CN217331033U - Scanner position and pose tracking system - Google Patents
Scanner position and pose tracking system Download PDFInfo
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- CN217331033U CN217331033U CN202220140218.7U CN202220140218U CN217331033U CN 217331033 U CN217331033 U CN 217331033U CN 202220140218 U CN202220140218 U CN 202220140218U CN 217331033 U CN217331033 U CN 217331033U
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Abstract
The utility model discloses a scanner pose tracking system, which comprises a binocular tracking device, a frame to be measured and a control device, wherein the binocular tracking device is positioned on one side of the frame to be measured; the robot is positioned on the other side of the frame to be tested; a scanner fixed to a distal end of the robot; the side wall of the scanner is provided with a positioning module; the positioning module comprises a plurality of positioning parts, and the positioning parts are provided with a plurality of positioning points and coding points; the position of the positioning point is fixed; the number and the position of the encoding points of each positioning part are different. The utility model has the advantages that the positioning part with the positioning point and the coding point is arranged and fixed on the side wall of the scanner, thereby greatly saving the volume of the scanner, improving the flexibility of the scanner in the measuring process and avoiding unnecessary shielding of the scanner in the frame to be measured; meanwhile, accurate tracking and positioning of the binocular tracking equipment to the scanner are guaranteed; in addition, the calculation speed can be improved.
Description
Technical Field
The utility model relates to a non-contact measures technical field, concretely relates to scanner position appearance tracker.
Background
In recent years, a system for scanning and measuring by clamping an optical scanning probe by the tail end of an industrial robot has come into operation aiming at large-size measurement, the system realizes the conversion of information of an object to be measured from a pixel coordinate system of an image to a camera coordinate system of the probe and then to a world coordinate system, and the scanning and measuring system can better realize the non-contact scanning of the large-size object to be measured. But the measurement accuracy is related to the positioning accuracy of the industrial robot, and in order to reduce the error, a binocular tracking system is set up at the periphery, so that the positioning error of the industrial robot is not introduced in the conversion process from a camera coordinate system to a world coordinate system, the influence of the positioning error of the robot is eliminated, and the high-accuracy positioning and tracking of the measuring head is realized.
The prior tracking method mostly adopts a ball cage arranged at the periphery of the scanner, but the collision volume of the scanner is increased and the calculation speed is reduced.
In summary, there is a need to design a scanner pose tracking system to solve the above problems in the prior art.
SUMMERY OF THE UTILITY MODEL
For solving above-mentioned prior art problem, the utility model provides a scanner position appearance tracker sets up location portion on the scanner, can practice thrift the space, reduces the collision, improves the flexibility of scanner in the measurement process.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a scanner pose tracking system comprising:
the binocular tracking equipment is positioned on one side of the frame to be detected;
the robot is positioned on the other side of the frame to be tested;
a scanner fixed to a distal end of the robot;
the side wall of the scanner is provided with a positioning module; the positioning module comprises a plurality of positioning parts, and the positioning parts are provided with a plurality of positioning points and coding points;
the position of the positioning point is fixed;
the number and the position of the encoding points of each positioning part are different.
In some embodiments of the present invention, the number of the positioning points is 5, and the positioning points are located at four vertexes and a central point of the rectangle.
In some embodiments of the present invention, the positioning points are connected two by two to form four coding regions, and each of the coding regions is provided with at most one coding point.
In some embodiments of the present invention, the positioning portion includes a first positioning portion, a second positioning portion, a third positioning portion, and a fourth positioning portion; the first positioning portion, the second positioning portion, the third positioning portion, and the fourth positioning portion are respectively located on four side walls of the scanner.
In some embodiments of the present invention, the first positioning portion includes a coding point, and the coding point is located in any one of the coding regions.
In some embodiments of the present invention, the second positioning portion includes two coding points, and the coding points are located adjacent to each other in the coding region.
In some embodiments of the present invention, the third positioning portion comprises two coding points, and the coding points are located in the opposite coding regions.
In some embodiments of the present invention, the fourth positioning portion includes three coding points, and the coding points are located adjacent to each other in the coding region.
In some embodiments of the present invention, the positioning point and the coding point are identification points with light reflection.
The technical scheme of the utility model prior art relatively has following technological effect:
the utility model has the advantages that the positioning part with the positioning point and the coding point is arranged and fixed on the side wall of the scanner, thereby greatly saving the volume of the scanner, improving the flexibility of the scanner in the measuring process and avoiding unnecessary shielding of the scanner in the frame to be measured; meanwhile, accurate tracking and positioning of the binocular tracking equipment to the scanner are guaranteed; in addition, the calculation speed can be improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of the scanner pose tracking system.
Fig. 2 is a schematic structural diagram of the scanner.
Fig. 3 is a right side view of the scanner.
Fig. 4 is a top view of the scanner.
Fig. 5 is a left side view of the scanner.
Fig. 6 is a bottom view of the scanner.
Fig. 7 is a schematic diagram of the encoding principle of the positioning points and the encoding points.
Reference numerals are as follows: 100-a scanner; 110-a laser; 120-an industrial camera; 130-a positioning module; 131-a first positioning portion; 132-a second positioning portion; 133-a third locator; 134-a fourth location portion; 200-a robot; 300-binocular tracking devices; 400-vehicle frame to be tested.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected. The specific meaning of the above terms in the present invention can be understood as a specific case by those skilled in the art. In the foregoing description of embodiments, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
Referring to fig. 1, the scanner pose tracking system includes:
the binocular tracking device 300 is positioned at one side of the frame to be measured 400;
the robot 200 is positioned at the other side of the frame to be tested 400;
a scanner 100 fixed to a distal end of the robot 200;
wherein, a positioning module 130 is arranged on the side wall of the scanner 100; the positioning module 130 comprises a plurality of positioning parts, and the positioning parts are provided with a plurality of positioning points and coding points;
the position of the positioning point is fixed;
the number and the position of the encoding points of each positioning part are different.
In some embodiments of the present invention, referring to fig. 2 for the structure of the scanner 200, symmetrical industrial cameras 120 are disposed at two ends of the scanner 200 for collecting data in the frame to be tested. In addition, a laser 110 is provided at any industrial camera 120, and the laser 110 is provided to identify a marking point in the carriage 400 to be measured.
In some embodiments of the present invention, as shown in fig. 3 to 6, the number of the positioning points is 5, and the positioning points are located at four vertexes and a central point of the rectangle. That is, the structure of each positioning part is a rectangle, and the positioning points are respectively positioned on four vertexes of the rectangle and the central point of the rectangle. In addition, after two adjacent positioning points are connected, four coding regions are formed on the positioning portion, each coding region is triangular, and at most one coding point is arranged on each coding region.
In some embodiments of the present invention, the positioning portion 130 includes a first positioning portion 131, a second positioning portion 132, a third positioning portion 133 and a fourth positioning portion 134; the first positioning portion 131, the second positioning portion 132, the third positioning portion 133, and the fourth positioning portion 134 are respectively located on four side walls of the scanner 200. I.e., each positioning portion is fixed on the side wall except for the side wall where the laser 110 is provided and the opposite side wall thereof. As shown in fig. 2, the distribution of the code points of the positioning portion on each sidewall is different, that is, the positioning points and the code points on the positioning portion form different code patterns, and the code patterns of each sidewall are different.
In some embodiments of the present invention, the first positioning portion 131 is located on the top of the scanner 200, and referring to fig. 4, the first positioning portion 131 includes a coding point, and the coding point is located in any one of the coding regions.
In some embodiments of the present invention, the second positioning portion 132 is located on the right side wall of the scanner 200, and as shown in fig. 3, the second positioning portion 132 includes two coding points, and the coding points are located in the adjacent coding regions.
In some embodiments of the present invention, the third positioning portion 133 is located on the left side wall of the scanner 200, and as shown in fig. 5, the third positioning portion 133 includes two coding points, and the coding points are located in the opposite coding regions.
In some embodiments of the present invention, the fourth positioning portion 134, which is located at the bottom of the scanner 200, as shown in fig. 6, the fourth positioning portion 134 includes three coding points, and the coding points are located in the adjacent coding regions.
In addition, specific side wall positions where the first positioning portion 131, the second positioning portion 132, the third positioning portion 133, and the fourth positioning portion 134 are fixed on the scanner 200 are not limited as long as it is ensured that one positioning portion is fixed on each side wall. The fixing direction of each positioning part on the side wall is not limited, so long as the number of the coding points in each positioning part is different or the relative positions of the coding points are different on the basis of the same number of the coding points.
In some embodiments of the present invention, for the positioning portion 130, it can be adhered to the surface of the scanner 200, so as to simplify the encoding method and reduce the possibility of collision. According to the linear linearity protection and cross ratio invariance of mapping projection, reflecting mark points, namely positioning points and coding points, are respectively pasted on four surfaces of the scanner 200, the positioning points and the coding points form different coding patterns, geometric information of different side walls is calculated by identifying the reflecting highlight mark points on the surface of the scanner 200, decoding is achieved, matching of the same mark points in a binocular camera is completed by using binocular tracking equipment 300, a camera internal reference and external reference matrix which is calibrated in advance is used for solving three-dimensional information of the mark points, and then the three-dimensional pose of the scanner 200 is determined.
Specifically, model pictures of the scanner 200 taken by the left and right cameras of the binocular tracking device 300 are subjected to preliminary preprocessing to eliminate background noise, and then the center coordinates of the highlight reflective points are solved by using a gray centroid method. According to the encoding principle shown in fig. 7, point O, A, B, C, D is called an anchor point and point P is called an encoding point. Firstly, traversing each mark point, carrying out pairwise intersection, judging whether an intersection point is also a highlight mark point O, if the intersection point is also a mark point, successfully finding a positioning point O, A, B, C, D, dividing a rectangular area into four areas by connecting lines, respectively searching whether a point coding point P exists in the four areas, and realizing different codes according to the difference of the positions of the points P in the areas.
Referring to fig. 3-6, four different encoding patterns can be obtained, and the specific process of decoding is: similarly, after preprocessing the acquired image, searching positioning points and judging whether five positioning points are found; and if 5 positioning points are found, carrying out region division, otherwise, continuing image preprocessing until five positioning points are found.
And after the area division is completed, searching for P points, namely encoding points, judging whether the number of the encoding points accords with a preset value or not, if so, comparing the number of the encoding points with a preset scheme to complete decoding, so that the three-dimensional coordinates of each point are restored, and the tracking of the pose of the scanner 200 is completed. Otherwise, the area division is continued until the number of the coding points accords with the preset value.
The technical scheme of the utility model prior art relatively has following technological effect:
the utility model, through setting the positioning part 130 with positioning points and coding points, fixes the positioning part on the side wall of the scanner 200, greatly saves the volume of the scanner 200, improves the flexibility of the scanner 200 in the measuring process, and avoids unnecessary shielding in the frame 400 to be measured; meanwhile, the accurate tracking and positioning of the binocular tracking equipment 300 to the scanner 200 are ensured; in addition, the calculation speed can be improved.
In the foregoing description of embodiments, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. Scanner position appearance tracker, its characterized in that includes:
the binocular tracking equipment is positioned on one side of the frame to be detected;
the robot is positioned on the other side of the frame to be tested;
a scanner fixed to a distal end of the robot;
the side wall of the scanner is provided with a positioning module; the positioning module comprises a plurality of positioning parts, and the positioning parts are provided with a plurality of positioning points and coding points;
the position of the positioning point is fixed;
the number and the position of the encoding points of each positioning part are different.
2. The scanner pose tracking system according to claim 1, wherein the number of the positioning points is 5, located at four vertices and a center point of a rectangle.
3. The scanner pose tracking system of claim 1, wherein the positioning points are connected two by two to form four encoding regions, and at most one encoding point is arranged on each encoding region.
4. The scanner pose tracking system of claim 3, wherein the positioning portions comprise a first positioning portion, a second positioning portion, a third positioning portion and a fourth positioning portion; the first positioning portion, the second positioning portion, the third positioning portion, and the fourth positioning portion are respectively located on four side walls of the scanner.
5. The scanner pose tracking system of claim 4, wherein the first positioning portion comprises an encoding point located within any one of the encoding regions.
6. The scanner pose tracking system of claim 4, wherein the second positioning portion comprises two encoding points, the encoding points being located in adjacent encoding regions.
7. The scanner pose tracking system of claim 4, wherein the third positioning portion comprises two encoding points located in the opposite encoding regions.
8. The scanner pose tracking system according to claim 4, wherein the fourth positioning portion comprises three code points which are located in the adjacent code areas.
9. The scanner pose tracking system of claim 1, wherein the positioning points and the encoding points are marker points with reflective light.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220140218.7U CN217331033U (en) | 2022-01-19 | 2022-01-19 | Scanner position and pose tracking system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220140218.7U CN217331033U (en) | 2022-01-19 | 2022-01-19 | Scanner position and pose tracking system |
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| CN217331033U true CN217331033U (en) | 2022-08-30 |
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| CN202220140218.7U Active CN217331033U (en) | 2022-01-19 | 2022-01-19 | Scanner position and pose tracking system |
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