CN115564823A - Three-dimensional scanning method, device, equipment and storage medium - Google Patents
Three-dimensional scanning method, device, equipment and storage medium Download PDFInfo
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Abstract
The application provides a three-dimensional scanning method, a three-dimensional scanning device and a storage medium, wherein the method comprises the following steps: firstly, a robot coordinate system and a global coordinate system are calibrated to obtain a first conversion matrix, when the mobile robot moves to the current position, a scanner, a tracker, a background mark point are calibrated to obtain a second conversion matrix between the scanner coordinate system and the tracker coordinate system and a third conversion matrix between the tracker coordinate system and the global coordinate system, and the coordinates of a target object collected by the scanner are converted according to the second conversion matrix and the third conversion matrix to obtain second object coordinates of the target object under the global coordinate system. The tracker is fixed on the mobile robot, so that the movement of the tracker can be controlled by the electronic equipment, the requirement of the tracker on frequent movement under a large-scene scanning task is met, the tracker is controlled by the electronic equipment to move in real time, and the accuracy of distance control between the tracker and the scanner can be improved.
Description
Technical Field
The present application relates to the field of three-dimensional scanning technologies, and in particular, to a three-dimensional scanning method, apparatus, device, and storage medium.
Background
The three-dimensional scanning technology can convert the three-dimensional information of the real object into a digital signal which can be directly processed by a computer, and is a convenient means for digitalizing the real object.
The tracking three-dimensional scanning system which is already available at present consists of a tracker and a scanner, wherein the scanner scans a target workpiece in a fixed view field range of the tracker, the tracker acquires background mark points on the scanner in real time, and calculates coordinates of each point of the workpiece scanned by the scanner in a global coordinate system by taking a tracker coordinate system as the global coordinate system, so that a complete data model of the workpiece can be obtained finally.
However, when a fixed tracker scans a large scene, due to the limitation of an effective distance, the position of the tracker needs to be frequently changed manually, and the optimal depth between the tracker and a scanner is difficult to ensure through manual adjustment, so that the existing tracking type three-dimensional scanning technology has the problems of low scanning efficiency and unstable precision.
Disclosure of Invention
An object of the present application is to provide a three-dimensional scanning method, apparatus, device and storage medium to solve the problems of low scanning efficiency and unstable precision of the tracking three-dimensional scanning technology in the prior art.
In order to achieve the purpose, the technical scheme adopted by the application is as follows:
in a first aspect, the present application provides a three-dimensional scanning method applied to an electronic device in a three-dimensional scanning system, where the three-dimensional scanning system includes: the system comprises a background mark point with a fixed position, a tracker, a scanner, a mobile robot and the electronic equipment, wherein the tracker is fixedly arranged on the mobile robot, and the scanner, the mobile robot and the tracker are respectively in communication connection with the electronic equipment, and the method comprises the following steps:
calibrating the mobile robot and the background mark point to obtain a first conversion matrix between a robot coordinate system and a global coordinate system;
when the mobile robot moves to the current position, calibrating the scanner and the tracker to obtain a second conversion matrix between a scanner coordinate system and a tracker coordinate system, and calibrating the tracker and the background mark point to obtain a third conversion matrix between the tracker coordinate system and the global coordinate system;
and converting the first object coordinate of the target object acquired by the scanner according to the second conversion matrix and the third conversion matrix to obtain a second object coordinate of the target object in the global coordinate system.
Optionally, the converting, according to the second conversion matrix and the third conversion matrix, the first object coordinate of the target object acquired by the scanner to obtain a second object coordinate of the target object in the global coordinate system includes:
and taking the product of the first object coordinate, the second conversion matrix and the third conversion matrix as the second object coordinate.
Optionally, the converting, according to the second conversion matrix and the third conversion matrix, the first object coordinate of the target object acquired by the scanner to obtain a second object coordinate of the target object in the global coordinate system includes:
determining a distance between the tracker and the scanner;
and if the distance between the tracker and the scanner is within a preset distance interval, converting the first object coordinate of the target object acquired by the scanner according to the second conversion matrix and the third conversion matrix to obtain a second object coordinate of the target object in the global coordinate system.
Optionally, after determining the distance between the tracker and the scanner, the method further includes:
and if the distance between the tracker and the scanner is not within a preset distance interval, determining a target position and a target rotation angle of the mobile robot according to the current position and the rotation angle of the mobile robot, controlling the mobile robot to move to the target position, and adjusting the rotation angle to the target rotation angle.
Optionally, determining the target position and the target rotation angle of the mobile robot according to the current position and the rotation angle of the mobile robot includes:
determining a target position and a target rotation angle of the mobile robot from a first transformation matrix between a robot coordinate system and the global coordinate system and a current position and rotation angle of the mobile robot.
Optionally, the calibrating the mobile robot and the background mark point to obtain a first transformation matrix between a robot coordinate system and a global coordinate system includes:
acquiring coordinates of a plurality of calibration positions of the mobile robot in the robot coordinate system;
acquiring coordinates of each calibration position in the global coordinate system;
and determining the first conversion matrix according to the coordinates of each calibration position in the robot coordinate system and the coordinates of each calibration position in the global coordinate system.
Optionally, the electronic device determining a distance between the tracker and the scanner, including:
the tracker determines a distance between the tracker and the scanner based on a plurality of positioning features on the scanner.
In a second aspect, the present application provides a three-dimensional scanning apparatus, the apparatus comprising:
a calibration module to: calibrating the mobile robot and the background mark point to obtain a first conversion matrix between a robot coordinate system and a global coordinate system; when the mobile robot moves to the current position, calibrating the scanner and the tracker to obtain a second conversion matrix between a scanner coordinate system and a tracker coordinate system, and calibrating the tracker and the background mark point to obtain a third conversion matrix between the tracker coordinate system and the global coordinate system;
a conversion module to: and converting the first object coordinate of the target object acquired by the scanner according to the second conversion matrix and the third conversion matrix to obtain a second object coordinate of the target object in the global coordinate system.
Optionally, the conversion module is further configured to:
and taking the product of the first object coordinate, the second conversion matrix and the third conversion matrix as the second object coordinate.
Optionally, the conversion module is further configured to:
determining a distance between the tracker and the scanner;
and if the distance between the tracker and the scanner is within a preset distance interval, converting the first object coordinate of the target object acquired by the scanner according to the second conversion matrix and the third conversion matrix to obtain a second object coordinate of the target object in the global coordinate system.
Optionally, the conversion module is further configured to:
the tracker determines a distance between the tracker and the scanner based on a plurality of positioning features on the scanner.
In a third aspect, the present application provides an electronic device, comprising: the three-dimensional scanning device comprises a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, when the electronic device runs, the processor is communicated with the storage medium through the bus, and the processor executes the machine-readable instructions to execute the steps of the three-dimensional scanning method.
In a fourth aspect, the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the three-dimensional scanning method as described above.
The beneficial effect of this application is: firstly, a robot coordinate system and a global coordinate system are calibrated to obtain a first conversion matrix, when the mobile robot moves to the current position, a scanner and a tracker are calibrated to obtain a second conversion matrix between the scanner coordinate system and the tracker coordinate system, the tracker and a background mark point are calibrated to obtain a third conversion matrix between the tracker coordinate system and the global coordinate system, and a first object coordinate of a target object acquired by the scanner is converted according to the second conversion matrix and the third conversion matrix to obtain a second object coordinate of the target object under the global coordinate system. The tracker is fixed on the mobile robot, so that the movement of the tracker can be controlled by the electronic equipment, the requirement of the tracker on frequent movement under a large-scene scanning task is met, the tracker is controlled by the electronic equipment to move in real time, and the accuracy of distance control between the tracker and the scanner can be improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic diagram illustrating an application scenario provided in an embodiment of the present application;
fig. 2 is a flowchart illustrating a three-dimensional scanning method provided by an embodiment of the present application;
FIG. 3 is a flow chart illustrating a method for transforming coordinates according to an embodiment of the present disclosure;
FIG. 4 is a flow chart illustrating a method for determining a first transformation matrix according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram illustrating a three-dimensional scanning apparatus according to an embodiment of the present application;
fig. 6 shows a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the drawings in the present application are for illustrative and descriptive purposes only and are not used to limit the scope of protection of the present application. Additionally, it should be understood that the schematic drawings are not necessarily drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of the present application. It should be understood that the operations of the flow diagrams may be performed out of order, and that steps without logical context may be reversed in order or performed concurrently. One skilled in the art, under the guidance of this application, may add one or more other operations to, or remove one or more operations from, the flowchart.
In addition, the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that in the embodiments of the present application, the term "comprising" is used to indicate the presence of the features stated hereinafter, but does not exclude the addition of further features.
However, when a large workpiece is scanned, the position of the tracker in the system is fixed, so in order to ensure that the scanner works in the field of view of the tracker, the position of the tracker needs to be manually adjusted to ensure that the scanner is in the field of view of the tracker, and the distance between the scanner and the tracker is an optimal depth.
However, the tracker is frequently adjusted manually for a scanning task of a large scene, which has a problem of low efficiency on one hand, and on the other hand, the manual adjustment is difficult to ensure the optimal depth between the scanner and the tracker, so that the scanning precision is also reduced.
Based on the above problem, the present application provides a three-dimensional scanning method, which is applied to an electronic device in a three-dimensional scanning system, as shown in fig. 1, and is a schematic diagram of the three-dimensional scanning system provided in the present application, where the three-dimensional scanning system includes: the device comprises a background mark point with a fixed position, a tracker, a scanner, a mobile robot and electronic equipment, wherein the tracker is fixedly arranged on the mobile robot, the scanner, the mobile robot and the tracker are respectively in communication connection with the electronic equipment, referring to fig. 1, a workpiece to be scanned can be placed in a range where the background mark point with the fixed position is located, and the workpiece and the background mark point are both located in a visual field range of the tracker, so that the scanner can perform normal scanning operation.
Next, the three-dimensional scanning method of the present application will be described with reference to fig. 2, and as shown in fig. 2, the method includes:
s201: and calibrating the mobile robot and the background mark points to obtain a first conversion matrix between the robot coordinate system and the global coordinate system.
Optionally, the robot coordinate system may be a coordinate system under a view angle of the mobile robot, and the global coordinate system may be a coordinate system where the background mark point with a fixed position is located.
As a possible embodiment, it is assumed that the coordinate system of the mobile robot is fixed before calibration, and therefore, the transformation matrix between the robot coordinate system and the global coordinate system may also be a fixed value, and therefore, calibration of the global coordinate system in which the mobile robot and the background mark point are located in this step may be performed only once before the scanning task starts.
As another possible embodiment, it is assumed that the coordinate system of the mobile robot and the global coordinate system are relatively not fixed, so the first transformation matrix may be a variable value, and this step may also be performed once calibration after each movement of the robot and before the scanning task is started.
S202, when the mobile robot moves to the current position, calibrating the scanner and the tracker to obtain a second conversion matrix between the coordinate system of the scanner and the coordinate system of the tracker, and calibrating the tracker and the background mark point to obtain a third conversion matrix between the coordinate system of the tracker and the global coordinate system.
For the scanning operation of a large scene, after the scanner scans the workpiece in the current view range of the tracker, the electronic device may control the mobile robot to move to scan other parts in the scene, for example, assuming that the scanned object is a large vehicle, the tracker may be set in front of the vehicle when the operation starts, and after the scanner finishes scanning the front of the vehicle, the electronic device may issue an instruction to the robot to instruct the robot to move to the rear of the vehicle, and recalibrate the robot to scan the rear of the vehicle.
Alternatively, the tracker may be a tracker in which the left and right cameras constitute a binocular vision system.
Alternatively, the tracker coordinate system may be a three-dimensional space coordinate system established by a binocular vision system of the tracker camera.
Alternatively, the scanner may be a binocular vision system with upper and lower cameras and a primary measurement system with lasers.
Alternatively, the scanner coordinate system may be a three-dimensional space coordinate system established by a binocular vision system of the scanner camera.
Alternatively, the mobile robot may be a mobile robot capable of communicating, such as an AGV (Automated Guided Vehicle).
Alternatively, the electronic device may communicate with the scanner and tracker via an I/O communications card.
Alternatively, the background mark point may be any fixed object that can be used for marking, such as one or more boards with mark points attached thereto, or a fixed cabinet, table, etc. on which a workpiece is placed.
For example, the second transformation matrix and the third transformation matrix may be obtained according to the following method:
the scanner and the tracker respectively collect the coordinates of the background mark point P2 to obtain the coordinates of the background mark point in the scanner coordinate system and the tracker coordinate system
And
and respectively sending the coordinates to the electronic equipment through the I/O interface, wherein the electronic equipment sends the coordinates to the electronic equipment according to the coordinates in the coordinate system of the scanner
And coordinates in tracker coordinate system
The second transformation matrix may be obtained by calculation, and the third transformation matrix may be obtained by calculation according to the coordinates of the background mark point P2 in the global coordinate system and the coordinates of the tracker coordinate system, which are stored in advance.
For example, the transformation matrix form in the embodiment of the present application may be, for example:
the form of the dots may be, for example
Alternatively, the second transformation matrix may represent a transformation relationship of coordinates between the scanner coordinate system and the tracker coordinate system, and the third transformation matrix may represent a transformation relationship between the tracker coordinate system and the global coordinate system.
And S203, converting the first object coordinate of the target object acquired by the scanner according to the second conversion matrix and the third conversion matrix to obtain a second object coordinate of the target object in the global coordinate system.
Optionally, after the scanner acquires the first object coordinates of the target object, the first object coordinates may be sent to the electronic device through the I/O interface.
Alternatively, the target object may be an entity that requires scanning, such as a workpiece.
Alternatively, the global coordinate system may be a coordinate system established according to the background mark points at fixed positions, and the global coordinate system may be a fixed coordinate system.
Alternatively, the first object coordinate may be a coordinate of the target object in the scanner coordinate system, and the coordinate in the scanner coordinate system may be converted into a coordinate in the global coordinate system according to the second conversion matrix and the third conversion matrix.
Alternatively, the second object coordinates may be coordinates of the target object in the global coordinate system.
In the embodiment of the application, a robot coordinate system and a global coordinate system are calibrated to obtain a first conversion matrix, after a mobile robot moves, a scanner and a tracker are calibrated again, coordinates acquired by the scanner are converted through a second conversion matrix and a third conversion matrix obtained through calibration to obtain coordinates of a target object under the global coordinate system, and the tracker is fixed on the mobile robot, so that the electronic equipment can control the movement of the tracker, the requirement of the tracker on frequent movement under a large-scene scanning task can be met, the electronic equipment controls the movement of the tracker, and the accuracy of distance control between the tracker and the scanner can be improved.
In the step S203, converting the first object coordinate of the target object acquired by the scanner according to the second conversion matrix and the third conversion matrix to obtain a second object coordinate of the target object in the global coordinate system, including:
and taking the product of the first object coordinate, the second conversion matrix and the third conversion matrix as a second object coordinate.
Illustratively, assume the scanner coordinate system S, the tracker coordinate system T, the global coordinate system G, and the second transformation matrix as
A third transformation matrix of
The first object coordinate calculated by the scanner through a binocular vision system is
The second object coordinates may be calculated as shown in the following equation (1):
next, the first object coordinates of the target object acquired by the scanner are converted according to the second conversion matrix and the third conversion matrix, so as to obtain second object coordinates of the target object in the global coordinate system, as shown in fig. 3, the step S203 includes:
s301: the distance between the tracker and the scanner is determined.
Optionally, the tracker may determine a distance between the tracker and the scanner in the tracker coordinate system through a binocular vision system and a preset mark point on the scanner, and send the distance to the electronic device.
S302: and if the distance between the tracker and the scanner is within a preset distance interval, converting the first object coordinate of the target object acquired by the scanner according to the second conversion matrix and the third conversion matrix to obtain a second object coordinate of the target object in a global coordinate system.
Optionally, after receiving the data of the distance transmitted by the tracker, the electronic device may compare the distance with a preset distance interval, where the preset distance interval may be, for example, an optimal distance interval that needs to be maintained when the tracker and the scanner perform three-dimensional scanning.
Optionally, if the electronic device determines that the distance between the tracker and the scanner is the optimal distance, that is, within a preset distance interval, the electronic device may send a prompt to the user to prompt the user to perform subsequent three-dimensional scanning work using the scanner.
In the step S301, after determining the distance between the tracker and the scanner, the method further includes:
and if the distance between the tracker and the scanner is not within the preset distance interval, determining the target position and the target rotation angle of the mobile robot according to the current position and the rotation angle of the mobile robot, controlling the mobile robot to move to the target position, and adjusting the rotation angle to the target rotation angle.
Alternatively, the target position may be a next position that the robot specified by the electronic device needs to reach, and the target rotation angle may be an angle of an orientation that the preset distance interval needs to satisfy.
Optionally, if the electronic device determines that the distance between the tracker and the scanner is not the optimal distance, the electronic device may determine, according to the current position and the rotation angle of the robot and a preset distance interval, a position to which the robot needs to move and an angle to which the robot needs to adjust, and generate an instruction to control the robot to reach a specified position and adjust to the specified angle.
It is noted that the second and third transformation matrices may be updated once again after each movement of the robot to ensure that the optimal scan distance between the scanner and tracker is met at the current position and to ensure the accuracy of the scan data.
In the embodiment of the application, the electronic equipment determines the distance between the tracker and the scanner and compares the distance with the preset distance interval, so that the robot is controlled to move to the position and the orientation meeting the preset distance interval, the position of the robot is adjusted, the distance between the tracker and the scanner can be guaranteed to meet the optimal distance required by the work of the scanner, and the precision of data generated by three-dimensional scanning is improved.
Next, a description will be given of the above-described procedure for determining the target position and the target rotation angle of the mobile robot from the current position and the rotation angle of the mobile robot, the procedure including:
the target position and the target rotation angle of the mobile robot are determined based on a first conversion matrix between the robot coordinate system and the global coordinate system and the current position and rotation angle of the mobile robot.
Alternatively, the robot coordinate system may be the coordinate system of the mobile robot itself.
Alternatively, the first transformation matrix may characterize a transformation relationship between the robot coordinate system and the global coordinate system. The electronic equipment can calculate the coordinates and the rotation angle of the position to which the robot should go next according to the current position and the rotation angle of the robot, and sends the coordinates and the rotation angle to the mobile robot through the I/O card communication module.
For example, the current position and rotation angle of the robot may be a position coordinate and a rotation angle in a robot coordinate system, the electronic device may convert the current position and rotation angle into a position and a rotation angle in a global coordinate system according to the first conversion matrix, determine a position and a rotation angle that the robot should reach next according to a preset distance interval between the tracker and the scanner, convert the position and the rotation angle into a position and a rotation angle in the robot coordinate system, and generate the control command, wherein the step of converting the position and the rotation angle into the position and the rotation angle in the robot coordinate system may be performed by the electronic device or the robot, and the application is not limited herein.
The following is a description of the above step of calibrating the mobile robot and the background landmark point to obtain the first transformation matrix between the robot coordinate system and the global coordinate system, as shown in fig. 4, the step includes:
s401: and acquiring coordinates of a plurality of calibration positions of the mobile robot in a robot coordinate system.
Optionally, the calibration positions may be a plurality of points that are designated in advance and used for performing coordinate system calibration, and the electronic device may acquire coordinates of the movable robot at the plurality of calibration positions in the robot coordinate system.
S402: and acquiring the coordinates of each calibration position in the global coordinate system.
Optionally, the electronic device may obtain coordinates of each calibration position in the global coordinate system in advance, or obtain position coordinates of the robot after movement every time the robot moves a position.
S403: and determining a first conversion matrix according to the coordinates of each calibration position in the robot coordinate system and the coordinates of each calibration position in the global coordinate system.
Illustratively, assume a global coordinate system G, a robot coordinate system A, and a first transformation matrix of
Suppose the position of the robot at a certain point is P 1 The coordinate of the position in the global coordinate system G is recorded as
There is a coordinate value in the robot's own coordinate system as
Then
Can be calculated as shown in the following formula (2):
it should be noted that the robot coordinate system and the global coordinate system are fixed coordinate systems, and therefore the transformation matrix between the robot coordinate system and the global coordinate system may also be a fixed value. The robot may be moved a plurality of times to improve the accuracy of the calculated first conversion matrix.
In the embodiment of the application, the first conversion matrix between the robot coordinate system and the global coordinate system is determined, so that higher control precision can be achieved when the electronic equipment controls the robot to move.
The step of the electronic device determining the distance between the tracker and the scanner includes:
the tracker determines a distance between the tracker and the scanner based on a plurality of location features on the scanner.
Optionally, the positioning feature may be any preset mark point that can be captured by the tracker on the scanner, and the position of the positioning feature and the position of the binocular camera of the scanner are relatively fixed.
Optionally, the tracker may adopt a binocular vision system, and the recovery of the image pixel distance is performed according to the binocular distance measuring principle according to the pixel points of the positioning features collected by the two cameras on the image, so as to obtain the distance information of each pixel point, and finally obtain the distance between the scanner and the tracker.
Based on the same inventive concept, a three-dimensional scanning device corresponding to the three-dimensional scanning method is also provided in the embodiments of the present application, and because the principle of solving the problem of the device in the embodiments of the present application is similar to the three-dimensional scanning method in the embodiments of the present application, the implementation of the device can refer to the implementation of the method, and repeated details are not repeated.
Referring to fig. 5, a schematic diagram of a three-dimensional scanning apparatus provided in an embodiment of the present application is shown, where the apparatus includes: a calibration module 501 and a conversion module 502, wherein:
a calibration module 501, configured to: calibrating the mobile robot and the background mark points to obtain a first conversion matrix between a robot coordinate system and a global coordinate system; when the mobile robot moves to the current position, calibrating the scanner and the tracker to obtain a second conversion matrix between a scanner coordinate system and a tracker coordinate system, and calibrating the tracker and a background mark point to obtain a third conversion matrix between the tracker coordinate system and a global coordinate system;
a conversion module 502 for: and converting the first object coordinate of the target object acquired by the scanner according to the second conversion matrix and the third conversion matrix to obtain a second object coordinate of the target object in the global coordinate system.
Optionally, the conversion module 501 is further configured to:
and taking the product of the first object coordinate, the second conversion matrix and the third conversion matrix as a second object coordinate.
Optionally, the conversion module 501 is further configured to:
determining a distance between the tracker and the scanner;
and if the distance between the tracker and the scanner is within a preset distance interval, converting the first object coordinate of the target object acquired by the scanner according to the second conversion matrix and the third conversion matrix to obtain a second object coordinate of the target object in a global coordinate system.
Optionally, the conversion module 501 is further configured to:
the tracker determines a distance between the tracker and the scanner based on a plurality of location features on the scanner.
Optionally, the apparatus may further include a control module configured to:
and if the distance between the tracker and the scanner is not within the preset distance interval, determining the target position and the target rotation angle of the mobile robot according to the current position and the rotation angle of the mobile robot, controlling the mobile robot to move to the target position, and adjusting the rotation angle to the target rotation angle.
Optionally, the control module is further configured to:
the target position and the target rotation angle of the mobile robot are determined based on a first conversion matrix between the robot coordinate system and the global coordinate system and the current position and rotation angle of the mobile robot.
Optionally, the control module is further configured to:
acquiring coordinates of a plurality of calibration positions of the mobile robot in a robot coordinate system;
acquiring coordinates of each calibration position in a global coordinate system;
and determining a first conversion matrix according to the coordinates of each calibration position in the robot coordinate system and the coordinates of each calibration position in the global coordinate system.
The description of the processing flow of each module in the apparatus and the interaction flow between the modules may refer to the relevant description in the above method embodiments, and will not be described in detail here.
In the embodiment of the application, after the mobile robot moves, the scanner and the tracker are calibrated again to obtain the second conversion matrix and the third conversion matrix, the coordinates collected by the scanner are converted according to the second conversion matrix and the third conversion matrix to obtain the coordinates of the target object under the global coordinate system, and the tracker is fixed on the mobile robot, so that the movement of the tracker can be controlled by the electronic equipment, the requirement of frequent movement of the tracker under a large-scene scanning task is met, the movement of the tracker is controlled by the electronic equipment, and the accuracy of distance control between the tracker and the scanner can be improved.
An embodiment of the present application further provides an electronic device, as shown in fig. 6, which is a schematic structural diagram of the electronic device provided in the embodiment of the present application, and includes: a processor 61, a memory 62 and a bus. The memory 62 stores machine readable instructions executable by the processor 61 (for example, execution instructions corresponding to the module 501 and the module 502 in the apparatus in fig. 5, etc.), when a computer device is running, the processor 61 communicates with the memory 62 through a bus, and the machine readable instructions are executed by the processor 61 to perform the processing of the three-dimensional scanning method.
An embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the three-dimensional scanning method are performed.
It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working process of the system and the apparatus described above may refer to the corresponding process in the method embodiment, and is not described in detail in this application. In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is only one logical functional division, and other divisions may be realized in practice, and for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed coupling or direct coupling or communication connection between each other may be through some communication interfaces, indirect coupling or communication connection between devices or modules, and may be in an electrical, mechanical or other form.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention or a part thereof which substantially contributes to the prior art may be embodied in the form of a software product, which 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) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application.
Claims (10)
1. A three-dimensional scanning method is applied to an electronic device in a three-dimensional scanning system, and the three-dimensional scanning system comprises: the system comprises a background mark point with a fixed position, a tracker, a scanner, a mobile robot and the electronic equipment, wherein the tracker is fixedly arranged on the mobile robot, and the scanner, the mobile robot and the tracker are respectively in communication connection with the electronic equipment; the method comprises the following steps:
calibrating the mobile robot and the background mark point to obtain a first conversion matrix between a robot coordinate system and a global coordinate system;
when the mobile robot moves to the current position, calibrating the scanner and the tracker to obtain a second conversion matrix between a scanner coordinate system and a tracker coordinate system, and calibrating the tracker and the background mark point to obtain a third conversion matrix between the tracker coordinate system and a global coordinate system;
and converting the first object coordinate of the target object acquired by the scanner according to the second conversion matrix and the third conversion matrix to obtain a second object coordinate of the target object in the global coordinate system.
2. The method of claim 1, wherein converting the first object coordinates of the target object acquired by the scanner according to the second conversion matrix and the third conversion matrix to obtain second object coordinates of the target object in the global coordinate system comprises:
and taking the product of the first object coordinate, the second conversion matrix and the third conversion matrix as the second object coordinate.
3. The method of claim 1, wherein converting the first object coordinates of the target object acquired by the scanner according to the second conversion matrix and the third conversion matrix to obtain second object coordinates of the target object in the global coordinate system comprises:
determining a distance between the tracker and the scanner;
and if the distance between the tracker and the scanner is within a preset distance interval, converting the first object coordinate of the target object acquired by the scanner according to the second conversion matrix and the third conversion matrix to obtain a second object coordinate of the target object in the global coordinate system.
4. The method of claim 3, wherein after determining the distance between the tracker and the scanner, further comprising:
and if the distance between the tracker and the scanner is not within a preset distance interval, determining a target position and a target rotation angle of the mobile robot according to the current position and the rotation angle of the mobile robot, controlling the mobile robot to move to the target position, and adjusting the rotation angle to the target rotation angle.
5. The method according to any one of claims 1-4, wherein determining the target position and the target rotation angle of the mobile robot from the current position and the rotation angle of the mobile robot comprises:
determining a target position and a target rotation angle of the mobile robot based on a first conversion matrix between a robot coordinate system and the global coordinate system and a current position and rotation angle of the mobile robot.
6. The method of claim 1, wherein said calibrating the mobile robot and the background landmark points to obtain a first transformation matrix between a robot coordinate system and a global coordinate system comprises:
acquiring coordinates of a plurality of calibration positions of the mobile robot in the robot coordinate system;
acquiring the coordinate of each marked position in the global coordinate system;
and determining the first conversion matrix according to the coordinates of each calibration position in the robot coordinate system and the coordinates of each calibration position in the global coordinate system.
7. The method of claim 3, wherein the electronic device determines a distance between the tracker and the scanner, comprising:
the tracker determines a distance between the tracker and the scanner based on a plurality of positioning features on the scanner.
8. A three-dimensional scanning device, applied to an electronic device in a three-dimensional scanning system, the three-dimensional scanning system comprising: the system comprises a background mark point with a fixed position, a tracker, a scanner, a mobile robot and the electronic equipment, wherein the tracker is fixedly arranged on the mobile robot, and the scanner, the mobile robot and the tracker are respectively in communication connection with the electronic equipment; the device comprises:
a calibration module to: calibrating the mobile robot and the background mark point to obtain a first conversion matrix between a robot coordinate system and a global coordinate system; when the mobile robot moves to the current position, calibrating the scanner and the tracker to obtain a second conversion matrix between a scanner coordinate system and a tracker coordinate system, and calibrating the tracker and the background mark point to obtain a third conversion matrix between the tracker coordinate system and the global coordinate system;
a conversion module to: and converting the first object coordinate of the target object acquired by the scanner according to the second conversion matrix and the third conversion matrix to obtain a second object coordinate of the target object in the global coordinate system.
9. 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 perform the steps of the three-dimensional scanning method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, performs the steps of the three-dimensional scanning method according to any one of claims 1 to 7.
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| CN202211240715.5A CN115564823A (en) | 2022-10-11 | 2022-10-11 | Three-dimensional scanning method, device, equipment and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116437016A (en) * | 2023-06-13 | 2023-07-14 | 武汉中观自动化科技有限公司 | Object scanning method, device, electronic equipment and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116437016A (en) * | 2023-06-13 | 2023-07-14 | 武汉中观自动化科技有限公司 | Object scanning method, device, electronic equipment and storage medium |
| CN116437016B (en) * | 2023-06-13 | 2023-10-10 | 武汉中观自动化科技有限公司 | Object scanning method, device, electronic equipment and storage medium |
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