CN115837670A

CN115837670A - Calibration path planning method and calibration method of three-dimensional scanning system

Info

Publication number: CN115837670A
Application number: CN202211410191.XA
Authority: CN
Inventors: 王江峰; 梅振; 蒋传鹏; 陈尚俭; 郑俊
Original assignee: Hangzhou Silidi Technology Co ltd; Scantech Hangzhou Co Ltd
Current assignee: Hangzhou Silidi Technology Co ltd; Scantech Hangzhou Co Ltd
Priority date: 2022-11-11
Filing date: 2022-11-11
Publication date: 2023-03-24

Abstract

The application relates to a calibration path planning method and a calibration method of a three-dimensional scanning system, wherein the calibration path planning method comprises the following steps: when the equipment to be calibrated is arranged on the mechanical arm and the target piece is fixedly arranged in the visual field range of the equipment, controlling the mechanical arm to move the equipment to each preset position, and constructing a first position and attitude conversion relation between an equipment coordinate system of the equipment and a mechanical arm coordinate system; determining a second position and posture conversion relation between a target part coordinate system of the target part and a mechanical arm coordinate system; and planning a calibration path of the mechanical arm according to the first position and posture conversion relation and the second position and posture conversion relation based on the preset calibration position and posture. Through the method and the device, the problems that personnel are needed to participate in the calibration process, the labor cost is high, and the calibration efficiency is influenced by the experience of the personnel are solved, and the automatic planning of the calibration path is realized to avoid the problem caused by the influence of the labor.

Description

Calibration path planning method and calibration method of three-dimensional scanning system

Technical Field

The present application relates to the field of three-dimensional scanning technologies, and in particular, to a calibration path planning method and a calibration method for a three-dimensional scanning system.

Background

In recent years, three-dimensional scanning systems have been developed, which operate on the principle of a combination of a laser and a camera to obtain three-dimensional data of an object surface according to a triangulation method. The application of the measurement principle is more and more extensive, the measurement principle is one of the main measurement methods in the field of high-precision three-dimensional measurement, and the measurement principle is widely applied to the industries of machinery, automobiles, aviation, sculpture, medical treatment and the like.

In order to ensure the use accuracy of the three-dimensional scanning system, it is usually required to calibrate the system before use. The current calibration scheme is: the method comprises the steps of obtaining images of a calibration plate by adjusting equipment to be calibrated at a plurality of different angles through personnel, and calculating external parameters of the equipment by combining internal parameters of the equipment, thereby realizing calibration of the equipment. The disadvantages of this solution are: the calibration process needs personnel to participate, so that the labor cost is high, and the calibration efficiency is influenced by the experience of the personnel.

Aiming at the problems that in the related technology, personnel are needed to participate in the calibration process, so that the labor cost is high, and the calibration efficiency is influenced by the experience of the personnel, an effective solution is not provided at present.

Disclosure of Invention

The embodiment provides a calibration path planning method and a calibration method for a three-dimensional scanning system, so as to solve the problems that in the related art, personnel is needed to participate in the calibration process, so that the labor cost is high, and the calibration efficiency is affected by the experience of the personnel.

In a first aspect, in this embodiment, a calibration path planning method for a three-dimensional scanning system is provided, including:

when equipment to be calibrated is arranged on a mechanical arm and a target piece is fixedly arranged in the visual field range of the equipment, controlling the mechanical arm to move the equipment to each preset position, and constructing a first position and posture conversion relation between an equipment coordinate system of the equipment and the mechanical arm coordinate system;

determining a second position and posture conversion relation between a target part coordinate system of the target part and the mechanical arm coordinate system;

and planning a calibration path of the mechanical arm according to the first position and posture conversion relation and the second position and posture conversion relation based on a preset calibration position and posture.

In some embodiments, the controlling the robot to move the equipment to the preset positions and constructing a first pose transformation relationship between an equipment coordinate system of the equipment and the robot coordinate system includes:

controlling the mechanical arm to move the equipment to a first preset position; under the first preset position, acquiring a third position transformation relation between a target part coordinate system of the target part and an equipment coordinate system of the equipment, and acquiring a fourth position transformation relation between a mechanical arm tail end coordinate system of the mechanical arm and a mechanical arm base coordinate system of the mechanical arm;

controlling the mechanical arm to move the equipment to a second preset position; under the second preset position, acquiring a third position transformation relation between a target part coordinate system of the target part and an equipment coordinate system of the equipment, and acquiring a fourth position transformation relation between a mechanical arm tail end coordinate system of the mechanical arm and a mechanical arm base coordinate system of the mechanical arm;

constructing a first target equation according to the pose conversion relation between the target part coordinate system and the mechanical arm base coordinate system, the first pose conversion relation between the equipment coordinate system and a mechanical arm tail end coordinate system in the mechanical arm coordinate system, the third pose conversion relation and the fourth pose conversion relation;

and simultaneously solving a plurality of groups of first target equations to obtain a first attitude transformation relation between the equipment coordinate system and the tail end coordinate system of the mechanical arm in the mechanical arm coordinate system.

In some embodiments, the determining a second pose translation relationship of the target part coordinate system of the target part and the robotic arm coordinate system comprises:

acquiring a fifth pose transformation relation between the coordinate system of the target piece and the coordinate system of the equipment;

acquiring a sixth pose conversion relation between a mechanical arm tail end coordinate system in the mechanical arm coordinate system and a mechanical arm base end coordinate system in the mechanical arm coordinate system;

and determining a second pose conversion relation between the target piece coordinate system and the mechanical arm base coordinate system in the mechanical arm coordinate system according to the first pose conversion relation, the fifth pose conversion relation and the sixth pose conversion relation between the equipment coordinate system and the mechanical arm tail end coordinate system.

In some embodiments, the planning a calibration path of the mechanical arm according to the first position-posture conversion relationship and the second position-posture conversion relationship based on a preset calibration posture includes:

determining a seventh pose conversion relation between the tail end coordinate system of the mechanical arm and the mechanical arm base coordinate system under each calibration pose of the tail end of the mechanical arm according to the first pose conversion relation, the second pose conversion relation and a preset calibration pose;

and planning a calibration path of the mechanical arm based on the seventh pose conversion relation corresponding to each calibration pose.

In a second aspect, in this embodiment, a calibration path planning method for a three-dimensional scanning system is provided, including:

when equipment to be calibrated is fixedly arranged and a target piece on a mechanical arm is in the visual field range of the equipment, controlling the mechanical arm to move the target piece to each preset position, and constructing a first position and posture conversion relation between an equipment coordinate system of the equipment and a mechanical arm coordinate system;

In some embodiments, the controlling the robot to move the target part to each preset position to construct a first pose transformation relationship between an apparatus coordinate system of the apparatus and the robot coordinate system includes:

controlling the mechanical arm to move the target part to a third preset position; under the third preset position, acquiring an eighth pose conversion relation between a target part coordinate system of the target part and an equipment coordinate system of the equipment, and acquiring a ninth pose conversion relation between a mechanical arm tail end coordinate system of the mechanical arm and a mechanical arm base coordinate system of the mechanical arm;

controlling the mechanical arm to move the target part to a fourth preset position; under the fourth preset position, acquiring an eighth pose conversion relation between a target part coordinate system of the target part and an equipment coordinate system of the equipment, and acquiring a ninth pose conversion relation between a mechanical arm tail end coordinate system of the mechanical arm and a mechanical arm base coordinate system of the mechanical arm;

constructing a second target equation according to a first pose transformation relation between the equipment coordinate system and a mechanical arm base coordinate system in the mechanical arm coordinate system, a pose transformation relation between the target part coordinate system and a mechanical arm tail end coordinate system, the eighth pose transformation relation and a ninth pose transformation relation;

and simultaneously solving a plurality of groups of second objective equations to obtain a first attitude transformation relation between the equipment coordinate system and a mechanical arm base coordinate system in the mechanical arm coordinate system.

In some of these embodiments, the determining a second pose translation relationship of the target part coordinate system of the target part and the robotic arm coordinate system comprises:

acquiring a tenth posture conversion relation between the target piece coordinate system and the equipment coordinate system;

acquiring an eleventh pose conversion relation between a mechanical arm tail end coordinate system in the mechanical arm coordinate system and a mechanical arm base end coordinate system in the mechanical arm coordinate system;

and determining a second posture conversion relation between the target piece coordinate system and a mechanical arm tail end coordinate system in the mechanical arm coordinate system according to the first posture conversion relation, the tenth posture conversion relation and the eleventh posture conversion relation of the equipment coordinate system and a mechanical arm base coordinate system in the mechanical arm coordinate system.

determining a twelfth pose conversion relation between the tail end coordinate system of the mechanical arm and the mechanical arm base coordinate system under each calibration pose of the tail end of the mechanical arm according to the first pose conversion relation, the second pose conversion relation and a preset calibration pose;

and planning a calibration path of the mechanical arm based on the twelfth pose conversion relation corresponding to each calibration pose.

In a third aspect, in this embodiment, a calibration method for a three-dimensional scanning system is provided, including:

determining a calibration path according to the step of the method for planning a calibration path of a three-dimensional scanning system according to the first aspect, or according to the step of the method for planning a calibration path of a three-dimensional scanning system according to the first aspect;

when the mechanical arm moves based on the calibration path, acquiring a plurality of target piece images corresponding to preset calibration poses on the calibration path;

and calibrating the equipment to be calibrated based on the plurality of target piece images.

In a fourth aspect, in this embodiment, a calibration path planning apparatus for a three-dimensional scanning system is provided, including: the system comprises a first position posture construction module, a first position posture processing module and a first path processing module;

the first position and posture establishing module is used for controlling the mechanical arm to move the equipment to each preset position and establishing a first position and posture conversion relation between an equipment coordinate system of the equipment and a mechanical arm coordinate system when the equipment to be calibrated is arranged on the mechanical arm and a target piece is fixedly arranged in the visual field range of the equipment;

the first position and posture processing module is used for determining a second position and posture conversion relation between a target part coordinate system of the target part and the mechanical arm coordinate system;

the first path processing module is used for planning the calibration path of the mechanical arm according to the first position and posture conversion relation and the second position and posture conversion relation based on a preset calibration position and posture.

In a fifth aspect, in this embodiment, a computer device is provided, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the steps of the calibration path planning method of the three-dimensional scanning system according to the first aspect or the steps of the calibration method of the three-dimensional scanning system according to the third aspect are implemented.

In a sixth aspect, in the present embodiment, there is provided a storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the calibration path planning method for a three-dimensional scanning system according to the first aspect, or the steps of the calibration method for a three-dimensional scanning system according to the third aspect.

Compared with the related art, according to the calibration path planning method and the calibration method of the three-dimensional scanning system provided by the embodiment, when the equipment to be calibrated is arranged on the mechanical arm and the target piece is fixedly arranged in the visual field range of the equipment, the mechanical arm is controlled to move the equipment to each preset position, and a first position-posture conversion relation between the equipment coordinate system of the equipment and the mechanical arm coordinate system is established; determining a second position and posture conversion relation between a target part coordinate system of the target part and a mechanical arm coordinate system; based on the preset calibration pose, the calibration path of the mechanical arm is planned according to the first pose conversion relation and the second pose conversion relation, the problems that personnel are needed to participate in the calibration process, the labor cost is high, and the calibration efficiency is affected by the experience of the personnel are solved, and the automatic planning of the calibration path is realized to avoid the problem caused by the influence of the labor.

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 block diagram of a hardware structure of a terminal device of a calibration path planning method for a three-dimensional scanning system according to an embodiment of the present application;

fig. 2 is a flowchart of a calibration path planning method of a three-dimensional scanning system according to an embodiment of the present application;

FIG. 3 is a diagram of a coordinate system provided by an embodiment of the present application;

FIG. 4 is a flowchart illustrating a calibration path planning method for a three-dimensional scanning system according to another embodiment of the present disclosure;

FIG. 5 is a diagram of a coordinate system provided in another embodiment of the present application;

fig. 6 is a block diagram illustrating a calibration path planning apparatus of a three-dimensional scanning system according to an embodiment of the present disclosure;

fig. 7 is a block diagram of a calibration path planning apparatus of a three-dimensional scanning system according to another embodiment of the present application.

In the figure: 210. a first posture construction module; 220. a first pose processing module; 230. a first path processing module; 410. a second posture construction module; 420. a second attitude processing module; 430. and a second path processing module.

Detailed Description

For a clearer understanding of the objects, aspects 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 this application do not denote a limitation of quantity, either in the singular or the 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 throughout this application to "connected," "coupled," and the like is not 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". The terms "first," "second," "third," and the like in this application are used for distinguishing between similar items and not necessarily for describing a particular sequential or chronological order.

The method embodiments provided in the present embodiment may be executed in a terminal, a computer, or a similar computing device. For example, the method is executed on a terminal, and fig. 1 is a hardware structure block diagram of the terminal of the calibration path planning method of the three-dimensional scanning system of the embodiment. As shown in fig. 1, the terminal may include one or more processors 102 (only one shown in fig. 1) and a memory 104 for storing data, wherein the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA. The terminal may also include a transmission device 106 for communication functions and an input-output device 108. It will be understood by those of ordinary skill in the art that the structure shown in fig. 1 is merely an illustration and is not intended to limit the structure of the terminal described above. For example, the terminal may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.

The memory 104 can be used for storing computer programs, for example, software programs and modules of application software, such as a computer program corresponding to the calibration path planning method of the three-dimensional scanning system in the present embodiment, and the processor 102 executes the computer programs stored in the memory 104, thereby executing various functional applications and data processing, i.e., implementing the method described above. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The transmission device 106 is used to receive or transmit data via a network. The network described above includes a wireless network provided by a communication provider of the terminal. In one example, the transmission device 106 includes a Network adapter (NIC) that can be connected to other Network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.

The terminal can also execute a calibration method of the three-dimensional scanning system.

The following embodiments are applicable to a three-dimensional scanning system. Three-dimensional scanning systems may be classified as hand-held three-dimensional scanning systems, tracking three-dimensional scanning systems, and the like.

The handheld three-dimensional scanning system comprises a scanning device, a target piece and a mechanical arm; the scanning device can be internally provided with a processor; the processor can run the calibration path planning method in each matched embodiment; the processor may also be a separate back-end processing device; the back-end processing device includes, but is not limited to, a mobile terminal, a fixed terminal, a portable terminal, or the like. The scanning device comprises laser equipment, image acquisition equipment and light supplementing equipment; the laser equipment, the image acquisition equipment and the light supplement equipment are all connected with the processor, and the laser equipment emits laser to the surface of the object to be scanned under the control of the processor; the light supplementing equipment supplements light for laser; the image acquisition device captures an image of an object to be scanned.

Target parts include, but are not limited to, calibration plates, calibration rods, calibration balls, scanning devices, and other tools for calibration; the user may select the calibration tool himself. The target piece is adhered with a mark point; target coordinate system (Target) on the Target: the coordinate system established on the target member can be established by taking the centroid position of all the mark points or a special mark point (such as the mark point in the first order) as the origin of the coordinate system. In other embodiments, the origin of the coordinate system and the positive direction of each axis of the coordinate system may be set by the user, but is not limited thereto.

The mechanical arm can be a multi-degree-of-freedom mechanical arm; preferably, the robot arm can be a six-degree-of-freedom robot arm, and the position and the posture of an object fixed on the robot arm can be flexibly controlled. The mechanical arm can be fixed on the base; the mechanical arm coordinate system is divided into a mechanical arm Base coordinate system (Base) and a mechanical arm tail end coordinate system (Gripper); for the robot arm base coordinate system: and establishing a coordinate system origin by taking the intersection point of the base and the bottom axis of the mechanical arm.

For the arm tip coordinate system: establishing a coordinate system origin by taking an intersection point of the target part and the tail end axis of the mechanical arm; if the target part is installed at the tail end of the mechanical arm through the connecting part, a tail end coordinate system of the mechanical arm can be established by taking the intersection point of the installation part and the tail end axis of the mechanical arm as the origin of the coordinate system. The mounting member may be a flange or the like. The pose transformation relation of the mechanical arm tail end coordinate system relative to the mechanical arm base coordinate system can be obtained through pre-registration; the pose transformation relation of the mechanical arm tail end coordinate system relative to the mechanical arm base coordinate system can be obtained by other methods, which are not explained.

The tracking type three-dimensional scanning system comprises a scanning device, a tracking device, a target piece and a mechanical arm; the scanning device or the tracking device can be internally provided with a processor; the processor can run the calibration path planning method in each matched embodiment; the processor may also be a separate back-end processing device. The scanning device is connected with the processor and is used for scanning an object to be scanned; the tracking device is connected with the processor, and the scanning device and the object to be scanned are positioned in the visual field range of the tracking device in the working process and are used for tracking the scanning device; and finally, transmitting the scanning data obtained by the scanning device and the tracking data obtained by the tracking device to a processor for relevant processing.

The target part and the robot arm are the same as those in the handheld three-dimensional scanning system, and are not repeated here.

Each three-dimensional scanning system can be matched with an optimal calibration path planning method of the three-dimensional scanning system, such as: the handheld three-dimensional scanning system matches the following steps S210 to S230 and their related embodiments. The scanning device in the tracking three-dimensional scanning system can also match the following steps S210 to S230 and their related embodiments. The following steps S410 to S430 and their related embodiments are matched by the tracking device in the tracking three-dimensional scanning system.

Firstly, a calibration path planning method matched with a scanning device is introduced as follows:

in this embodiment, a calibration path planning method for a three-dimensional scanning system is provided, and fig. 2 is a flowchart of the calibration path planning method for the three-dimensional scanning system in this embodiment, as shown in fig. 2, the flowchart includes the following steps:

step S210, when the equipment to be calibrated is arranged on the mechanical arm and the target piece is fixedly arranged in the visual field range of the equipment, controlling the mechanical arm to move the equipment to each preset position, and establishing a first position and posture conversion relation between an equipment coordinate system of the equipment and a mechanical arm coordinate system;

step S220, determining a second position and posture conversion relation between a target part coordinate system of the target part and a mechanical arm coordinate system;

and step S230, planning a calibration path of the mechanical arm according to the first position and posture conversion relation and the second position and posture conversion relation based on the preset calibration position and posture.

Specifically, the device to be calibrated refers to a scanning device, a tracking device, and the like. Generally, if the scanning device is calibrated, the scanning device is fixedly arranged on the mechanical arm. Such as: the arm is provided with the installed part on the end, and scanning device fixes on the installed part. Of course, the scanning device may be fixed directly to the end of the robot arm. In this embodiment, the target may be a calibration plate, which is fixed.

In the process of planning the calibration path, the target part is kept fixed, and in the process of controlling the mechanical arm to move to each preset position, the whole target part can be shot by equipment on the mechanical arm all the time. The preset positions can be preset by a user or randomly generated by a processor.

The mechanical arm coordinate system comprises a mechanical arm base coordinate system and a mechanical arm tail end coordinate system; constructing a first attitude transformation relationship between an equipment coordinate system of the equipment and a terminal coordinate system of the mechanical arm in a mechanical arm coordinate system based on the relevant data determined at each preset position; correspondingly, determining a second position and posture conversion relation between the target part coordinate system of the target part and a mechanical arm base coordinate system in the mechanical arm coordinate system; planning a calibration path of the mechanical arm according to the first position and posture conversion relation and the second position and posture conversion relation based on a preset calibration position and posture; the automatic planning of the calibration path is realized, so that the problem caused by the influence of manpower is avoided. The calibration poses are preset according to a certain sequence and correspond to a plurality of shooting angles of the calibration plate by using equipment. Such as: three target points are required to be shot by adopting different angles, and then the calibration pose is the position and the posture of the three target points. The mechanical arm can control the equipment to be adjusted to a target point according to the calibration pose.

In another embodiment, a first pose transformation relationship between the device coordinate system of the device and the coordinate system of the base end of the robot arm in the robot arm coordinate system may also be constructed based on the relevant data determined at each preset position; correspondingly, determining a second position and posture conversion relation between the target part coordinate system of the target part and the tail end coordinate system of the mechanical arm in the mechanical arm coordinate system; planning a calibration path of the mechanical arm according to the first position and posture conversion relation and the second position and posture conversion relation based on a preset calibration position and posture; the automatic planning of the calibration path is realized, so that the problem caused by the influence of manpower is avoided.

In this embodiment, the equipment coordinate system is a scanning device coordinate system, which is established by using the center of a binocular camera of the scanning device as a coordinate system origin, the forward direction of the optical axis of the binocular camera is a positive z-axis direction, and the origin of the coordinate system points to the center of the right camera as a positive x-axis direction.

In the prior art, because a person needs to adjust the equipment to be calibrated at a plurality of different angles, the image of the calibration plate is obtained, and the external parameter of the equipment is calculated by combining the internal parameter of the equipment, so that the calibration of the equipment is realized. The method adopts automatic planning and calibrating paths, and specifically comprises the following steps: when the equipment to be calibrated is arranged on the mechanical arm and the target piece is fixedly arranged in the visual field range of the equipment, controlling the mechanical arm to move the equipment to each preset position, and constructing a first position and attitude conversion relation between an equipment coordinate system of the equipment and a mechanical arm coordinate system; determining a second position and posture conversion relation between a target part coordinate system of the target part and a mechanical arm coordinate system; based on the preset calibration pose, the calibration path of the mechanical arm is planned according to the first pose conversion relation and the second pose conversion relation, so that the automatic planning of the calibration path is realized, and the problem caused by manpower influence is avoided.

In some embodiments, the controlling the robot arm to move the equipment to the preset positions in step S210, and constructing the first attitude transformation relationship between the equipment coordinate system of the equipment and the robot arm coordinate system includes the following steps:

step S211, controlling the mechanical arm to move the equipment to a first preset position; under the first preset position, acquiring a third posture conversion relation between a target part coordinate system of a target part and an equipment coordinate system of equipment, and acquiring a fourth posture conversion relation between a mechanical arm tail end coordinate system of a mechanical arm and a mechanical arm base coordinate system of the mechanical arm;

step S212, controlling the mechanical arm to move the equipment to a second preset position; under a second preset position, acquiring a third posture conversion relation between a target part coordinate system of the target part and an equipment coordinate system of the equipment, and acquiring a fourth posture conversion relation between a mechanical arm tail end coordinate system of the mechanical arm and a mechanical arm base coordinate system of the mechanical arm;

step S213, constructing a first target equation according to the pose transformation relation between the target part coordinate system and the mechanical arm base coordinate system, the first pose transformation relation, the third pose transformation relation and the fourth pose transformation relation between the equipment coordinate system and the mechanical arm tail end coordinate system in the mechanical arm coordinate system;

step S214, solving a plurality of groups of first objective equations simultaneously to obtain a first attitude transformation relation between the equipment coordinate system and the mechanical arm tail end coordinate system in the mechanical arm coordinate system.

Specifically, there are a plurality of preset positions, and a group of first target equations is constructed by using two preset positions (a first preset position and a second preset position) as a group.

The following description will be made with reference to fig. 3 by taking the construction process of a set of first objective equations as an example:

controlling the mechanical arm to move the equipment to a first preset position; under the first preset position, the equipment shoots an image, and obtains a third posture conversion relation between a target part coordinate system of the target part and an equipment coordinate system of the equipment according to the image, and the third posture conversion relation is recorded as

Acquiring a fourth pose conversion relation between a mechanical arm tail end coordinate system of the mechanical arm and a mechanical arm base coordinate system of the mechanical arm according to the image, and recording the fourth pose conversion relation as ^ er>

Then controlling the mechanical arm to move the equipment to a second preset position; under the second preset position, the equipment shoots an image, obtains a third position and posture conversion relation between a target part coordinate system of the target part and an equipment coordinate system of the equipment according to the image, and records the third position and posture conversion relation as ^ greater than or equal to>

Since the relative position of the target part and the robot base is fixed during the above process, i.e. the coordinate system of the target part is recorded as relative to the coordinate system of the robot base

Thus establishing two groups of equivalence relations; such as:

by

Obtaining a first target equation:

wherein the content of the first and second substances,

the first attitude transformation relation between the equipment coordinate system and the robot arm end coordinate system in the robot arm coordinate system is obtained.

First attitude transformation relationship between a computing device coordinate system and a robotic arm tip coordinate system

And meanwhile, repeating the steps to obtain a plurality of groups of first target equations, and simultaneously solving at least 4 groups of first target equations, thereby improving the accuracy of the result.

In some embodiments, determining the second pose transformation relationship between the target object coordinate system of the target object and the robot arm coordinate system in step S220 includes the following steps:

step S221, acquiring a fifth pose transformation relation between the coordinate system of the target piece and the coordinate system of the equipment;

step S222, acquiring a sixth pose transformation relation between a mechanical arm tail end coordinate system in a mechanical arm coordinate system and a mechanical arm base end coordinate system in the mechanical arm coordinate system;

step S223, determining a second position and posture conversion relation between the coordinate system of the target part and the base coordinate system of the mechanical arm in the coordinate system of the mechanical arm according to the first position and posture conversion relation, the fifth position and posture conversion relation and the sixth position and posture conversion relation between the coordinate system of the equipment and the coordinate system of the tail end of the mechanical arm.

Specifically, as implemented in step S210, a fifth pose transformation relation between the target coordinate system and the device coordinate system is obtained and recorded as a system

At this time, the sixth pose transformation relationship between the robot arm terminal end coordinate system and the robot arm base end coordinate system can be obtained and recorded as ^ greater or greater than or equal to ^ greater or less than or equal to>

At this time, the second posture conversion relationship between the target member coordinate system and the mechanical arm base coordinate system in the mechanical arm coordinate system is recorded as ^ er/receiver>

From the result of the solution of step S210, a +>

Thereby calculating the second position and posture conversion relation between the coordinate system of the target part and the base coordinate system of the mechanical arm>

In some embodiments, the planning a calibration path of the mechanical arm according to the first pose transformation relationship and the second pose transformation relationship based on the preset calibration pose in step S230 includes:

step S231, determining a seventh pose conversion relation between the tail end coordinate system of the mechanical arm and the mechanical arm base coordinate system of the mechanical arm under each calibration pose according to the first pose conversion relation, the second pose conversion relation and a preset calibration pose;

and step S232, planning a calibration path of the mechanical arm based on the seventh pose conversion relation corresponding to each calibration pose.

In particularAnd during the calibration process, the equipment is moved to a preset calibration pose by controlling the mechanical arm, and then the equipment is used for shooting the target piece at a plurality of angles to obtain an image. A plurality of calibration poses need to be preset according to a certain sequence. Such as: one preset calibration pose is

Which may be considered to be the relative pose of the machine coordinate system with respect to the target object coordinate system, then the seventh pose translation relationship between the robot arm tip coordinate system and the robot arm base coordinate system may be expressed as: />

That is, in the calibration pose of

Next, when the equipment shoots the image, the pose that the terminal coordinate system of the mechanical arm should reach

In the same way, the position and position which the tail end coordinate system of the mechanical arm should reach when other preset calibration positions and positions are calculated>

And planning the calibration path of the mechanical arm according to the seventh pose conversion relation corresponding to each preset calibration pose. Such as: and presetting the sequence of the calibration positions and integrating the transformation relation of each seventh position and orientation so as to plan the calibration path of the mechanical arm.

In some of these embodiments, if the device to be calibrated has planned a calibration path; at this time, only the position of the target part relative to the robot arm changes, that is, the second posture conversion relationship between the target part coordinate system and the robot arm base coordinate system changes, then step S220 and step S230 may be directly executed; thereby improving planning efficiency.

The following introduces a calibration path planning method matched with the tracking device:

in this embodiment, a calibration path planning method for a three-dimensional scanning system is provided, and fig. 4 is a flowchart of the calibration path planning method for the three-dimensional scanning system of this embodiment, as shown in fig. 4, the flowchart includes the following steps:

step S410, when the equipment to be calibrated is fixedly arranged and a target piece on the mechanical arm is in the visual field range of the equipment, controlling the mechanical arm to move the target piece to each preset position, and constructing a first position and posture conversion relation between an equipment coordinate system and a mechanical arm coordinate system of the equipment;

step S420, determining a second position and posture conversion relation between a target part coordinate system of the target part and a mechanical arm coordinate system;

and step S430, planning a calibration path of the mechanical arm according to the first position and posture conversion relation and the second position and posture conversion relation based on a preset calibration position and posture.

Specifically, the device to be calibrated refers to a scanning device, a tracking device, and the like. Generally, if the tracking device is calibrated, the tracking device is fixed; and fixedly arranging the target part on the mechanical arm. Such as: the mechanical arm is provided with an installation part at the tail end, and the target part is fixed on the installation part. Of course, the target part may be fixed directly to the end of the robot arm. In this embodiment, the target may be a calibration rod.

In the process of planning the calibration path, the equipment is kept fixed, and in the process of controlling the mechanical arm to move to each preset position, the whole target piece on the mechanical arm can be always shot by the equipment. The preset positions can be preset by a user or randomly generated by a processor.

The mechanical arm coordinate system comprises a mechanical arm base coordinate system and a mechanical arm tail end coordinate system; constructing a first attitude transformation relationship between an equipment coordinate system of the equipment and a coordinate system of a base end of the mechanical arm in a mechanical arm coordinate system based on the relevant data determined at each preset position; correspondingly, determining a second position and posture conversion relation between the target part coordinate system of the target part and the tail end coordinate system of the mechanical arm in the mechanical arm coordinate system; planning a calibration path of the mechanical arm according to the first position and posture conversion relation and the second position and posture conversion relation based on a preset calibration position and posture; the automatic planning of the calibration path is realized, so that the problem caused by the influence of manpower is avoided.

In another embodiment, a first attitude transformation relationship between the device coordinate system of the device and the robot arm end coordinate system in the robot arm coordinate system may also be constructed based on the related data determined at each preset position; correspondingly, determining a second position and posture conversion relation between the target part coordinate system of the target part and a mechanical arm base coordinate system in the mechanical arm coordinate system; planning a calibration path of the mechanical arm according to the first position and posture conversion relation and the second position and posture conversion relation based on a preset calibration position and posture; the automatic planning of the calibration path is realized, so that the problem caused by the influence of manpower is avoided.

In this embodiment, the equipment coordinate system is a tracking device coordinate system, which is established by using the center of a binocular camera of the tracking device as a coordinate system origin, the forward direction of the optical axis of the binocular camera is a positive z-axis direction, and the origin of the coordinate system points to the center of the right camera as a positive x-axis direction.

In some embodiments, the controlling the robot to move the target object to each preset position in step S410, and constructing the first pose transformation relationship between the equipment coordinate system and the robot coordinate system of the equipment includes the following steps:

step S411, controlling the mechanical arm to move the target piece to a third preset position; under a third preset position, acquiring an eighth pose conversion relation between a target part coordinate system of the target part and an equipment coordinate system of the equipment, and acquiring a ninth pose conversion relation between a mechanical arm tail end coordinate system of the mechanical arm and a mechanical arm base coordinate system of the mechanical arm;

step S412, controlling the mechanical arm to move the target part to a fourth preset position; under a fourth preset position, acquiring an eighth pose conversion relation between a target part coordinate system of the target part and an equipment coordinate system of the equipment, and acquiring a ninth pose conversion relation between a mechanical arm tail end coordinate system of the mechanical arm and a mechanical arm base coordinate system of the mechanical arm;

step S413, constructing a second target equation according to the first pose transformation relationship between the device coordinate system and the base coordinate system of the mechanical arm in the mechanical arm coordinate system, the pose transformation relationship between the target member coordinate system and the end coordinate system of the mechanical arm, the eighth pose transformation relationship, and the ninth pose transformation relationship;

and step S414, simultaneously solving a plurality of groups of second objective equations to obtain a first attitude transformation relation between the equipment coordinate system and a mechanical arm base coordinate system in the mechanical arm coordinate system.

Specifically, there are a plurality of preset positions, and a group of second target equations is constructed by using two preset positions (a third preset position and a fourth preset position) as a group.

The following description will be made with reference to fig. 5 by taking the construction process of a set of second objective equations as an example:

controlling the mechanical arm to move the target piece to a fourth preset position; in the fourth preset position, the equipment shoots an image, obtains the eighth posture conversion relation between the target part coordinate system of the target part and the equipment coordinate system of the equipment according to the image, and records the eighth posture conversion relation as

Acquiring a ninth pose conversion relation between a mechanical arm tail end coordinate system of the mechanical arm and a mechanical arm base coordinate system of the mechanical arm according to the image, and recording the ninth pose conversion relation as ^ er>

Then controlling the mechanical arm to move the target piece to a fourth preset position; under a fourth preset position, the equipment shoots an image, obtains the eighth posture conversion relation between the target part coordinate system of the target part and the equipment coordinate system of the equipment according to the image, and records the eighth posture conversion relation as ^ greater than or equal to>

Acquiring a ninth pose conversion relation between a mechanical arm tail end coordinate system of the mechanical arm and a mechanical arm base coordinate system of the mechanical arm according to the image, and recording the ninth pose conversion relation as +>

Because the relative position of the equipment and the mechanical arm base is fixed in the process, namely the equipment coordinate system is oppositeFor the mechanical arm base coordinate system

Coordinate system of the target component relative to coordinate system at the tail end of the mechanical arm->

Obtaining the following parameters according to the relation among the mechanical arm base coordinate system, the mechanical arm tail end coordinate system, the equipment coordinate system and the target part coordinate system:

and obtaining a second target equation:

wherein the content of the first and second substances,

the first attitude transformation relation between the equipment coordinate system and the mechanical arm base coordinate system in the mechanical arm coordinate system is obtained.

First pose transformation relationship between computing device coordinate system and mechanical arm base coordinate system

And repeating the steps to obtain a plurality of groups of second target equations, and simultaneously solving at least 4 groups of first target equations, so that the accuracy of the result is improved.

In some embodiments, determining the second pose transformation relationship between the target part coordinate system of the target part and the robot arm coordinate system in step S420 includes the following steps:

acquiring a tenth pose conversion relation between a target part coordinate system and an equipment coordinate system;

acquiring an eleventh pose conversion relation between a mechanical arm tail end coordinate system in a mechanical arm coordinate system and a mechanical arm base end coordinate system in the mechanical arm coordinate system;

and determining a second position and posture conversion relation between the coordinate system of the target piece and the coordinate system of the tail end of the mechanical arm in the coordinate system of the mechanical arm according to the first position and posture conversion relation, the tenth position and posture conversion relation and the eleventh position and posture conversion relation of the equipment coordinate system and the base coordinate system of the mechanical arm in the coordinate system of the mechanical arm.

Specifically, as implemented in step S410, the tenth pose transformation relationship between the target coordinate system and the device coordinate system is obtained and recorded as the system

At this time, the eleventh pose transformation relationship between the robot arm terminal end coordinate system and the robot arm base end coordinate system can be obtained and recorded as ^ greater or greater than or equal to ^ greater or less than>

At this time, the second position and posture conversion relationship between the target part coordinate system and the mechanical arm tail end coordinate system is recorded as ^ H>

From the result of the solution of step S410, a->

Thereby calculating the second position and posture conversion relation between the coordinate system of the target part and the coordinate system at the tail end of the mechanical arm>

In some embodiments, the planning a calibration path of the mechanical arm according to the first position-posture conversion relationship and the second position-posture conversion relationship based on the preset calibration pose in step S430 includes the following steps:

step S431, determining a twelfth pose conversion relation between the tail end coordinate system of the mechanical arm and the mechanical arm base coordinate system of the mechanical arm under each calibration pose according to the first pose conversion relation, the second pose conversion relation and the preset calibration poses;

and S432, planning a calibration path of the mechanical arm based on the twelfth pose conversion relation corresponding to each calibration pose.

Specifically, during the calibration process, the target piece is moved to a preset calibration pose by controlling the mechanical arm, and then the target piece is shot at multiple angles by using equipment to obtain an image. A plurality of calibration poses need to be preset according to a certain sequence. Such as: one preset calibration pose is

Which may be considered to be the relative pose of the machine coordinate system with respect to the target object coordinate system, then the twelfth pose translation relationship of the robot arm tip coordinate system with the robot arm base coordinate system may be expressed as: />

That is, in the calibration pose of

And when the equipment shoots an image, the position and posture which the tail end coordinate system of the mechanical arm should reach is judged to be greater or smaller>

In the same way, the pose which the tail end coordinate system of the mechanical arm should reach when the mechanical arm reaches other preset calibration poses can be calculated

And planning the calibration path of the mechanical arm according to the twelfth pose conversion relation corresponding to each preset calibration pose. Such as: and presetting the sequence of the calibration poses, and integrating the conversion relation of each twelfth pose so as to plan the calibration path of the mechanical arm.

In some of these embodiments, if the device to be calibrated has planned a calibration path; at this time, only the position of the target part relative to the robot arm changes, that is, the second posture conversion relationship between the target part coordinate system and the robot arm base coordinate system changes, then step S420 and step S430 may be directly performed; thereby improving planning efficiency.

The embodiment also provides a calibration method of the three-dimensional scanning system. The method comprises the following steps:

determining a calibration path according to the calibration path planning method of the three-dimensional scanning system related to the step S230 in the step S210, or according to the calibration path planning method of the three-dimensional scanning system related to the step S230 in the step S210;

Through the steps, the calibration path is automatically planned, so that the problem caused by human influence is avoided, the calibration efficiency is improved, and the accuracy of the calibration result is guaranteed.

It should be noted that the steps illustrated in the above-described flow diagrams or in the flow diagrams of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flow diagrams, in some cases, the steps illustrated or described may be performed in an order different than presented herein.

In this embodiment, a calibration path planning apparatus for a three-dimensional scanning system is further provided, and the apparatus is used to implement the foregoing embodiments and preferred embodiments, which have already been described and are not described again. The terms "module," "unit," "subunit," and the like as used below may implement a combination of software and/or hardware for a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.

Fig. 6 is a block diagram of a calibration path planning apparatus of the three-dimensional scanning system of the present embodiment, and as shown in fig. 6, the apparatus includes: a first pose construction module 210, a first pose processing module 220, and a first path processing module 230; a first pose construction module 210, configured to, when the device to be calibrated is disposed on the mechanical arm and the target is fixedly disposed in a visual field of the device, control the mechanical arm to move the device to each preset position, and construct a first pose conversion relationship between a device coordinate system of the device and a mechanical arm coordinate system; the first pose processing module 220 is configured to determine a second pose conversion relationship between a target part coordinate system of the target part and a robot arm coordinate system; and the first path processing module 230 is configured to plan a calibration path of the mechanical arm according to the first position-posture conversion relationship and the second position-posture conversion relationship based on a preset calibration position posture.

By the aid of the device, automatic planning and calibration of the path are achieved, and problems caused by manpower influence are avoided.

In some embodiments, the first pose construction module 210 is further configured to control the robotic arm to move the device to a first preset position; under the first preset position, acquiring a third position transformation relation between a target part coordinate system of a target part and an equipment coordinate system of equipment, and acquiring a fourth position transformation relation between a mechanical arm tail end coordinate system of a mechanical arm and a mechanical arm base coordinate system of the mechanical arm; controlling the mechanical arm to move the equipment to a second preset position; under a second preset position, acquiring a third posture conversion relation between a target part coordinate system of the target part and an equipment coordinate system of the equipment, and acquiring a fourth posture conversion relation between a mechanical arm tail end coordinate system of the mechanical arm and a mechanical arm base coordinate system of the mechanical arm; constructing a first target equation according to the pose conversion relation between the target piece coordinate system and the mechanical arm base coordinate system, the first pose conversion relation, the third pose conversion relation and the fourth pose conversion relation between the equipment coordinate system and a mechanical arm tail end coordinate system in the mechanical arm coordinate system; and simultaneously solving a plurality of groups of first objective equations to obtain a first attitude transformation relation between the equipment coordinate system and the mechanical arm tail end coordinate system in the mechanical arm coordinate system.

In some embodiments, the first pose processing module 220 is further configured to obtain a fifth pose transformation relationship between the target coordinate system and the device coordinate system; acquiring a sixth pose transformation relation between a mechanical arm tail end coordinate system in a mechanical arm coordinate system and a mechanical arm base end coordinate system in the mechanical arm coordinate system; and determining a second position and posture conversion relation between the coordinate system of the target piece and a base coordinate system of the mechanical arm in the coordinate system of the mechanical arm according to the first position and posture conversion relation, the fifth position and posture conversion relation and the sixth position and posture conversion relation between the coordinate system of the equipment and the coordinate system of the tail end of the mechanical arm.

In some embodiments, the first path processing module 230 is further configured to determine, according to the first pose transformation relationship, the second pose transformation relationship, and the preset calibration poses, that the end of the robot arm is in a seventh pose transformation relationship between the robot arm end coordinate system and the robot arm base coordinate system at each calibration pose; and planning a calibration path of the mechanical arm based on the seventh pose conversion relation corresponding to each calibration pose.

Fig. 7 is a block diagram of a calibration path planning apparatus of the three-dimensional scanning system of the present embodiment, and as shown in fig. 7, the apparatus includes: a second pose construction module 410, a second pose processing module 420, and a second path processing module 430; the second position and posture establishing module 410 is used for controlling the mechanical arm to move the target piece to each preset position when the equipment to be calibrated is fixedly arranged and the target piece on the mechanical arm is in the visual field range of the equipment, and establishing a first position and posture conversion relation between an equipment coordinate system of the equipment and a mechanical arm coordinate system; the second position and posture processing module 420 is used for determining a second position and posture conversion relation between a target part coordinate system of the target part and a mechanical arm coordinate system; and the second path processing module 430 is configured to plan a calibration path of the mechanical arm according to the first position-posture conversion relationship and the second position-posture conversion relationship based on a preset calibration position posture.

In some embodiments, the second pose construction module 410 is further configured to control the robot arm to move the target object to a third preset position; under a third preset position, acquiring an eighth pose conversion relation between a target part coordinate system of the target part and an equipment coordinate system of the equipment, and acquiring a ninth pose conversion relation between a mechanical arm tail end coordinate system of the mechanical arm and a mechanical arm base coordinate system of the mechanical arm; controlling the mechanical arm to move the target piece to a fourth preset position; acquiring an eighth pose conversion relation between a target piece coordinate system of a target piece and an equipment coordinate system of equipment and acquiring a ninth pose conversion relation between a mechanical arm tail end coordinate system of the mechanical arm and a mechanical arm base coordinate system of the mechanical arm at a fourth preset position; constructing a second target equation according to the first pose transformation relation of the equipment coordinate system and a mechanical arm base coordinate system in the mechanical arm coordinate system, the pose transformation relation of the target piece coordinate system and a mechanical arm tail end coordinate system, the eighth pose transformation relation and the ninth pose transformation relation; and simultaneously solving a plurality of groups of second objective equations to obtain a first attitude transformation relation between the equipment coordinate system and a mechanical arm base coordinate system in the mechanical arm coordinate system.

In some embodiments, the second pose processing module 420 is further configured to obtain a tenth pose transformation relationship between the target coordinate system and the device coordinate system; acquiring an eleventh pose conversion relation between a mechanical arm tail end coordinate system in a mechanical arm coordinate system and a mechanical arm base end coordinate system in the mechanical arm coordinate system; and determining a second position and posture conversion relation between the coordinate system of the target piece and the coordinate system of the tail end of the mechanical arm in the coordinate system of the mechanical arm according to the first position and posture conversion relation, the tenth position and posture conversion relation and the eleventh position and posture conversion relation of the equipment coordinate system and the base coordinate system of the mechanical arm in the coordinate system of the mechanical arm.

In some embodiments, the second path processing module 430 is further configured to determine, according to the first pose transformation relationship, the second pose transformation relationship, and the preset calibration poses, a twelfth pose transformation relationship between the robot arm end coordinate system and the robot arm base coordinate system at each calibration pose of the end of the robot arm; and planning a calibration path of the mechanical arm based on the twelfth pose conversion relation corresponding to each calibration pose.

The embodiment also provides a calibration device of the three-dimensional scanning system. The device comprises a planning module, an acquisition module and a calibration module; the planning module is used for determining a calibration path according to the calibration path planning method of each three-dimensional scanning system; the acquisition module is used for acquiring a plurality of target piece images corresponding to preset calibration poses on the calibration path when the mechanical arm moves based on the calibration path; and the calibration module is used for calibrating the equipment to be calibrated based on the plurality of target part images.

By the aid of the device, automatic planning of the calibration path is achieved, problems caused by manpower influence are avoided, calibration efficiency is improved, and accuracy of calibration results is guaranteed.

The above modules may be functional modules or program modules, and may be implemented by software or hardware. For a module implemented by hardware, the modules may be located in the same processor; or the modules can be respectively positioned in different processors in any combination.

There is also provided in this embodiment a computer device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the method embodiments described above.

Optionally, the computer device may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.

Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:

s21, when the equipment to be calibrated is arranged on the mechanical arm and the target piece is fixedly arranged in the visual field range of the equipment, controlling the mechanical arm to move the equipment to each preset position, and establishing a first position and posture conversion relation between an equipment coordinate system of the equipment and a mechanical arm coordinate system;

s22, determining a second position and posture conversion relation between a target part coordinate system of the target part and a mechanical arm coordinate system;

and S23, planning a calibration path of the mechanical arm according to the first position posture conversion relation and the second position posture conversion relation based on the preset calibration position posture.

Or performing the following steps:

s41, when equipment to be calibrated is fixedly arranged and a target part on the mechanical arm is in the visual field range of the equipment, controlling the mechanical arm to move the target part to each preset position, and constructing a first position and posture conversion relation between an equipment coordinate system and a mechanical arm coordinate system of the equipment;

s42, determining a second position and posture conversion relation between a target part coordinate system of the target part and a mechanical arm coordinate system;

and S43, planning a calibration path of the mechanical arm according to the first position and posture conversion relation and the second position and posture conversion relation based on the preset calibration position and posture.

Or to perform the steps associated with the calibration method of the three-dimensional scanning system.

It should be noted that, for specific examples in this embodiment, reference may be made to the examples described in the foregoing embodiments and optional implementations, and details are not described again in this embodiment.

In addition, in combination with the calibration path planning method of the three-dimensional scanning system provided in the above embodiment, a storage medium may also be provided in this embodiment to implement the calibration path planning method. The storage medium having stored thereon a computer program; when executed by a processor, the computer program implements the method for planning the calibration path of the three-dimensional scanning system in any of the above embodiments.

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.

The term "embodiment" is used herein to mean 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 such phrases 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 or 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 implementation modes of the present application, and the description thereof is 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

1. A method for planning a calibration path of a three-dimensional scanning system is characterized by comprising the following steps:

2. The method for planning calibration path of three-dimensional scanning system according to claim 1, wherein the controlling the robot arm to move the device to each preset position and constructing a first pose transformation relationship between a device coordinate system of the device and the robot arm coordinate system comprises:

controlling the mechanical arm to move the equipment to a first preset position; under the first preset position, acquiring a third posture conversion relation between a target part coordinate system of the target part and an equipment coordinate system of the equipment, and acquiring a fourth posture conversion relation between a mechanical arm tail end coordinate system of the mechanical arm and a mechanical arm base coordinate system of the mechanical arm;

controlling the mechanical arm to move the equipment to a second preset position; under the second preset position, acquiring a third posture conversion relation between a target part coordinate system of the target part and an equipment coordinate system of the equipment, and acquiring a fourth posture conversion relation between a mechanical arm tail end coordinate system of the mechanical arm and a mechanical arm base coordinate system of the mechanical arm;

and simultaneously solving a plurality of groups of first objective equations to obtain a first attitude transformation relation between the equipment coordinate system and a mechanical arm tail end coordinate system in the mechanical arm coordinate system.

3. The method for planning calibration path of three-dimensional scanning system according to claim 2, wherein said determining the second pose transformation relationship between the target object coordinate system of the target object and the robot arm coordinate system comprises:

4. The method for planning the calibration path of the three-dimensional scanning system according to claim 1, wherein the planning the calibration path of the mechanical arm according to the first pose transformation relationship and the second pose transformation relationship based on the preset calibration pose comprises:

5. A method for planning a calibration path of a three-dimensional scanning system is characterized by comprising the following steps:

6. The method for planning calibration path of three-dimensional scanning system according to claim 5, wherein the controlling the robot arm to move the target object to each preset position and constructing a first pose transformation relationship between the equipment coordinate system of the equipment and the robot arm coordinate system comprises:

7. The method for planning calibration path of three-dimensional scanning system according to claim 6, wherein said determining the second pose transformation relationship between the target object coordinate system of the target object and the robot arm coordinate system comprises:

8. The method for planning the calibration path of the three-dimensional scanning system according to claim 5, wherein the planning the calibration path of the mechanical arm according to the first pose transformation relationship and the second pose transformation relationship based on a preset calibration pose comprises:

determining a twelfth pose transformation relation between the tail end coordinate system of the mechanical arm and the mechanical arm base coordinate system under each calibration pose of the tail end of the mechanical arm according to the first pose transformation relation, the second pose transformation relation and a preset calibration pose;

9. A calibration method of a three-dimensional scanning system is characterized by comprising the following steps:

determining a calibration path according to the method for planning a calibration path of a three-dimensional scanning system of any one of claims 1 to 4, or according to the method for planning a calibration path of a three-dimensional scanning system of any one of claims 5 to 8;

when the mechanical arm moves on the basis of the calibration path, acquiring a plurality of target piece images corresponding to preset calibration poses on the calibration path;

10. A calibration path planning device of a three-dimensional scanning system is characterized by comprising: the system comprises a first position posture construction module, a first position posture processing module and a first path processing module;

the first position and posture constructing module is used for controlling the mechanical arm to move the equipment to each preset position when the equipment to be calibrated is arranged on the mechanical arm and the target piece is fixedly arranged in the visual field range of the equipment, and constructing a first position and posture conversion relation between an equipment coordinate system of the equipment and a mechanical arm coordinate system;

11. Computer arrangement comprising a memory and a processor, wherein the memory has stored therein a computer program, wherein the processor is arranged to execute the computer program to perform the steps of the method for calibrating a path of a three-dimensional scanning system as claimed in any one of the claims 1 to 8, or the steps of the method for calibrating a three-dimensional scanning system as claimed in claim 9.

12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method for planning a calibration path of a three-dimensional scanning system according to any one of claims 1 to 8, or the steps of the method for calibrating a three-dimensional scanning system according to claim 9.