CN117948915B - Multi-tracking-head optical tracking three-dimensional scanning method and system - Google Patents
Multi-tracking-head optical tracking three-dimensional scanning method and system Download PDFInfo
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Abstract
The invention provides a multi-tracking-head optical tracking three-dimensional scanning method and a multi-tracking-head optical tracking three-dimensional scanning system, which are used for calibrating N tracking heads and obtaining the relation of each tracking head relative to world coordinates; calibrating a scanning head, and integrating a coordinate system of the scanning head relative to a scanned object under a coordinate system of a tracking head; the binocular vision system is utilized to acquire the relative relation between the scanning head and the object and the three-dimensional point cloud information coordinate system, and a calibration result is obtained; according to the working distance and the calibration result, the optimal tracking scanning head is obtained to track and scan the scanned object, and the problem of high-speed data transmission and synchronization is solved by using the multi-path tracking head and the double-path type-C; the invention uses the multipath tracking head to fully cover the visual field, and the scanning head does not need to change stations when moving to another visual field.
Description
Technical Field
The invention provides a multi-tracking-head optical tracking three-dimensional scanning method and system, relates to the technical field of tracking three-dimensional scanning, and particularly relates to multi-tracking-head optical tracking three-dimensional scanning.
Background
The existing high-precision three-dimensional scanning system is required to lay Mark points on the surface of an object, the using threshold and the cost are increased, the laying and the calculating of the Mark points consume very much calculation power, the calculating resources for identifying the Mark points are redundant, the traditional optical tracking three-dimensional scanning system is a combination of a single-station tracking head and a single-head scanning gun, the system needs to change stations when the system exceeds the tracking range, and each station change can cause rapid attenuation of precision.
Disclosure of Invention
The invention provides a multi-tracking-head optical tracking three-dimensional scanning method and a multi-tracking-head optical tracking three-dimensional scanning system, which are used for solving the problems that the existing high-precision three-dimensional scanning system needs to lay Mark points on the surface of an object, the use threshold and the cost are increased, the laying and the calculation of the Mark points consume very much calculation force, the calculation resources for identifying the Mark points are redundant, the traditional optical tracking three-dimensional scanning system is a combination of single-station tracking-head single-head scanning guns, the system needs to change stations when the system exceeds the tracking range, and each station change can cause rapid attenuation of precision and the like:
The invention provides a multi-tracking-head optical tracking three-dimensional scanning method and a system, wherein the multi-tracking-head optical tracking three-dimensional scanning method comprises the following steps:
Calibrating the N tracking heads and obtaining the relation of each tracking head relative to world coordinates;
Calibrating a scanning head, and integrating a coordinate system of the scanning head relative to a scanned object under a coordinate system of a tracking head;
The binocular vision system is utilized to acquire the relative relation between the scanning head and the object and the three-dimensional point cloud information coordinate system, and a calibration result is obtained;
and acquiring an optimal tracking scanning head according to the working distance and the calibration result to track and scan the scanned object.
Further, calibrating the N tracking heads and obtaining a relationship between each tracking head and world coordinates includes:
calibrating N tracking heads respectively;
A calibration object with a known space coordinate is called;
Acquiring a rotation matrix and a translation matrix among N tracking heads by using the known coordinate parameters of the calibration object;
And respectively and sequentially unifying the N tracking heads under a coordinate system X by utilizing a rotation matrix and a translation matrix among the N tracking heads.
Further, calibrating the scanning head and integrating the coordinate system of the scanning head relative to the scanned object into the coordinate system of the tracking head comprises:
calibrating the scanning head by using a calibration plate under a known coordinate system of the calibration object;
Determining a coordinate system of a scanned object, and acquiring the relation of the scanning head relative to the coordinate system of the scanned object;
The coordinate system of the scanning head relative to the scanned object is unified into the coordinate system X using the known coordinate system of the calibration object.
Further, the method for obtaining the relative relation between the scanning head and the object and the three-dimensional point cloud information coordinate system by using the binocular vision system and obtaining the calibration result comprises the following steps:
acquiring the relative relation between the scanning head and the object by using a binocular stereoscopic vision system;
Acquiring three-dimensional point cloud information of an object through the relative relation between the scanning head and the object;
Converting the coordinates of the three-dimensional point cloud information into a coordinate system X by utilizing a coordinate system change mode, and displaying the coordinate; and the coordinates of the three-dimensional point cloud information converted into the coordinate system X are the calibration results.
Further, the method for obtaining the optimal tracking scanning head to track and scan the scanned object according to the working distance and the calibration result comprises the following steps:
automatically judging the tracking head with the best tracking effect in the scanning head relative to the N tracking heads according to the working distance and the calibration result, and taking the tracking head as a target tracking head; the tracking head with the best tracking effect is determined by the following method:
Obtaining the optimal tracking distance corresponding to each tracking head according to the working distance and the calibration result; wherein, the optimal tracking distance is obtained by the following formula:
wherein, For the optimal tracking distance, b is the total number of tracking heads,/>For the abscissa of the a-th tracking head,/>Is the abscissa of the scanning head,/>For the ordinate of the a-th tracking head,/>Is the ordinate of the scanning head,/>For each tracked movement speed variation of the tracked object,/>For tracking the change of the moving speed of the head per tracking,/>An adjustment amount for tracking the head moving speed;
the calculation formula of the tracking head moving speed adjustment quantity is as follows:
wherein, To track the head movement speed adjustment amount,/>To track the initial movement speed of the head,/>A movement speed variation amount for each tracked of the tracked object;
comparing the optimal tracking distance with a preset optimal tracking range;
when the optimal tracking distance falls into the optimal tracking range, the tracking head corresponding to the optimal tracking distance falling into the optimal tracking range is the tracking head with the best tracking effect;
When a plurality of optimal tracking distances fall in the optimal tracking range, a tracking head corresponding to one optimal tracking distance closest to the middle value of the optimal tracking range is selected as the tracking head with the best tracking effect.
Calling the target tracking head and the scanning head in real time to carry out combination so as to track and scan the scanned object;
In the scanning process, when the tracking head combined with the scanning head exceeds the optimal tracking range, the working distance and the calibration result are utilized to automatically judge that the scanning head is recombined with the scanning head by taking the tracking head with the best effect relative to the next tracking head in the N tracking heads as the target tracking head.
Further, the multi-tracking head optical tracking three-dimensional scanning system includes:
The calibration module is used for calibrating the N tracking heads and obtaining the relation of each tracking head relative to world coordinates;
The unifying module is used for calibrating the scanning head and unifying the coordinate system of the scanning head relative to the scanned object to the coordinate system of the tracking head;
The result acquisition module is used for acquiring the relative relation between the scanning head and the object and the three-dimensional point cloud information coordinate system by using the binocular vision system and acquiring a calibration result;
And the optimal acquisition module is used for acquiring an optimal tracking scanning head to track and scan the scanned object according to the working distance and the calibration result.
Further, the calibration module includes:
the tracking calibration module is used for calibrating the N tracking heads respectively;
A calibration object with a known space coordinate is called;
Acquiring a rotation matrix and a translation matrix among N tracking heads by using the known coordinate parameters of the calibration object;
and the sequential unification module is used for unifying the N tracking heads to a coordinate system X by utilizing the rotation matrix and the translation matrix among the N tracking heads.
Further, the unifying module includes:
The calibration scanning module is used for calibrating the scanning head by using the calibration plate under a known coordinate system of the calibration object;
Determining a coordinate system of a scanned object, and acquiring the relation of the scanning head relative to the coordinate system of the scanned object;
and the scanning unification module is used for unifying the coordinate system of the scanning head relative to the scanning object to the coordinate system X by using the known coordinate system of the calibration object.
Further, the result obtaining module includes:
The cloud information acquisition module is used for acquiring the relative relation between the scanning head and the object by using the binocular stereoscopic vision system;
Acquiring three-dimensional point cloud information of an object through the relative relation between the scanning head and the object;
The coordinate acquisition module is used for carrying out coordinate conversion on the three-dimensional point cloud information by utilizing a coordinate system change mode, so that the coordinates of the three-dimensional point cloud information are converted into a coordinate system X and displayed; and the coordinates of the three-dimensional point cloud information converted into the coordinate system X are the calibration results.
Further, the best acquisition module includes:
The calculation module is used for automatically judging the tracking head with the best tracking effect in the scanning head relative to the N tracking heads according to the working distance and the calibration result, and taking the tracking head as a target tracking head; the tracking head with the best tracking effect is determined by the following method:
Obtaining the optimal tracking distance corresponding to each tracking head according to the working distance and the calibration result; wherein, the optimal tracking distance is obtained by the following formula:
wherein, For the optimal tracking distance, b is the total number of tracking heads,/>For the abscissa of the a-th tracking head,/>Is the abscissa of the scanning head,/>For the ordinate of the a-th tracking head,/>Is the ordinate of the scanning head,/>For each tracked movement speed variation of the tracked object,/>For tracking the change of the moving speed of the head per tracking,/>An adjustment amount for tracking the head moving speed;
the calculation formula of the tracking head moving speed adjustment quantity is as follows:
wherein, To track the head movement speed adjustment amount,/>To track the initial movement speed of the head,/>A movement speed variation amount for each tracked of the tracked object;
comparing the optimal tracking distance with a preset optimal tracking range;
when the optimal tracking distance falls into the optimal tracking range, the tracking head corresponding to the optimal tracking distance falling into the optimal tracking range is the tracking head with the best tracking effect;
When a plurality of optimal tracking distances fall in the optimal tracking range, a tracking head corresponding to one optimal tracking distance closest to the middle value of the optimal tracking range is selected as the tracking head with the best tracking effect.
Calling the target tracking head and the scanning head in real time to carry out combination so as to track and scan the scanned object;
and the replacement module is used for automatically judging that the scanning head has the best next effect relative to the N tracking heads by using the working distance and the calibration result when the tracking head combined with the scanning head exceeds the optimal tracking range in the scanning process, and recombining the tracking head with the scanning head as a target tracking head.
The invention has the beneficial effects that: the traditional technical scheme does not have a method for achieving high-speed synchronization of hundreds of frames of the multi-path camera, and the problem of high-speed data transmission and synchronization is solved by using the multi-path tracking head and the two-path type-C; the invention uses the multipath tracking head to fully cover the visual field, the station change is not needed when the scanning head moves to another visual field, and Mark points are not needed to be paved on the surface of an object when the object is scanned; the method can acquire high-precision three-dimensional point cloud data, and the data can accurately express the shape, size and position information of the scanned object. By integrating the scanning head coordinate system into the scanning object coordinate system, the accuracy and consistency of data can be ensured, and errors caused by data conversion under different coordinate systems are avoided. Through the binocular vision system, a large amount of three-dimensional data can be acquired in a short time, and the data acquisition efficiency is improved. The method is suitable for different tracking heads and scanned objects, can adapt to different application scenes by changing different calibration plates and programs, and has high flexibility. Each of the tracking head and the scanning head can operate independently, so that the system capacity can be expanded by adding more tracking heads or scanning heads to meet wider application requirements.
Drawings
FIG. 1 is a schematic diagram of a multi-tracking head optical tracking three-dimensional scanning method;
FIG. 2 is a schematic diagram of a scanning head, a tracking head, a calibration object, and a scanned object.
Detailed Description
The preferred embodiments of the present invention will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present invention only, and are not intended to limit the present invention.
In this embodiment, the optical tracking three-dimensional scanning method with multiple tracking heads includes:
Calibrating the N tracking heads and obtaining the relation of each tracking head relative to world coordinates;
Calibrating a scanning head, and integrating a coordinate system of the scanning head relative to a scanned object under a coordinate system of a tracking head;
The binocular vision system is utilized to acquire the relative relation between the scanning head and the object and the three-dimensional point cloud information coordinate system, and a calibration result is obtained;
and acquiring an optimal tracking scanning head according to the working distance and the calibration result to track and scan the scanned object.
The working principle of the technical scheme is as follows: firstly, calibrating N tracking heads, and obtaining the relation of each tracking head relative to world coordinates; then, calibrating a scanning head, and integrating the coordinate system of the scanning head relative to a scanned object under the coordinate system of a tracking head; finally, a binocular vision system is utilized to acquire the relative relation between the scanning head and the object and a three-dimensional point cloud information coordinate system, and a calibration result is obtained; and acquiring an optimal tracking scanning head according to the working distance and the calibration result to track and scan the scanned object. Each tracking head is calibrated by a specific calibration program and a calibration plate to obtain a transformation matrix of the tracking head relative to a world coordinate system. This process ensures that the spatial position and orientation of the tracking head is consistent with the world coordinate system. In the same way, the scanning head is calibrated, and the coordinate system of the scanning head is integrated under the coordinate system of the scanned object. The purpose of this is to ensure the accuracy and consistency of the scanned data. The relative relation between the scanning head and the object and the three-dimensional point cloud information coordinate system can be acquired by utilizing a binocular vision system. The binocular vision system simulates the principle of human eye vision through two cameras, and obtains the position and shape in the three-dimensional space by calculating pixel difference values and depth information. According to the working distance and the calibration result, the optimal tracking scanning head can be determined to track and scan the scanned object. The process can ensure that the data acquired during scanning the object is accurate and complete and meets the actual requirements.
The technical scheme has the effects that: the traditional technical scheme does not have a method for achieving high-speed synchronization of hundreds of frames of the multi-path camera, and the method creatively uses self-grinding hardware and double-path Type-C to successfully solve the problems of high-speed data transmission and synchronization; the method can obtain high-precision three-dimensional point cloud data, and the data can accurately express the shape, the size and the position information of the scanned object. By integrating the scanning head coordinate system into the scanning object coordinate system, the accuracy and consistency of data can be ensured, and errors caused by data conversion under different coordinate systems are avoided. Through the binocular vision system, a large amount of three-dimensional data can be acquired in a short time, and the data acquisition efficiency is improved. The method is suitable for different tracking heads and scanned objects, can adapt to different application scenes by changing different calibration plates and programs, and has high flexibility. Each of the tracking head and the scanning head can operate independently, so that the system capacity can be expanded by adding more tracking heads or scanning heads to meet wider application requirements.
In this embodiment, calibrating the N tracking heads and obtaining the relationship between each tracking head and the world coordinate includes:
calibrating N tracking heads respectively;
A calibration object with a known space coordinate is called;
Acquiring a rotation matrix and a translation matrix among N tracking heads by using the known coordinate parameters of the calibration object;
And respectively and sequentially unifying the N tracking heads under a coordinate system X by utilizing a rotation matrix and a translation matrix among the N tracking heads.
The working principle of the technical scheme is as follows: each tracking head is calibrated by a specific calibration program and a calibration plate to obtain a transformation matrix of the tracking head relative to a world coordinate system. This process ensures that the spatial position and orientation of the tracking head is consistent with the world coordinate system. An object of known coordinates in space is selected as the calibration object for further determining the relative relationship between the tracking heads. By placing the calibration object in the field of view of each of the tracking heads separately and using the known calibration object coordinate parameters, the rotation and translation matrices of each of the tracking heads relative to the calibration object can be calculated. Through the rotation and translation matrices, the coordinate system of each tracking head can be converted into a unified coordinate system X, so that the coordinate unification of the tracking heads is realized.
The technical scheme has the effects that: the method can ensure that the coordinate systems of all the tracking heads in the space are consistent, and avoid errors caused by coordinate conversion among different tracking heads. Since the coordinate system of the tracking head is already unified under a standard coordinate system, high-precision three-dimensional data can be acquired, and the data can accurately express the shape, the size and the position information of the scanned object. By unifying all the tracking heads in one coordinate system, the acquired data can be ensured to have comparability among different tracking heads, so that more accurate data analysis and processing can be performed. The method is suitable for different tracking heads and scanned objects, can adapt to different application scenes by changing different calibration plates and programs, and has high flexibility. Since each tracking head can operate independently, the system capacity can be extended by adding more tracking heads to meet wider application requirements.
In this embodiment, calibrating the scanning head and integrating the coordinate system of the scanning head relative to the scanned object into the coordinate system of the tracking head includes:
calibrating the scanning head by using a calibration plate under a known coordinate system of the calibration object;
Determining a coordinate system of a scanned object, and acquiring the relation of the scanning head relative to the coordinate system of the scanned object;
The coordinate system of the scanning head relative to the scanned object is unified into the coordinate system X using the known coordinate system of the calibration object.
The working principle of the technical scheme is as follows: by placing the calibration plate on a calibration object of known coordinates and scanning with the scanning head, the relation between the internal parameters of the scanning head and the coordinate system relative to the calibration object can be obtained. The coordinate system of the scanned object is determined by a specific method (such as laser scanning, visual recognition, etc.), and the relation of the scanning head relative to the coordinate system is obtained. The coordinate system of the scanning head relative to the scanning object can be unified into the coordinate system X by converting the coordinate system of the scanning head relative to the calibration object into a calibration object coordinate system of known coordinates, as shown in fig. 2.
The technical scheme has the effects that: by calibrating and converting under the known coordinate system of the calibration object, high-precision three-dimensional data can be obtained, and the data can accurately express the shape, the size and the position information of the scanning object. By converting the coordinate system of the scanning head relative to the calibration object into the coordinate system of the calibration object with known coordinates, the accuracy and consistency of data can be ensured, and errors caused by data conversion under different coordinate systems are avoided. By determining the coordinate system of the scanned object by using the calibration plate and a specific method, a large amount of three-dimensional data can be rapidly acquired, and the data acquisition efficiency is improved. The method is suitable for different scanning heads and objects, can adapt to different application scenes by changing different calibration plates and programs, and has high flexibility. Since each scan head can operate independently, the system capacity can be extended by adding more scan heads to meet wider application requirements.
In this embodiment, a binocular vision system is used to obtain a relative relationship between a scanning head and an object and a three-dimensional point cloud information coordinate system, and obtain a calibration result, including:
acquiring the relative relation between the scanning head and the object by using a binocular stereoscopic vision system;
Acquiring three-dimensional point cloud information of an object through the relative relation between the scanning head and the object;
Converting the coordinates of the three-dimensional point cloud information into a coordinate system X by utilizing a coordinate system change mode, and displaying the coordinate; and the coordinates of the three-dimensional point cloud information converted into the coordinate system X are the calibration results.
The working principle of the technical scheme is as follows: the relative position and orientation relationship between the scanning head and the object can be obtained by a binocular stereo vision system. The process is to simulate the visual principle of human eyes by two cameras, and obtain the position and the shape in the three-dimensional space by calculating pixel difference values and depth information. According to the relative relation between the scanning head and the object, the object can be scanned by the scanning head, and the three-dimensional point cloud information of the object can be obtained. This process may include the acquisition of information about the shape, size, position, etc. of the object. Three-dimensional point cloud information is converted from the coordinate system of the scanning head to the target coordinate system X through a specific algorithm and a transformation matrix. The three-dimensional point cloud information converted into the coordinate system X is displayed, so that the shape and the structure of the object can be intuitively observed and estimated.
The technical scheme has the effects that: by means of binocular stereo vision system and coordinate system conversion, high-precision three-dimensional point cloud information can be obtained, and the data can accurately represent the shape, size and position information of a scanned object. By converting the three-dimensional point cloud information into the target coordinate system X, the accuracy and consistency of data can be ensured, and errors caused by data conversion under different coordinate systems are avoided. Through binocular stereoscopic vision system and algorithm optimization, a large amount of three-dimensional point cloud information can be rapidly acquired, and data acquisition efficiency is improved. By displaying the three-dimensional point cloud information converted into the coordinate system X, the shape and the structure of the object can be intuitively observed and estimated, and convenience is provided for subsequent data processing and analysis. The method is suitable for different scanning heads and objects, can adapt to different application scenes by changing different calibration plates and programs, and has high flexibility. Meanwhile, the capability of the system can be expanded by adding more scanning heads and cameras so as to meet wider application requirements.
In this embodiment, the method for obtaining the optimal tracking scanning head according to the working distance and the calibration result to perform tracking scanning on the scanned object includes:
automatically judging the tracking head with the best tracking effect in the scanning head relative to the N tracking heads according to the working distance and the calibration result, and taking the tracking head as a target tracking head; the tracking head with the best tracking effect is determined by the following method:
Obtaining the optimal tracking distance corresponding to each tracking head according to the working distance and the calibration result; wherein, the optimal tracking distance is obtained by the following formula:
wherein, For the optimal tracking distance, b is the total number of tracking heads,/>For the abscissa of the a-th tracking head,/>Is the abscissa of the scanning head,/>For the ordinate of the a-th tracking head,/>Is the ordinate of the scanning head,/>For each tracked movement speed variation of the tracked object,/>For tracking the change of the moving speed of the head per tracking,/>An adjustment amount for tracking the head moving speed;
the calculation formula of the tracking head moving speed adjustment quantity is as follows:
wherein, To track the head movement speed adjustment amount,/>To track the initial movement speed of the head,/>A movement speed variation amount for each tracked of the tracked object;
comparing the optimal tracking distance with a preset optimal tracking range;
when the optimal tracking distance falls into the optimal tracking range, the tracking head corresponding to the optimal tracking distance falling into the optimal tracking range is the tracking head with the best tracking effect;
When a plurality of optimal tracking distances fall in the optimal tracking range, a tracking head corresponding to one optimal tracking distance closest to the middle value of the optimal tracking range is selected as the tracking head with the best tracking effect.
Calling the target tracking head and the scanning head in real time to carry out combination so as to track and scan the scanned object;
In the scanning process, when the tracking head combined with the scanning head exceeds the optimal tracking range, the working distance and the calibration result are utilized to automatically judge that the scanning head is recombined with the scanning head by taking the tracking head with the best effect relative to the next tracking head in the N tracking heads as the target tracking head.
The working principle of the technical scheme is as follows: in the system, each tracking head has certain tracking performance and precision. And according to the working distance and the calibration result, the tracking effect of each tracking head can be evaluated. The system will select the tracking head with the best tracking effect as the target tracking head to achieve more accurate scanning. The system presets an optimal tracking range, which is set according to the performance of the tracking head and the actual application requirements. The system compares the optimal tracking distance with a preset optimal tracking range to determine whether the target tracking head is reasonably selected. When the optimal tracking distance falls within the optimal tracking range, the system selects the tracking head corresponding to the optimal tracking distance closest to the intermediate value of the optimal tracking range as the tracking head with the best tracking effect. If there are a plurality of optimal tracking distances falling within the optimal tracking range, the system selects the tracking head corresponding to the optimal tracking distance nearest to the intermediate value of the optimal tracking range as the target tracking head. In the scanning process, the system can call the target tracking head and the scanning head to be combined in real time, so that tracking scanning of a scanned object is realized. In the scanning process, if the tracking head combined with the scanning head exceeds the optimal tracking range, the system automatically judges that the scanning head is the target tracking head corresponding to the tracking head with the best next effect in the N tracking heads according to the working distance and the calibration result, and recombines with the scanning head.
The technical scheme has the effects that: the system can automatically judge and select the optimal tracking head to be combined according to the working distance and the calibration result, and self-adaptive adjustment and optimization are realized. By selecting the tracking head with the best tracking effect to combine with the scanning head, high precision and accuracy of the scanning process can be ensured. By the formulaThe average distance between all tracking heads and scanning heads can be calculated by the formula/>The distance between the single tracking head and the scanning head to be calculated can be calculated by the/>, in the formulaThe relative ratio of the speed of movement of the tracking head to the tracked object can be calculated. The adjustment speed of the tracking head can be calculated by a formula. The system can call the target tracking head and the scanning head to be combined in real time, so that tracking scanning of a scanned object is realized, and the real-time property of a scanning process is ensured. When the tracking head combined with the scanning head exceeds the optimal tracking range, the system can automatically select the tracking head with the best next effect for recombination, so that the stability of the scanning process is ensured. The system can process a plurality of tracking heads and scanning heads simultaneously, and the number of the equipment can be increased or reduced according to actual requirements so as to meet the requirements of different application scenes. The system can be flexibly configured according to different application scenes and requirements, and different calibration plates and programs are replaced to adapt to different application scenes.
In this embodiment, the multi-tracking head optical tracking three-dimensional scanning system includes:
The calibration module is used for calibrating the N tracking heads and obtaining the relation of each tracking head relative to world coordinates;
The unifying module is used for calibrating the scanning head and unifying the coordinate system of the scanning head relative to the scanned object to the coordinate system of the tracking head;
The result acquisition module is used for acquiring the relative relation between the scanning head and the object and the three-dimensional point cloud information coordinate system by using the binocular vision system and acquiring a calibration result;
And the optimal acquisition module is used for acquiring an optimal tracking scanning head to track and scan the scanned object according to the working distance and the calibration result.
The working principle of the technical scheme is as follows: firstly, calibrating N tracking heads, and obtaining the relation of each tracking head relative to world coordinates; then, calibrating a scanning head, and integrating the coordinate system of the scanning head relative to a scanned object under the coordinate system of a tracking head; finally, a binocular vision system is utilized to acquire the relative relation between the scanning head and the object and a three-dimensional point cloud information coordinate system, and a calibration result is obtained; and acquiring an optimal tracking scanning head according to the working distance and the calibration result to track and scan the scanned object. Each tracking head is calibrated by a specific calibration program and a calibration plate to obtain a transformation matrix of the tracking head relative to a world coordinate system. This process ensures that the spatial position and orientation of the tracking head is consistent with the world coordinate system. In the same way, the scanning head is calibrated, and the coordinate system of the scanning head is integrated under the coordinate system of the scanned object. The purpose of this is to ensure the accuracy and consistency of the scanned data. The relative relation between the scanning head and the object and the three-dimensional point cloud information coordinate system can be acquired by utilizing a binocular vision system. The binocular vision system simulates the principle of human eye vision through two cameras, and obtains the position and shape in the three-dimensional space by calculating pixel difference values and depth information. According to the working distance and the calibration result, the optimal tracking scanning head can be determined to track and scan the scanned object. The process can ensure that the data acquired during scanning the object is accurate and complete and meets the actual requirements.
The technical scheme has the effects that: the traditional technical scheme does not have a method for achieving high-speed synchronization of hundreds of frames of the multi-path camera, and the method creatively uses self-grinding hardware and double-path Type-C to successfully solve the problems of high-speed data transmission and synchronization; the method can obtain high-precision three-dimensional point cloud data, and the data can accurately express the shape, the size and the position information of the scanned object. By integrating the scanning head coordinate system into the scanning object coordinate system, the accuracy and consistency of data can be ensured, and errors caused by data conversion under different coordinate systems are avoided. Through the binocular vision system, a large amount of three-dimensional data can be acquired in a short time, and the data acquisition efficiency is improved. The method is suitable for different tracking heads and scanned objects, can adapt to different application scenes by changing different calibration plates and programs, and has high flexibility. Each of the tracking head and the scanning head can operate independently, so that the system capacity can be expanded by adding more tracking heads or scanning heads to meet wider application requirements.
In this embodiment, the calibration module includes:
the tracking calibration module is used for calibrating the N tracking heads respectively;
A calibration object with a known space coordinate is called;
Acquiring a rotation matrix and a translation matrix among N tracking heads by using the known coordinate parameters of the calibration object;
and the sequential unification module is used for unifying the N tracking heads to a coordinate system X by utilizing the rotation matrix and the translation matrix among the N tracking heads.
The working principle of the technical scheme is as follows: each tracking head is calibrated by a specific calibration program and a calibration plate to obtain a transformation matrix of the tracking head relative to a world coordinate system. This process ensures that the spatial position and orientation of the tracking head is consistent with the world coordinate system. An object of known coordinates in space is selected as the calibration object for further determining the relative relationship between the tracking heads. By placing the calibration object in the field of view of each of the tracking heads separately and using the known calibration object coordinate parameters, the rotation and translation matrices of each of the tracking heads relative to the calibration object can be calculated. Through the rotation and translation matrices, the coordinate system of each tracking head can be converted into a unified coordinate system X, so that the coordinate unification of the tracking heads is realized.
The technical scheme has the effects that: the method can ensure that the coordinate systems of all the tracking heads in the space are consistent, and avoid errors caused by coordinate conversion among different tracking heads. Since the coordinate system of the tracking head is already unified under a standard coordinate system, high-precision three-dimensional data can be acquired, and the data can accurately express the shape, the size and the position information of the scanned object. By unifying all the tracking heads in one coordinate system, the acquired data can be ensured to have comparability among different tracking heads, so that more accurate data analysis and processing can be performed. The method is suitable for different tracking heads and scanned objects, can adapt to different application scenes by changing different calibration plates and programs, and has high flexibility. Since each tracking head can operate independently, the system capacity can be extended by adding more tracking heads to meet wider application requirements.
In this embodiment, the unified module includes:
The calibration scanning module is used for calibrating the scanning head by using the calibration plate under a known coordinate system of the calibration object;
Determining a coordinate system of a scanned object, and acquiring the relation of the scanning head relative to the coordinate system of the scanned object;
and the scanning unification module is used for unifying the coordinate system of the scanning head relative to the scanning object to the coordinate system X by using the known coordinate system of the calibration object.
The working principle of the technical scheme is as follows: by placing the calibration plate on a calibration object of known coordinates and scanning with the scanning head, the relation between the internal parameters of the scanning head and the coordinate system relative to the calibration object can be obtained. The coordinate system of the scanned object is determined by a specific method (such as laser scanning, visual recognition, etc.), and the relation of the scanning head relative to the coordinate system is obtained. The coordinate system of the scanning head relative to the scanning object can be unified into the coordinate system X by converting the coordinate system of the scanning head relative to the calibration object into a calibration object coordinate system of known coordinates.
The technical scheme has the effects that: by calibrating and converting under the known coordinate system of the calibration object, high-precision three-dimensional data can be obtained, and the data can accurately express the shape, the size and the position information of the scanning object. By converting the coordinate system of the scanning head relative to the calibration object into the coordinate system of the calibration object with known coordinates, the accuracy and consistency of data can be ensured, and errors caused by data conversion under different coordinate systems are avoided. By determining the coordinate system of the scanned object by using the calibration plate and a specific method, a large amount of three-dimensional data can be rapidly acquired, and the data acquisition efficiency is improved. The method is suitable for different scanning heads and objects, can adapt to different application scenes by changing different calibration plates and programs, and has high flexibility. Since each scan head can operate independently, the system capacity can be extended by adding more scan heads to meet wider application requirements.
In this embodiment, the result obtaining module includes:
The cloud information acquisition module is used for acquiring the relative relation between the scanning head and the object by using the binocular stereoscopic vision system;
Acquiring three-dimensional point cloud information of an object through the relative relation between the scanning head and the object;
The coordinate acquisition module is used for carrying out coordinate conversion on the three-dimensional point cloud information by utilizing a coordinate system change mode, so that the coordinates of the three-dimensional point cloud information are converted into a coordinate system X and displayed; and the coordinates of the three-dimensional point cloud information converted into the coordinate system X are the calibration results.
The working principle of the technical scheme is as follows: the relative position and orientation relationship between the scanning head and the object can be obtained by a binocular stereo vision system. The process is to simulate the visual principle of human eyes by two cameras, and obtain the position and the shape in the three-dimensional space by calculating pixel difference values and depth information. According to the relative relation between the scanning head and the object, the object can be scanned by the scanning head, and the three-dimensional point cloud information of the object can be obtained. This process may include the acquisition of information about the shape, size, position, etc. of the object. Three-dimensional point cloud information is converted from the coordinate system of the scanning head to the target coordinate system X through a specific algorithm and a transformation matrix. The three-dimensional point cloud information converted into the coordinate system X is displayed, so that the shape and the structure of the object can be intuitively observed and estimated.
The technical scheme has the effects that: by means of binocular stereo vision system and coordinate system conversion, high-precision three-dimensional point cloud information can be obtained, and the data can accurately represent the shape, size and position information of a scanned object. By converting the three-dimensional point cloud information into the target coordinate system X, the accuracy and consistency of data can be ensured, and errors caused by data conversion under different coordinate systems are avoided. Through binocular stereoscopic vision system and algorithm optimization, a large amount of three-dimensional point cloud information can be rapidly acquired, and data acquisition efficiency is improved. By displaying the three-dimensional point cloud information converted into the coordinate system X, the shape and the structure of the object can be intuitively observed and estimated, and convenience is provided for subsequent data processing and analysis. The method is suitable for different scanning heads and objects, can adapt to different application scenes by changing different calibration plates and programs, and has high flexibility. Meanwhile, the capability of the system can be expanded by adding more scanning heads and cameras so as to meet wider application requirements.
In this embodiment, the best obtaining module includes:
The calculation module is used for automatically judging the tracking head with the best tracking effect in the scanning head relative to the N tracking heads according to the working distance and the calibration result, and taking the tracking head as a target tracking head; the tracking head with the best tracking effect is determined by the following method:
Obtaining the optimal tracking distance corresponding to each tracking head according to the working distance and the calibration result; wherein, the optimal tracking distance is obtained by the following formula:
wherein, For the optimal tracking distance, b is the total number of tracking heads,/>For the abscissa of the a-th tracking head,/>Is the abscissa of the scanning head,/>For the ordinate of the a-th tracking head,/>Is the ordinate of the scanning head,/>For each tracked movement speed variation of the tracked object,/>For tracking the change of the moving speed of the head per tracking,/>An adjustment amount for tracking the head moving speed;
the calculation formula of the tracking head moving speed adjustment quantity is as follows:
wherein, To track the head movement speed adjustment amount,/>To track the initial movement speed of the head,/>A movement speed variation amount for each tracked of the tracked object;
comparing the optimal tracking distance with a preset optimal tracking range;
when the optimal tracking distance falls into the optimal tracking range, the tracking head corresponding to the optimal tracking distance falling into the optimal tracking range is the tracking head with the best tracking effect;
When a plurality of optimal tracking distances fall in the optimal tracking range, a tracking head corresponding to one optimal tracking distance closest to the middle value of the optimal tracking range is selected as the tracking head with the best tracking effect.
Calling the target tracking head and the scanning head in real time to carry out combination so as to track and scan the scanned object;
and the replacement module is used for automatically judging that the scanning head has the best next effect relative to the N tracking heads by using the working distance and the calibration result when the tracking head combined with the scanning head exceeds the optimal tracking range in the scanning process, and recombining the tracking head with the scanning head as a target tracking head.
The working principle of the technical scheme is as follows: in the system, each tracking head has certain tracking performance and precision. And according to the working distance and the calibration result, the tracking effect of each tracking head can be evaluated. The system will select the tracking head with the best tracking effect as the target tracking head to achieve more accurate scanning. The system presets an optimal tracking range, which is set according to the performance of the tracking head and the actual application requirements. The system compares the optimal tracking distance with a preset optimal tracking range to determine whether the target tracking head is reasonably selected. When the optimal tracking distance falls within the optimal tracking range, the system selects the tracking head corresponding to the optimal tracking distance closest to the intermediate value of the optimal tracking range as the tracking head with the best tracking effect. If there are a plurality of optimal tracking distances falling within the optimal tracking range, the system selects the tracking head corresponding to the optimal tracking distance nearest to the intermediate value of the optimal tracking range as the target tracking head. In the scanning process, the system can call the target tracking head and the scanning head to be combined in real time, so that tracking scanning of a scanned object is realized. In the scanning process, if the tracking head combined with the scanning head exceeds the optimal tracking range, the system automatically judges that the scanning head is the target tracking head corresponding to the tracking head with the best next effect in the N tracking heads according to the working distance and the calibration result, and recombines with the scanning head.
The technical scheme has the effects that: the system can automatically judge and select the optimal tracking head to be combined according to the working distance and the calibration result, and self-adaptive adjustment and optimization are realized. By selecting the tracking head with the best tracking effect to combine with the scanning head, high precision and accuracy of the scanning process can be ensured. The system can call the target tracking head and the scanning head to be combined in real time, so that tracking scanning of a scanned object is realized, and the real-time property of a scanning process is ensured. When the tracking head combined with the scanning head exceeds the optimal tracking range, the system can automatically select the tracking head with the best next effect for recombination, so that the stability of the scanning process is ensured. The system can process a plurality of tracking heads and scanning heads simultaneously, and the number of the equipment can be increased or reduced according to actual requirements so as to meet the requirements of different application scenes. The system can be flexibly configured according to different application scenes and requirements, and different calibration plates and programs are replaced to adapt to different application scenes.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (4)
1. A multi-tracking head optical tracking three-dimensional scanning method, characterized in that the multi-tracking head optical tracking three-dimensional scanning method comprises:
Calibrating the N tracking heads and obtaining the relation of each tracking head relative to world coordinates;
Calibrating a scanning head, and integrating a coordinate system of the scanning head relative to a scanned object under a coordinate system of a tracking head;
the method for calibrating the scanning head and integrating the coordinate system of the scanning head relative to the scanned object into the coordinate system of the tracking head comprises the following steps:
calibrating the scanning head by using a calibration plate under a known coordinate system of the calibration object;
Determining a coordinate system of a scanned object, and acquiring the relation of the scanning head relative to the coordinate system of the scanned object;
Unifying the coordinate system of the scanning head relative to the scanned object to a coordinate system X using a known coordinate system of the calibration object;
The binocular vision system is utilized to acquire the relative relation between the scanning head and the object and the three-dimensional point cloud information coordinate system, and a calibration result is obtained;
the method for obtaining the relative relation between the scanning head and the object and the three-dimensional point cloud information coordinate system by using the binocular vision system and obtaining the calibration result comprises the following steps:
acquiring the relative relation between the scanning head and the object by using a binocular stereoscopic vision system;
Acquiring three-dimensional point cloud information of an object through the relative relation between the scanning head and the object;
Converting the coordinates of the three-dimensional point cloud information into a coordinate system X by utilizing a coordinate system change mode, and displaying the coordinate; the coordinates of the three-dimensional point cloud information converted into the coordinate system X are the calibration results;
Acquiring an optimal tracking scanning head according to the working distance and the calibration result to track and scan a scanned object;
the method for obtaining the optimal tracking scanning head to track and scan the scanned object according to the working distance and the calibration result comprises the following steps:
automatically judging the tracking head with the best tracking effect in the scanning head relative to the N tracking heads according to the working distance and the calibration result, and taking the tracking head as a target tracking head; the tracking head with the best tracking effect is determined by the following method:
Obtaining the optimal tracking distance corresponding to each tracking head according to the working distance and the calibration result; wherein, the optimal tracking distance is obtained by the following formula:
wherein, For the optimal tracking distance, b is the total number of tracking heads,/>For the abscissa of the a-th tracking head,/>Is the abscissa of the scanning head,/>For the ordinate of the a-th tracking head,/>Is the ordinate of the scanning head,/>For each tracked movement speed variation of the tracked object,/>For tracking the change of the moving speed of the head per tracking,/>An adjustment amount for tracking the head moving speed;
the calculation formula of the tracking head moving speed adjustment quantity is as follows:
wherein, To track the initial movement speed of the head,/>A movement speed variation amount for each tracked of the tracked object;
comparing the optimal tracking distance with a preset optimal tracking range;
when the optimal tracking distance falls into the optimal tracking range, the tracking head corresponding to the optimal tracking distance falling into the optimal tracking range is the tracking head with the best tracking effect;
When a plurality of optimal tracking distances fall in the optimal tracking range, selecting a tracking head corresponding to the optimal tracking distance closest to the middle value of the optimal tracking range as the tracking head with the best tracking effect;
calling the target tracking head and the scanning head in real time to carry out combination so as to track and scan the scanned object;
In the scanning process, when the tracking head combined with the scanning head exceeds the optimal tracking range, the working distance and the calibration result are utilized to automatically judge that the scanning head is recombined with the scanning head by taking the tracking head with the best effect relative to the next tracking head in the N tracking heads as the target tracking head.
2. The multi-tracking head optical tracking three-dimensional scanning method according to claim 1, wherein calibrating the N tracking heads and obtaining the relationship of each tracking head with respect to world coordinates comprises:
calibrating N tracking heads respectively;
A calibration object with a known space coordinate is called;
Acquiring a rotation matrix and a translation matrix among N tracking heads by using the known coordinate parameters of the calibration object;
And respectively and sequentially unifying the N tracking heads under a coordinate system X by utilizing a rotation matrix and a translation matrix among the N tracking heads.
3. A multi-tracking head optical tracking three-dimensional scanning system, the multi-tracking head optical tracking three-dimensional scanning system comprising:
The calibration module is used for calibrating the N tracking heads and obtaining the relation of each tracking head relative to world coordinates;
The unifying module is used for calibrating the scanning head and unifying the coordinate system of the scanning head relative to the scanned object to the coordinate system of the tracking head;
Wherein, unification module includes:
The calibration scanning module is used for calibrating the scanning head by using the calibration plate under a known coordinate system of the calibration object;
Determining a coordinate system of a scanned object, and acquiring the relation of the scanning head relative to the coordinate system of the scanned object;
A scan unification module for unifying the coordinate system of the scanning head relative to the scanned object to under a coordinate system X using a known coordinate system of the calibration object;
The result acquisition module is used for acquiring the relative relation between the scanning head and the object and the three-dimensional point cloud information coordinate system by using the binocular vision system and acquiring a calibration result;
Wherein, the result acquisition module includes:
The cloud information acquisition module is used for acquiring the relative relation between the scanning head and the object by using the binocular stereoscopic vision system;
Acquiring three-dimensional point cloud information of an object through the relative relation between the scanning head and the object;
the coordinate acquisition module is used for carrying out coordinate conversion on the three-dimensional point cloud information by utilizing a coordinate system change mode, so that the coordinates of the three-dimensional point cloud information are converted into a coordinate system X and displayed; the coordinates of the three-dimensional point cloud information converted into the coordinate system X are the calibration results;
the optimal acquisition module is used for acquiring an optimal tracking scanning head to track and scan a scanned object according to the working distance and the calibration result;
wherein, the best acquisition module includes:
The calculation module is used for automatically judging the tracking head with the best tracking effect in the scanning head relative to the N tracking heads according to the working distance and the calibration result, and taking the tracking head as a target tracking head; the tracking head with the best tracking effect is determined by the following method:
Obtaining the optimal tracking distance corresponding to each tracking head according to the working distance and the calibration result; wherein, the optimal tracking distance is obtained by the following formula:
wherein, For the optimal tracking distance, b is the total number of tracking heads,/>For the abscissa of the a-th tracking head,/>Is the abscissa of the scanning head,/>For the ordinate of the a-th tracking head,/>Is the ordinate of the scanning head,/>For each tracked movement speed variation of the tracked object,/>For tracking the change of the moving speed of the head per tracking,/>An adjustment amount for tracking the head moving speed;
the calculation formula of the tracking head moving speed adjustment quantity is as follows:
wherein, To track the initial movement speed of the head,/>A movement speed variation amount for each tracked of the tracked object;
comparing the optimal tracking distance with a preset optimal tracking range;
when the optimal tracking distance falls into the optimal tracking range, the tracking head corresponding to the optimal tracking distance falling into the optimal tracking range is the tracking head with the best tracking effect;
When a plurality of optimal tracking distances fall in the optimal tracking range, selecting a tracking head corresponding to the optimal tracking distance closest to the middle value of the optimal tracking range as the tracking head with the best tracking effect;
calling the target tracking head and the scanning head in real time to carry out combination so as to track and scan the scanned object;
and the replacement module is used for automatically judging that the scanning head has the best next effect relative to the N tracking heads by using the working distance and the calibration result when the tracking head combined with the scanning head exceeds the optimal tracking range in the scanning process, and recombining the tracking head with the scanning head as a target tracking head.
4. The multi-tracking head optical tracking three-dimensional scanning system of claim 3, wherein the calibration module comprises:
the tracking calibration module is used for calibrating the N tracking heads respectively;
A calibration object with a known space coordinate is called;
Acquiring a rotation matrix and a translation matrix among N tracking heads by using the known coordinate parameters of the calibration object;
and the sequential unification module is used for unifying the N tracking heads to a coordinate system X by utilizing the rotation matrix and the translation matrix among the N tracking heads.
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