fourth luminous intensity and the frequency deviation model.

In this embodiment, the multi-spectral sensor to be calibrated needs to be calibrated for response error and frequency deviation error, and the influence of the intensity of the ramp light source during the calibration of the response error and frequency deviation error needs to be considered. For this reason, the present application can first determine the response error of the multi-spectral sensor to be calibrated according to the first calibration data and the third calibration data, and then determine the frequency deviation data of the multi-spectral sensor to be calibrated according to the response error, the second calibration data, the fourth calibration data and the frequency deviation model. Specifically, the present application can first determine the response error of the multi-spectral sensor to be calibrated according to the first response value, the first luminous intensity, the third response value and the third luminous intensity, and then determine the frequency deviation data of the multi-spectral sensor to be calibrated according to the response error, the second response value, the second luminous intensity, the fourth response value, the fourth luminous intensity and the frequency deviation model, and then the frequency deviation data of the multi-spectral sensor to be calibrated can be calibrated according to the frequency deviation data. Among them, the frequency deviation data is the data required in the calibration process of the frequency deviation error of the multi-spectral sensor to be calibrated, which can be generated by the frequency deviation model.

Further, in some embodiments, in the process of determining the frequency deviation data of the multi-spectral sensor to be calibrated according to the response error, the second response value, the second luminous intensity, the fourth response value, the fourth luminous intensity and the frequency deviation model, the following steps are included: correcting the fourth response value of the multi-spectral sensor to be calibrated according to the response error, the second luminous intensity and the fourth luminous intensity to obtain a corrected response value; determining the frequency deviation data of the multi-spectral sensor to be calibrated according to the corrected response value, the second response value and the frequency deviation model of the standard multi-spectral sensor; wherein the frequency deviation model includes the response values of the spectral response curves of each color channel in the standard multi-spectral sensor at different frequency deviation values, the response values of the spectral response curves of each color channel when the frequency deviation value is zero, and the correlation between the frequency deviation values of the spectral response curves of each color channel.

In this embodiment, the correction response value is the response value of the multi-spectral sensor to be calibrated under the slope light source after eliminating the influence of the response error and the slope light source intensity. The calculation formula of the correction response value can be: R4_Corr = R4/(E4/E2)×R_Coef, where R4_Corr is the correction response value and R_Coef is the response error.

In some embodiments, in the process of determining the frequency deviation data of the multi-spectral sensor to be calibrated based on the response error, the second response value, the second luminous intensity, the fourth response value, the fourth luminous intensity and the frequency deviation model, the following steps are included: determining the target ratio of the response values between the multi-spectral sensor to be calibrated and the standard multi-spectral sensor based on the response error, the second response value, the second luminous intensity, the fourth response value and the fourth luminous intensity; inputting the target ratio into the frequency deviation model to obtain the frequency deviation data of each color channel of the multi-spectral sensor to be calibrated.

In this embodiment, the target ratio is the ratio between the response values of the multispectral sensor to be calibrated and the standard multispectral sensor. There are multiple target ratios, that is, there is a target ratio between each color channel in the multispectral sensor to be calibrated and the response value of the corresponding color channel in the standard multispectral sensor. Then, by inputting each target ratio into the frequency deviation model constructed by the input value, the frequency deviation data of the multispectral sensor to be calibrated can be obtained, and then the frequency deviation error of the multispectral sensor to be calibrated can be calibrated by the frequency deviation data.

Furthermore, the present application can calibrate the fourth response value of the multi-spectral sensor to be calibrated according to the response error, the second luminous intensity and the fourth luminous intensity to obtain a calibrated response value. After obtaining the calibrated response value, the ratio between the response values of the multi-spectral sensor to be calibrated and the standard multi-spectral sensor, that is, the target ratio, can be generated according to the calibrated response value and the second response value. The ratio is then input into a pre-constructed frequency deviation model to obtain the frequency deviation data of the multi-spectral sensor to be calibrated, and the frequency deviation error of the multi-spectral sensor to be calibrated can be calibrated using the frequency deviation data.

In some embodiments, the step of constructing the frequency deviation model includes: obtaining a standard spectral response curve of each color channel of a standard multi-spectral sensor and a spectral curve of a ramp light source; and constructing the frequency deviation model according to the standard spectral response curve and the spectral curve of the ramp light source.

Specifically, in the process of constructing the frequency deviation model, the present application mainly constructs it based on the standard spectral response curve of each color channel in the standard multi-spectral sensor and the spectral curve of the ramp light source. Specifically, the standard spectral response curve of each color channel is translated at least once, and then integrated with the spectral curve of the ramp light source to obtain the frequency deviation response value, and then the frequency deviation model is constructed based on the frequency deviation response value and the second response value. Among them, the standard spectral response curve of each color channel can be measured by a monochromator, and the spectral curve of the ramp light source can be measured by a spectrometer.

In some embodiments, in the process of constructing a frequency deviation model based on a standard spectral response curve and a spectral curve of a slope light source, the following steps are included: according to a preset second frequency deviation range, the standard spectral response curve is shifted at least once to obtain a standard spectral response curve after each shift; according to the standard spectral response curve after each shift and the spectral curve of the slope light source, a frequency deviation response value of the spectral response curve of each color channel is generated; and according to the frequency deviation response value and the second response value, a frequency deviation model is constructed.

In this embodiment, the second frequency deviation range is a pre-set frequency deviation range, which can be characterized by a wavelength range corresponding to the frequency, wherein the wavelength range can be between -6nm and 6nm, that is, the range of each translation of the standard spectral response curve needs to be between -6nm and 6nm, for example, each translation can be -1nm, -2nm, 1nm, 2nm, etc. In addition, the number of translations of the standard spectral response curve of each color channel can be once or multiple times. It should be noted that the more times the standard spectral response curve of each color channel is translated, the higher the accuracy of the frequency deviation model finally constructed.

The specific construction process of the frequency deviation model is described below with a specific embodiment:

Step 1: Measure the spectral response curve specGold of each channel in the gold machine through a monochromator.

Step 2: Measure the spectrum curve specLED of the slope light source using a spectrometer.

Step 3: Construct a frequency deviation model φ based on the spectral response curve of the gold machine and the spectral curve of the ramp light source. The frequency deviation model determines the corresponding relationship between the frequency deviation value and the response value of each channel. The construction idea of the frequency deviation model is as follows:

Determine the frequency deviation calibration range, assuming it is ±6nm, and samples outside the range are considered fail samples.

The spectral response curve specGold of each channel in the gold machine is shifted to the left by -6nm to obtain the spectral response curve specGold1, and then specGold1 is multiplied and accumulated by specLED to obtain the response value count1 of each channel under the -6nm frequency deviation.

The spectral response curve specGold of each channel in the gold machine is shifted to the left by -5nm to obtain the spectral response curve specGold2, and then specGold2 is multiplied and accumulated by specLED to obtain the response value count2 of each channel under the -5nm frequency deviation.

Shift the spectral response curve specGold of each channel in the gold machine to the left by -4nm to obtain the spectral response curve specGold3, and then multiply specGold3 and specLED by the dot product to obtain the response value count3 of each channel under the frequency deviation of -4nm; ...and so on, we can obtain a set of response values count of each channel in the gold machine when the frequency deviation value peakshift is -6nm to 6nm.

Calculate the ratio of a set of response values of each channel at different frequency offsets to the response value when the frequency offset value is 0nm, and establish a mapping relationship between the response value ratio and the frequency offset value, that is, the frequency offset model: peakshift = φ (ratio, n), where n represents the channel number.

In some embodiments, determining the response error of the multi-spectral sensor to be calibrated based on the first response value, the first luminous intensity, the third response value and the third luminous intensity includes the following steps: determining a first ratio of the first response value to the first luminous intensity, and a second ratio of the third response value to the third luminous intensity; determining the response error of the multi-spectral sensor to be calibrated based on the first ratio and the second ratio.

Specifically, in the process of calibrating the response error of the multi-spectral sensor to be calibrated, the present embodiment takes into account the influence of the intensity of the slope light source. To this end, the present application can respectively generate the ratio between the first response value and the first luminous intensity, that is, the first ratio, and the ratio between the third response value and the third luminous intensity, that is, the second ratio, and then divide the first ratio by the second ratio to obtain the response error of the multi-spectral sensor to be calibrated, and then the response error of the multi-spectral sensor to be calibrated can be calibrated based on this.

In the calibration method provided in the embodiment of the present application, by obtaining a first response value of a standard multi-spectral sensor under a broadband light source and a first luminous intensity of the broadband light source, as well as a second response value and a second luminous intensity of the ramp light source under a slope light source when calibrating the standard multi-spectral sensor, the luminous intensity of the ramp light source within a preset first frequency deviation range corresponding to at least one color channel spectrum of the standard multi-spectral sensor is monotonically increased or monotonically decreased; obtaining a third response value and a third luminous intensity of the broadband light source under a broadband light source when calibrating the multi-spectral sensor to be calibrated, as well as a fourth response value and a fourth luminous intensity of the ramp light source under a slope light source when calibrating the multi-spectral sensor to be calibrated; calibrating the multi-spectral sensor to be calibrated according to the first response value, the first luminous intensity, the second response value, the second luminous intensity, the third response value, the third luminous intensity, the fourth response value and the fourth luminous intensity to obtain a calibration result of the multi-spectral sensor to be calibrated. The present application adopts a combination of a broadband light source and a ramp light source. The broadband light source is used to calibrate the response error, and the ramp light source is used to calibrate the frequency deviation. This can greatly reduce the number of light sources required for production line calibration. It can not only quickly calibrate the multi-spectral sensor and improve the calibration efficiency, but also ensure the accuracy of the multi-spectral sensor calibration.

The embodiment of the present application further provides a calibration device 200, which is used to execute any embodiment of the aforementioned calibration method.

Specifically, please refer to FIG. 5 , which is a schematic block diagram of a calibration device 200 provided in an embodiment of the present application.

As shown in FIG. 5 , the calibration device 200 includes: a first acquisition unit 210 , a second acquisition unit 220 and a calibration unit 230 .

The first acquisition unit 210 is used to acquire first calibration data under a broadband light source and second calibration data under a ramp light source when calibrating the standard multi-spectral sensor; the luminous intensity of the ramp light source within a preset first frequency deviation range corresponding to at least one color channel spectrum of the standard multi-spectral sensor is monotonically increasing or monotonically decreasing.

The second acquisition unit 220 is used to acquire the third calibration data under the broadband light source and the fourth calibration data under the slope light source when calibrating the multi-spectral sensor to be calibrated.

The calibration unit 230 is used to calibrate the multispectral sensor to be calibrated according to the first calibration data, the second calibration data, the third calibration data, the fourth calibration data and the frequency deviation model of the standard multispectral sensor to obtain a calibration result of the multispectral sensor to be calibrated.

The calibration device 200 provided in the embodiment of the present application is used to execute the above-mentioned acquisition of the first calibration data under the broadband light source and the second calibration data under the slope light source when calibrating the standard multi-spectral sensor; wherein the first calibration data includes a first response value and/or a first luminous intensity, the second calibration data includes a second response value and/or a second luminous intensity, and the luminous intensity of the slope light source within a preset first frequency deviation range corresponding to at least one color channel spectrum of the standard multi-spectral sensor is monotonically increasing or monotonically decreasing; when calibrating the multi-spectral sensor to be calibrated, the third calibration data under the broadband light source and the fourth calibration data under the slope light source are acquired; wherein the third calibration data includes a third response value and/or a third luminous intensity of the broadband light source, and the fourth calibration data includes a fourth response value and/or a fourth luminous intensity; according to the first calibration data, the second calibration data, the third calibration data, the fourth calibration data and the frequency deviation model of the standard multi-spectral sensor, the multi-spectral sensor to be calibrated is calibrated to obtain the calibration result of the multi-spectral sensor to be calibrated.

It should be noted that those skilled in the art can clearly understand that the specific implementation process of the above-mentioned multi-spectral sensor calibration device 200 and each unit can refer to the corresponding description in the aforementioned method embodiment, and for the convenience and brevity of description, it will not be repeated here.

The multi-spectral sensor calibration device 200 may be implemented in the form of a computer program, and the computer program may be run on the electronic device shown in FIG. 6 .

Please refer to Figure 6, which is a schematic block diagram of an electronic device provided in an embodiment of the present application. The electronic device 300 can be a terminal, wherein the terminal can be a cloud, a vehicle-mounted terminal device, a smart phone, a tablet computer, a laptop computer, a desktop computer, a personal digital assistant, a wearable device, etc.

6 , the electronic device 300 includes a processor 302 , a memory, and a network interface 305 connected via a system bus 301 , wherein the memory may include a non-volatile storage medium 303 and an internal memory 304 .

The non-volatile storage medium 303 may store an operating system 3031 and a computer program 3032. The computer program 3032 includes program instructions, and when the program instructions are executed, the processor 302 may execute the calibration method in any of the embodiments described above.

The processor 302 is used to provide computing and control capabilities to support the operation of the entire electronic device 300 .

The internal memory 304 provides an environment for the operation of the computer program 3032 in the non-volatile storage medium 303. When the computer program 3032 is executed by the processor 302, the processor 302 can execute the calibration method in any of the embodiments described above.

The network interface 305 is used to communicate with other devices over a network. Those skilled in the art will appreciate that the structure shown in FIG6 is merely a block diagram of a portion of the structure related to the present application solution, and does not constitute a limitation on the electronic device 300 to which the present application solution is applied. The specific electronic device 300 may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

The processor 302 is used to run the computer program 3032 stored in the memory to implement the steps in any embodiment of the above calibration method, for example: obtaining first calibration data under a broadband light source and second calibration data under a slope light source when calibrating a standard multispectral sensor; wherein the first calibration data includes a first response value or/and a first luminous intensity, the second calibration data includes a second response value or/and a second luminous intensity, and the luminous intensity of the slope light source within a preset first frequency deviation range corresponding to at least one color channel spectrum of the standard multispectral sensor is monotonically increasing or monotonically decreasing; obtaining third calibration data under a broadband light source and fourth calibration data under a slope light source when calibrating the multispectral sensor to be calibrated; wherein the third calibration data includes a third response value or/and a third luminous intensity of the broadband light source, and the fourth calibration data includes a fourth response value or/and a fourth luminous intensity; calibrating the multispectral sensor to be calibrated according to the first calibration data, the second calibration data, the third calibration data, the fourth calibration data and the frequency deviation model of the standard multispectral sensor to obtain the calibration result of the multispectral sensor to be calibrated.

It should be understood that in the embodiment of the present application, the processor 302 may be a central processing unit (CPU), and the processor 302 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

According to one aspect of the present application, a computer program product or a computer program is also provided. The computer program product or the computer program comprises computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device implements the steps in any embodiment of the above-mentioned calibration method, for example: obtaining first calibration data under a broadband light source and second calibration data under a slope light source when calibrating a standard multispectral sensor; wherein the first calibration data includes a first response value or/and a first luminous intensity, the second calibration data includes a second response value or/and a second luminous intensity, and the luminous intensity of the slope light source within a preset first frequency deviation range corresponding to at least one color channel spectrum of the standard multispectral sensor is monotonically increasing or monotonically decreasing; obtaining third calibration data under a broadband light source and fourth calibration data under a slope light source when calibrating a multispectral sensor to be calibrated; wherein the third calibration data includes a third response value or/and a third luminous intensity of the broadband light source, and the fourth calibration data includes a fourth response value or/and a fourth luminous intensity; calibrating the multispectral sensor to be calibrated according to the first calibration data, the second calibration data, the third calibration data, the fourth calibration data and the frequency deviation model of the standard multispectral sensor to obtain a calibration result of the multispectral sensor to be calibrated.

It can be understood by those skilled in the art that all or part of the processes in the method for implementing the above embodiment can be completed by instructing the relevant hardware through a computer program. The computer program includes program instructions, and the computer program can be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the process steps of the embodiment of the above method.

Therefore, the present application also provides a storage medium. The storage medium may be a computer-readable storage medium. The storage medium stores a computer program, wherein the computer program includes program instructions. When the program instruction is executed by the processor, the processor executes the steps in any embodiment of the above calibration method, for example: obtaining first calibration data under a broadband light source and second calibration data under a slope light source when calibrating a standard multi-spectral sensor; wherein the first calibration data includes a first response value and/or a first luminous intensity, the second calibration data includes a second response value and/or a second luminous intensity, and the luminous intensity of the slope light source within a preset first frequency deviation range corresponding to at least one color channel spectrum of the standard multi-spectral sensor is monotonically increasing or monotonically decreasing; obtaining third calibration data under a broadband light source and fourth calibration data under a slope light source when calibrating a multi-spectral sensor to be calibrated; wherein the third calibration data includes a third response value and/or a third luminous intensity of the broadband light source, and the fourth calibration data includes a fourth response value and/or a fourth luminous intensity; calibrating the multi-spectral sensor to be calibrated according to the first calibration data, the second calibration data, the third calibration data, the fourth calibration data and the frequency deviation model of the standard multi-spectral sensor to obtain a calibration result of the multi-spectral sensor to be calibrated.

The storage medium may be any computer-readable storage medium that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk, or an optical disk.

Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of each unit is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

The steps in the method of the embodiment of the present application can be adjusted in order, combined and deleted according to actual needs. The units in the device of the embodiment of the present application can be combined, divided and deleted according to actual needs. In addition, the functional units in the various embodiments of the present application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for an electronic device (which can be a personal computer, a terminal, or a network device, etc.) to perform all or part of the steps of the method provided in each embodiment of the present application.

In some embodiments, the present application further provides a calibration device, as shown in Fig. 7, the calibration device 100 comprises a mobile module 110, a station module 120 and a main control module 130. The main control module 130 is connected to the mobile module 110 and the station module 120 for communication.

The mobile module 110 is used to place at least one multispectral sensor to be calibrated, and is configured to move or stop moving when controlled, for example, the mobile module 110 moves when receiving a movement instruction, and stops moving when receiving a stop movement instruction. Specifically, the mobile module 110 is controlled by the main control module 130, and the main control module 130 controls the mobile module 110 to move or stop moving.

When the mobile module 110 moves, the multi-spectral sensor to be calibrated placed on the mobile module 110 can be moved to a suitable position, such as to the illumination area of the calibration light source of the station in the station module 120. Specifically, under the control of the main control module 130, the mobile module 110 moves the multi-spectral sensor to be calibrated from the illumination area of the calibration light source of one station to the illumination area of the calibration light source of another station.

The site module 120 is provided with a plurality of sites, each of which includes a data acquisition module for providing a calibration light source for calibrating the multi-spectral sensor to be calibrated and collecting calibration data of the multi-spectral sensor to be calibrated, wherein the spectra of the calibration light sources of at least two of the plurality of sites are different; each loading point 1101 of the mobile module 110 corresponds to a site; the data acquisition module can be a data acquisition card, or other components capable of realizing the data acquisition function.

The main control module 130 is used to control the movement of the mobile module 110 so that the multi-spectral sensor to be calibrated moves from the illumination area of the calibration light source of one site to the illumination area of the calibration light source of another site; when the multi-spectral sensor to be calibrated moves to the illumination area of the calibration light source of the site, the data acquisition module corresponding to the control site is collected The calibration data of the multi-spectral sensor to be calibrated.

In some embodiments, at least one loading point 1101 is provided on the mobile module 110, as shown in Fig. 9, and each loading point 1101 is used to place a multispectral sensor to be calibrated. Specifically, the mobile module 110 can be a turntable unit, which is controlled by the main control module 130, and at least one special fixture is provided on the turntable unit, and each fixture is a loading point 1101.

In this embodiment, the mobile module 110 can be a turntable unit, and its core function is to move the multi-spectral sensor to be calibrated from the illumination area of the calibration light source of one station to the illumination area of the calibration light source of another station through movement, so as to realize the collection of calibration data of the multi-spectral sensor to be calibrated under different light sources. The site module 120 is a fixed module, and its core function is to realize the collection of calibration data of the multi-spectral sensor to be calibrated. There are multiple sites in the site module 120, each site is represented by SITE, and multiple sites can be represented by SITE1, SITE2, SITE3, etc., as shown in Figure 3.

When the main control module 130 recognizes that the multi-spectral sensor to be calibrated has collected the corresponding calibration data at one site, a motion instruction is sent to the main control module 130, and the mobile module 110 is controlled to move according to the motion instruction, so that the multi-spectral sensor to be calibrated moves from the illumination area of the calibration light source of one site to the illumination area of the calibration light source of another matching site. When the multi-spectral sensor to be calibrated moves to the illumination area of the calibration light source of another matching site, the mobile module 110 is controlled to stop moving, and a collection instruction is sent to the matching site, and the data collection module corresponding to the site is controlled to collect the calibration data of the multi-spectral sensor to be calibrated.

It should be noted that the calibration data of the multi-spectral sensor to be calibrated at the corresponding site is collected only when the mobile module 110 stops moving. During the movement of the mobile module 110, even if it passes through other sites, the calibration data corresponding to the other sites passed through are still not collected to avoid erroneous collection. It should also be noted that during the calibration of the multi-spectral sensor to be calibrated, the calibration light sources of the modules of multiple sites are always in the on state. In this way, during the calibration process, there is no need to switch the light source, which improves the calibration efficiency of the multi-spectral sensor.

In some embodiments, the mobile module 110 may also include multiple loading points 1101, such as 12 loading points 1101, and the multiple loading points 1101 are arranged regularly. The multi-spectral sensors to be calibrated placed at at least two of the multiple loading points 1101 can be calibrated at the same time, thereby improving the calibration efficiency. For example, the multiple loading points 1101 include a first loading point and a second transfer point, and the multi-spectral sensors to be calibrated placed in the first loading point and the multi-spectral sensors to be calibrated placed in the second loading point are calibrated at the same time, thereby improving the calibration efficiency.

In some embodiments, while multiple loading points 1101 are regularly arranged, multiple stations are regularly arranged. For example, multiple stations can be arranged in a ring, and correspondingly, the angle between each two adjacent stations relative to the center of the mobile module 110 is the same. As shown in Figure 8, there are 12 stations, and the angle between two adjacent stations relative to the center of the mobile module 110 is 30 degrees; matching, multiple loading points 1101 are also arranged in a ring. For example, multiple stations can also be arranged in a straight line, and correspondingly, multiple loading points 1101 are also arranged in a straight line. Among them, the number of loading points 1101 is the same as the number of stations, and each loading point 1101 corresponds to each station. The station module 120 also includes an installation groove, which corresponds to the regular arrangement of multiple stations. In Figure 8, the installation groove is an annular area formed between two rings, and multiple stations are regularly arranged on the installation groove.

The calibration light source of each station can be powered by an external power supply. In order to avoid crosstalk between the calibration light sources of multiple stations, each station also includes a light tube 121 and a light source board 122. As shown in FIG9 , the calibration light source is arranged on the light source board 122, and the light tube 121 is provided with a light inlet and a light outlet. The light outlet is a side of the light tube 121 close to the mobile module 110, and the light emitted by the calibration light source is emitted toward the light outlet along the direction of the light inlet. The direction indicated by the arrow in FIG9 is the irradiation direction of the light emitted by the calibration light source.

In some embodiments, one end face (light inlet) of the light cylinder 121 is connected to the light source board 122, or the light source board 122 covers the end face of the light cylinder 121, or the light source board 122 is arranged inside the light cylinder 121, and the light emitted by the calibration light source is emitted from the other end face (light outlet) of the light cylinder 121 and irradiates the multispectral sensor to be calibrated that moves to the site.

In some embodiments, in order to make the light irradiated to the multi-spectral sensor to be calibrated uniform, a light homogenizer 123 is further provided between the calibration light source and the multi-spectral sensor to be calibrated. The light homogenizer 123 is used to uniformly process the light emitted by the calibration light source and then irradiate the light from the light outlet of the light tube to the corresponding multi-spectral sensor to be calibrated.

In some embodiments, the light homogenizer 123 is disposed in the light tube 123 , for example, may be disposed at the light outlet of the light tube 123 or disposed inside the light tube 123 .

In some embodiments, an optical power monitoring module is also provided on the light source board 122 of each station, and the optical power monitoring module is used to obtain the intensity information of the spectrum of the calibration light source in real time during the calibration of the multi-spectral sensor to be calibrated. Because the calibration light source will attenuate during use, the intensity information of the spectrum of the calibration light source will change, and the change in intensity information will also affect the calibration result. Therefore, the intensity information of the spectrum of the calibration light source must be obtained in real time to correct the impact of the attenuation of the calibration light source.

In some embodiments, when the multi-spectral sensor to be calibrated moves to the illumination area of the calibration light source of the matching site, the main control module 130 controls the multi-spectral sensor to be calibrated to communicate with the data acquisition module of the site. Correspondingly, the calibration device 100 also includes a driving module, which is controlled by the main control module 130 and is used to drive the multi-spectral sensor to be calibrated to communicate with the data acquisition module when the multi-spectral sensor to be calibrated moves to the illumination area of the calibration light source of the site. There are many ways of communication connection, such as through Bluetooth connection, infrared connection, etc., and can also be a card connection, etc. Among them, the driving module can be an independent module, or it can be a module included in the mobile module 110.

In some embodiments, each site also includes a card slot, and the driving module is used to drive the multi-spectral sensor to be calibrated to be electrically connected to the data acquisition module in the site through the card slot. Specifically, each site also includes a socket, which is a specially designed tooling structure, and the socket has a built-in card slot. The built-in card slot can clamp the multi-spectral sensor to be calibrated, and the multi-spectral sensor to be calibrated is electrically connected to the data acquisition module of the site through the card slot. When the multi-spectral sensor to be calibrated moves to the illumination area of the calibration light source of the site, the main control module 130 controls the driving module to push the multi-spectral sensor to be calibrated to the card slot of the site, and receives the calibration equipment through the card slot, and electrically connects the multi-spectral sensor to be calibrated to the data acquisition card through the card slot.

During the calibration process of the multi-spectral sensor to be calibrated, the calibration device does not need to switch the light source, thereby eliminating the time waiting for the light source to stabilize, thereby improving the calibration efficiency of the multi-spectral sensor to be calibrated. In addition, each light source is in a continuous and stable light-emitting state, reducing the impact of unstable light intensity of the calibration light source on the calibration effect.

In some embodiments, as shown in FIG. 7 , the calibration device 100 further includes a loading module 140 and/or a unloading module 150 .

The loading module 140 is controlled by the main control module 130, and under the control of the main control module 130, loads at least one multispectral sensor to be calibrated into the mobile module 110. Specifically, when the loading module 140 receives the loading instruction issued by the main control module 130, the at least one multispectral sensor to be calibrated is transferred to the loading point 1101 corresponding to the mobile module 110.

The unloading module 150 is controlled by the main control module 130, and under the control of the main control module 130, at least one multi-spectral sensor to be calibrated is unloaded/withdrawn from the mobile module 110. Specifically, when the unloading module 150 receives the unloading instruction issued by the main control module 130, at least one multi-spectral sensor to be calibrated is withdrawn from the loading point 1101. It should be noted that the main control module 130 first drives the at least one multi-spectral sensor to be calibrated on the loading point 1101 corresponding to the mobile module 110 to be separated/disconnected from the corresponding station, such as separating from the card slot of the corresponding station.

By providing a loading module 140 and/or an unloading module 150, the multispectral sensor to be calibrated is automatically loaded onto the mobile module 110, and the calibrated multispectral sensor is automatically removed from the mobile module 110, thereby improving the efficiency of multispectral sensor calibration.

The calibration light sources of the above-mentioned multiple sites include at least one set of light sources for calibrating the multi-spectral sensor, each set of light sources can be used independently to calibrate the multi-spectral sensor to be calibrated, each set of light sources includes at least one first light source and/or second light source, at least one first light source in each set of light sources is used to calibrate the frequency offset error of the multi-spectral sensor to be calibrated, and the second light source in each set of light sources is used to calibrate the response error of the multi-spectral sensor to be calibrated. One first light source and one second light source correspond to one site respectively, that is, one site is either placed with one first light source or one second light source.

The first light source is a narrowband light source and the second light source is a broadband light source. When both the frequency offset error and the response error need to be calibrated, a set of light sources includes at least one narrowband light source and one broadband light source. Each narrowband light source includes at least one monochromatic light source, and the narrowband light source can be understood as a light source composed of at least one monochromatic light source.

For example, for a multi-spectral sensor to be calibrated with 10 color channels, it is determined that the number of single light sources required is at least 11, plus a broadband light source, so 12 light sources are required. When the site module 120 includes 12 sites, and each narrow-band light source includes a monochromatic light source, each of the 11 sites is correspondingly provided with a narrow-band light source, and the remaining site is provided with a broadband light source. In this way, the multi-spectral sensor to be calibrated on the mobile module 110 is controlled to move one site each time, and the calibration data of the color channel corresponding to the site can be collected. The multi-spectral sensor to be calibrated moves one circle on the mobile module 110, and the calibration of all color channels of the multi-spectral sensor to be calibrated can be completed.

The first light source may also be a ramp light source and the second light source may be a broadband light source, wherein the luminous intensity of the ramp light source in a preset first frequency deviation range corresponding to the spectral response curve of at least one color channel of the multi-spectral sensor to be calibrated is monotonically increasing or monotonically decreasing. The ramp light source is described in detail above and will not be repeated here.

Among them, the calibration light sources of multiple sites include multiple sets of light sources for calibrating the multi-spectral sensors to be calibrated; each set of light sources includes at least one first light source and/or a second light source. One set of light sources can calibrate one multi-spectral sensor to be calibrated, and multiple sets of light sources can calibrate multiple multi-spectral sensors to be calibrated at the same time. In this way, the calibration of multiple multi-spectral sensors to be calibrated can be achieved at the same time, thereby improving the calibration efficiency. Correspondingly, under the control of the main control module 130, the loading module 140 is used to place the multi-spectral sensors to be calibrated of the same number as the number of light source sets on the loading point 1101 of the mobile module 110, and/or, under the control of the main control module 130, the unloading module 150 is used to withdraw the multi-spectral sensors to be calibrated of the same number as the number of light source sets and first placed on the mobile module 110 from the loading point 1101 of the mobile module 110.

When both the frequency offset error and the response error need to be calibrated, the site module may include multiple sets of light sources, wherein each narrow-band light source includes at least one monochromatic light source.

For example, for a multispectral sensor to be calibrated with 8 color channels, it is determined that the number of single light sources required is at least 9, plus a broadband light source, so 10 light sources are required. When each narrow-band light source includes a monochromatic light source, and the site module 120 includes 20 sites, each of 18 sites is provided with a narrow-band light source, and the remaining 2 sites are provided with a broadband light source. In this way, the site module 120 includes two sets of light sources, and two multispectral sensors to be calibrated can be calibrated at the same time.

For example, for a multispectral sensor to be calibrated with 10 color channels, 12 light sources are required. When each narrow-band light source includes multiple monochromatic light sources, such as 2 monochromatic light sources, and the site module 120 includes 12 sites, each of the 10 sites is provided with a narrow-band light source, and among the 10 narrow-band light sources, 8 narrow-band light sources include 2 monochromatic light sources, 2 narrow-band light sources include 1 monochromatic light source, and the remaining 2 sites are provided with a broadband light source. In this way, the site module 120 includes two sets of light sources, and can calibrate two multispectral sensors to be calibrated at the same time.

Among them, when each narrow-band light source includes multiple monochromatic light sources, the number of narrow-band light sources required for calibration is greatly reduced, the number of data collection times is reduced, and the site utilization and calibration efficiency are improved.

The whole process of calibration by the calibration device will be described below in conjunction with Figures 8 and 10. It is assumed that there are five narrowband light sources required for the multispectral sensor to be calibrated, namely group 1, group 2...group 5, which are abbreviated as G1, G2...G5 in Figure 8, and one broadband light source, namely group 6, which is abbreviated as G6 in Figure 8; the site module 120 includes 12 sites, namely SITE1, SITE2, SITE3...SITE12, with two sets of light sources; the mobile module 110 includes 12 loading points 1101, and the multispectral sensor to be calibrated is represented by dieID, namely die1, die2, die3...dien.

At the beginning of the operation, no multi-spectral sensor to be calibrated is loaded in the mobile module 110. First, the main control module starts the loading instruction, and loads multiple multi-spectral sensors to be calibrated, such as die1 and die2, on the loading point 1101 of the mobile module 110; the main control module starts the movement instruction, controls die1 and die2 of the mobile module 110 to move to the irradiation area of the two sites corresponding to group1 and stops, and controls the drive module to lift multiple multi-spectral sensors to be calibrated, such as die1 and die2, upward to the card slots of the site modules such as SITE1 and SITE2, and then realizes the register configuration and calibration data collection of multiple multi-spectral sensors to be calibrated through the data acquisition module, and sends the collected data to the main control module 130, which obtains the calibration data collected from the data acquisition module of all sites in real time. Among them, the register configuration is to enable the multi-spectral sensor to be calibrated to work. The main control module 130 saves the calibration data after the collection is completed. The main control module 130 controls the drive module to separate die1 and die2 from the card slot.

The main control module 130 starts the loading instruction, and loads multiple multi-spectral sensors to be calibrated, such as die3 and die4, on the loading point 1101 of the mobile module 110. The main control module starts the movement instruction, and controls the mobile module 110 to stop when it moves to the corresponding position, wherein die1 and die2 move to the irradiation area of the two stations corresponding to group2, and die3 and die4 move to the irradiation area corresponding to the two stations corresponding to group1, and controls the driving module to lift multiple multi-spectral sensors to be calibrated, such as die1, die2, die3 and die4, upward to the slots of the site modules such as SITE1, SITE2, SITE3, SITE4, and collect data and send it to the main control module. After the collection is completed, it is saved. The main control module 130 separates die1, die2, die3 and die4 from the slots respectively.

The same operation is performed until the multispectral sensors to be calibrated are installed on the 12 loading points 1101 on the mobile module 110. As shown in FIG10 , when die1 passes through SITE2, SITE4, SITE6, SITE8, SITE10, and SITE12 once, the response values of the sensors under light sources group1, group2, group3, group4, group5, and group6 can be collected in sequence to obtain the calibration data under each color channel, and the calibration frequency deviation error and response error are calculated and saved according to the calibration data under each color channel.

Afterwards, the main control module 130 first controls the driving module to separate die1 and die2 from the card slot, and the control module starts the unloading instruction to withdraw die1 and die2 from the loading point 1101 of the moving module 110.

The main control module 130 starts the loading instruction, and loads multiple multi-spectral sensors to be calibrated, such as die13 and die14, on the loading point 1101 of the mobile module 110. The main control module 130 starts the movement instruction, controls the mobile module 110 to stop when it moves to the corresponding position, and controls the driving module to lift the multiple multi-spectral sensors to be calibrated upward to the card slot of the station module, and collects data and sends it to the main control module. The main control module 130 saves the data after the collection is completed. The main control module 130 separates the multiple multi-spectral sensors to be calibrated from the card slots respectively. Then the cycle is executed.

Through the above operation, the calibration data of 12 multi-spectral sensors to be calibrated under different light sources can be collected simultaneously. After the 12 loading points 1101 on the mobile module 110 are all loaded with multi-spectral sensors to be calibrated, two multi-spectral sensors to be calibrated will be calibrated each time the mobile module 110 moves, which can significantly improve the calibration efficiency.

The embodiment of the present application also provides a calibration light source, which is applied to the calibration device in any of the above embodiments. The calibration device includes multiple sites, the calibration light source is set in the site, the spectra of the calibration light sources of at least two sites among the multiple sites are different, the calibration light sources in the multiple sites include at least one set of light sources for calibrating the multi-spectral sensor to be calibrated, each set of light sources includes at least one first light source and/or a second light source, at least one first light source is used to calibrate the frequency deviation error in the multi-spectral sensor to be calibrated, and the second light source is used to calibrate the response error of the multi-spectral sensor to be calibrated, and the calibration light source is in an on state during the process of the calibration device calibrating the multi-spectral sensor to be calibrated, and is used to calibrate the multi-spectral sensor to be calibrated when the multi-spectral sensor to be calibrated moves to the illumination area of the calibration light source of the site.

As described above, the first light source can be a ramp light source, and the second light source can be a broadband light source. The luminous intensity of the ramp light source in a preset first frequency deviation range corresponding to the spectral response curve of at least one color channel of the multispectral sensor to be calibrated increases or decreases monotonically.

Among them, the ramp light source is a light source whose luminous intensity monotonically increases or decreases within a preset wavelength range corresponding to the spectrum of each color channel of the standard multispectral sensor. It can be understood that in the spectral curve of the ramp light source, there is a peak, and at the same time, there are a first trough and a second trough on both sides of the peak. The first trough to the peak and the second trough to the peak are monotonically increasing. The peaks in the spectral response curve of each color channel of the standard multispectral sensor are all near the curve formed between the first trough and the peak or between the second trough and the peak. At this time, it can be defined as a ramp light source.

In other words, the ramp light source is actually a type of light source, but when selecting the ramp light source, it is necessary to ensure that the peaks in the spectral response curve of each color channel of the standard multispectral sensor are all near the curve formed between the first trough and the peak or between the second trough and the peak.

Specifically, the ramp light source can be a monochromatic light source or a composite light source composed of multiple monochromatic light sources. It only requires that the peaks in the spectral response curve of each color channel of the standard multispectral sensor are near a monotonically increasing or monotonically decreasing curve in the spectral curve of the ramp light source.

At the same time, the number of ramp light sources can be one, and the luminous intensity of one ramp light source within a preset first frequency deviation range corresponding to the spectrum of each color channel of the standard multi-spectral sensor monotonically increases or monotonically decreases, and one ramp light source is used to calibrate the frequency deviation value of each color channel; or, the number of ramp light sources can be multiple, and multiple ramp light sources are used together to calibrate the frequency deviation value of each color channel, each ramp light source calibrates the spectrum of at least one color channel, and the luminous intensity of each ramp light source within the preset first frequency deviation range corresponding to the spectrum of at least one color channel monotonically increases or monotonically decreases.

Among them, the first frequency deviation range is the wavelength range of a monotonically increasing or monotonically decreasing curve in the spectral curve of the slope light source, that is, the first frequency deviation range can be determined according to the wavelength range of a monotonically increasing or monotonically decreasing curve in the spectral curve of the slope light source.

The use of a sloped light source eliminates the need to determine the left and right monochromatic light sources for each color channel, greatly reducing the number of light sources required, reducing the time spent on data collection, and improving calibration efficiency.

The second light source is a broadband light source, and the spectrum curve of the second light source covers the wavelength range of 380-950nm, and the value of the spectrum curve of the second light source is as flat as possible within the wavelength range of 380-950nm, or the intensity of the spectrum within the wavelength range of 380-950nm is relatively stable in a small wavelength interval. The broadband light source is limited to a relatively flat light source, with as few peaks as possible, to prevent the response value of the multi-spectral sensor to be calibrated from being affected by the color channel frequency deviation.

The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims (10)

1. A calibration method, characterized by comprising: Acquire first calibration data under a broadband light source and second calibration data under a ramp light source when calibrating a standard multi-spectral sensor; the luminous intensity of the ramp light source within a preset first frequency deviation range corresponding to at least one color channel spectrum of the standard multi-spectral sensor increases monotonically or decreases monotonically; Acquire third calibration data under the broadband light source and fourth calibration data under the slope light source when calibrating the multispectral sensor to be calibrated; The multispectral sensor to be calibrated is calibrated according to the first calibration data, the second calibration data, the third calibration data, the fourth calibration data and the frequency deviation model of the standard multispectral sensor to obtain a calibration result of the multispectral sensor to be calibrated. 2. The calibration method according to claim 1, characterized in that the calibration result includes response error and frequency deviation data; The method for calibrating the multi-spectral sensor to be calibrated according to the first calibration data, the second calibration data, the third calibration data, the fourth calibration data and the frequency deviation model of the standard multi-spectral sensor includes: Determining a response error of the multi-spectral sensor to be calibrated according to the first calibration data and the third calibration data; The frequency deviation data of the multi-spectral sensor to be calibrated is determined according to the response error, the second calibration data, the fourth calibration data and the frequency deviation model. 3. The calibration method according to claim 2, characterized in that the second calibration data includes a second response value and a second luminous intensity of the slope light source, the fourth calibration data includes a fourth response value and a fourth luminous intensity of the slope light source, and the method for determining the frequency deviation data of the multi-spectral sensor to be calibrated according to the response error, the second calibration data, the fourth calibration data and the frequency deviation model comprises: performing correction processing on the fourth response value of the multi-spectral sensor to be calibrated according to the response error, the second luminous intensity and the fourth luminous intensity to obtain a corrected response value; The frequency deviation data of the multi-spectral sensor to be calibrated is determined according to the correction response value, the second response value and the frequency deviation model. 4. The calibration method according to claim 2, characterized in that the second calibration data includes a second response value and a second luminous intensity of the slope light source, the fourth calibration data includes a fourth response value and a fourth luminous intensity of the slope light source, and the method for determining the frequency deviation data of the multi-spectral sensor to be calibrated according to the response error, the second calibration data, the fourth calibration data and the frequency deviation model comprises: Determining a target ratio of response values between the multi-spectral sensor to be calibrated and the standard multi-spectral sensor according to the response error, the second response value, the second luminous intensity, the fourth response value, and the fourth luminous intensity; The target ratio is input into the frequency deviation model to obtain the frequency deviation data of each color channel of the multi-spectral sensor to be calibrated. 5. The calibration method according to claim 2, characterized in that the first calibration data includes a first response value and a first luminous intensity of the wide-band light source, the third calibration data includes a third response value and a third luminous intensity of the broadband light source, and the method for determining the response error of the multi-spectral sensor to be calibrated according to the first calibration data and the third calibration data includes: determining a first ratio of the first response value to the first luminous intensity, and a second ratio of the third response value to the third luminous intensity; A response error of the multi-spectral sensor to be calibrated is determined according to the first ratio and the second ratio. 6. The calibration method according to any one of claims 1 to 5, characterized in that the construction of the frequency deviation model comprises: Obtaining a standard spectral response curve of each color channel of the standard multi-spectral sensor and a spectral curve of the slope light source; The frequency deviation model is constructed according to the standard spectral response curve and the spectral curve of the slope light source. 7. The calibration method according to any one of claims 1 to 5, characterized in that it comprises: The number of the slope light sources is one, the luminous intensity of one slope light source in a preset first frequency deviation range corresponding to the spectrum of each color channel of the standard multi-spectral sensor increases monotonically or decreases monotonically, and one slope light source is used to calibrate the frequency deviation value of each color channel; or There are multiple slope light sources, and the multiple slope light sources are used together to calibrate the frequency deviation value of each color channel. Each slope light source calibrates the spectrum of at least one color channel, and the luminous intensity of each slope light source within a preset first frequency deviation range corresponding to the spectrum of at least one color channel monotonically increases or decreases. 8. An electronic device, characterized in that the electronic device comprises: one or more processors; a memory; and one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the calibration method described in any one of claims 1 to 7. 9. A computer-readable storage medium, characterized in that a computer program is stored thereon, and the computer program is loaded by a processor to execute the calibration method according to any one of claims 1 to 7. 10. A calibration light source, characterized in that it is applied to the calibration method described in any one of claims 1 to 7, wherein the calibration light source comprises a ramp light source, and the luminous intensity of the ramp light source within a preset first frequency deviation range corresponding to the spectral response curve of each color channel of the multi-spectral sensor to be calibrated is monotonically increasing or monotonically decreasing.