CN117346681A - Tracking type three-dimensional measurement system and three-dimensional measurement method - Google Patents

Abstract

The application relates to a tracking three-dimensional measurement system and a three-dimensional measurement method, wherein the tracking three-dimensional measurement system comprises: a measuring device, a tracking device, and a processor; the tracking equipment is internally provided with an embedded module; the tracking equipment is used for collecting image information of the mark points arranged on the measuring equipment; the embedded module is used for reconstructing to obtain the three-dimensional coordinates of the marking points based on the acquired image information and sending the three-dimensional coordinates of the marking points to the processor; the processor is used for calculating the real-time pose of the measuring device based on the three-dimensional coordinates of the marked points. Through the method and the device, identification and coordinate reconstruction of the mark points can be completed in the tracking equipment, so that front-end calculation of data is completed at the tracking equipment end, the pressure of data processing and calculation at the processor end can be reduced, the processing performance of data processing software in the processor is improved, the performance requirement on the processor is reduced, and delay jamming when the data calculation amount is large can be reduced.

Description

Tracking type three-dimensional measurement system and three-dimensional measurement method

Technical Field

The present application relates to the field of three-dimensional measurement technologies, and in particular, to a tracking three-dimensional measurement system and a three-dimensional measurement method.

Background

In tracking three-dimensional measurement systems, it is generally necessary for a tracking device to cooperate with an optical measurement device to perform three-dimensional measurement of a measured object. Specifically, the measurement device measures the measured object in a dotting manner, and the tracking device realizes pose tracking of the measurement device by collecting images of marking points arranged on the measurement device. Then, identifying mark points in the images of the mark points on the independent processor, reconstructing coordinates of the mark points, further calculating the pose of the measuring equipment, and determining the measuring result of the measured object based on the pose of the measuring equipment and calibration data of the measuring equipment.

The current tracking type three-dimensional measurement system needs a processor to complete data processing and calculation in a centralized way, so that the performance requirement on the processor is high, and the problem of delay and blocking exists when the data calculation amount is large.

Aiming at the problems that the tracking type three-dimensional measurement system in the related technology has higher performance requirement on a processor and has large data calculation amount and delay blocking, no effective solution is proposed at present.

Disclosure of Invention

In this embodiment, a tracking three-dimensional measurement system and a three-dimensional measurement method are provided to solve the problems that the performance requirement of the tracking three-dimensional measurement system on a processor is high and delay jamming exists due to large data calculation amount in the related technology.

In a first aspect, in this embodiment, there is provided a tracked three-dimensional measurement system including: a measuring device, a tracking device, and a processor; the measuring equipment is connected with the tracking equipment; the tracking device is connected with the processor; the tracking equipment is internally provided with an embedded module;

the measuring equipment is used for carrying out three-dimensional measurement on the measured object;

the tracking equipment is used for collecting image information of marking points arranged on the measuring equipment;

the embedded module is used for reconstructing and obtaining the three-dimensional coordinates of the marking points based on the acquired image information and sending the three-dimensional coordinates of the marking points to the processor;

the processor is used for calculating the real-time pose of the measuring equipment based on the three-dimensional coordinates of the marked points.

In some of these embodiments, the measuring device is provided with a display:

the processor is further configured to send a real-time pose of the measurement device to the tracking device;

the tracking equipment is also used for sending the received real-time pose of the measuring equipment to the measuring equipment;

the measuring device is also used for displaying the real-time pose of the measuring device through the display.

In some embodiments, the tracking device is configured to reconstruct three-dimensional coordinates of a marker point of the measurement device at each calibration location when the measurement device is calibrated, and send the three-dimensional coordinates of the marker point of the measurement device at each calibration location to the processor;

the processor is also used for judging whether the calibration of the measuring equipment is finished or not based on the three-dimensional coordinates of the marking points reconstructed by the tracking equipment, and outputting first prompt information according to a judgment result.

In some of these embodiments, a display is provided on the measurement device; the tracking equipment is also used for receiving the first prompt information output by the processor and sending the first prompt information to the measuring equipment;

the measuring device is further used for displaying the first prompt information through the display.

In some of these embodiments, the processor is further configured to calculate a measurement result of the measurement device on the measured object based on the real-time pose of the measurement device, and send the measurement result to the tracking device;

the tracking device is further configured to send the measurement result to the measurement device;

the measuring device is also used for displaying the measurement result through a display.

In a second aspect, in this embodiment, there is provided a three-dimensional measurement method for a tracking device in a tracking three-dimensional measurement system; the tracking three-dimensional measurement system further comprises measurement equipment and a processor; the method comprises the following steps:

when the measuring equipment performs three-dimensional measurement on a measured object, acquiring image information of a mark point arranged on the measuring equipment, and reconstructing to obtain three-dimensional coordinates of the mark point based on the acquired image information;

receiving measurement data acquired by the measurement equipment;

and sending the measurement data and the three-dimensional coordinates of the marked points to the processor so that the processor calculates the real-time pose of the measurement equipment and the measurement result of the measured object.

In some of these embodiments, the method further comprises:

receiving the real-time pose of the measuring equipment calculated by the processor and the measuring result;

and sending the real-time pose and the measurement result to the measurement equipment so that the measurement equipment displays the real-time pose and the measurement result.

In some of these embodiments, the method further comprises:

receiving second prompt information generated by the processor and used for judging whether the measurement is successful or not;

and sending second prompt information of whether the measurement is successful or not to the measurement equipment so that the measurement equipment displays the second prompt information.

In a third aspect, in this embodiment, a calibration method of a measurement device is provided, which is used for a tracking device in a tracking three-dimensional measurement system; the tracking three-dimensional measurement system further comprises measurement equipment and a processor; the method comprises the following steps:

when the measuring equipment is positioned at each calibration position, sequentially acquiring image information of a marking point on the measuring equipment at the corresponding calibration position, and reconstructing based on the image information to obtain a three-dimensional coordinate of the marking point;

and sending the three-dimensional coordinates of the marking points at each calibration position to the processor so that the processor calculates the real-time pose of the measuring equipment at each calibration position and calculates the calibration result of the measuring equipment based on the real-time pose of the measuring equipment at all calibration positions.

In some of these embodiments, the method further comprises:

receiving the calibration result of the measuring equipment calculated by the processor;

and sending the calibration result to the measuring equipment so that the measuring equipment displays the calibration result.

Compared with the related art, the tracking three-dimensional measurement system and the three-dimensional measurement method are provided in the present embodiment, wherein the tracking three-dimensional measurement system includes: a measuring device, a tracking device, and a processor; the measuring equipment is connected with the tracking equipment; the tracking device is connected with the processor; the tracking equipment is internally provided with an embedded module; the measuring equipment is used for carrying out three-dimensional measurement on the measured object; the tracking equipment is used for collecting image information of the mark points arranged on the measuring equipment; the embedded module is used for reconstructing to obtain the three-dimensional coordinates of the marking points based on the acquired image information and sending the three-dimensional coordinates of the marking points to the processor; the processor is used for calculating the real-time pose of the measuring device based on the three-dimensional coordinates of the marked points. The identification and coordinate reconstruction of the mark points can be completed in the tracking equipment, so that the front-end calculation of the data is completed at the tracking equipment end, the pressure of the data processing and calculation at the processor end in the tracking three-dimensional measurement system can be reduced, the processing performance of data processing software in the processor is improved, the performance requirement on the processor is reduced, and the delay jamming when the data calculation amount is large can be reduced.

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 other features, objects, and advantages 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 embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:

FIG. 1 is a schematic diagram of a tracking three-dimensional measurement system according to the present embodiment;

FIG. 2 is a schematic diagram of a tracking three-dimensional measurement system according to another embodiment;

FIG. 3 is a schematic signal transmission diagram of the tracking three-dimensional measurement system applied to the present embodiment;

fig. 4 is a flowchart of the three-dimensional measurement method of the present embodiment;

FIG. 5 is a flowchart of a calibration method of the measuring apparatus of the present embodiment;

FIG. 6 is a flow chart of the three-dimensional measurement method of the present preferred embodiment;

fig. 7 is a flowchart of the calibration method of the optical measuring pen of the preferred embodiment.

Detailed Description

For a clearer understanding of the objects, technical solutions and advantages of the present application, the present application is described and illustrated below with reference to the accompanying drawings and examples.

Unless defined otherwise, technical or scientific terms used herein shall have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terms "a," "an," "the," "these," and the like in this application are not intended to be limiting in number, but rather are singular or plural. The terms "comprising," "including," "having," and any variations thereof, as used in the present application, are intended to cover a non-exclusive inclusion; for example, a process, method, and system, article, or apparatus that comprises a list of steps or modules (units) is not limited to the list of steps or modules (units), but may include other steps or modules (units) not listed or inherent to such process, method, article, or apparatus. The terms "connected," "coupled," and the like in this application are 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 an association object, meaning that there may be three relationships, e.g., "a and/or B" may mean: a exists alone, A and B exist together, and B exists alone. Typically, the character "/" indicates that the associated object is an "or" relationship. The terms "first," "second," "third," and the like, as referred to in this application, merely distinguish similar objects and do not represent a particular ordering of objects.

In this embodiment, a tracking three-dimensional measurement system is provided, and fig. 1 is a schematic structural diagram of the tracking three-dimensional measurement system of this embodiment. As shown in fig. 1, the tracking three-dimensional measurement system includes: a measuring device 12, a tracking device 14, and a processor 16; the measuring device 12 is connected with the tracking device 14; the tracking device 14 is coupled to the processor 16; the tracking device 14 is built with an embedded module; the measuring device 12 is used for performing three-dimensional measurement on a measured object; the tracking device 14 is used for acquiring image information of the mark points set on the measuring device 12; the embedded module is used for reconstructing three-dimensional coordinates of the marking points based on the acquired image information and sending the three-dimensional coordinates of the marking points to the processor 16; the processor 16 is configured to calculate a real-time pose of the measurement device 12 based on the three-dimensional coordinates of the marker points.

The measuring device 12 may specifically be a device for detecting and analyzing shape or appearance data of an object or environment in the real world based on optical principles, including but not limited to a three-dimensional scanner, an optical measuring pen, etc. The tracking device 14 may be in particular an optical tracker. The processor 16 may be any type of execution unit for information processing and program execution. The communication between the measuring device 12 and the tracking device 14 may be achieved by means of a wired or wireless connection. For example, the measurement device 12 may be in wireless communication with the tracking device 14 based on a wireless connection of a preset frequency band, or in wired communication based on a serial connection. Communication between the tracking device 14 and the processor 16 may be achieved by way of a wireless connection or a wired connection, for example using a network cable or route. The surface of the measuring device 12 is fixed with marking points and the tracking device 14 is used to acquire image information of the marking points on the measuring device 12. In addition, the connection and communication between the measurement device 12 and the tracking device 14, and between the tracking device 14 and the processor 16 may be based on other wired or wireless means. Further, the present embodiment sets an embedded module in the tracking device 14, and the embedded module may be specifically implemented by adding an embedded chip or an embedded circuit capable of completing three-dimensional reconstruction operation in the tracking device 14.

Based on this, in the present embodiment, the tracking device 14 may acquire, in addition to the image information of the marker point set on the measurement device 12 through the image sensor, three-dimensional reconstruction of the marker point based on the acquired image information of the marker point through its built-in embedded module, thereby obtaining the three-dimensional coordinates of the marker point. The three-dimensional coordinates of the above-mentioned marker points are then sent to the processor 16 based on the connection between the tracking device 14 and the processor 16. In the embedded module of the tracking device 14, after the two-dimensional coordinates of the mark point are identified in the image information, three-dimensional reconstruction of the mark point is implemented based on the epipolar line principle, so as to obtain the three-dimensional coordinates of the mark point, which is not limited in this embodiment.

Compared with the related art, the tracking device 14 is only responsible for collecting the image information of the marker points, and then the other independent processors 16 are used for completing the three-dimensional reconstruction of the marker points, the calculation of the real-time pose of the measuring device 12, the calculation of the measured data and the like, so that a larger data calculation amount is brought to the processors 16, the requirements on the performance of the processors are higher, and the problem of delay and blocking exists. In this embodiment, the embedded module is disposed in the tracking device 14, so that the tracking device 14 has the computing capability of identifying and reconstructing the marker points, and performs pre-calculation on the data processing of the three-dimensional scanning, and then transfers the marker point data after identification and reconstruction to the processor 16 for post-calculation, thereby reducing the pressure of post-calculation, reducing the performance requirement on the processor 16, and reducing the delay jamming when the data calculation amount is large.

The tracking type three-dimensional measurement system can complete identification and coordinate reconstruction of the marking points in the tracking equipment 14, so that front-end calculation of data is completed at the tracking equipment 14 end, further, the pressure of data processing and calculation at the processor 16 end in the tracking type three-dimensional measurement system can be reduced, the processing performance of data processing software in the processor 16 is improved, the performance requirement on the processor 16 is reduced, and delay jamming when the data calculation amount is large can be reduced.

In one embodiment, the measuring device 12 is provided with a display: the processor 16 is also configured to send the real-time pose of the measurement device 12 to the tracking device 14; the tracking device 14 is further configured to send the received real-time pose of the measurement device 12 to the measurement device 12; the measurement device 12 is also used to display its own real-time pose via a display.

Fig. 2 is a schematic structural diagram of a tracking three-dimensional measurement system according to another embodiment. As can be seen in connection with fig. 1 and 2, fig. 2 further comprises a display 121 arranged on the measuring device 12 on the basis of fig. 1. After the tracking device 14 sends the reconstructed three-dimensional coordinates of the marker points to the processor 16, the processor 16 completes the calculation of the pose of the measuring device 12, sends the calculation result to the tracking device 14, and then sends the calculation result to the measuring device 12. After receiving the information of the own pose, the measurement device 12 displays the own real-time pose through the display 121.

Compared with the related art, the method has the advantages that only the data information of the three-dimensional measurement process is displayed on the display interface of the computing device provided with the processor, and when a user holds the measuring device to measure away from the computing device, the actual data information cannot be seen, so that the actual operation is affected. According to the embodiment, the display 121 is additionally arranged on the measuring equipment 12, and based on the communication between the tracking equipment 14 and the processor 16 and the communication between the measuring equipment 12 and the tracking equipment 14, so that the operation information and the processing result on the processor 16 can be synchronously displayed through the measuring equipment 12, a user can conveniently and timely check corresponding information when far away from the processor, the remote display of the information is realized, the convenience of three-dimensional measurement is improved, and the user experience is improved.

Furthermore, in one embodiment, the tracking device 14 is configured to reconstruct the three-dimensional coordinates of the marked point of the measurement device 12 at each calibration location when calibrating the measurement device 12, and send the three-dimensional coordinates of the marked point of the measurement device 12 at each calibration location to the processor 16; the processor 16 is further configured to determine whether the calibration of the measurement device 12 is completed based on the three-dimensional coordinates of the marker point reconstructed by the tracking device 14, and output a first prompt message according to the determination result.

Calibration of the measurement device 12 may be performed to determine the relative positional relationship between the marker points of the measurement device 12 and the specific data acquisition structure. For example, for calibration of the optical measuring pen, the calibration may be a solution of a relative positional relationship between a marker point provided on a pen body of the optical measuring pen and a probe. In the calibration process, the measurement device 12 needs to be sequentially placed at different calibration positions, the tracking device 14 acquires the image information of the marking point at each calibration position, completes the three-dimensional reconstruction of the marking point to obtain the three-dimensional coordinates, and then sends the three-dimensional coordinates of the marking point at each calibration position to the processor 16. The processor 16 calculates the pose of the measuring device 12 at each calibration position based on the three-dimensional coordinates of the marker points at each calibration position.

After entering the calibration mode, the calibration seat may be placed in the field of view of the tracking device 14, the tracking device 14 first collects the image information of the marking point on the calibration seat, identifies and reconstructs the three-dimensional coordinates of the marking point on the calibration seat, sends the three-dimensional coordinates of the marking point of the calibration seat to the processor 16, calculates the real-time pose of the calibration seat in space, and starts the calibration of the measuring device 12 after determining that the calibration seat is located at the preset position based on the real-time pose of the calibration seat. The measuring device 12 is placed on a preset template position on the calibration seat, the tracking device 14 collects the image information of the marking point set on the measuring device 12 at the moment, the three-dimensional coordinates of the marking point are identified and reconstructed, and the three-dimensional coordinates are sent to the processor 16 to calculate the real-time pose of the measuring device 12 at the moment. The processor 16 determines whether the measuring device 12 is at a preset calibration position based on the real-time pose of the measuring device 12, if yes, after acquiring data of a preset frame number through the measuring device 12 at the calibration position, prompts the measuring device 12 to move to the next calibration position, and repeats the above process until the measuring device 12 acquires data of the preset frame number at each calibration position. And calculating the calibration result of the measuring equipment 12 according to the data acquired by the measuring equipment 12 at all the calibration positions, and completing the calibration of the measuring equipment 12.

In the present embodiment, after the processor 16 calculates the real-time pose of the measurement device 12, it is determined whether the measurement device 12 is at a preset calibration position, and whether data acquisition is completed at all calibration positions. After the measurement device 12 completes data collection at all of the calibration locations, the processor 16 may determine that the calibration of the measurement device 12 is complete, thereby outputting first hint information indicating that the calibration is complete, and may also output first hint information indicating that the calibration is not complete when it is determined that the measurement device 12 does not complete data collection at all of the calibration locations. Wherein after the calibration is completed, if the calibration is completed, the accuracy of the calibration may be displayed on the display of the processor 16, and on the display of the measurement device 12; if the calibration is not complete, a window of failure may be output on the processor 16 and the display of the measurement device 12.

Further, in one embodiment, the measurement device 12 is provided with a display 121; the tracking device 14 is further configured to receive the first prompt information output by the processor 16, and send the first prompt information to the measurement device 12; the measuring device 12 is further adapted to display a first prompt message via the display 121.

Specifically, the real-time pose of the measurement device 12 may be sent to the display 121 of the measurement device 12 by the tracking device 14 for display, and to display at which calibration position the measurement device 12 is specifically located, and to prompt whether the calibration is complete. Based on this, the related data information of the calibration process can be displayed in real time by the display 121 of the measurement device 12, so that even when the user performs the calibration operation far away from the processor 16, the operation steps can be timely adjusted based on the content displayed by the display 121 on the measurement device 12, and the calibration progress can be mastered in real time, thereby improving the convenience of the calibration operation and the user experience.

Additionally, in one embodiment, the processor 16 is further configured to calculate a measurement of the object under test by the measurement device 12 based on the real-time pose of the measurement device 12, and send the measurement to the tracking device 14; the tracking device 14 is also used to send the measurement results to the measurement device 12; the measuring device 12 is also used for displaying the measurement results via a display 121.

After the calibration of the measuring device 12 is completed, during the three-dimensional measurement of the measured object by the measuring device 12, the measuring device 12 sends the acquired measurement data of the measured object to the tracking device 14 in real time, and the tracking device 14 sends the measurement data and the reconstructed three-dimensional coordinates of the marked points of the measuring device 12 to the processor 16. Wherein, the data of the measuring device 12 collected by the tracking device 14 includes two types, one is that the tracking device 14 collects an image of the measuring device 12, and identifies a mark point set on the measuring device 12, thereby determining the pose of the measuring device 12 in space; the other is that the tracking device 14 receives the key signal when the operator presses the key of the measuring device 12 to control the measuring device 12 to calibrate and dott. The processor 16 calculates the real-time pose of the measuring device 12 based on the three-dimensional coordinates of the marker points of the measuring device 12, and obtains the measurement result of the measured object according to the real-time pose of the measuring device 12 and the measurement data. Next, the processor 16 transmits both the measurement result and the real-time pose to the tracking device 14, and the tracking device 14 transmits the measurement result and the real-time pose to the measurement device 12, and the measurement device 12 displays the real-time pose of itself and the measurement result of the measured object through the display 121.

An optical measuring pen is described as an example. Fig. 3 is a schematic signal transmission diagram of the tracking three-dimensional measurement system according to the present embodiment. As shown in fig. 3, the optical measuring pen performs a dotting operation on the object to be measured within the field of view of the tracking device. The tracking equipment acquires image information of the marking points arranged on the optical measuring pen in real time, and recognizes and reconstructs three-dimensional coordinates of the marking points from the image information. When the dotting is needed, a user clicks a dotting key on the optical measuring pen, so that a single dotting signal is sent to the tracking device, the tracking device sends the dotting signal and the reconstructed three-dimensional coordinates of the mark point to the processor, the processor calculates the real-time pose of the optical measuring pen based on the three-dimensional coordinates of the mark point of the optical measuring pen, and the measuring result of the optical measuring pen is obtained according to the dotting signal and the real-time pose of the optical measuring pen. The measurement result, i.e. the dotting result, is also understood to be the three-dimensional coordinates of the stylus of the optical measuring pen. The processor sends the calculated measurement result and the real-time pose of the optical measuring pen to the tracking equipment, and the tracking equipment transmits the measurement result and the real-time pose to the display on the optical measuring pen for display. The processor judges whether the optical measuring pen is successful in dotting according to the calculated measuring result, generates different prompt messages according to the success or failure of dotting, and then prompts success and failure of dotting by using different display modes of a display of the measuring device, so that single dotting operation is completed.

For example, for a single dotting operation, when a dotting is successful, the indicator light on the measurement device will briefly illuminate with a white light and emit a brief alert tone, and the processor may also emit a successful alert tone accordingly. When the dotting fails, the indicator light on the measuring equipment is lightened in a short time by red light, and a long prompting sound is emitted, and the processor can also correspondingly emit the failed prompting sound.

Wherein, whether the dotting is successful can be judged through fitting of the characteristics. For example, a plurality of points are obtained through a plurality of dotting operations, and the plurality of points are fitted, and specifically, the shapes of circles, grooves, cylinders, holes and the like are fitted according to actual application scenes. And after the dotting is performed for a plurality of times and after a signal of the dotting completion is received, the fitting result is displayed on a display of the processor and a display of the measuring device. Prompting successful dotting under the condition that the fitting result indicates that the corresponding shape is successfully fitted; otherwise, prompting the dotting failure.

In this embodiment, the calculated measurement result is displayed on the display of the measurement device in real time, so that a user can conveniently grasp the measurement operation state in time, remote display of measurement information is realized, and convenience and user experience of the three-dimensional measurement process are improved.

In this embodiment, a three-dimensional measurement method is provided for a tracking device in a tracking three-dimensional measurement system; the tracked three-dimensional measurement system further comprises a measurement device and a processor. Fig. 4 is a flowchart of the three-dimensional measurement method of the present embodiment, as shown in fig. 4, the flowchart including the steps of:

step S401, when the measuring equipment performs three-dimensional measurement on the measured object, acquiring image information of a mark point arranged on the measuring equipment, and reconstructing to obtain three-dimensional coordinates of the mark point based on the acquired image information;

step S402, receiving measurement data acquired by measurement equipment;

step S403, the measurement data and the three-dimensional coordinates of the marker point are sent to the processor, so that the processor calculates the real-time pose of the measurement device and the measurement result of the measured object.

The measurement data may be data generated by the measurement device when performing three-dimensional measurement. For example, a dotting signal generated when the optical measuring pen performs a dotting operation on a measured object, and point cloud data generated when the three-dimensional scanner performs three-dimensional scanning on the measured object. The measuring device is located within the field of view of the tracking device when performing three-dimensional measurement on the object to be measured. The tracking device collects image information of the mark points on the measuring device based on the image sensor of the tracking device, and then recognizes and reconstructs three-dimensional coordinates of the mark points from the image information through the embedded module of the tracking device. The tracking device sends the measurement data acquired by the measuring device and the three-dimensional coordinates of the marking points of the measuring device to the processor for calculation based on the connection with the processor. The processor calculates therefrom the real-time pose of the measuring device and the measurement results for the measured object.

The steps S401 to S403 can complete the identification and coordinate reconstruction of the mark points in the tracking device, so that the front-end calculation of the data is completed at the tracking device end when the three-dimensional measurement is completed, and then the pressure of the data processing and calculation at the processor end in the tracking three-dimensional measurement system can be reduced, the processing performance of the data processing software in the processor is improved, the performance requirement on the processor is reduced, and the delay jamming when the data calculation amount is large can be reduced.

Optionally, in one embodiment, the three-dimensional measurement method further includes:

receiving real-time pose of the measuring equipment calculated by the processor and a measuring result; and sending the real-time pose and the measurement result to the measurement equipment so that the measurement equipment displays the real-time pose and the measurement result.

And after receiving the real-time pose and the measurement result calculated by the processor, the tracking equipment sends the real-time pose and the measurement result to the measurement equipment according to the connection between the tracking equipment and the measurement equipment. The measuring equipment displays the real-time pose of the measuring equipment and the three-dimensional measuring result through the display, so that a user can directly check the measuring process at the measuring equipment end in time, the convenience of three-dimensional measurement is improved, and the user experience is improved.

Optionally, in an embodiment, the three-dimensional measurement method may further include:

receiving second prompt information generated by the processor and used for measuring whether the measurement is successful or not; and sending second prompt information of whether the measurement is successful or not to the measurement equipment so that the measurement equipment displays the second prompt information.

The processor judges whether the three-dimensional measurement is successful or not according to the calculated measurement result, and then sends second prompt information containing success or failure of the three-dimensional measurement to the measurement equipment. The measurement device may perform measurement success prompts and measurement failure prompts in different ways. For example, the success of the measurement and the identification of the measurement are respectively prompted with different colors of the indicator lights. Therefore, the embodiment can realize real-time remote display of the measurement condition, thereby facilitating a user to timely master the three-dimensional measurement dynamics.

In this embodiment, a calibration method of a measurement device is provided, which is used for a tracking device in a tracking three-dimensional measurement system; the tracked three-dimensional measurement system further comprises a measurement device and a processor. Fig. 5 is a flowchart of a calibration method of the measuring apparatus of the present embodiment, and as shown in fig. 5, the calibration method of the measuring apparatus includes:

step S501, when the measuring equipment is positioned at each calibration position, sequentially acquiring image information of a marking point on the measuring equipment at the corresponding calibration position, and reconstructing based on the image information to obtain a three-dimensional coordinate of the marking point;

step S502, three-dimensional coordinates of the marking points at each calibration position are sent to the processor, so that the processor calculates real-time pose of the measuring equipment at each calibration position, and calculates a calibration result of the measuring equipment based on the real-time pose of the measuring equipment at all calibration positions.

Specifically, the processor calculates the real-time pose of the measuring device at each calibration position to determine whether the measuring device is at the corresponding calibration position, and under the condition that the measuring device is determined to be at the corresponding calibration position, acquires data of a preset frame number at the corresponding calibration position through the measuring device. Based on the data of the corresponding preset frame number under each calibration position, the calibration of the relative position relation between the data acquisition structure and the mark point structure of the measuring equipment is completed, and the calibration result of the measuring equipment is obtained.

The steps S501 to S502 can complete the identification and coordinate reconstruction of the mark points in the tracking device when the calibration of the measuring device is performed, thereby completing the pre-calculation of the data at the tracking device end, further reducing the pressure of the calibration processing at the processor end in the tracking three-dimensional measuring system, improving the processing performance of the data processing software in the processor, reducing the performance requirement on the processor, and reducing the delay jamming when the data calculation amount is large.

In one embodiment, the calibration method of the measurement device may further include:

receiving a calibration result of the measuring equipment calculated by the processor; and sending the calibration result to the measuring equipment so that the measuring equipment displays the calibration result. According to the connection between the processor and the tracking equipment and the connection between the tracking equipment and the measuring equipment, the calibration result is sent to the display of the measuring equipment for displaying, so that the remote display of the calibration result is realized, a user near the measuring equipment is timely enabled to know the calibration progress, and the convenience of the calibration process is improved.

The present embodiment is described and illustrated below by way of preferred embodiments.

Fig. 6 is a flow chart of the three-dimensional measurement method of the present preferred embodiment. As shown in fig. 6, the three-dimensional measurement method includes the steps of:

step S601, the tracking equipment collects image information of a mark point of an optical measuring pen;

step S602, an embedded module in the tracking equipment identifies and reconstructs three-dimensional coordinates of the mark points from the image information, and sends the three-dimensional coordinates of the mark points to the processor;

step S603, the processor calculates the real-time pose of the optical measuring pen based on the three-dimensional coordinates of the mark points, and sends the real-time pose to the tracking equipment;

step S604, the tracking device sends the real-time pose to an optical measuring pen;

step S605, the optical measuring pen sends a dotting signal to the tracking device;

step S606, the tracking device sends a dotting signal to the processor;

step S607, the processor calculates the dotting result of the measured object based on the dotting signal and sends the dotting result to the tracking equipment;

step S608, the tracking device sends the dotting result to the optical measuring pen;

step S609, the optical measuring pen displays the real-time pose of the optical measuring pen and a dotting result through a display;

in step S610, the processor determines whether the dotting is finished, if so, the process is finished, otherwise, the process returns to step S601.

The steps S601 to S610 can complete the identification and coordinate reconstruction of the mark points in the tracking device, so that the front-end calculation of the data is completed at the tracking device end when the three-dimensional measurement is completed, the pressure of the data processing and calculation at the processor end in the tracking three-dimensional measurement system can be reduced, the processing performance of the data processing software in the processor is improved, the performance requirement on the processor is reduced, and the delay jamming when the data calculation amount is large can be reduced.

Fig. 7 is a flowchart of the calibration method of the optical measuring pen of the preferred embodiment. As shown in fig. 7, the calibration method of the optical measuring pen comprises the following steps:

step S701, the tracking equipment collects first image information of a mark point on a standard seat;

step S702, an embedded module on the tracking equipment identifies and reconstructs three-dimensional coordinates of the marking points of the standard seat from the first image information, and sends the three-dimensional coordinates of the marking points of the standard seat to the processor;

step S703, the processor calculates the real-time pose of the calibration seat according to the three-dimensional coordinates of the marking points of the calibration seat, judges whether the calibration seat is at the preset position, if yes, executes step S704, otherwise prompts that the calibration seat is not at the proper position, and returns to execute step S701;

step S704, the tracking equipment collects second image information of the mark points on the optical measuring pen;

step S705, the embedded module on the tracking device recognizes and reconstructs the three-dimensional coordinates of the marking point of the optical measuring pen from the second image information, and sends the three-dimensional coordinates of the marking point of the optical measuring pen to the processor;

step S706, the processor calculates the real-time pose of the optical measuring pen according to the three-dimensional coordinates of the marking point of the optical measuring pen, and sends the real-time pose of the optical measuring pen to the tracking equipment;

step S707, the tracking device sends the real-time pose of the optical measuring pen to the optical measuring pen;

step S708, the optical measuring pen displays the real-time pose of the optical measuring pen through a display;

step S709, the processor judges whether the optical measuring pen is at a preset calibration position, if so, step S710 is executed, otherwise, the processor prompts that the optical measuring pen is not at the preset calibration position and returns to execute step S701;

step S710, the optical measuring pen collects data of a preset frame number at a corresponding calibration position, and enters the next calibration position based on the prompt of the processor, and the steps S704 to S709 are repeatedly executed;

step S711, the processor determines whether data acquisition of all calibration positions is completed, and if yes, step S712 is executed; otherwise, return to step S701;

step S712, calibrating the optical measuring pen according to the data of the preset frame number collected by all calibration positions to obtain a calibration result.

The steps S701 to S712 can complete the identification and coordinate reconstruction of the mark points in the tracking device, so that the front-end calculation of the data is completed at the tracking device end when the three-dimensional measurement is completed, and then the pressure of the data processing and calculation at the processor end in the tracking three-dimensional measurement system can be reduced, the processing performance of the data processing software in the processor is improved, the performance requirement on the processor is reduced, and the delay jamming when the data calculation amount is large can be reduced.

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 made by one of ordinary skill in the art without undue burden from the present application, are within the scope of the present application in light of the embodiments provided herein.

It should be noted that, user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party.

It is evident that the drawings are only examples or embodiments of the present application, from which the present application can also be adapted to other similar situations by a person skilled in the art without the inventive effort. In addition, it should be appreciated that while the development effort might be complex and lengthy, it would nevertheless be a routine undertaking of design, fabrication, or manufacture for those of ordinary skill having the benefit of this disclosure, and thus should not be construed as an admission of insufficient detail.

The term "embodiment" in this application means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the 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. It will be clear or implicitly understood by those of ordinary skill in the art that the embodiments described in this application can be combined with other embodiments without conflict.

The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the patent. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application shall be subject to the appended claims.

Claims (10)

1. A tracking three-dimensional measurement system, the tracking three-dimensional measurement system comprising: a measuring device, a tracking device, and a processor; the measuring equipment is connected with the tracking equipment; the tracking device is connected with the processor; the tracking equipment is internally provided with an embedded module;

the measuring equipment is used for carrying out three-dimensional measurement on the measured object;

the tracking equipment is used for collecting image information of marking points arranged on the measuring equipment;

the embedded module is used for reconstructing and obtaining the three-dimensional coordinates of the marking points based on the acquired image information and sending the three-dimensional coordinates of the marking points to the processor;

the processor is used for calculating the real-time pose of the measuring equipment based on the three-dimensional coordinates of the marked points.

2. The tracking three-dimensional measurement system of claim 1, wherein the measurement device is provided with a display:

the processor is further configured to send a real-time pose of the measurement device to the tracking device;

the tracking equipment is also used for sending the received real-time pose of the measuring equipment to the measuring equipment;

the measuring device is also used for displaying the real-time pose of the measuring device through the display.

3. The tracking three-dimensional measurement system of claim 1, wherein the tracking device is configured to reconstruct three-dimensional coordinates of a marker point of the measurement device at each calibration location when calibrating the measurement device, and to send the three-dimensional coordinates of the marker point of the measurement device at each calibration location to the processor;

the processor is also used for judging whether the calibration of the measuring equipment is finished or not based on the three-dimensional coordinates of the marking points reconstructed by the tracking equipment, and outputting first prompt information according to a judgment result.

4. A tracking three-dimensional measurement system according to claim 3, characterized in that the measurement device is provided with a display; the tracking equipment is also used for receiving the first prompt information output by the processor and sending the first prompt information to the measuring equipment;

the measuring device is further used for displaying the first prompt information through the display.

5. The tracked three-dimensional measurement system of claim 2, wherein the processor is further configured to calculate a measurement result of the measurement device on the object under test based on a real-time pose of the measurement device, and send the measurement result to the tracking device;

the tracking device is further configured to send the measurement result to the measurement device;

the measuring device is also used for displaying the measurement result through a display.

6. A three-dimensional measurement method, characterized by a tracking device for use in a tracking three-dimensional measurement system; the tracking three-dimensional measurement system further comprises measurement equipment and a processor; the method comprises the following steps:

when the measuring equipment performs three-dimensional measurement on a measured object, acquiring image information of a mark point arranged on the measuring equipment, and reconstructing to obtain three-dimensional coordinates of the mark point based on the acquired image information;

receiving measurement data acquired by the measurement equipment;

and sending the measurement data and the three-dimensional coordinates of the marked points to the processor so that the processor calculates the real-time pose of the measurement equipment and the measurement result of the measured object.

7. The three-dimensional measurement method according to claim 6, further comprising:

receiving the real-time pose of the measuring equipment calculated by the processor and the measuring result;

and sending the real-time pose and the measurement result to the measurement equipment so that the measurement equipment displays the real-time pose and the measurement result.

8. The three-dimensional measurement method according to claim 7, further comprising:

receiving second prompt information generated by the processor and used for judging whether the measurement is successful or not;

and sending second prompt information of whether the measurement is successful or not to the measurement equipment so that the measurement equipment displays the second prompt information.

9. The calibration method of the measuring equipment is characterized by being used for tracking equipment in a tracking type three-dimensional measuring system; the tracking three-dimensional measurement system further comprises measurement equipment and a processor; the method comprises the following steps:

when the measuring equipment is positioned at each calibration position, sequentially acquiring image information of a marking point on the measuring equipment at the corresponding calibration position, and reconstructing based on the image information to obtain a three-dimensional coordinate of the marking point;

and sending the three-dimensional coordinates of the marking points at each calibration position to the processor so that the processor calculates the real-time pose of the measuring equipment at each calibration position and calculates the calibration result of the measuring equipment based on the real-time pose of the measuring equipment at all calibration positions.

10. The method of calibrating a measurement device according to claim 9, further comprising:

receiving the calibration result of the measuring equipment calculated by the processor;

and sending the calibration result to the measuring equipment so that the measuring equipment displays the calibration result.