CN116437016B - Object scanning method, device, electronic equipment and storage medium - Google Patents

Object scanning method, device, electronic equipment and storage medium Download PDF

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Publication number
CN116437016B
CN116437016B CN202310693146.8A CN202310693146A CN116437016B CN 116437016 B CN116437016 B CN 116437016B CN 202310693146 A CN202310693146 A CN 202310693146A CN 116437016 B CN116437016 B CN 116437016B
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coordinate system
mechanical arm
conversion relation
information
scanning
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CN116437016A (en
Inventor
刘庆龙
李志权
任关宝
成剑华
王晓南
朱中尉
张登康
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Wuhan Zhongguan Automation Technology Co ltd
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Wuhan Zhongguan Automation Technology Co ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
    • H04N1/00795—Reading arrangements
    • H04N1/00827—Arrangements for reading an image from an unusual original, e.g. 3-dimensional objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/20—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring contours or curvatures, e.g. determining profile
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Manipulator (AREA)

Abstract

The application provides an object scanning method, an object scanning device, electronic equipment and a storage medium, and relates to the technical field of three-dimensional scanning. According to the method, the marker points on the scanner on the first mobile trolley and the marker points in the tracking and scanning scene are tracked through the tracker on the second mobile trolley, so that coordinate information of the marker points is obtained, the conversion relation of the tracker coordinate system relative to the global coordinate system and the conversion relation of the base coordinate system of the mechanical arm relative to the global coordinate system are calibrated based on the coordinate information of the marker points and the conversion relation of the base coordinate system of the mechanical arm relative to the scanner coordinate system, the positioning precision of the first mobile trolley is improved, the problem that the positioning precision error of the first mobile trolley is large can be solved through the calibration of the coordinate system, and therefore object scanning is performed based on the calibration result, and the accuracy of acquired scanning data can be improved.

Description

Object scanning method, device, electronic equipment and storage medium
Technical Field
The present application relates to the field of three-dimensional scanning technologies, and in particular, to an object scanning method, an object scanning device, an electronic device, and a storage medium.
Background
In a three-dimensional scanning scene, an object scanning is generally performed by using an AGV (automatic guided vehicle (Automated Guided Vehicle, abbreviated as AGV)) carriage device provided with a robot arm and a scanner.
In the process of scanning an object, the trolley needs to be controlled to move to a target area capable of scanning the whole object before scanning is performed, but the AGV trolley on the market at present is positioned by adopting a laser radar, and the positioning accuracy of the AGV trolley is poor and cannot accurately reach the target area due to the existence of accumulated errors and mechanical errors of a trolley inertial navigation system, so that the acquired scanning data is poor in accuracy.
Disclosure of Invention
The application aims to provide an object scanning method, an object scanning device, electronic equipment and a storage medium aiming at the defects in the prior art, so as to solve the problems of poor positioning precision of a trolley and low accuracy of scanning data in the prior art.
In order to achieve the above purpose, the technical scheme adopted by the embodiment of the application is as follows:
in a first aspect, an embodiment of the present application provides an object scanning method, which is applied to a processing device in a scanning system, where the scanning system includes: the device comprises processing equipment, a first mobile trolley and a second mobile trolley, wherein a mechanical arm is arranged on the first mobile trolley, a scanner is arranged at the tail end of the mechanical arm, and a tracker is arranged on the second mobile trolley; the method comprises the following steps:
Acquiring coordinate information of each first mark point on the scanner and coordinate information of each second mark point in a scanning scene when the first mobile trolley and the second mobile trolley are in a first position relation under a target scanning scene; the first positional relationship includes: the tracker on the second mobile trolley can track all the first mark points on the scanner on the first mobile trolley and all the second mark points in the scanning scene at the same time;
according to the coordinate information of each first mark point on the scanner, the coordinate information of each second mark point in the scanning scene and a predetermined first conversion relation, respectively determining a second conversion relation of a tracker coordinate system relative to a global coordinate system and a third conversion relation of a base coordinate system of the mechanical arm relative to the global coordinate system; the first conversion relation is used for representing the conversion relation of the tail end coordinate system of the mechanical arm relative to the coordinate system of the scanner;
determining the position relation between the object to be scanned and the mechanical arm according to the position information of the object to be scanned in the global coordinate system under the target scanning scene, the position information of the mechanical arm in the base coordinate system of the mechanical arm and the third conversion relation;
And obtaining target scanning data of the object to be scanned according to the position relation between the object to be scanned and the mechanical arm and the second conversion relation.
Optionally, before determining the second conversion relation of the tracker coordinate system relative to the global coordinate system and the third conversion relation of the base coordinate system of the mechanical arm relative to the global coordinate system according to the coordinate information of each first mark point on the scanner, the coordinate information of each second mark point in the scanned scene and the predetermined first conversion relation, the method further includes:
when the first mobile trolley and the second mobile trolley are in a second position relationship, acquiring each set of position information acquired when the tail end of the mechanical arm is positioned at each preset position, wherein each set of position information comprises: position information of the scanner under a tracker coordinate system and position information of the tail end of the mechanical arm under a base coordinate system of the mechanical arm; the second positional relationship includes: the first mobile trolley is positioned in the tracker visual field range of the second mobile trolley;
and determining a first conversion relation of the tail end coordinate system of the mechanical arm relative to the scanner coordinate system according to the position information of each group.
Optionally, the determining, according to the coordinate information of each first mark point on the scanner, the coordinate information of each second mark point in the scanned scene, and the predetermined first conversion relation, the second conversion relation of the tracker coordinate system relative to the global coordinate system, and the third conversion relation of the base coordinate system of the mechanical arm relative to the global coordinate system respectively includes:
respectively acquiring coordinate information of each first mark point under a scanner coordinate system, coordinate information of each first mark point under the tracker coordinate system, coordinate information of each second mark point under a global coordinate system and coordinate information of each second mark point under the tracker coordinate system;
determining the second conversion relation and a fourth conversion relation of the scanner coordinate system relative to the global coordinate system according to the coordinate information of each first mark point under the scanner coordinate system, the coordinate information of each first mark point under the tracker coordinate system, the coordinate information of each second mark point under the global coordinate system and the coordinate information of each second mark point under the tracker coordinate system;
according to the first conversion relation and the fourth conversion relation, determining a fifth conversion relation of an end coordinate system of the mechanical arm relative to the global coordinate system;
And determining the third conversion relation according to the fifth conversion relation and a sixth conversion relation of the base coordinate system of the mechanical arm relative to the tail end coordinate system of the mechanical arm.
Optionally, the determining the second conversion relationship and the fourth conversion relationship of the scanner coordinate system relative to the global coordinate system according to the coordinate information of the first marker points under the scanner coordinate system, the coordinate information of the first marker points under the tracker coordinate system, the coordinate information of the second marker points under the global coordinate system, and the coordinate information of the second marker points under the tracker coordinate system respectively includes:
determining a seventh conversion relation of the scanner coordinate system relative to the tracker coordinate system according to the coordinate information of each first mark point under the scanner coordinate system and the coordinate information of each first mark point under the tracker coordinate system;
determining the second conversion relation according to the coordinate information of each second mark point under the global coordinate system and the coordinate information of each second mark point under the tracker coordinate system;
and determining the fourth conversion relation according to the second conversion relation and the seventh conversion relation.
Optionally, the determining the third conversion relationship according to the fifth conversion relationship and a sixth conversion relationship of the base coordinate system of the mechanical arm relative to the end coordinate system of the mechanical arm includes:
acquiring target position information of an origin under a terminal coordinate system of the mechanical arm under a base coordinate system of the mechanical arm;
determining the sixth conversion relation according to the target position information and preset constraint information;
and determining the third conversion relation according to the fifth conversion relation and the sixth conversion relation.
Optionally, the determining the positional relationship between the object to be scanned and the mechanical arm according to the positional information of the object to be scanned in the target scan scene in the global coordinate system, the positional information of the mechanical arm in the base coordinate system of the mechanical arm, and the third conversion relationship includes:
determining the position information of the mechanical arm under the global coordinate system according to the position information of the mechanical arm under the base coordinate system of the mechanical arm and the third conversion relation;
and determining the position relation between the object to be scanned and the mechanical arm according to the position information of the object to be scanned under the global coordinate system and the position information of the mechanical arm under the global coordinate system.
Optionally, the obtaining the target scan data of the object to be scanned according to the positional relationship between the object to be scanned and the mechanical arm and the second conversion relationship includes:
determining a scanning path according to the position relation between the object to be scanned and the mechanical arm, and controlling the scanner to scan according to the scanning path to obtain initial scanning data scanned by the scanner, wherein the initial scanning data are the scanning data of the object to be scanned under the tracker coordinate system;
and converting the initial scanning data by adopting the second conversion relation to obtain target scanning data of the object to be scanned, wherein the target scanning data is the scanning data of the object to be scanned under the global coordinate system.
In a second aspect, an embodiment of the present application further provides an object scanning apparatus, which is applied to a processing device in a scanning system, where the scanning system includes: the device comprises processing equipment, a first mobile trolley and a second mobile trolley, wherein a mechanical arm is arranged on the first mobile trolley, a scanner is arranged at the tail end of the mechanical arm, and a tracker is arranged on the second mobile trolley; the device comprises: the device comprises an acquisition module, a determination module and a calculation module;
The acquisition module is used for acquiring coordinate information of each first mark point on the scanner and coordinate information of each second mark point in the scanning scene when the first mobile trolley and the second mobile trolley are in a first position relation under the target scanning scene; the first positional relationship includes: the tracker on the second mobile trolley can track all the first mark points on the scanner on the first mobile trolley and all the second mark points in the scanning scene at the same time;
the determining module is used for determining a second conversion relation of the tracker coordinate system relative to the global coordinate system and a third conversion relation of the base coordinate system of the mechanical arm relative to the global coordinate system according to the coordinate information of each first mark point on the scanner, the coordinate information of each second mark point in the scanning scene and a predetermined first conversion relation; the first conversion relation is used for representing the conversion relation of the tail end coordinate system of the mechanical arm relative to the coordinate system of the scanner;
the determining module is configured to determine a positional relationship between the object to be scanned and the mechanical arm according to positional information of the object to be scanned in the target scanning scene in the global coordinate system, positional information of the mechanical arm in a base coordinate system of the mechanical arm, and the third conversion relationship;
The calculation module is configured to obtain target scan data of the object to be scanned according to the positional relationship between the object to be scanned and the mechanical arm and the second conversion relationship.
Optionally, the acquiring module is further configured to acquire, when the first moving trolley and the second moving trolley are in a second positional relationship, each set of positional information acquired when the end of the mechanical arm is located at each preset position, where each set of positional information includes: position information of the scanner under a tracker coordinate system and position information of the tail end of the mechanical arm under a base coordinate system of the mechanical arm; the second positional relationship includes: the first mobile trolley is positioned in the tracker visual field range of the second mobile trolley;
the determining module is further configured to determine a first conversion relationship of the end coordinate system of the mechanical arm relative to the scanner coordinate system according to the sets of position information.
Optionally, the determining module is specifically configured to obtain coordinate information of each first marker point under a coordinate system of a scanner, coordinate information of each first marker point under a coordinate system of the tracker, coordinate information of each second marker point under a global coordinate system, and coordinate information of each second marker point under a coordinate system of the tracker;
Determining the second conversion relation and a fourth conversion relation of the scanner coordinate system relative to the global coordinate system according to the coordinate information of each first mark point under the scanner coordinate system, the coordinate information of each first mark point under the tracker coordinate system, the coordinate information of each second mark point under the global coordinate system and the coordinate information of each second mark point under the tracker coordinate system;
according to the first conversion relation and the fourth conversion relation, determining a fifth conversion relation of an end coordinate system of the mechanical arm relative to the global coordinate system;
and determining the third conversion relation according to the fifth conversion relation and a sixth conversion relation of the base coordinate system of the mechanical arm relative to the tail end coordinate system of the mechanical arm.
Optionally, the determining module is specifically configured to determine a seventh conversion relationship of the scanner coordinate system relative to the tracker coordinate system according to coordinate information of each first marker point under the scanner coordinate system and coordinate information of each first marker point under the tracker coordinate system;
determining the second conversion relation according to the coordinate information of each second mark point under the global coordinate system and the coordinate information of each second mark point under the tracker coordinate system;
And determining the fourth conversion relation according to the second conversion relation and the seventh conversion relation.
Optionally, the determining module is specifically configured to obtain target position information of an origin under a terminal coordinate system of the mechanical arm under a base coordinate system of the mechanical arm;
determining the sixth conversion relation according to the target position information and preset constraint information;
and determining the third conversion relation according to the fifth conversion relation and the sixth conversion relation.
Optionally, the determining module is specifically configured to determine, according to the position information of the mechanical arm in the base coordinate system of the mechanical arm and the third conversion relationship, the position information of the mechanical arm in the global coordinate system;
and determining the position relation between the object to be scanned and the mechanical arm according to the position information of the object to be scanned under the global coordinate system and the position information of the mechanical arm under the global coordinate system.
Optionally, the calculating module is specifically configured to determine a scanning path according to a positional relationship between the object to be scanned and the mechanical arm, and control the scanner to scan according to the scanning path, so as to obtain initial scan data scanned by the scanner, where the initial scan data is scan data of the object to be scanned under the tracker coordinate system;
And converting the initial scanning data by adopting the second conversion relation to obtain target scanning data of the object to be scanned, wherein the target scanning data is the scanning data of the object to be scanned under the global coordinate system.
In a third aspect, an embodiment of the present application provides an electronic device, including: a processor, a storage medium, and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium in communication over the bus when the electronic device is operating, the processor executing the machine-readable instructions to perform the steps of the object scanning method as provided in the first aspect when executed.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the object scanning method as provided in the first aspect.
The beneficial effects of the application are as follows:
the application provides an object scanning method, a device, electronic equipment and a storage medium, wherein the method is characterized in that a marker point on a scanner on a first moving trolley and a marker point in a tracking scanning scene are tracked through a tracker on a second moving trolley, so that coordinate information of the marker point is obtained, the conversion relation of the tracker coordinate system relative to a global coordinate system and the conversion relation of the base coordinate system of a mechanical arm relative to the global coordinate system are calibrated based on the coordinate information of the marker point and the conversion relation of the base coordinate system of the mechanical arm relative to the scanner coordinate system, so that the positioning precision of the first moving trolley is improved, and the scanning is controlled to be performed by the scanner based on the calibrated coordinate system conversion relation and the position information of an object to be scanned and the position information of the mechanical arm, so that scanning data of the object to be scanned under the global coordinate system are obtained. The problem of large positioning accuracy error of the first mobile trolley can be solved through the calibration of the coordinate system, so that the object scanning is performed based on the calibration result, and the accuracy of the acquired scanning data can be improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a scanning system according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a global coordinate system according to an embodiment of the present application;
FIG. 3 is a flowchart illustrating a method for scanning an object according to an embodiment of the present application;
fig. 4 is a second schematic flow chart of an object scanning method according to an embodiment of the present application;
fig. 5 is a flowchart of a method for scanning an object according to an embodiment of the present application;
fig. 6 is a flow chart of an object scanning method according to an embodiment of the present application;
fig. 7 is a flowchart of an object scanning method according to an embodiment of the present application;
fig. 8 is a flowchart of an object scanning method according to an embodiment of the present application;
fig. 9 is a flow chart of an object scanning method according to an embodiment of the present application;
FIG. 10 is a schematic diagram of an object scanning device according to an embodiment of the present application;
fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the drawings in the present application are for the purpose of illustration and description only and are not intended to limit the scope of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. A flowchart, as used in this disclosure, illustrates operations implemented according to some embodiments of the present application. It should be understood that the operations of the flow diagrams may be implemented out of order and that steps without logical context may be performed in reverse order or concurrently. Moreover, one or more other operations may be added to or removed from the flow diagrams by those skilled in the art under the direction of the present disclosure.
In addition, the described embodiments are only some, but not all, embodiments of the application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
It should be noted that the term "comprising" will be used in embodiments of the application to indicate the presence of the features stated hereafter, but not to exclude the addition of other features.
Fig. 1 is a schematic diagram of a scanning system according to an embodiment of the present application, where, as shown in fig. 1, the scanning system includes: the processing equipment is respectively in communication connection with the first mobile trolley and the second mobile trolley, and the first mobile trolley and the second mobile trolley can be controlled to move in a scanning scene.
The first mobile trolley is provided with a mechanical arm which can be a multi-axis mechanical arm (also called a multi-axis robot), the tail end of the mechanical arm is connected with a scanner, and the scanner can be a spherical scanner; the second travelling car is provided with a tracker which in one way can be detachably fixed on the second travelling car by a bracket. The mechanical arm, the scanner and the tracker are also in communication connection with the processing device for data interaction and motion control.
In an actual scanning scene, the scanning device can comprise an object to be scanned, and the first moving trolley is driven to move to a target position where the object to be scanned is located, and all information of the object to be scanned, which is completely scanned by the scanner, can be controlled by controlling the movement of the mechanical arm.
Currently, in the field of three-dimensional scanning, a moving trolley for scanning can be an AGV (automatic guided vehicle, automated Guided Vehicle) trolley, and because the precision of a laser radar utilized by the AGV trolley is in millimeter level, and meanwhile, the accumulated error and the mechanical error of a trolley inertial navigation system are added, the positioning precision of the AGV trolley in a scanning scene is poor, so that the AGV trolley cannot accurately move to a target position corresponding to an object to be scanned. Then, when scanning an object, the scan data may be incomplete or have a deviation.
Based on the above, the scheme can utilize the tracker on the second mobile trolley to track the scanner on the first mobile trolley, calibrate the conversion relation among the coordinate system where the tracker is located, the coordinate system where the scanner is located, the coordinate system where the mechanical arm is located and the global coordinate system, so as to improve the positioning accuracy of the first mobile trolley, thereby executing the scanning flow according to the calibration result, acquiring the scanning data of the object to be scanned, and because the positioning accuracy of the first mobile trolley is improved, the first mobile trolley can accurately move to the target position corresponding to the object to be scanned, thereby scanning the object to be scanned through the scanner on the target position, and acquiring more accurate scanning data.
Before the specific implementation steps of the scheme are expanded, the establishment of a part of coordinate system which may be involved is explained.
Fig. 2 is a schematic diagram of a global coordinate system according to an embodiment of the present application. Usable laser heelThe trace instrument performs dotting measurement, and establishes a global coordinate system O by using a 3-2-1 measurement method 1 The XYZ, global coordinate system is also understood as a tool coordinate system, and may refer to a coordinate system in which an object to be scanned is located in a scan scene, where the global coordinate system established by different scan scenes and different objects to be scanned is different. The origin and direction of the global coordinate system are defined at the lower left corner vertex of the object to be scanned.
Wherein, a plurality of columns are vertically fixed on the object to be scanned, and each column contains three mark points, and the mark points are hereinafter collectively called as second mark points in the scanning scene.
And the map coordinate system O under the scanning scene can be established by utilizing the first mobile trolley 2 -XYZ, wherein the map coordinate system O 2 The origin of XYZ is likewise established at the lower left-hand vertex of the object to be scanned, i.e. with the global coordinate system O 1 The origin of XYZ is the same point.
Referring to fig. 1, five index points, hereinafter collectively referred to as first index points on the scanner, are provided on the scanner on the first traveling carriage in fig. 1.
FIG. 3 is a flowchart illustrating a method for scanning an object according to an embodiment of the present application; the main implementation body of the method is the processing device in the scanning system of fig. 1, as shown in fig. 3, and the method may include:
s101, acquiring coordinate information of each first mark point on a scanner and coordinate information of each second mark point in a scanning scene when a first mobile trolley and a second mobile trolley are in a first position relation under a target scanning scene; the first positional relationship includes: the tracker on the second mobile cart can track each first mark point on the scanner on the first mobile cart and each second mark point in the scanned scene simultaneously.
The object to be scanned is contained in the target scanning scene, and the position of the object to be scanned is fixed. At this time, the second moving trolley can be placed at the target position first, and after the second moving trolley position is determined, the position of the first moving trolley is determined, so that the position relationship between the first moving trolley and the second moving trolley can meet the first position relationship, wherein the first position relationship can be used for ensuring that the tracker on the second moving trolley can track each second mark point in the scanning scene and each first mark point on the scanner on the first moving trolley at the same time. Thereby acquiring the coordinate information of each first mark point and the coordinate information of each second mark point.
S102, respectively determining a second conversion relation of a tracker coordinate system relative to a global coordinate system and a third conversion relation of a base coordinate system of the mechanical arm relative to the global coordinate system according to coordinate information of each first mark point on a scanner, coordinate information of each second mark point in a scanning scene and a predetermined first conversion relation; the first transformation relationship is used to characterize the transformation relationship of the end coordinate system of the robotic arm relative to the scanner coordinate system.
It should be noted that, when a new scan is performed, for example, when the scan scene changes or the object to be scanned changes, step S101 needs to be performed again to obtain the coordinate information of each first marker point and the coordinate information of each second marker point in the current scan scene.
The first conversion relation can be predetermined, and the determined first conversion relation can be directly used in all subsequent scanning scenes, namely, the first conversion relation is calibrated only once.
Based on the obtained coordinate information of each first mark point and the obtained coordinate information and the obtained first conversion relation of each second mark point in the scanned scene, a second conversion relation of the tracker coordinate system relative to the global coordinate system and a third conversion relation of the base coordinate system of the mechanical arm relative to the global coordinate system can be respectively determined, wherein the second conversion relation is represented by using RT|tracker_to_scanner, and the third conversion relation is represented by using RT|robot_base_to_part. The first transformation relationship is represented by rt|endpoint_to_scanner. The base coordinate system of the mechanical arm may also refer to the mechanical arm coordinate system.
S103, determining the position relation between the object to be scanned and the mechanical arm according to the position information of the object to be scanned in the global coordinate system under the target scanning scene, the position information of the mechanical arm in the base coordinate system of the mechanical arm and the third conversion relation.
In some embodiments, since the position information of the mechanical arm is the position information of the mechanical arm under the base coordinate system of the mechanical arm, and when determining the position relationship between the object to be scanned and the mechanical arm, the position relationship between the object to be scanned and the mechanical arm under the global coordinate system is determined, then the position information may be converted according to the position information of the mechanical arm under the base coordinate system of the mechanical arm by using the third conversion relationship, so as to obtain the position information of the mechanical arm under the global coordinate system.
It should be noted that all the conversion relationships involved in the present solution may represent a conversion matrix, that is, a conversion matrix between two coordinate systems, and may include a translation matrix and a rotation matrix.
The position information book of the object to be scanned is the position information under the global coordinate system, and then the position relation between the object to be scanned and the mechanical arm can be determined according to the position information of the object to be scanned under the global coordinate system and the position information of the mechanical arm under the global coordinate system.
S104, obtaining target scanning data of the object to be scanned according to the position relation between the object to be scanned and the mechanical arm and the second conversion relation.
Optionally, a scanning path may be determined according to a positional relationship between the object to be scanned and the mechanical arm, so as to control the mechanical arm to move according to the scanning path to scan the object to be scanned by moving the scanner, so as to obtain scan data, where the scan data is obtained by the scanner as scan data of the object to be scanned under a tracker coordinate system, so that the scan data may be converted by adopting a second conversion relationship, so as to obtain scan data of the object to be scanned under a global coordinate system. The scan data may be material information of the surface of the object to be scanned, coordinate information of each point in the object to be scanned, and the like, and the type of the scan data is not limited, so that the scan data of a required type can be obtained according to requirements.
In summary, according to the object scanning method provided by the embodiment, the tracker on the second mobile trolley tracks the mark point on the scanner on the first mobile trolley and tracks the mark point in the scanning scene, so that coordinate information of the mark point is obtained, the conversion relation of the tracker coordinate system relative to the global coordinate system and the conversion relation of the base coordinate system of the mechanical arm relative to the global coordinate system are calibrated based on the coordinate information of the mark point and the conversion relation of the base coordinate system of the mechanical arm relative to the scanner coordinate system, so that positioning accuracy of the first mobile trolley is improved, and the scanner is controlled to scan based on the calibrated coordinate system conversion relation and the position information of the object to be scanned and the position information of the mechanical arm, so that scanning data of the object to be scanned under the global coordinate system are obtained. The problem of large positioning accuracy error of the first mobile trolley can be solved through the calibration of the coordinate system, so that the object scanning is performed based on the calibration result, and the accuracy of the acquired scanning data can be improved.
Fig. 4 is a second schematic flow chart of an object scanning method according to an embodiment of the present application; optionally, in step S102, before determining the second conversion relationship of the tracker coordinate system with respect to the global coordinate system and the third conversion relationship of the base coordinate system of the mechanical arm with respect to the global coordinate system according to the coordinate information of each first marker point on the scanner, the coordinate information of each second marker point in the scanned scene, and the predetermined first conversion relationship, the method may further include:
s201, when the first mobile trolley and the second mobile trolley are in a second position relation, acquiring each set of position information acquired when the tail end of the mechanical arm is located at each preset position, wherein each set of position information comprises: position information of the scanner under a tracker coordinate system and position information of the tail end of the mechanical arm under a base coordinate system of the mechanical arm; the second positional relationship includes: the first mobile cart is positioned in the field of view of the tracker of the second mobile cart.
The manner of determining the first conversion relationship will be described in this embodiment. The first mobile cart is first brought into a second positional relationship with the second mobile cart, where the second positional relationship may refer to the first mobile cart being within a field of view of a tracker of the second mobile cart.
Secondly, position programming is performed on the robot demonstrator of the first mobile trolley to set a plurality of preset positions, namely a plurality of preset positions of the tail end of the mechanical arm, generally, the number of the preset positions is not less than 10, and the preset positions are set according to the following principle: each axis of the robot arm has a sufficient amount of movement.
Then, when the tail end of the mechanical arm is controlled to be at each preset position, a set of position information can be correspondingly acquired, namely, when the tail end of the mechanical arm is at each preset position, the position information of the current scanner under the tracker coordinate system and the position information of the tail end of the mechanical arm under the base coordinate system of the mechanical arm are correspondingly acquired.
S202, determining a first conversion relation of the tail end coordinate system of the mechanical arm relative to the scanner coordinate system according to the position information of each group.
When N preset positions exist, N groups of position information can be correspondingly obtained, so that the position information calibration of the tail end coordinate system of the mechanical arm relative to the scanner coordinate system can be completed by utilizing a least square method, and the first conversion relation of the tail end coordinate system of the mechanical arm relative to the scanner coordinate system is obtained.
Fig. 5 is a flowchart of a method for scanning an object according to an embodiment of the present application; optionally, in step S102, determining, according to the coordinate information of each first marker point on the scanner, the coordinate information of each second marker point in the scanned scene, and the predetermined first conversion relationship, the second conversion relationship of the tracker coordinate system with respect to the global coordinate system, and the third conversion relationship of the base coordinate system of the mechanical arm with respect to the global coordinate system, respectively, may include:
S301, coordinate information of each first mark point under a scanner coordinate system, coordinate information of each first mark point under a tracker coordinate system, coordinate information of each second mark point under a global coordinate system and coordinate information of each second mark point under the tracker coordinate system are respectively obtained.
Coordinate information of the first mark point under the coordinate system of the scanner can be directly obtained through scanning of the scanner, and coordinate information of the first mark point under the coordinate system of the tracker can be obtained through scanning of the first mark point by the tracker; similarly, the coordinate information of the second mark point under the global coordinate system can be directly read, and the coordinate information of the second mark point under the tracker coordinate system can be obtained by scanning the second mark point through the tracker.
S302, determining a second conversion relation and a fourth conversion relation of the scanner coordinate system relative to the global coordinate system according to the coordinate information of each first mark point under the scanner coordinate system, the coordinate information of each first mark point under the tracker coordinate system, the coordinate information of each second mark point under the global coordinate system and the coordinate information of each second mark point under the tracker coordinate system.
The second conversion relation of the tracker coordinate system relative to the global coordinate system and the fourth conversion relation of the scanner coordinate system relative to the global coordinate system can be calculated according to the obtained coordinate information of the first mark points and the obtained coordinate information of the second mark points. Wherein, the fourth conversion relation may be expressed by rt|scanner_to_part.
It should be noted that, when the coordinate information of the point 1 and the point 2 in the first coordinate system and the coordinate information of the point 1 and the point 2 in the second coordinate system are known, the conversion relationship between the first coordinate system and the second coordinate system can be calculated according to the coordinate information of the point 1 and the point 2 in the first coordinate system and the coordinate information of the point 1 and the point 2 in the second coordinate system. Wherein, the point 1 in the first coordinate system and the point 1 in the second coordinate system are the same point, and the point 2 in the first coordinate system and the point 2 in the second coordinate system are the same point. That is, when the coordinate information of the same point in different coordinate systems is known, the coordinate conversion relationship between the different coordinate systems can be calculated.
S303, determining a fifth conversion relation of the tail end coordinate system of the mechanical arm relative to the global coordinate system according to the first conversion relation and the fourth conversion relation.
The formula rt|endpoint_to_part=rt|endpoint_to_s may be employed when the first and fourth conversion relationships rt|endpoint_to_scanner and rt|scanner_to_part have been establishedcannerAnd calculating a fifth conversion relation of the end coordinate system of the mechanical arm relative to the global coordinate system by using RT|scanner_to_part, wherein the RT|end_to_part is used for representing the fifth conversion relation.
S304, determining a third conversion relation according to the fifth conversion relation and a sixth conversion relation of the base coordinate system of the mechanical arm relative to the tail end coordinate system of the mechanical arm.
Where the sixth conversion relationship is expressed using rt|robot_base_to_end point, then the formula rt|robot_base_to_part=rt|robot_base_to_end point may be used when the fifth conversion relationship rt|end_to_part and the sixth conversion relationship rt|robot_base_to_end point are knownAnd (3) calculating the RT|endpoint_to_part to obtain a third conversion relation, namely obtaining the conversion relation of the base coordinate system of the mechanical arm relative to the global coordinate system.
Fig. 6 is a flow chart of an object scanning method according to an embodiment of the present application; optionally, in step S302, determining the second conversion relationship and the fourth conversion relationship of the scanner coordinate system with respect to the global coordinate system according to the coordinate information of each first marker point in the scanner coordinate system, the coordinate information of each first marker point in the tracker coordinate system, and the coordinate information of each second marker point in the global coordinate system, respectively, may include:
s401, determining a seventh conversion relation of the scanner coordinate system relative to the tracker coordinate system according to the coordinate information of each first mark point under the scanner coordinate system and the coordinate information of each first mark point under the tracker coordinate system.
The specific calculation is based on the existing calculation theory, and the coordinate information of the same point under two different coordinate systems is known respectively, so that the conversion relationship between the two coordinate systems can be calculated.
A seventh conversion of the scanner coordinate system with respect to the tracker coordinate system may be expressed by rt|scanner_to_scanner, and conversely, the conversion of the tracker coordinate system with respect to the scanner coordinate system may be expressed as rt|scanner_to_scanner.
S402, determining a second conversion relation according to the coordinate information of each second mark point under the global coordinate system and the coordinate information of each second mark point under the tracker coordinate system.
Similarly, according to the coordinate information of each second mark point under the global coordinate system and the coordinate information of each second mark point under the tracker coordinate system, the second conversion relation of the tracker coordinate system relative to the global coordinate system can be calculated.
S403, determining a fourth conversion relation according to the second conversion relation and the seventh conversion relation.
Knowing the second conversion relationship rt|scanner_to_part and the seventh conversion relationship rt|scanner_to_scanner, the formula rt|scanner_to_part=rt|scanner_to_scanner may be usedAnd calculating the fourth conversion relation by using the RT|tracker_to_part, namely obtaining the conversion relation of the scanner coordinate system relative to the global coordinate system.
Fig. 7 is a flowchart of an object scanning method according to an embodiment of the present application; optionally, in step S304, determining the third conversion relationship according to the fifth conversion relationship and the sixth conversion relationship of the base coordinate system of the mechanical arm with respect to the end coordinate system of the mechanical arm may include:
s501, acquiring target position information of an origin under a terminal coordinate system of the mechanical arm under a base coordinate system of the mechanical arm.
Alternatively, the target position information of the origin under the end coordinate system of the robot arm under the base coordinate system of the robot arm may be read from the robot demonstrator or the robot SDK (development assistance kit).
S502, determining a sixth conversion relation according to the target position information and preset constraint information.
The constraint information may be a right-hand rule, that is, a positional relationship between the end coordinate system of the mechanical arm and the base coordinate system of the mechanical arm satisfies the right-hand rule, and then, based on the determined target position information and the constraint of the right-hand rule, a sixth conversion relationship between the base coordinate system of the mechanical arm and the end coordinate system of the mechanical arm may be determined.
S503, determining a third conversion relation according to the fifth conversion relation and the sixth conversion relation.
When the fifth transformation relationship rt|end_to_part and the sixth transformation relationship rt|robot_base_to_end are known, then the formula rt|robot_base_to_part=rt|robot_base_to_end may be usedAnd (3) calculating the RT|endpoint_to_part to obtain a third conversion relation, namely obtaining the conversion relation of the base coordinate system of the mechanical arm relative to the global coordinate system.
Thus, the calibration of the first mobile trolley, the second mobile trolley and the global coordinate system is completed, and the preparation work is prepared for the subsequent scanning flow.
Fig. 8 is a flowchart of an object scanning method according to an embodiment of the present application; optionally, in step S103, determining the positional relationship between the object to be scanned and the mechanical arm according to the positional information of the object to be scanned in the global coordinate system under the target scan scene, the positional information of the mechanical arm in the base coordinate system of the mechanical arm, and the third conversion relationship may include:
s601, determining the position information of the mechanical arm under the global coordinate system according to the position information of the mechanical arm under the base coordinate system of the mechanical arm and the third conversion relation.
Current scanning systems can support both single machine scanning systems and multiple machine scanning systems. The so-called stand-alone scanning system is, as shown in fig. 1, a scanning system consisting of a first mobile cart (carrying a robot arm holding scanner) and a second mobile cart (carrying a tracker). The multi-machine scanning system can be a scanning system formed by a plurality of single-machine scanning systems.
In this embodiment, a scanning flow of a single scanning system is described.
When the scanning flow is executed, the first moving trolley and the second moving trolley are in the first position relation, namely, the second moving trolley is placed at a proper position, so that the tracker can track the second mark point information in the upper scanning scene and the first mark point information of the scanner on the first moving trolley at the same time.
At this time, the obtained position information of the mechanical arm is the position information of the mechanical arm under the base coordinate system of the mechanical arm, and the position relationship between the object to be scanned and the mechanical arm under the global coordinate system is to be calculated, so that the position information of the mechanical arm under the global coordinate system can be calculated according to the calibrated third conversion relationship, that is, according to the conversion relationship between the base coordinate system of the mechanical arm and the global coordinate system.
S602, determining the position relation between the object to be scanned and the mechanical arm according to the position information of the object to be scanned under the global coordinate system and the position information of the mechanical arm under the global coordinate system.
The position information of the object to be scanned is the position information under the global coordinate system, so that the position relationship between the object to be scanned and the mechanical arm can be determined according to the position information of the object to be scanned under the global coordinate system and the position information of the mechanical arm under the global coordinate system.
Fig. 9 is a flow chart of an object scanning method according to an embodiment of the present application; optionally, in step S104, obtaining target scan data of the object to be scanned according to the positional relationship between the object to be scanned and the mechanical arm and the second conversion relationship may include:
s701, determining a scanning path according to the position relation between the object to be scanned and the mechanical arm, and controlling the scanner to scan according to the scanning path to obtain initial scanning data scanned by the scanner, wherein the initial scanning data is the scanning data of the object to be scanned under a tracker coordinate system.
Optionally, according to the position relationship between the object to be scanned and the mechanical arm, the object to be scanned and the mechanical arm can be placed in a simulation mode according to the position relationship, and simulation is performed to determine the scanning path in a simulation mode. Based on the determined scanning path, the mechanical arm on the first mobile trolley can be controlled to move according to the scanning path so as to drive the scanner to scan the object to be scanned, and initial scanning data scanned by the scanner are obtained. The initial scan data directly acquired by the scanner is the scan data of the object to be scanned under the tracker coordinate system.
S702, converting the initial scanning data by adopting a second conversion relation to obtain target scanning data of the object to be scanned, wherein the target scanning data is the scanning data of the object to be scanned under a global coordinate system.
Then, the second conversion relation, that is, the conversion relation of the tracker coordinate system relative to the global coordinate system, can be adopted to convert the scanning data under the tracker coordinate system into the global coordinate system, so as to obtain the target scanning data of the object to be scanned.
And when the scanning system is a multi-machine scanning system, the target scanning data of each single-machine scanning system can be combined and aligned to the global coordinate system to obtain complete scanning data.
In summary, according to the object scanning method provided by the embodiment of the application, the marker points on the scanner on the first moving trolley and the marker points in the tracking scanning scene are tracked through the tracker on the second moving trolley, so that coordinate information of the marker points is obtained, the conversion relation of the tracker coordinate system relative to the global coordinate system and the conversion relation of the base coordinate system of the mechanical arm relative to the global coordinate system are calibrated based on the coordinate information of the marker points and the conversion relation of the base coordinate system of the mechanical arm relative to the scanner coordinate system, so that the positioning precision of the first moving trolley is improved, and the scanner is controlled to scan based on the calibrated coordinate system conversion relation and the position information of the object to be scanned and the position information of the mechanical arm, so that scanning data of the object to be scanned under the global coordinate system are obtained. The problem of large positioning accuracy error of the first mobile trolley can be solved through the calibration of the coordinate system, so that the object scanning is performed based on the calibration result, and the accuracy of the acquired scanning data can be improved.
The following describes a device, equipment, storage medium, etc. for executing the object scanning method provided by the present application, and specific implementation processes and technical effects thereof are referred to above, and are not described in detail below.
Fig. 10 is a schematic diagram of an object scanning device according to an embodiment of the present application, where functions implemented by the object scanning device correspond to steps executed by the above method. The device is understood to be a processing apparatus as described above. As shown in fig. 10, the apparatus may include an acquisition module 110, a determination module 120, a calculation module 130;
the acquisition module 110 is configured to acquire coordinate information of each first mark point on the scanner and coordinate information of each second mark point in the scanning scene when the first mobile trolley and the second mobile trolley are in a first positional relationship in the target scanning scene; the first positional relationship includes: the tracker on the second mobile trolley can track all the first mark points on the scanner on the first mobile trolley and all the second mark points in the scanning scene at the same time;
the determining module 120 is configured to determine, according to the coordinate information of each first marker point on the scanner, the coordinate information of each second marker point in the scanned scene, and a predetermined first conversion relationship, a second conversion relationship of the tracker coordinate system relative to the global coordinate system, and a third conversion relationship of the base coordinate system of the mechanical arm relative to the global coordinate system; the first conversion relation is used for representing the conversion relation of the tail end coordinate system of the mechanical arm relative to the coordinate system of the scanner;
The determining module 120 is configured to determine a positional relationship between the object to be scanned and the mechanical arm according to positional information of the object to be scanned in the global coordinate system under the target scan scene, positional information of the mechanical arm in the base coordinate system of the mechanical arm, and a third conversion relationship;
the calculating module 130 is configured to obtain target scan data of the object to be scanned according to the positional relationship between the object to be scanned and the mechanical arm and the second conversion relationship.
Optionally, the acquiring module 110 is further configured to acquire, when the first moving trolley and the second moving trolley are in the second positional relationship, each set of positional information acquired when the end of the mechanical arm is located at each preset position, where each set of positional information includes: position information of the scanner under a tracker coordinate system and position information of the tail end of the mechanical arm under a base coordinate system of the mechanical arm; the second positional relationship includes: the first mobile trolley is located in the visual field of a tracker of the second mobile trolley;
the determining module 120 is further configured to determine a first conversion relationship of the end coordinate system of the mechanical arm with respect to the scanner coordinate system according to each set of position information.
Optionally, the determining module 120 is specifically configured to obtain coordinate information of each first marker point in a scanner coordinate system, coordinate information of each first marker point in a tracker coordinate system, coordinate information of each second marker point in a global coordinate system, and coordinate information of each second marker point in the tracker coordinate system;
Determining a second conversion relation and a fourth conversion relation of the scanner coordinate system relative to the global coordinate system according to the coordinate information of each first mark point under the scanner coordinate system, the coordinate information of each first mark point under the tracker coordinate system, the coordinate information of each second mark point under the global coordinate system and the coordinate information of each second mark point under the tracker coordinate system;
according to the first conversion relation and the fourth conversion relation, determining a fifth conversion relation of the tail end coordinate system of the mechanical arm relative to the global coordinate system;
and determining a third conversion relation according to the fifth conversion relation and a sixth conversion relation of the base coordinate system of the mechanical arm relative to the tail end coordinate system of the mechanical arm.
Optionally, the determining module 120 is specifically configured to determine a seventh conversion relationship of the scanner coordinate system relative to the tracker coordinate system according to the coordinate information of each first marker point under the scanner coordinate system and the coordinate information of each first marker point under the tracker coordinate system;
determining a second conversion relation according to the coordinate information of each second mark point under the global coordinate system and the coordinate information of each second mark point under the tracker coordinate system;
And determining a fourth conversion relation according to the second conversion relation and the seventh conversion relation.
Optionally, the determining module 120 is specifically configured to obtain target position information of an origin in a base coordinate system of the mechanical arm in a terminal coordinate system of the mechanical arm;
determining a sixth conversion relation according to the target position information and preset constraint information;
and determining a third conversion relation according to the fifth conversion relation and the sixth conversion relation.
Optionally, the determining module 120 is specifically configured to determine the position information of the mechanical arm in the global coordinate system according to the position information of the mechanical arm in the base coordinate system of the mechanical arm and the third conversion relationship;
and determining the position relation between the object to be scanned and the mechanical arm according to the position information of the object to be scanned under the global coordinate system and the position information of the mechanical arm under the global coordinate system.
Optionally, the calculating module 130 is specifically configured to determine a scanning path according to a positional relationship between the object to be scanned and the mechanical arm, and control the scanner to scan according to the scanning path, so as to obtain initial scan data scanned by the scanner, where the initial scan data is scan data of the object to be scanned under a tracker coordinate system;
And converting the initial scanning data by adopting a second conversion relation to obtain target scanning data of the object to be scanned, wherein the target scanning data is the scanning data of the object to be scanned under a global coordinate system.
The foregoing apparatus is used for executing the method provided in the foregoing embodiment, and its implementation principle and technical effects are similar, and are not described herein again.
The above modules may be one or more integrated circuits configured to implement the above methods, for example: one or more application specific integrated circuits (Application Specific Integrated Circuit, abbreviated as ASIC), or one or more microprocessors (digital singnal processor, abbreviated as DSP), or one or more field programmable gate arrays (Field Programmable Gate Array, abbreviated as FPGA), or the like. For another example, when a module above is implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a central processing unit (Central Processing Unit, CPU) or other processor that may invoke the program code. For another example, the modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
The modules may be connected or communicate with each other via wired or wireless connections. The wired connection may include a metal cable, optical cable, hybrid cable, or the like, or any combination thereof. The wireless connection may include a connection through a LAN, WAN, bluetooth, zigBee, or NFC, or any combination thereof. Two or more modules may be combined into a single module, and any one module may be divided into two or more units. It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described system and apparatus may refer to corresponding procedures in the method embodiments, and are not repeated in the present disclosure.
Fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the present application, where the device may include: a processor 801, and a storage medium 802.
The storage medium 802 is used to store a program, and the processor 801 calls the program stored in the storage medium 802 to execute the above-described method embodiment. The specific implementation manner and the technical effect are similar, and are not repeated here.
In which a storage medium 802 stores program code that, when executed by the processor 801, causes the processor 801 to perform various steps in the object scanning method according to various exemplary embodiments of the present application described in the "exemplary method" section of the present specification.
The processor 801 may be a general purpose processor such as a Central Processing Unit (CPU), digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the application. The general purpose processor may be a microprocessor or any conventional processor or the like. The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in a hardware processor for execution, or in a combination of hardware and software modules in the processor for execution.
The storage medium 802 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The storage medium may include at least one type of storage medium, and may include, for example, flash Memory, a hard disk, a multimedia card, a card-type storage medium, a random access storage medium (Random Access Memory, RAM), a static random access storage medium (Static Random Access Memory, SRAM), a programmable Read-Only storage medium (Programmable Read Only Memory, PROM), a Read-Only storage medium (ROM), a charged erasable programmable Read-Only storage medium (Electrically Erasable Programmable Read-Only storage), a magnetic storage medium, a magnetic disk, an optical disk, and the like. A storage medium is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to such. The storage medium 802 of the present application may also be circuitry or any other device capable of implementing a storage function for storing program instructions and/or data.
Optionally, the present application also provides a program product, such as a computer readable storage medium, comprising a program for performing the above-described method embodiments when being executed by a processor.
In the several embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in hardware plus software functional units.
The integrated units implemented in the form of software functional units described above may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium, and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (english: processor) to perform some of the steps of the methods according to the embodiments of the application. And the aforementioned storage medium includes: u disk, mobile hard disk, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.

Claims (8)

1. An object scanning method, characterized by being applied to a processing device in a scanning system, the scanning system comprising: the device comprises processing equipment, a first mobile trolley and a second mobile trolley, wherein a mechanical arm is arranged on the first mobile trolley, a scanner is arranged at the tail end of the mechanical arm, and a tracker is arranged on the second mobile trolley; the method comprises the following steps:
Acquiring coordinate information of each first mark point on the scanner and coordinate information of each second mark point in a scanning scene when the first mobile trolley and the second mobile trolley are in a first position relation under a target scanning scene; the first positional relationship includes: the tracker on the second mobile trolley can track all the first mark points on the scanner on the first mobile trolley and all the second mark points in the scanning scene at the same time;
respectively acquiring coordinate information of each first mark point under a scanner coordinate system, coordinate information of each first mark point under the tracker coordinate system, coordinate information of each second mark point under a global coordinate system and coordinate information of each second mark point under the tracker coordinate system; the global coordinate system is used for representing a coordinate system where an object to be scanned is located in a scanning scene, and the origin and the direction of the global coordinate system are defined at the vertex of the lower left corner of the object to be scanned;
determining a second conversion relation and a fourth conversion relation of the scanner coordinate system relative to the global coordinate system according to the coordinate information of each first mark point under the scanner coordinate system, the coordinate information of each first mark point under the tracker coordinate system, the coordinate information of each second mark point under the global coordinate system and the coordinate information of each second mark point under the tracker coordinate system; the second conversion relation is used for representing the conversion relation of the tracker coordinate system relative to the global coordinate system;
According to the first conversion relation and the fourth conversion relation, determining a fifth conversion relation of an end coordinate system of the mechanical arm relative to the global coordinate system; the first conversion relation is predetermined and used for representing the conversion relation of the tail end coordinate system of the mechanical arm relative to the scanner coordinate system;
determining a third conversion relation according to the fifth conversion relation and a sixth conversion relation of a base coordinate system of the mechanical arm relative to an end coordinate system of the mechanical arm; the third conversion relation is used for representing the conversion relation of the base coordinate system of the mechanical arm relative to the global coordinate system;
determining the position relation between the object to be scanned and the mechanical arm according to the position information of the object to be scanned in the global coordinate system under the target scanning scene, the position information of the mechanical arm in the base coordinate system of the mechanical arm and the third conversion relation;
determining a scanning path according to the position relation between the object to be scanned and the mechanical arm, and controlling the scanner to scan according to the scanning path to obtain initial scanning data scanned by the scanner, wherein the initial scanning data are the scanning data of the object to be scanned under the tracker coordinate system;
And converting the initial scanning data by adopting the second conversion relation to obtain target scanning data of the object to be scanned, wherein the target scanning data is the scanning data of the object to be scanned under the global coordinate system.
2. The method of claim 1, wherein the first transformation relationship is determined by:
when the first mobile trolley and the second mobile trolley are in a second position relationship, acquiring each set of position information acquired when the tail end of the mechanical arm is positioned at each preset position, wherein each set of position information comprises: position information of the scanner under a tracker coordinate system and position information of the tail end of the mechanical arm under a base coordinate system of the mechanical arm; the second positional relationship includes: the first mobile trolley is positioned in the tracker visual field range of the second mobile trolley;
and determining a first conversion relation of the tail end coordinate system of the mechanical arm relative to the scanner coordinate system according to the position information of each group.
3. The method of claim 1, wherein determining the second conversion relationship and the fourth conversion relationship of the scanner coordinate system with respect to the global coordinate system based on the coordinate information of each first marker point in the scanner coordinate system, the coordinate information of each first marker point in the tracker coordinate system, and the coordinate information of each second marker point in the global coordinate system, respectively, comprises:
Determining a seventh conversion relation of the scanner coordinate system relative to the tracker coordinate system according to the coordinate information of each first mark point under the scanner coordinate system and the coordinate information of each first mark point under the tracker coordinate system;
determining the second conversion relation according to the coordinate information of each second mark point under the global coordinate system and the coordinate information of each second mark point under the tracker coordinate system;
and determining the fourth conversion relation according to the second conversion relation and the seventh conversion relation.
4. The method of claim 1, wherein determining the third transformation relationship from the fifth transformation relationship and a sixth transformation relationship of a base coordinate system of the robotic arm relative to an end coordinate system of the robotic arm comprises:
acquiring target position information of an origin under a terminal coordinate system of the mechanical arm under a base coordinate system of the mechanical arm;
determining the sixth conversion relation according to the target position information and preset constraint information;
and determining the third conversion relation according to the fifth conversion relation and the sixth conversion relation.
5. The method according to any one of claims 1 to 4, wherein determining the positional relationship between the object to be scanned and the mechanical arm according to the positional information of the object to be scanned in the target scan scene in the global coordinate system, the positional information of the mechanical arm in the base coordinate system of the mechanical arm, and the third conversion relationship includes:
determining the position information of the mechanical arm under the global coordinate system according to the position information of the mechanical arm under the base coordinate system of the mechanical arm and the third conversion relation;
and determining the position relation between the object to be scanned and the mechanical arm according to the position information of the object to be scanned under the global coordinate system and the position information of the mechanical arm under the global coordinate system.
6. An object scanning device, characterized by a processing device for use in a scanning system, the scanning system comprising: the device comprises processing equipment, a first mobile trolley and a second mobile trolley, wherein a mechanical arm is arranged on the first mobile trolley, a scanner is arranged at the tail end of the mechanical arm, and a tracker is arranged on the second mobile trolley; the device comprises: the device comprises an acquisition module, a determination module and a calculation module;
The acquisition module is used for acquiring coordinate information of each first mark point on the scanner and coordinate information of each second mark point in the scanning scene when the first mobile trolley and the second mobile trolley are in a first position relation under the target scanning scene; the first positional relationship includes: the tracker on the second mobile trolley can track all the first mark points on the scanner on the first mobile trolley and all the second mark points in the scanning scene at the same time;
the determining module is used for respectively obtaining the coordinate information of each first mark point under the coordinate system of the scanner, the coordinate information of each first mark point under the coordinate system of the tracker, the coordinate information of each second mark point under the global coordinate system and the coordinate information of each second mark point under the coordinate system of the tracker; determining a second conversion relation and a fourth conversion relation of the scanner coordinate system relative to the global coordinate system according to the coordinate information of each first mark point under the scanner coordinate system, the coordinate information of each first mark point under the tracker coordinate system, the coordinate information of each second mark point under the global coordinate system and the coordinate information of each second mark point under the tracker coordinate system; the second conversion relation is used for representing the conversion relation of the tracker coordinate system relative to the global coordinate system; according to the first conversion relation and the fourth conversion relation, determining a fifth conversion relation of an end coordinate system of the mechanical arm relative to the global coordinate system; the first conversion relation is predetermined and used for representing the conversion relation of the tail end coordinate system of the mechanical arm relative to the scanner coordinate system; determining a third conversion relation according to the fifth conversion relation and a sixth conversion relation of a base coordinate system of the mechanical arm relative to an end coordinate system of the mechanical arm; the third conversion relation is used for representing the conversion relation of the base coordinate system of the mechanical arm relative to the global coordinate system; the global coordinate system is used for representing a coordinate system where an object to be scanned is located in a scanning scene, and the origin and the direction of the global coordinate system are defined at the vertex of the lower left corner of the object to be scanned;
The determining module is configured to determine a positional relationship between the object to be scanned and the mechanical arm according to positional information of the object to be scanned in the target scanning scene in the global coordinate system, positional information of the mechanical arm in a base coordinate system of the mechanical arm, and the third conversion relationship;
the calculation module is used for determining a scanning path according to the position relation between the object to be scanned and the mechanical arm, and controlling the scanner to scan according to the scanning path to obtain initial scanning data scanned by the scanner, wherein the initial scanning data are scanning data of the object to be scanned under the tracker coordinate system;
and converting the initial scanning data by adopting the second conversion relation to obtain target scanning data of the object to be scanned, wherein the target scanning data is the scanning data of the object to be scanned under the global coordinate system.
7. An electronic device, comprising: a processor, a storage medium and a bus, the storage medium storing program instructions executable by the processor, the processor and the storage medium communicating via the bus when the electronic device is running, the processor executing the program instructions to implement the object scanning method according to any one of claims 1 to 5.
8. A computer readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when executed by a processor, is adapted to carry out the object scanning method according to any of claims 1 to 5.
CN202310693146.8A 2023-06-13 2023-06-13 Object scanning method, device, electronic equipment and storage medium Active CN116437016B (en)

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