CN115451862A - Three-dimensional scanning method and three-dimensional scanning system - Google Patents
Three-dimensional scanning method and three-dimensional scanning system Download PDFInfo
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- CN115451862A CN115451862A CN202210991704.4A CN202210991704A CN115451862A CN 115451862 A CN115451862 A CN 115451862A CN 202210991704 A CN202210991704 A CN 202210991704A CN 115451862 A CN115451862 A CN 115451862A
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Abstract
The application relates to a three-dimensional scanning method and a three-dimensional scanning system, wherein the three-dimensional scanning method comprises the following steps: when the scanning device is positioned outside the preset optimal tracking range of the tracking device, changing the tracking visual angle of the tracking device so as to enable the scanning device to be positioned in the preset optimal tracking range of the tracking device and obtain the tracking result of the tracking device; and completing the three-dimensional reconstruction of the measured object according to the tracking result of the scanning device by the tracking device of the scanning device under different tracking visual angles of the tracking device, the scanning result of the scanning device and the tracking pose of the tracking device relative to a preset reference coordinate system. According to the tracking device, the tracking visual angle of the tracking device is adjusted, so that the working range of the tracking device when the tracking device tracks the scanning device is expanded, and the problem that the working range of the tracking device is limited by the tracking range of the tracking device in the current three-dimensional scanning is solved.
Description
Technical Field
The present application relates to the field of three-dimensional scanning, and more particularly, to a three-dimensional scanning method and a three-dimensional scanning system.
Background
In the process of scanning an object based on a tracking type three-dimensional scanner, the position and pose of a tracking head are often tracked by arranging the tracking head on a fixed support, and the object is scanned by moving the tracking head to different areas in the visual field range of the tracking head to complete the three-dimensional reconstruction of the object.
In order to solve the problem that the working range of the tracking device in the related art is limited by the fixed tracking range, no effective solution is provided at present.
Disclosure of Invention
In the embodiment, a three-dimensional scanning method and a three-dimensional scanning system are provided to solve the problem that the working range of the tracking device is limited to a fixed tracking range in the related art.
In a first aspect, in this embodiment, there is provided a three-dimensional scanning method for a three-dimensional scanning system, the three-dimensional scanning system including a scanning device and a tracking device, wherein the tracking device is capable of changing a tracking angle of view of the tracking device while maintaining a home position; the three-dimensional scanning method comprises the following steps:
judging whether the scanning device is positioned outside a preset optimal tracking range of the tracking device or not in the process of scanning the detected object by the scanning device;
when the scanning device is located outside a preset optimal tracking range of the tracking device, changing a tracking visual angle of the tracking device so as to enable the scanning device to be located within the preset optimal tracking range of the tracking device, and acquiring a tracking result of the tracking device;
and completing the three-dimensional reconstruction of the measured object according to the tracking result of the scanning device by the tracking device under different tracking visual angles of the tracking device, the scanning result of the scanning device and the tracking pose of the tracking device relative to a preset reference coordinate system.
In some embodiments, the changing the tracking viewing angle of the tracking device when the scanning device is located outside the preset optimal tracking range of the tracking device to make the scanning device located within the preset optimal tracking range of the tracking device and to obtain the tracking result of the tracking device includes:
and when the scanning device is positioned outside the preset optimal tracking range of the tracking device, adjusting the tracking visual angle of the tracking device according to a preset amplitude until the scanning device is positioned in the preset optimal tracking range of the tracking device, and stopping adjusting the tracking visual angle.
In some embodiments, when the scanning device is located outside the preset optimal tracking range of the tracking device, the tracking viewing angle of the tracking device is changed, so that the scanning device is located within the preset optimal tracking range of the tracking device, and the tracking result of the tracking device is obtained, further comprising:
when the scanning device is located outside the preset optimal tracking range of the tracking device, calculating projection information of the scanning device in the preset optimal tracking range of the tracking device according to the scanning position of the scanning device;
converting the projection information into a view angle adjusting parameter of the tracking device based on a preset projection conversion relation;
and adjusting the tracking visual angle of the tracking device based on the visual angle adjusting parameter so that the scanning device is positioned in a preset optimal tracking range of the tracking device.
In some embodiments, the calculating projection information of the scanning device within a preset optimal tracking range of the tracking device according to the scanning position of the scanning device includes:
calculating the projection angle of the scanning device on each coordinate axis under a three-dimensional coordinate system mapped by a preset optimal tracking range of the tracking device according to the scanning position of the scanning device;
and determining the projection angle of the scanning device on each coordinate axis in the coordinate system mapped by the optimal tracking range as the projection information.
In some embodiments, before completing the three-dimensional reconstruction of the measured object according to the tracking result of the tracking device on the scanning device by the tracking device when the scanning device is located at different tracking viewing angles of the tracking device, the scanning result of the scanning device, and the tracking pose of the tracking device relative to a preset reference coordinate system, the three-dimensional scanning method further includes:
calculating the tracking pose of the tracking device relative to the preset reference coordinate system under different tracking visual angles according to the visual angle transformation relation calibrated in advance by the tracking device; and the view angle conversion relation is obtained by tracking a preset calibration piece by the tracking device which is adjusted to different tracking view angles in advance.
In some embodiments, the preset reference coordinate system is an origin coordinate system of a pre-established marker point library; before completing the three-dimensional reconstruction of the measured object according to the tracking result of the tracking device to the scanning device by the tracking device, the scanning result of the scanning device and the tracking pose of the tracking device relative to a preset reference coordinate system under different tracking visual angles of the tracking device, the three-dimensional scanning method further comprises the following steps:
acquiring local mark points identified by the tracking device under different tracking visual angles;
and matching the local mark point with the mark point library, and obtaining the tracking pose of the tracking device relative to the origin coordinate system of the mark point library under different tracking visual angles based on the local mark point and the mark point library under the condition that the local mark point is successfully matched with the mark point library.
In some embodiments, the preset reference coordinate system is a mark point library origin coordinate system updated in real time based on the mark points acquired by the tracking device, and before completing the three-dimensional reconstruction of the measured object according to the tracking result of the scanning device by the tracking device under different tracking viewing angles of the tracking device, the scanning result of the scanning device, and the tracking pose of the tracking device relative to the preset reference coordinate system, the three-dimensional scanning method further includes:
acquiring local mark points identified by the tracking device under different tracking visual angles;
under the condition that mark point data exist in the mark point library, matching the local mark point with the mark point library, under the condition that the local mark point is successfully matched with the mark point library, obtaining the tracking pose of the tracking device relative to the origin coordinate system of the mark point library under different tracking visual angles based on the local mark point and the mark point library, and updating the mark point library based on the local mark point;
and under the condition that the marking point data in the marking point database is empty, establishing a marking point database based on the local marking points.
In some embodiments, the tracking device is fixedly disposed on a rotating platform, and the tracking device is driven by the rotating platform to rotate so as to change a tracking viewing angle of the tracking device.
In a second aspect, there is provided in this embodiment a three-dimensional scanning system including a scanning device, a tracking device, and a control device, wherein the tracking device is capable of changing a tracking angle of view of the tracking device while keeping a home position unchanged;
the scanning device is used for scanning the object to be detected to obtain a scanning result and sending the scanning result to the control device;
the tracking device is used for tracking the scanning device to obtain a tracking result;
the control device is configured to perform the three-dimensional scanning method according to the first aspect.
In some of these embodiments, the three-dimensional scanning system further comprises a rotating platform and a guideway; wherein: the tracking device is fixedly arranged on the rotating platform; the rotating platform is arranged on the guide rail;
the rotating platform is used for driving the tracking device to rotate and driving the tracking device to move along the guide rail.
Compared with the related art, the three-dimensional scanning method and the three-dimensional scanning system provided in this embodiment judge whether the scanning device is located in the preset optimal tracking range of the tracking device in the process that the scanning device scans the detected object; when the scanning device is positioned outside the preset optimal tracking range of the tracking device, changing the tracking visual angle of the tracking device to enable the scanning device to be positioned in the preset optimal tracking range of the tracking device, and acquiring the tracking result of the tracking device; and completing the three-dimensional reconstruction of the measured object according to the tracking result of the tracking device, the scanning result of the scanning device and the tracking pose of the tracking device relative to a preset reference coordinate system when the scanning device is positioned at different tracking visual angles of the tracking device. The tracking visual angle of the tracking device is adjusted, so that the working range of the tracking device for tracking the scanning device is expanded, and the problem that the working range of the tracking device in the existing three-dimensional scanning is limited by the tracking range of the tracking device is solved.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a first application scenario diagram of the three-dimensional scanning method provided in this embodiment;
fig. 2 is a second application scenario diagram of the three-dimensional scanning method provided in this embodiment;
fig. 3 is a flowchart of a three-dimensional scanning method of the present embodiment;
fig. 4 is a schematic view of a combination of the tracking apparatus and the turntable of the present embodiment;
FIG. 5 is a schematic diagram of an optimal tracking range of the tracking device provided in the present embodiment;
FIG. 6 is a schematic diagram of the tracking device adjusting the tracking range according to the present embodiment;
FIG. 7 is a flow chart of a three-dimensional scanning method according to a first preferred embodiment;
FIG. 8 is a flowchart of a three-dimensional scanning method according to a second preferred embodiment;
FIG. 9 is a flowchart of a three-dimensional scanning method of a third preferred embodiment;
fig. 10 is a schematic structural diagram of the three-dimensional scanning system provided in this embodiment.
Detailed Description
For a clearer understanding of the objects, technical solutions and advantages of the present application, reference is made to the following description and accompanying drawings.
Unless defined otherwise, technical or scientific terms used herein shall have the same general meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The use of the terms "a" and "an" and "the" and similar referents in the context of describing the invention (including a reference to the context of the specification and claims) are to be construed to cover both the singular and the plural, as well as the singular and plural. The terms "comprises," "comprising," "has," "having," and any variations thereof, as referred to in this application, are intended to cover non-exclusive inclusions; for example, a process, method, and system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or modules, but may include other steps or modules (elements) not listed or inherent to such process, method, article, or apparatus. Reference in this application to "connected," "coupled," and the like is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Reference to "a plurality" in this application means two or more. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. In general, the character "/" indicates a relationship in which the objects associated before and after are an "or". Reference in the present application to the terms "first," "second," "third," etc., merely distinguish between similar objects and do not denote a particular order or importance to the objects.
Fig. 1 is a first application scenario diagram of the three-dimensional scanning method provided in this embodiment. As shown in fig. 1, the three-dimensional scanning system comprises a scanning device 101 and a tracking device 102. The scanning device 101 is used for scanning the object 103, the tracking device 102 is used for tracking the scanning device 101, and the tracking device 102 can change the tracking angle of view of the tracking device 102 while keeping the original position unchanged. During the process of scanning the object 103 by the scanning device 101, it is determined whether the scanning device 101 is located in a preset optimal tracking range of the tracking device 102. When the scanning device 101 is located outside the preset optimal tracking range of the tracking device 102, the tracking angle of view of the tracking device 102 is changed so that the scanning device 101 is located in the preset optimal tracking range of the tracking device 102, and the tracking result of the tracking device 102 is obtained. And according to the tracking result of the tracking device 102 on the scanning device 101, the scanning result of the scanning device 101 and the tracking pose of the tracking device 102 relative to a preset reference coordinate system when the scanning device 101 is positioned at different tracking visual angles of the tracking device 102, completing the three-dimensional reconstruction of the measured object 103.
Fig. 2 is a second application scenario diagram of the three-dimensional scanning method provided in this embodiment. As shown in fig. 2, the three-dimensional scanning system includes a scanning device 201 and a tracking device 202. The scanning device 201 is used for scanning the measured object 203, the tracking device 202 is used for tracking the scanning device 201, and the tracking device 202 can change the tracking viewing angle of the tracking device 202 under the condition that the original position is kept unchanged. During the scanning of the object 203 by the scanning device 201, the tracking device 202 may track the scanning device 201 by adjusting the tracking viewing angle to make the scanning device 201 be within the optimal tracking range, so as to complete the three-dimensional reconstruction of the object 203. As shown in fig. 2, in the application scenario, a plurality of mark points may be further pasted on the surface of the measured object 203, and the mark points are represented by black dots in the drawing, and the pose calibration of the tracking apparatus 202 may be completed based on the mark points on the surface of the measured object 203.
In this embodiment, a three-dimensional scanning method is provided for a three-dimensional scanning system including a scanning device and a tracking device, wherein the tracking device can change a tracking angle of view of the tracking device while keeping a home position unchanged. Fig. 3 is a flowchart of the three-dimensional scanning method of the present embodiment, and as shown in fig. 3, the flowchart includes the following steps:
step S310, during the scanning process of the object to be detected by the scanning device, determining whether the scanning device is located outside the preset optimal tracking range of the tracking device.
The tracking device can be mounted on any mechanical rotating device which can rotate through driving, so that the tracking visual angle of the tracking device can be changed. For example, the tracking device may be driven by a rotating device such as a servo motor, a turntable, or a turntable to rotate, so as to change the tracking viewing angle. Preferably, the tracking device may be fixed to a turntable, and the tracking angle of view of the tracking device is adjusted based on rotation of the turntable. Fig. 4 is a schematic view of a combination of the tracking device and the turntable according to the present embodiment. As shown in fig. 4, the turntable 402 includes a base and a flange, and the tracking device 401 is fixedly mounted on the flange of the turntable 402. The base and the flange of the turntable 402 are connected through one or more driving shafts, and the flange is driven to rotate relative to the base by controlling the movement of the driving shafts, so that the tracking device 401 is driven to rotate. It should be noted that changing the tracking viewing angle of the tracking device while keeping the original position of the tracking device is not to change the position of the bracket or the base on which the tracking device is mounted during the process of changing the tracking viewing angle of the tracking device.
In the three-dimensional scanning process, the tracking device is used for tracking the scanning device, so in order to realize the real-time tracking of the scanning device by the tracking device, the scanning device is required to be ensured to be in the tracking range of the tracking device in the process of scanning the measured object by the scanning device. Wherein it may be determined whether the scanning device is within the tracking range of the tracking device by determining whether the tracking device is able to observe a locator provided on the scanning device within its tracking range. Preferably, in order to improve the tracking accuracy of the tracking device to the scanning device, it may be determined whether the scanning device is within a preset optimal tracking range of the tracking device, the preset optimal tracking range being predetermined based on a tracking range in which the imaging accuracy of the tracking device is the highest, and the preset optimal tracking range being smaller than the entire tracking range of the tracking device. It follows that when the scanning device is at the edge of the tracking range of the tracking device, it means that the scanning device is outside the optimal tracking range of the tracking device.
Step S320, when the scanning device is located outside the preset optimal tracking range of the tracking device, changing the tracking viewing angle of the tracking device so that the scanning device is located within the preset optimal tracking range of the tracking device, and acquiring the tracking result of the tracking device.
Wherein, after adjusting the tracking visual angle of the tracking device, the information observed by the tracking device in the tracking range will be changed accordingly. When the scanning device is determined to be located outside the preset optimal tracking range of the tracking device, the tracking angle of view of the tracking device can be changed by adjusting the rotation amplitude of the tracking device, so that the scanning device is located in the preset optimal tracking range of the tracking device again. For example, when it is determined that the scanning device is located in the edge area of the tracking range of the tracking device, the accuracy of the tracking result of the scanning device is low, and therefore, the tracking angle of view of the tracking device needs to be adjusted so that the scanning device is located again in the optimal tracking range of the tracking device. The adjustment of the tracking angle of view of the tracking device may be performed in an automatic adjustment manner or in a manual adjustment manner.
For example, a kinematic solution model calibrated in advance by a rotating device mounted on the tracking device may be combined, and kinematic parameters of components of the rotating device may be set, so as to realize rotation of the rotating device and further change the tracking angle of view of the tracking device. For another example, the tracking view angle of the tracking device may be continuously adjusted manually based on the image information collected by the tracking device within the tracking range of the tracking device until the scanning device is located within the preset optimal tracking range of the tracking device, and the adjustment of the tracking view angle may be stopped. In addition, it should be noted that, when the tracking angle of view of the tracking device is adjusted, the calculation of the angle-of-view adjustment parameter corresponding to the adjustment of the tracking angle of view may be performed before the adjustment, and the automatic adjustment of the tracking angle of view of the tracking device is completed based on the angle-of-view adjustment parameter, so that the scanning device may be located within the preset optimal tracking range of the tracking device under one adjustment of the tracking angle of view of the tracking device. Similarly, the tracking view angle may be adjusted successively according to a preset adjustment range, and the adjustment of the tracking view angle may be stopped until the scanning device is located within a preset optimal tracking range of the tracking device. In summary, the adjustment manner of the tracking view angle may be adaptively set according to the requirements of the actual application scenario, and the embodiment is not limited in this embodiment.
Additionally, under the condition that the scanning device is located in the preset optimal tracking range of the tracking device, the pose of the scanning device is tracked through the tracking device, and a tracking result is obtained. Specifically, the tracking device can track the locator on the scanning device to obtain the position information of the locator under the coordinate system of the tracking device, and then calculate the pose of the scanning device under the coordinate system of the tracking device. Wherein, the locator is rigidly connected with the scanning device, and the position relation between the locator and the scanning device is fixed.
In the related art, the tracking device is disposed on the fixed support to track the pose of the scanning head, so that the scanning device needs to scan within a tracking range fixed by the tracking device during the scanning process. The working range of current tracking three-dimensional scanners is therefore limited by the fixed tracking range of the tracking device. In the embodiment, the tracking visual angle of the tracking device is adjusted to enable the scanning device to be positioned in the preset optimal tracking range of the tracking device, so that the limitation of the fixed tracking range of the tracking device on the tracking work is removed, and the working range of the tracking device is further expanded.
And step S330, completing the three-dimensional reconstruction of the measured object according to the tracking result of the scanning device by the tracking device of the scanning device under different tracking visual angles of the tracking device, the scanning result of the scanning device and the tracking pose of the tracking device relative to a preset reference coordinate system.
The preset reference coordinate system may be a coordinate system of a reference object that is fixed in position under the scanning scene. Such as the turntable described above, which includes a flange and a base. The base of the rotary table is fixedly arranged at a preset working position. When the visual angle of the tracking device needs to be adjusted, the base is kept fixed only by controlling the rotation of the flange. Thus, the coordinate system of the base can be taken as a reference coordinate system. In addition, the preset reference coordinate system can also be a global coordinate system of the three-dimensional scanning system which is determined in advance based on a global photogrammetry technology. For example, a global photogrammetric survey device is used to photograph all the mark points pasted on the whole scanning scene of the three-dimensional scanning system in advance, so as to establish a global mark point library. The origin coordinate system of the mark point library is the reference coordinate system.
In the three-dimensional scanning process, the scanning device scans the detected object to obtain point cloud data of the detected object, and the tracking device tracks the scanning device to obtain the position and posture of the scanning device relative to the tracking device, so that the point cloud data acquired by the scanning device can be converted into a coordinate system of the tracking device. When the tracking visual angle of the tracking device is adjusted, the tracking pose of the tracking device relative to the reference coordinate system in the three-dimensional scanning system is changed, namely, the tracking poses of the tracking device under different tracking visual angles are different. Therefore, the coordinate systems of the tracking devices under different tracking poses need to be unified, so that the three-dimensional reconstruction of the measured object is completed.
Exemplarily, a scanning device scans a measured object at a certain pose, and one point in the acquired point cloud data in the scanning device coordinate system is p. At this time, the scanner is located within the tracking range of the tracking device, and the pose of the scanner with respect to the tracking device is T1. The tracking pose of the tracking device relative to the reference coordinate system at this time is T2. And converting the point p in the coordinate system of the scanning device into the point p' in the reference coordinate system. The conversion process between the point p' and the point p is shown as follows:
p’＝T2*T1*p (1)
in the above steps S310 to S330, in the process of scanning the object by the scanning device, it is determined whether the scanning device is located outside the preset optimal tracking range of the tracking device; when the scanning device is positioned outside the preset optimal tracking range of the tracking device, changing the tracking visual angle of the tracking device so as to enable the scanning device to be positioned in the preset optimal tracking range of the tracking device and obtain the tracking result of the tracking device; and completing the three-dimensional reconstruction of the measured object according to the tracking result of the scanning device by the tracking device of the scanning device under different tracking visual angles of the tracking device, the scanning result of the scanning device and the tracking pose of the tracking device relative to a preset reference coordinate system. The tracking visual angle of the tracking device is adjusted, so that the working range of the tracking device for tracking the scanning device is expanded, and the problem that the working range of the tracking device in the conventional three-dimensional scanning is limited by the tracking range of the tracking device is solved.
Further, in an embodiment, based on the step S320, when the scanning device is located outside the preset optimal tracking range of the tracking device, the tracking viewing angle of the tracking device is changed to make the scanning device located within the preset optimal tracking range of the tracking device, and the tracking result of the tracking device is obtained, which specifically includes the following steps:
step S321, when the scanning device is located outside the preset optimal tracking range of the tracking device, adjusting the tracking viewing angle of the tracking device according to the preset amplitude until the scanning device is located within the preset optimal tracking range of the tracking device, and stopping adjusting the tracking viewing angle.
Specifically, an amplitude may be preset, and when the scanning device is located outside the preset optimal tracking range of the tracking device, the rotating device carried by the tracking device is controlled to gradually change corresponding kinematic parameters along with the amplitude, so that the tracking device continuously rotates, and the tracking viewing angle is continuously changed until the scanning device is located within the preset optimal tracking range of the tracking device, and the adjustment of the tracking viewing angle of the tracking device is stopped. Still alternatively, the tracking viewing angle of the tracking device may be continuously manually adjusted based on a preset amplitude until the scanning device is within the optimal tracking range of the tracking device.
And then, under the condition that the scanning device is positioned in the optimal tracking range of the tracking device by adjusting the tracking visual angle, acquiring the tracking result of the tracking device on the scanning device. In this embodiment, the tracking view angle of the tracking device is adjusted based on the preset amplitude, so that the working range of the tracking device can be dynamically adjusted, and the working range of the tracking device is further expanded.
Additionally, in an embodiment, based on the step S320, when the scanning device is located outside the preset optimal tracking range of the tracking device, the tracking viewing angle of the tracking device is changed to make the scanning device located within the preset optimal tracking range of the tracking device, and the tracking result of the tracking device is obtained, and the method further includes the following steps:
step S322, when the scanning device is located outside the preset optimal tracking range of the tracking device, calculating projection information of the scanning device within the preset optimal tracking range of the tracking device according to the scanning position of the scanning device.
Specifically, the projection information may be projection information obtained by projecting the scanning position of the scanning device within the optimal tracking range and mapping based on the imaging principle of the tracking device. For example, the projection information may be a rotation angle at which the position of the scanning device is projected onto each coordinate axis of the origin coordinate system of the tracking device.
In step S323, the projection information is converted into a viewing angle adjustment parameter of the tracking apparatus based on a preset projection conversion relationship.
The preset projective transformation relationship may be specifically determined based on a structural form of the rotating device. For example, after obtaining the projection information, the projection information may be converted into an angle that each driving shaft of the turntable needs to rotate based on the structural form of the turntable, and the angle that each driving shaft needs to rotate is the above-mentioned angle-of-view adjustment parameter. Further, when the scanning device is located at the center of the tracking range of the tracking device, the tracking accuracy of the tracking device is optimal. Therefore, when the position of the scanning device deviates from the center of the tracking range, the view angle adjusting parameter can be calculated based on the projection information and the structural form of the rotating device so as to adjust the tracking view angle of the tracking device.
In step S324, the tracking view angle of the tracking device is adjusted based on the view angle adjustment parameter, so that the scanning device is located within the preset optimal tracking range of the tracking device.
In the above steps S322 to S324, when the scanning device is located outside the optimal tracking range of the tracking device, the projection information of the scanning device in the optimal tracking range of the tracking device is calculated according to the scanning position of the scanning device; converting the projection information into a visual angle adjusting parameter of the tracking device based on a preset projection conversion relation; and adjusting the tracking visual angle of the tracking device based on the visual angle adjusting parameter so that the scanning device is positioned in the optimal tracking range of the tracking device. The method and the device are based on the position of the scanning device, the visual angle adjusting parameters of the tracking device are determined, so that the tracking visual angle of the tracking device can be accurately adjusted, the adjusting precision of the tracking visual angle of the tracking device can be improved, in addition, the tracking visual angle is adjusted, the scanning device is located in the optimal tracking range of the tracking device, and the tracking precision of the tracking device on the scanning device can also be improved.
Further, in an embodiment, based on the step S322, calculating projection information of the scanning device within a preset optimal tracking range of the tracking device according to the scanning position of the scanning device, specifically, the calculating may include: calculating the projection angle of the scanning device on each coordinate axis under a three-dimensional coordinate system mapped by a preset optimal tracking range of the tracking device according to the scanning position of the scanning device; and determining the projection angle of the scanning device on each coordinate axis under the coordinate system mapped by the optimal tracking range as projection information.
The coordinate system mapped to the tracking range may be specifically an origin coordinate system of the tracking device. Fig. 5 is a schematic diagram of an optimal tracking range of the tracking device provided in this embodiment. As shown in fig. 5, the optimal tracking range of the tracking device can be simplified to a trapezoidal table, where oxyz is the origin coordinate system of the tracking device, and the trapezoidal table is symmetrical about xoz plane and yoz plane. The direction oz is the center direction of the optimal tracking range of the tracking device. Fig. 6 is a schematic diagram of the tracking range adjustment of the tracking device in this embodiment, where the origin coordinate system of the scanning device is located at a point c, and the projection information of the point c in the optimal tracking range may be specifically the rotation angle α projected by the point c to the x axis and the rotation angle β projected by the point c to the y axis under the oxyz coordinate system. Further, when the scanning device is located at the center of the tracking range of the tracking device, the tracking accuracy of the tracking device is optimal. Therefore, referring to fig. 6, when the point c is not located in the center direction of the tracking range, the rotation angle of each coordinate axis of the origin coordinate system projected onto the tracking device from the position of the scanning device can be calculated.
As can be seen from fig. 6, when the position of the scanning device is shifted from the center of the tracking range, the rotation angle α and the rotation angle β can be calculated, and based on the rotation angle α and the rotation angle β, the view angle adjustment parameter can be obtained, thereby further realizing adjustment of the tracking view angle of the tracking device, so that the scanning device is positioned at the center of the tracking range to obtain the optimal tracking accuracy. For example, for a single-axis turntable, the scanning device can be located in the center direction of the tracking range by adjusting the viewing angle adjustment parameter so that the line oc connecting the point c and the origin o of the coordinate system in fig. 6 coincides with the plane xoz. For a multi-axis turntable, a connecting line oc between a point c and an origin o of a coordinate system can be made to coincide with a direction oz by setting a viewing angle adjustment parameter.
Additionally, in an embodiment, based on the step S330, before completing the three-dimensional reconstruction of the measured object according to the tracking result of the tracking device on the scanning device by the tracking device when the scanning device is located at the different tracking view angles of the tracking device, the scanning result of the scanning device, and the tracking pose of the tracking device relative to the preset reference coordinate system, the three-dimensional scanning method may further include the following steps:
step S340, calculating the tracking pose of the tracking device relative to a preset reference coordinate system under different tracking visual angles according to the visual angle transformation relation calibrated in advance by the tracking device; and the view angle conversion relation is obtained by tracking a preset calibration piece under the condition that the tracking device is adjusted to different tracking view angles in advance.
Specifically, the pre-calibrated view transformation relationship is a pose transformation relationship between an origin coordinate system and a reference coordinate system of the tracking device when the tracking view of the tracking device is adjusted. For example, the perspective transformation relationship may be determined by a pre-established kinematic model of the rotating device and a pre-calibrated pose transformation relationship between the tracking device and the rotating device. Taking the turntable as an example, a kinematic solution model of the turntable can be established according to DH (Denavit-Hartenberg) parameters of the turntable. The DH parameters are a mechanical arm mathematical model and a coordinate system determining system which use four parameters to express the position angle relationship between two pairs of joint connecting rods. Namely, the pose of the coordinate system of the turntable flange relative to the coordinate system of the turntable base can be obtained through the rotation angle of each driving shaft of the turntable. In addition, the pose conversion relationship between the origin coordinate system of the tracking device and the center coordinate system of the flange can be calibrated in advance based on the calibration plate.
For example, after the turntable is fixed at the working position, the calibration plate is fixed in the visual field range of the tracking device, and the pose T of the origin coordinate system of the calibration plate relative to the origin coordinate system of the tracking head at the moment is calculated MtoT 1. Then, according to the angle of each driving shaft of the rotary table, the position T of the central coordinate system of the flange of the rotary table relative to the base coordinate system of the rotary table is calculated and obtained P 1, setting the relation between the origin coordinate system of the tracking device and the central coordinate system of the flange as T TtoF . The position and the attitude of the calibration plate relative to the base coordinate system of the rotary table are T M The equation is finally obtained as follows:
T P 1*T TtoF *T MtoT 1＝T M (2)
the pose of the tracking device is changed by rotating the angle of each driving shaft of the rotary table, and the calibration plate is required to be positioned in the visual field range of the tracking device every time the pose of the tracking device is changed, and the equation is obtained as follows in the same way:
T P 2*T TtoF *T MtoT 2＝T M (3)
wherein, T P 2 is rotationAnd the position and the attitude of the central coordinate system of the flange relative to the coordinate system of the base. T is MtoT And 2, the position and the attitude of the origin coordinate system of the calibration plate relative to the origin coordinate system of the tracking device after rotation. Because the calibration plate and the rotary table are fixed, the position and the attitude T of the calibration plate relative to the base coordinate system of the rotary table M Unchanged and the position and posture conversion relation T between the origin coordinate system and the flange center coordinate system of the tracking device TtoF And is not changed.
The following formula can be obtained:
T P 1*T TtoF *T MtoT 1＝T P 2*T TtoF *T MtoT 2 (4)
wherein, only the position and posture conversion relation T between the origin coordinate system of the tracking device and the central coordinate system of the flange in the equation TtoF Is an unknown quantity. Then, the tracking device is rotated for multiple times to obtain more equation sets, and the simultaneous equations are used for solving T TtoF . After the pose transformation relation between the origin coordinate system of the tracking device and the center coordinate system of the flange is obtained, the view angle transformation relation can be obtained according to the pose transformation relation between the origin coordinate system of the tracking device and the center coordinate system of the flange and the pose of the center coordinate system of the flange relative to the base coordinate system.
Additionally, in an embodiment, based on the step S330, the preset reference coordinate system is an origin coordinate system of the pre-established mark point library; before completing the three-dimensional reconstruction of the measured object according to the tracking result of the scanning device by the tracking device of the scanning device under different tracking visual angles of the tracking device, the scanning result of the scanning device and the tracking pose of the tracking device relative to a preset reference coordinate system, the method specifically comprises the following steps:
step S351, acquiring local mark points identified by the tracking device under different tracking viewing angles.
The mark point library can be obtained by sticking mark points on the measured object and the surrounding area in advance and shooting all the mark points through global photogrammetric equipment. The origin coordinate system of the mark point library is a reference coordinate system. After the mark point library is established, in the process that the scanning device scans the measured object, the scanning device is tracked based on different tracking visual angles of the tracking device, the mark points in the mark point library are synchronously identified, and the local mark points under the origin coordinate system of the tracking device are obtained.
And S352, matching the local mark points with the mark point library, and obtaining the tracking pose of the tracking device relative to the origin coordinate system of the mark point library under different tracking visual angles based on the local mark points and the mark point library under the condition that the local mark points are successfully matched with the mark point library.
The tracking pose of the tracking device relative to the origin coordinate system of the mark point library under different tracking visual angles can be calculated by comparing the local mark points under different tracking visual angles with the mark point library. The embodiment is based on the pre-established origin coordinate system of the mark point library as the reference coordinate system. In the scanning process, the tracking device tracks the scanning device at different tracking visual angles, and simultaneously, part of the marking points of the marking point library in the tracking range of the tracking device are identified, so that the tracking poses of the tracking device at different tracking visual angles relative to a preset reference coordinate system are obtained. The method for calculating the tracking pose can improve the convenience and efficiency of calculating the tracking pose.
Additionally, in an embodiment, based on the step S330, the preset reference coordinate system is a mark point library origin coordinate system updated in real time based on the mark points acquired by the tracking device, and before the three-dimensional reconstruction of the measured object is completed according to the tracking result of the scanning device by the tracking device of the scanning device located at different tracking viewing angles of the tracking device, the scanning result of the scanning device, and the tracking pose of the tracking device relative to the preset reference coordinate system, the three-dimensional scanning method may further include the following steps:
step S361, obtaining local mark points identified by the tracking device under different tracking viewing angles.
Similarly, the local mark points are part of the mark points of the mark point library in the tracking range, which are obtained by the tracking device when the tracking device tracks the scanning device under different tracking visual angles in the scanning process. Wherein, the mark point library can be updated by the part of the mark points identified by the tracking device. For example, before the tracking device identifies the marker points in the tracking range, the marker points in the marker point library are empty, the local marker points identified by the tracking device under the first tracking view angle are acquired, and the marker point library is established based on the local marker points under the first tracking view angle. And then, updating the marking point library based on the local marking points under the subsequent tracking visual angle.
And S362, matching the local mark point with the mark point library under the condition that the mark point data exists in the mark point library, obtaining the tracking pose of the tracking device relative to the origin coordinate system of the mark point library under different tracking visual angles based on the local mark point and the mark point library under the condition that the local mark point is successfully matched with the mark point library, and updating the mark point library based on the local mark point.
And matching the local mark points identified by the tracking device under the subsequent tracking visual angle with the existing mark point library. And if the matching is successful, calculating the pose of the tracking device relative to the origin coordinate system of the mark point library based on the local mark points and the mark point library, and updating the mark points which are not contained in the mark point library in the local mark points obtained by identification to the mark point library.
Step S363, in the case that the mark point data in the mark point database is empty, establishing a mark point database based on the local mark point.
In the steps S361 to S363, based on the mark points obtained by the tracking device at different tracking viewing angles in the process of tracking the scanning device, the real-time update of the mark point library is realized, so that the efficiency of calculating the tracking pose of the tracking device is improved.
Additionally, in one embodiment, the tracking device is fixedly arranged on the rotating platform, and the tracking device is driven by the rotating platform to rotate so as to change the tracking visual angle of the tracking device. Wherein it is understood that the rotating platform may be a turntable as in the above embodiments.
The present embodiment is described and illustrated below by means of preferred embodiments.
Fig. 7 is a flowchart of a three-dimensional scanning method according to a first preferred embodiment. As shown in fig. 7, the three-dimensional scanning method includes the steps of:
step S701, establishing a kinematics solving model of the rotary table based on DH parameters of the rotary table;
step S702, obtaining a pose transformation relation between an origin coordinate system of the calibration tracking device and a center coordinate system of the flange through hand-eye calibration;
step S703, in the process of scanning the object to be detected by the scanning device, determining whether the scanning device is located within a preset optimal tracking range of the tracking device, if so, executing step S705; otherwise, go to step S704;
step S704, controlling the flange of the rotary table to rotate by adjusting the rotation angle of each driving shaft of the rotary table, further driving the tracking device fixed on the flange to rotate, and changing the tracking visual angle of the tracking device so as to enable the scanning device to be positioned in the preset optimal tracking range of the tracking device;
step S705, when the scanning device obtains the point cloud data of the detected object, the tracking device identifies the locator arranged on the scanning device, and calculates the position of the scanning device relative to the tracking device in real time;
and step S706, based on the solving results of the step S701 and the step S702 and the pose of the scanning device relative to the tracking device, converting the point cloud data acquired by the scanning device into a base coordinate system of the turntable in real time to complete the three-dimensional reconstruction of the measured object.
Fig. 8 is a flowchart of a three-dimensional scanning method according to a second preferred embodiment. As shown in fig. 8, the three-dimensional scanning method includes the steps of:
step S801, shooting all mark points in a scanning scene based on global photogrammetric equipment, and establishing an origin coordinate system of a mark point library;
step S802, in the process that the scanning device scans the detected object, judging whether the scanning device is positioned in a preset optimal tracking range of the tracking device, if so, executing step S804; otherwise, step S803 is executed;
step S803, controlling the flange of the rotary table to rotate by adjusting the rotation angle of each driving shaft of the rotary table, further driving the tracking device fixed on the flange to rotate, and changing the tracking visual angle of the tracking device so as to enable the scanning device to be positioned in the preset optimal tracking range of the tracking device;
step S804, while the scanning device obtains the point cloud data of the measured object, the tracking device identifies the locator arranged on the scanning device, and calculates the position of the scanning device relative to the tracking device in real time;
step S805, when the tracking device identifies the locator of the scanning device, the local mark points of the mark point library identified by the tracking device are obtained;
step S806, matching the local mark points with the mark point library to obtain the pose of the tracking device relative to an original point coordinate system of the mark point library;
and step S807, based on the solving result of the step S806 and the pose of the scanning device relative to the tracking device, converting the point cloud data acquired by the scanning device into an origin coordinate system of the mark point library in real time, and completing the three-dimensional reconstruction of the measured object.
Fig. 9 is a flowchart of a three-dimensional scanning method of the third preferred embodiment. As shown in fig. 9, the three-dimensional scanning method includes the following steps:
step S901, in the process of scanning the object to be detected by the scanning device, determining whether the scanning device is located within a preset optimal tracking range of the tracking device, if so, executing step S903; otherwise, executing step S902;
step S902, controlling the flange of the rotary table to rotate by adjusting the rotation angle of each driving shaft of the rotary table, further driving the tracking device fixed on the flange to rotate, and changing the tracking visual angle of the tracking device so as to enable the scanning device to be positioned in the preset optimal tracking range of the tracking device;
step S903, when the scanning device acquires point cloud data of the detected object, the tracking device identifies a locator arranged on the scanning device, and the position and posture of the scanning device relative to the tracking device are calculated in real time;
step S904, when the tracking device identifies the locator of the scanning device, the local mark points pasted under the scanning scene identified by the tracking device in the tracking range are obtained;
step S905, judging whether the mark point library is empty, if so, executing step S906, otherwise, executing step S907;
step S906, a mark point library is established according to the local mark points at the moment;
step S907, matching the local mark points with the mark point library, if the matching is successful, calculating to obtain the pose of the tracking device relative to the origin coordinate system of the mark point library, and updating mark points which are not contained in the local mark points by the mark point library into the mark point library;
and step S908, based on the solving result of the step S907 and the pose of the scanning device relative to the tracking device, converting the point cloud data acquired by the scanning device into an origin coordinate system of the mark point library in real time, and completing three-dimensional reconstruction of the measured object.
Further, in one embodiment, a three dimensional scanning system 100 is also provided. Fig. 10 is a schematic structural diagram of the three-dimensional scanning system 100 provided in this embodiment. As shown in fig. 10, the three-dimensional scanning system 100 includes a scanning device 12, a tracking device 14, and a control device 16, wherein the tracking device 14 can change the tracking viewing angle of the tracking device 14 while keeping the original position unchanged; the scanning device 12 is used for scanning the object to be measured to obtain a scanning result and sending the scanning result to the control device 16; the tracking device 14 is used for tracking the scanning device 12 to obtain a tracking result; the control device 16 is configured to execute the three-dimensional scanning method provided in any of the above embodiments.
The three-dimensional scanning system 100 enlarges the working range of the tracking device when the tracking device tracks the scanning device by adjusting the tracking visual angle of the tracking device, thereby solving the problem that the working range of the tracking device in the current three-dimensional scanning is limited by the tracking range of the tracking device.
Further, in one embodiment, the three-dimensional scanning system 100 further comprises a rotating platform and a guide rail; wherein: the tracking device is fixedly arranged on the rotating platform; the rotating platform is arranged on the guide rail; the rotating platform is used for driving the tracking device to rotate and driving the tracking device to move along the guide rail. Specifically, the rotating platform may be a turntable in the above embodiment. The rotating platform is arranged on the guide rail, so that the tracking visual angle of the tracking device can be changed, the tracking device can be controlled to move relative to the object to be detected, and the working range of the tracking device can be further expanded.
It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to be limiting. All other embodiments, which can be derived by a person skilled in the art from the examples provided herein without any inventive step, shall fall within the scope of protection of the present application.
It is obvious that the drawings are only examples or embodiments of the present application, and it is obvious to those skilled in the art that the present application can be applied to other similar cases according to the drawings without creative efforts. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
Reference throughout this application to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is to be expressly and implicitly understood by one of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the patent protection. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims (10)
1. A three-dimensional scanning method for a three-dimensional scanning system, wherein the three-dimensional scanning system comprises a scanning device and a tracking device, wherein the tracking device can change a tracking viewing angle of the tracking device while keeping a home position unchanged; the three-dimensional scanning method comprises the following steps:
judging whether the scanning device is positioned outside a preset optimal tracking range of the tracking device or not in the process of scanning the detected object by the scanning device;
when the scanning device is located outside the preset optimal tracking range of the tracking device, changing the tracking visual angle of the tracking device to enable the scanning device to be located within the preset optimal tracking range of the tracking device, and acquiring the tracking result of the tracking device;
and completing the three-dimensional reconstruction of the measured object according to the tracking result of the scanning device by the tracking device under different tracking visual angles of the tracking device, the scanning result of the scanning device and the tracking pose of the tracking device relative to a preset reference coordinate system.
2. The three-dimensional scanning method according to claim 1, wherein when the scanning device is located outside a preset optimal tracking range of the tracking device, changing a tracking view angle of the tracking device so that the scanning device is located within the preset optimal tracking range of the tracking device, and acquiring a tracking result of the tracking device comprises:
and when the scanning device is positioned outside the preset optimal tracking range of the tracking device, adjusting the tracking visual angle of the tracking device according to a preset amplitude until the scanning device is positioned in the preset optimal tracking range of the tracking device, and stopping adjusting the tracking visual angle.
3. The three-dimensional scanning method according to claim 1, wherein when the scanning device is located outside a preset optimal tracking range of the tracking device, the tracking view angle of the tracking device is changed to make the scanning device located within the preset optimal tracking range of the tracking device, and a tracking result of the tracking device is obtained, further comprising:
when the scanning device is located outside the preset optimal tracking range of the tracking device, calculating projection information of the scanning device in the preset optimal tracking range of the tracking device according to the scanning position of the scanning device;
converting the projection information into a visual angle adjusting parameter of the tracking device based on a preset projection conversion relation;
and adjusting the tracking visual angle of the tracking device based on the visual angle adjusting parameter so that the scanning device is positioned in the preset optimal tracking range of the tracking device.
4. The three-dimensional scanning method according to claim 3, wherein the calculating projection information of the scanning device within a preset optimal tracking range of the tracking device according to the scanning position of the scanning device comprises:
calculating the projection angle of the scanning device on each coordinate axis under a three-dimensional coordinate system mapped by a preset optimal tracking range of the tracking device according to the scanning position of the scanning device;
and determining the projection angle of the scanning device on each coordinate axis under the coordinate system mapped by the optimal tracking range as the projection information.
5. The three-dimensional scanning method according to claim 1, wherein before completing the three-dimensional reconstruction of the measured object according to the tracking result of the tracking device to the scanning device by the tracking device when the scanning device is located at the different tracking view angles of the tracking device, the scanning result of the scanning device, and the tracking pose of the tracking device relative to a preset reference coordinate system, the three-dimensional scanning method further comprises:
calculating the tracking pose of the tracking device relative to the preset reference coordinate system under different tracking visual angles according to the visual angle transformation relation calibrated in advance by the tracking device; and the view angle conversion relation is obtained by tracking a preset calibration piece by the tracking device which is adjusted to different tracking view angles in advance.
6. The three-dimensional scanning method according to claim 1, wherein the preset reference coordinate system is an origin coordinate system of a pre-established marker point library; before completing the three-dimensional reconstruction of the measured object according to the tracking result of the tracking device to the scanning device by the tracking device, the scanning result of the scanning device and the tracking pose of the tracking device relative to a preset reference coordinate system under different tracking visual angles of the tracking device, the three-dimensional scanning method further comprises the following steps:
acquiring local mark points identified by the tracking device under different tracking visual angles;
and matching the local marking point with the marking point library, and obtaining the tracking pose of the tracking device relative to the origin coordinate system of the marking point library under different tracking visual angles on the basis of the local marking point and the marking point library under the condition that the local marking point is successfully matched with the marking point library.
7. The three-dimensional scanning method according to claim 1, wherein the preset reference coordinate system is a mark point library origin coordinate system updated in real time based on the mark points acquired by the tracking device, and before completing the three-dimensional reconstruction of the measured object according to the tracking result of the tracking device on the scanning device, the scanning result of the scanning device, and the tracking pose of the tracking device with respect to the preset reference coordinate system, the method further comprises:
acquiring local mark points identified by the tracking device under different tracking visual angles;
under the condition that mark point data exist in the mark point library, matching the local mark point with the mark point library, under the condition that the local mark point is successfully matched with the mark point library, obtaining the tracking pose of the tracking device relative to the origin coordinate system of the mark point library under different tracking visual angles based on the local mark point and the mark point library, and updating the mark point library based on the local mark point;
and under the condition that the mark point data in the mark point database is empty, establishing a mark point database based on the local mark points.
8. The three-dimensional scanning method according to any one of claims 1 to 7, wherein the tracking device is fixedly disposed on a rotating platform, and the tracking device is rotated by the rotating platform to change a tracking viewing angle of the tracking device.
9. A three-dimensional scanning system comprising a scanning device, a tracking device, and a control device, wherein the tracking device is capable of changing a tracking angle of view of the tracking device while maintaining a home position;
the scanning device is used for scanning the object to be detected to obtain a scanning result and sending the scanning result to the control device;
the tracking device is used for tracking the scanning device to obtain a tracking result;
the control device is used for executing the three-dimensional scanning method of any one of claims 1 to 8.
10. The three dimensional scanning system of claim 9, further comprising a rotating platform and a guide rail; wherein: the tracking device is fixedly arranged on the rotating platform; the rotating platform is arranged on the guide rail;
the rotating platform is used for driving the tracking device to rotate and driving the tracking device to move along the guide rail.
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