Three-dimensional scanning system and method, storage medium and electronic equipment

Abstract

The invention provides a three-dimensional scanning system and method, a storage medium and electronic equipment, and belongs to the field of three-dimensional scanning, and the system comprises a projector which is used for carrying out pattern projection on a scanned object; the scanner is used for scanning a scanned object to obtain initial three-dimensional data under a scanner coordinate system, and the initial three-dimensional data comprises first three-dimensional coordinates corresponding to pattern projection points on the surface of the scanned object; the tracker is used for carrying out image acquisition on the scanned object and determining a second three-dimensional coordinate corresponding to a pattern projection point based on the acquired object image; and the processing end is used for determining a coordinate transformation matrix from the scanner coordinate system to the tracker coordinate system according to the first three-dimensional coordinate and the second three-dimensional coordinate. By applying the system, the coordinate conversion matrix from the scanner coordinate system to the tracker coordinate system can be directly established, so that three-dimensional data conversion is completed, and the accuracy of three-dimensional data conversion can be improved.

Description

Technical Field

[0001] The present invention relates to the field of three-dimensional scanning, and in particular to a three-dimensional scanning system and method, a storage medium and an electronic device. Background Art

[0002] In the field of 3D scanning, a 3D scanning system consisting of a tracker and a ball cage scanner is one of the most common 3D scanning solutions. A ball cage scanner refers to a 3D scanner fixed to a ball cage.

[0003] In existing 3D scanning systems, a fixed transformation matrix is ​​typically constructed in advance, based on the fixed connection between the cage and scanner. During the scanning process, the tracker tracks the cage's position in real time and constructs a real-time transformation matrix from the cage coordinate system to the tracker coordinate system based on the cage's position. Once the cage scanner scans the object and obtains 3D data in the scanner coordinate system, the fixed and real-time transformation matrices are used to convert the 3D data from the scanner coordinate system to the tracker coordinate system. This allows the 3D data obtained from all scan angles of the cage scanner to be uniformly converted to the tracker coordinate system, completing the 3D data stitching.

[0004] In actual 3D scanning scenarios, due to factors such as equipment manufacturing process or human operation, the relative position between the ball cage and the scanner in a ball cage scanner is usually difficult to maintain fixed. In existing 3D scanning methods, the 3D data needs to be converted based on a fixed transformation matrix from the scanner coordinate system to the ball cage coordinate system. When the relative position of the ball cage and the scanner changes, the 3D data finally converted to the tracker coordinate system will have errors, resulting in poor 3D scanning accuracy. Summary of the Invention

[0005] In view of this, embodiments of the present invention provide a three-dimensional scanning system and method, a storage medium, and an electronic device to solve the problem in existing three-dimensional scanning systems that when the relative position of the ball cage and the scanner changes, the three-dimensional data converted to the tracker coordinate system will have a large deviation, resulting in poor three-dimensional scanning accuracy.

[0006] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0007] A three-dimensional scanning system comprising:

[0008] Scanners, trackers, point-casters and processing terminals;

[0009] The projector is used to project a pattern onto the scanned object;

[0010] The scanner is used to scan the scanned object to obtain initial three-dimensional data in the scanner coordinate system; the initial three-dimensional data includes first three-dimensional coordinates corresponding to pattern projection points on the surface of the scanned object;

[0011] The tracker is configured to capture an image of the scanned object and determine a second three-dimensional coordinate corresponding to the pattern projection point based on the captured object image;

[0012] The processing end is used to determine a first conversion matrix based on the first three-dimensional coordinates and the second three-dimensional coordinates; the first conversion matrix is ​​a coordinate conversion matrix from the scanner coordinate system to the tracker coordinate system.

[0013] In the above system, optionally, the tracker is configured with a first camera and a second camera, and the tracker is specifically used to:

[0014] Using the first camera and the second camera to photograph the scanned object, obtaining a first object image photographed by the first camera and a second object image photographed by the second camera;

[0015] Determining, in the first object image, a first projection point image corresponding to the pattern projection point;

[0016] In the second object image, determining a second projection point image corresponding to the pattern projection point;

[0017] The pattern projection point is coordinate-measured based on the first projection point image, the second projection point image, and preset camera calibration information, and the three-dimensional coordinates obtained by the measurement are used as the second three-dimensional coordinates.

[0018] In the above system, optionally, the processing end is further configured to:

[0019] The initial three-dimensional data is transformed according to the first transformation matrix to obtain first transformed three-dimensional data in the tracker coordinate system.

[0020] The above system, optionally, the three-dimensional scanning system further comprises: a ball cage; the scanner is fixedly connected to the ball cage;

[0021] The tracker is further used to track the position of the ball cage to obtain the current position of the ball cage;

[0022] The processing end is further used for:

[0023] Determining a coordinate transformation relationship from a ball cage coordinate system to a tracker coordinate system based on a current position of the ball cage;

[0024] According to the coordinate transformation relationship and the preset scanner-ball cage position relationship, the initial three-dimensional data is transformed to obtain second transformed three-dimensional data in the tracker coordinate system;

[0025] determining whether the three-dimensional scanning system meets a preset scanning accuracy condition based on the first converted three-dimensional data and the second converted three-dimensional data;

[0026] If the three-dimensional scanning system does not meet the scanning accuracy conditions, a device abnormality prompt is issued.

[0027] In the above system, optionally, the processing end for determining whether the three-dimensional scanning system meets a preset scanning accuracy condition based on the first converted three-dimensional data and the second converted three-dimensional data is specifically configured to:

[0028] Determining, in the first converted three-dimensional data, first converted three-dimensional coordinates corresponding to the pattern projection point;

[0029] Determining, in the second converted three-dimensional data, second converted three-dimensional coordinates corresponding to the pattern projection point;

[0030] determining a coordinate deviation value between the first transformed three-dimensional coordinate and the second transformed three-dimensional coordinate;

[0031] Determining whether the coordinate deviation value is within a preset difference range;

[0032] If the coordinate deviation value is not within the difference range, it is determined that the three-dimensional scanning system does not meet the scanning accuracy condition.

[0033] In the above system, optionally, the processing end is further configured to: if the three-dimensional scanning system meets the scanning accuracy condition, perform data splicing based on the first converted three-dimensional data and the second converted three-dimensional data.

[0034] Optionally, the three-dimensional scanning system further includes:

[0035] at least one other tracker for station-to-station scanning, and at least one other spotter for station-to-station scanning.

[0036] In the above system, optionally, the projector is deployed on the tracker.

[0037] A three-dimensional scanning method is applied to a three-dimensional scanning system, wherein the three-dimensional scanning system includes a scanner, a tracker, and a projector, and the three-dimensional scanning method includes:

[0038] When the projector projects a pattern onto the scanned object, the scanner scans the scanned object to obtain initial three-dimensional data in the scanner coordinate system; the initial three-dimensional data includes first three-dimensional coordinates corresponding to the pattern projection points on the surface of the scanned object;

[0039] Capturing an image of the scanned object using the tracker, and determining a second three-dimensional coordinate corresponding to the pattern projection point based on the captured object image;

[0040] A first conversion matrix is ​​determined based on the first three-dimensional coordinates and the second three-dimensional coordinates; the first conversion matrix is ​​a coordinate conversion matrix from the scanner coordinate system to the tracker coordinate system.

[0041] A storage medium includes stored instructions, wherein when the instructions are executed, the device where the storage medium is located is controlled to execute the three-dimensional scanning method as described above.

[0042] An electronic device includes a memory and one or more instructions, wherein the one or more instructions are stored in the memory and configured to execute the three-dimensional scanning method as described above by one or more processors.

[0043] Based on the above-mentioned embodiments of the present invention, a three-dimensional scanning system is provided, comprising: a scanner, a tracker, a projector, and a processing end; the projector is configured to project a pattern onto a scanned object; the scanner is configured to scan the scanned object and obtain initial three-dimensional data in a scanner coordinate system; the initial three-dimensional data includes first three-dimensional coordinates corresponding to pattern projection points on the surface of the scanned object; the tracker is configured to capture an image of the scanned object and, based on the captured object image, determine second three-dimensional coordinates corresponding to the pattern projection points; the processing end is configured to determine a first transformation matrix based on the first three-dimensional coordinates and the second three-dimensional coordinates; the first transformation matrix is ​​a coordinate transformation matrix from the scanner coordinate system to the tracker coordinate system. Using the system provided by the embodiments of the present invention, during a three-dimensional scanning process, the projector can be used to project a pattern onto the scanned object, forming a corresponding pattern on the surface of the scanned object. The scanner can process and obtain the three-dimensional coordinates corresponding to the pattern projection points on the surface of the scanned object during scanning. Simultaneously, the tracker can also process and obtain the three-dimensional coordinates corresponding to the pattern projection points on the surface of the scanned object through image capture. Using the 3D coordinates of the pattern projection points obtained by the scanner and processed by the tracker, a coordinate transformation matrix can be constructed from the scanner coordinate system to the tracker coordinate system. Based on this matrix, the 3D data obtained by the scanner in the scanner coordinate system can be converted to the tracker coordinate system, enabling unified 3D data processing of the 3D data during the scanning process. The 3D data conversion process does not rely on the relative positional relationship between the scanner and the ball cage, which improves the accuracy of 3D data conversion and, consequently, the accuracy of 3D scanning. Furthermore, the use of non-ball cage scanners can reduce the weight of the handheld scanning device. Furthermore, the system provided by embodiments of the present invention can directly convert 3D data from the scanner coordinate system to the tracker coordinate system without requiring a secondary conversion, which helps reduce the cumulative error in data conversion and further improves the accuracy of data conversion. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0045] Figure 1 A schematic diagram of the system structure of a three-dimensional scanning system provided by an embodiment of the present invention;

[0046] Figure 2 A schematic diagram of the deployment of a three-dimensional scanning system provided by an embodiment of the present invention;

[0047] Figure 3Another schematic diagram of the deployment of a three-dimensional scanning system provided by an embodiment of the present invention;

[0048] Figure 4 A flow chart of a three-dimensional scanning method provided by an embodiment of the present invention;

[0049] Figure 5 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0050] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0051] In this application, the terms "comprises," "comprising," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0052] The embodiment of the present invention provides a three-dimensional scanning system, the structural diagram of the three-dimensional scanning system can be shown as follows: Figure 1 As shown, the system includes:

[0053] Scanner 101, tracker 102, projector 103 and processing end 104;

[0054] The projector 103 is used to project a pattern onto the scanned object;

[0055] The scanner 101 is used to scan the scanned object to obtain initial three-dimensional data in the scanner coordinate system; the initial three-dimensional data includes first three-dimensional coordinates corresponding to pattern projection points on the surface of the scanned object;

[0056] The tracker 102 is configured to capture an image of the scanned object and determine the second three-dimensional coordinates corresponding to the pattern projection point based on the captured object image;

[0057] The processing end 104 is configured to determine a first conversion matrix based on the first three-dimensional coordinates and the second three-dimensional coordinates; the first conversion matrix is ​​a coordinate conversion matrix from the scanner coordinate system to the tracker coordinate system.

[0058] The three-dimensional scanning system provided in the embodiment of the present invention is equipped with a scanner, a tracker, a projector, and a processing terminal. The scanner refers to a handheld three-dimensional scanner, and a non-ball cage type three-dimensional scanner can be used. The scanner can perform three-dimensional scanning on the scanned object based on the three-dimensional scanning principle to obtain three-dimensional data of the scanned object in the scanner coordinate system at the current scanning angle. For example, the scanner can scan based on the principle of laser three-dimensional scanning, that is, the scanner can be a handheld laser three-dimensional scanner. The scanner can also be a scanner that uses other existing three-dimensional scanning principles. The scanner and tracker in the embodiment of the present invention can be terminals with computing functions, that is, the scanner can calculate the corresponding three-dimensional coordinates based on the scanned data, and the tracker can directly calculate the corresponding three-dimensional coordinates based on the collected image. The scanner and tracker can also be terminals without computing functions. The scanner and tracker can send the collected data to the processing terminal, which calculates the corresponding three-dimensional coordinates and thereby obtains the corresponding three-dimensional coordinate data.

[0059] The tracker in the embodiment of the present invention is equipped with image acquisition and three-dimensional reconstruction functions. The tracker can capture images of the surface of the scanned object in real time, apply the principle of triangulation, perform three-dimensional coordinate measurement of a specified position in the image, and obtain the three-dimensional coordinates corresponding to the specified position in the tracker coordinate system.

[0060] The processing end in this embodiment of the present invention refers to the unit used to perform corresponding data processing. The processing end can be deployed on a standalone computing terminal, a tracker, or a scanner. The tracker and scanner are in communication with the processing end, and the data processed by the tracker and scanner can be sent to the processing end.

[0061] The projector in the embodiments of the present invention refers to a device capable of pattern projection, also referred to as a pattern projector. The projector can project distinctive patterns such as circular spots and cross marks, and the specific projected pattern can be configured based on actual needs. During 3D scanning, the projector projects a pattern onto the scanned object, causing the surface of the scanned object to display the corresponding projected pattern. The imaging location of the pattern projected by the projector on the scanned object's surface is called a pattern projection point, which can be specifically represented by the center point of the projected pattern. The projector can be a standalone device or integrated into a tracker.

[0062] When using the system provided by the embodiments of the present invention for 3D scanning, the tracker can be first deployed in the appropriate location based on the scanning requirements. If the projector is a standalone device, the projector must also be deployed in the appropriate location. It is understood that the system provided by the embodiments of the present invention must perform data conversion based on the 3D coordinates of the pattern projection points on the scanned object. The projector must be deployed in a position that allows the tracker and scanner to capture the pattern projected by the projector on the surface of the scanned object during the scanning process.

[0063] When a three-dimensional scan is required, the projector can be started first to project a pattern onto the scanned object. When the corresponding projection pattern already appears on the surface of the scanned object, the user can hold the scanner and scan the scanned object at different angles. The scanner can perform three-dimensional reconstruction of the scanned object based on its three-dimensional scanning mechanism, obtain the three-dimensional data of the current frame in the scanner coordinate system, and use the three-dimensional data of the current frame as the initial three-dimensional data. It is understandable that during the three-dimensional scanning process, the scanner will also reconstruct the three-dimensional coordinates of the scanned pattern projection points on the scanned object, so the initial three-dimensional data will include the three-dimensional coordinates corresponding to the pattern projection points, that is, the first three-dimensional coordinates corresponding to the pattern projection points. The scanner can transmit the initial three-dimensional data to the processing end.

[0064] While the scanner is scanning the object, the tracker, using its embedded image capture device, can capture an image of the scanned object and obtain an object image of the scanned object. Based on the object image, the tracker measures the three-dimensional coordinates of pattern projection points on the scanned object, obtaining the three-dimensional coordinates corresponding to the pattern projection points in the tracker coordinate system, i.e., the second three-dimensional coordinates corresponding to the pattern projection points. The tracker can then transmit the three-dimensional coordinates corresponding to the pattern projection points in the tracker coordinate system to the processing end.

[0065] The processing end uses the 3D coordinates of the pattern projection point in the scanner coordinate system (i.e., the first 3D coordinates) and the 3D coordinates of the pattern projection point in the tracker coordinate system (i.e., the second 3D coordinates) to determine the coordinate transformation relationship between the scanner coordinate system and the tracker coordinate system. This coordinate transformation matrix from the scanner coordinate system to the tracker coordinate system is then constructed and used as the first transformation matrix. This allows direct conversion of the initial 3D data along the scanner-tracker coordinate system transformation path.

[0066] During the processing of each frame of scanning data, the three-dimensional scanning system can convert the initial three-dimensional data of the current frame of the scanner into the tracker coordinate system in the above manner, and then perform three-dimensional data processing operations such as data splicing on the three-dimensional data of each frame in the dimension of the tracker coordinate system, and finally obtain a three-dimensional model corresponding to the scanned object.

[0067] The system provided by an embodiment of the present invention includes a scanner, a tracker, a projector, and a processing end; the projector is used to project a pattern onto a scanned object; the scanner is used to scan the scanned object and obtain initial three-dimensional data in the scanner coordinate system; the initial three-dimensional data includes first three-dimensional coordinates corresponding to pattern projection points on the surface of the scanned object; the tracker is used to capture an image of the scanned object and, based on the captured object image, determine second three-dimensional coordinates corresponding to the pattern projection points; the processing end is used to determine a first transformation matrix based on the first three-dimensional coordinates and the second three-dimensional coordinates; the first transformation matrix is ​​a coordinate transformation matrix from the scanner coordinate system to the tracker coordinate system. Using the system provided by an embodiment of the present invention, during a three-dimensional scanning process, the projector can be used to project a pattern onto the scanned object, forming a corresponding pattern on the surface of the scanned object. The scanner can process and obtain the three-dimensional coordinates corresponding to the pattern projection points on the surface of the scanned object during scanning. Simultaneously, the tracker can also process and obtain the three-dimensional coordinates corresponding to the pattern projection points on the surface of the scanned object through image capture. Using the 3D coordinates of the pattern projection points obtained by the scanner and processed by the tracker, a coordinate transformation matrix can be constructed from the scanner coordinate system to the tracker coordinate system. Based on this matrix, the 3D data obtained by the scanner in the scanner coordinate system can be converted to the tracker coordinate system, enabling unified 3D data processing of the 3D data during the scanning process. The 3D data conversion process does not rely on the relative positional relationship between the scanner and the ball cage, which improves the accuracy of 3D data conversion and, consequently, the accuracy of 3D scanning. Furthermore, the use of non-ball cage scanners can reduce the weight of the handheld scanning device. Furthermore, the system provided by embodiments of the present invention can directly convert 3D data from the scanner coordinate system to the tracker coordinate system without requiring a secondary conversion, which helps reduce the cumulative error in data conversion and further improves the accuracy of data conversion.

[0068] exist Figure 1 Based on the system shown in FIG. 1 , in the system provided by the embodiment of the present invention, the tracker is configured with a first camera and a second camera, and the tracker is specifically configured to:

[0069] Using the first camera and the second camera to photograph the scanned object, obtaining a first object image photographed by the first camera and a second object image photographed by the second camera;

[0070] Determining, in the first object image, a first projection point image corresponding to the pattern projection point;

[0071] In the second object image, determining a second projection point image corresponding to the pattern projection point;

[0072] The pattern projection point is coordinate-measured based on the first projection point image, the second projection point image, and preset camera calibration information, and the three-dimensional coordinates obtained by the measurement are used as the second three-dimensional coordinates.

[0073] In the system provided by an embodiment of the present invention, the tracker is configured with two cameras, namely a first camera and a second camera. The first camera and the second camera can be two independent cameras or can be configured as binocular cameras. During the three-dimensional scanning process, the tracker can use the two cameras to respectively capture the same object position of the scanned object, and use the object image captured by the first camera as the first object image, and the object image captured by the second camera as the second object image. It can be understood that the surface of the object captured by the tracker presents a pattern projected by the projector, so both the first object image and the second object image will contain images corresponding to the pattern projection points. The tracker can perform pattern recognition on the first object image, thereby locating the image area corresponding to the pattern projection points in the first object image, and use this image area as the first projection point image. The tracker can perform pattern recognition on the second object image, thereby locating the image area corresponding to the pattern projection points in the second object image, and use this image area as the second projection point image. The tracker can measure the three-dimensional coordinates of the pattern projection point based on the first projection point image, the second projection point image, and the camera calibration information. The measured three-dimensional coordinates serve as the three-dimensional coordinates corresponding to the pattern projection point in the tracker coordinate system, i.e., the second three-dimensional coordinates corresponding to the pattern projection point. The camera calibration information includes camera calibration data such as the calibration parameters of the first camera and the calibration parameters of the second camera. The tracker can specifically calculate the three-dimensional coordinates of the pattern projection point based on the first projection point image and the second projection point image using the principle of triangulation. This measurement principle is based on the existing three-dimensional measurement principle based on binocular vision and is not explained in detail here.

[0074] Based on the system provided by the embodiment of the present invention, the tracker can use the triangulation principle to complete the three-dimensional coordinate measurement of the pattern projection point. The calculation process is relatively simple, which is conducive to improving data processing efficiency.

[0075] exist Figure 1 Based on the system shown in FIG. 1 , in the three-dimensional scanning system provided by an embodiment of the present invention, the processing end is further configured to:

[0076] The initial three-dimensional data is transformed according to the first transformation matrix to obtain first transformed three-dimensional data in the tracker coordinate system.

[0077] In the system provided by an embodiment of the present invention, the processing end can use the first transformation matrix to transform the initial three-dimensional data obtained by the scanner, transform the initial three-dimensional data from the scanner coordinate system to the tracker coordinate system, and obtain the corresponding three-dimensional data of the initial three-dimensional data in the tracker coordinate system, that is, the first transformed three-dimensional data.

[0078] Based on the system provided in the above embodiment, the three-dimensional scanning system provided in the embodiment of the present invention further includes: a ball cage; the scanner is fixedly connected to the ball cage;

[0079] The tracker is further used to track the position of the ball cage to obtain the current position of the ball cage;

[0080] The processing end is further used for:

[0081] Determining a coordinate transformation relationship from a ball cage coordinate system to a tracker coordinate system based on a current position of the ball cage;

[0082] According to the coordinate transformation relationship and the preset scanner-ball cage position relationship, the initial three-dimensional data is transformed to obtain second transformed three-dimensional data in the tracker coordinate system;

[0083] determining whether the three-dimensional scanning system meets a preset scanning accuracy condition based on the first converted three-dimensional data and the second converted three-dimensional data;

[0084] If the three-dimensional scanning system does not meet the scanning accuracy conditions, a device abnormality prompt is issued.

[0085] In the system provided by the embodiment of the present invention, a ball cage type scanner is used, that is, the scanner is fixed on a ball cage.

[0086] In addition to converting initial 3D data into a tracker coordinate system using a first transformation matrix, the system provided by embodiments of the present invention also performs coordinate system conversion on the initial 3D data based on a conversion path from the scanner coordinate system to the cage coordinate system to the tracker coordinate system. Specifically, a tracking device is mounted on the cage. During a 3D scan, the tracker tracks the cage in real time, obtains the cage's current position, and transmits this position to a processing terminal. The cage's current position is the cage's current position coordinate in the tracker coordinate system. The processing terminal determines the coordinate conversion relationship between the cage coordinate system and the tracker coordinate system based on the relative positional relationship between the cage's current position and the tracker's position. This coordinate conversion relationship can be represented by a coordinate conversion matrix. The processing terminal is preconfigured with a scanner-cage position relationship. This relationship is pre-established based on the relative positional relationship between the scanner and the cage. It can be understood as a coordinate conversion relationship from the scanner coordinate system to the cage coordinate system, which can also be represented by a coordinate conversion matrix. The processing end may first transform the initial 3D data currently processed by the scanner using the scanner-cage positional relationship. Then, the transformed 3D data may be further transformed using the coordinate transformation relationship from the cage coordinate system to the tracker coordinate system, thereby obtaining 3D data of the initial 3D data in the tracker coordinate system, i.e., second transformed 3D data. It is understood that, based on the scanner-cage positional relationship, the initial 3D data in the scanner coordinate system may be transformed into the cage coordinate system to obtain 3D data of the initial 3D data in the cage coordinate system. The 3D data in the cage coordinate system may then be transformed using the coordinate transformation relationship from the cage coordinate system to the tracker coordinate system, thereby converting the 3D data in the cage coordinate system into the tracker coordinate system.

[0087] The processing end is pre-configured with scanning accuracy conditions, which are used to assess whether the current scanning accuracy of the 3D scanning system meets the scanning requirements. After obtaining the first converted 3D data and the second converted 3D data, the processing end can compare the first converted 3D data with the second converted 3D data to determine whether the 3D scanning system meets the preset scanning accuracy conditions. Specifically, if the difference between the 3D data converted to the tracker coordinate system using different methods for the same frame of initial 3D data is within a certain range, the current 3D scanning system's scanning accuracy meets the scanning requirements. If the difference between the 3D data converted to the tracker coordinate system using different methods exceeds a certain range, it is considered that interference such as cage deformation or point-caster position movement may have occurred, and the 3D scanning system's scanning accuracy does not meet the scanning requirements. If the current 3D scanning system is determined to not meet the scanning accuracy conditions, the processing end can issue a device abnormality notification, alerting the user through the terminal that the current 3D scanning system is abnormal and requires calibration or testing.

[0088] Based on the system provided by the embodiment of the present invention, when a ball cage scanner is used, the initial three-dimensional data of the scanner can be converted into a tracker coordinate system through two conversion paths at the same time. Based on the three-dimensional data converted in the two ways, it is determined whether the current scanning accuracy meets the scanning requirements. When the scanning accuracy does not meet the scanning requirements, the user can be prompted in time, which is conducive to improving the accuracy of three-dimensional scanning and avoiding the user from performing useless operations when the accuracy does not meet the requirements.

[0089] In the system provided in the above embodiment, an embodiment of the present invention provides a system in which the processing end for determining whether the three-dimensional scanning system meets a preset scanning accuracy condition based on the first converted three-dimensional data and the second converted three-dimensional data is specifically configured to:

[0090] Determining, in the first converted three-dimensional data, first converted three-dimensional coordinates corresponding to the pattern projection point;

[0091] Determining, in the second converted three-dimensional data, second converted three-dimensional coordinates corresponding to the pattern projection point;

[0092] determining a coordinate deviation value between the first transformed three-dimensional coordinate and the second transformed three-dimensional coordinate;

[0093] Determining whether the coordinate deviation value is within a preset difference range;

[0094] If the coordinate deviation value is not within the difference range, it is determined that the three-dimensional scanning system does not meet the scanning accuracy condition.

[0095] In the system provided by an embodiment of the present invention, when determining whether a 3D scanning system meets scanning accuracy requirements, the processing end may obtain the 3D coordinates corresponding to the pattern projection point from the first converted 3D data and the second converted 3D data, respectively. Specifically, these coordinates are converted to the 3D coordinates of the pattern projection point in the tracker scanning system through two conversion paths. The 3D coordinates corresponding to the first 3D coordinates corresponding to the pattern projection point in the first converted 3D data are the first converted 3D coordinates. The 3D coordinates corresponding to the first 3D coordinates corresponding to the image projection point in the second converted 3D data are the second converted 3D coordinates. The processing end may calculate the coordinate difference between the first converted 3D coordinates and the second converted 3D coordinates through a difference operation, i.e., the coordinate deviation value. The processing end is configured with a preset difference range, which can be configured based on actual error constraints. The processing end may compare the coordinate deviation value with the upper and lower limits of the preset difference range to determine whether the coordinate deviation value is within the difference range. If the coordinate difference value is not within the difference range, the 3D scanning system is deemed to not meet the scanning accuracy requirements. If the coordinate difference value is within the difference range, the 3D scanning system is deemed to meet the scanning accuracy requirements.

[0096] Based on the system provided in the above embodiment, in the system provided in the embodiment of the present invention, the processing end is further used to: if the three-dimensional scanning system meets the scanning accuracy condition, perform data splicing based on the first converted three-dimensional data and the second converted three-dimensional data.

[0097] In the system provided by an embodiment of the present invention, if the three-dimensional scanning system meets the scanning accuracy requirements, the processing end can perform data splicing based on the first converted three-dimensional data and the second converted three-dimensional data. Specifically, the scanning mechanism of the three-dimensional scanning system can be configured to perform data conversion based on the scanner coordinate system-ball cage coordinate system-tracker coordinate system conversion path, that is, the final three-dimensional data is determined based on the principle of determining the second converted three-dimensional data. In this implementation method, the second converted three-dimensional data can be used as the three-dimensional data of the current frame, and processing operations such as three-dimensional data splicing can be performed based on this three-dimensional data and the three-dimensional data of other frames. The first converted three-dimensional data is used as auxiliary three-dimensional data, and the first converted three-dimensional data can be applied to optimize the spliced ​​global three-dimensional data.

[0098] The scanning mechanism of a 3D scanning system can also be configured to primarily perform data conversion using a transformation path from the scanner coordinate system to the tracker coordinate system. This means that the final 3D data is determined based on the principle of first-transformed 3D data. In this implementation, the first-transformed 3D data can be used as the 3D data for the current frame, and processing operations such as 3D data splicing can be performed based on this 3D data with other frames. The second-transformed 3D data is used as auxiliary 3D data to optimize the global 3D data.

[0099] Based on the system provided by the embodiment of the present invention, the three-dimensional data obtained by different conversion paths can be combined to optimize the global three-dimensional data, which is conducive to further improving the accuracy of three-dimensional scanning.

[0100] exist Figure 1 Based on the system shown, the three-dimensional scanning system provided by the embodiment of the present invention further includes:

[0101] at least one other tracker for station-to-station scanning, and at least one other spotter for station-to-station scanning.

[0102] The system provided by embodiments of the present invention can be applied to scenarios requiring station-to-station scanning. The system comprises multiple trackers and multiple projectors. Taking a single tracker and projector as an example of a tracking system, the system provided by embodiments of the present invention comprises multiple tracking systems. Each tracking system is deployed at a corresponding location around the scanned object, ensuring that all areas of the scanned object are covered by the tracking system. When multiple tracking systems are deployed, the operations performed by the 3D scanning system are similar to those described in the previous embodiments. When the scanner scans the object at a current scanning angle, the projector corresponding to the current scanning angle projects a pattern onto the object. The scanner processes the projector's pattern projection points on the object to obtain the 3D coordinates corresponding to the projector's pattern projection points. The tracker corresponding to the current scanning angle captures an image of the scanned object and processes the image to obtain the 3D coordinates associated with the pattern projection points in the tracker's coordinate system. Based on the 3D coordinates of the pattern projection points obtained by the corresponding tracker and the 3D coordinates of the pattern projection points obtained by the scanner, the processing end constructs a corresponding coordinate transformation matrix, transforming the initial 3D coordinates obtained by the scanner into the corresponding tracker's coordinate system. After completing the scanning task of the object area covered by a certain tracking system, the three-dimensional point cloud in the tracker coordinate system of the tracking system can be obtained. By splicing the three-dimensional point clouds in different tracker coordinate systems, the three-dimensional point cloud of the scanned object can be obtained.

[0103] Based on the system provided by the embodiment of the present invention, station-turning scanning can be achieved through multiple trackers and multiple projectors, which is conducive to three-dimensional scanning of large objects.

[0104] exist Figure 1 Based on the system shown in FIG, in the system provided by the embodiment of the present invention, the point-casting device is an independent device, such as Figure 2 In the architecture shown, the projector, tracker and scanner in the 3D scanning system are all independent devices. The projector and tracker can be placed in the corresponding positions according to needs, and the user can use the handheld scanner to scan the object.

[0105] exist Figure 1 Based on the system shown in FIG, in the system provided by the embodiment of the present invention, the projector is deployed on the tracker. Figure 3 In the architecture shown, the projector in the 3D scanning system is integrated on the tracker, and the projector is placed at the corresponding position along with the tracker.

[0106] Based on the system provided by the embodiment of the present invention, the projector is integrated into the tracker. The user only needs to deploy the tracker to complete the deployment of the projector at the same time, which is conducive to simplifying the 3D scanning process and reducing the complexity of the 3D scanning system.

[0107] The embodiment of the present invention further provides a three-dimensional scanning method, which is applied to a three-dimensional scanning system. The three-dimensional scanning system includes a scanner, a tracker, and a projector. Figure 4 As shown, the three-dimensional scanning method provided by the embodiment of the present invention includes:

[0108] S201: Scanning the scanned object with the scanner while the projector projects a pattern onto the scanned object to obtain initial three-dimensional data in a scanner coordinate system; the initial three-dimensional data includes first three-dimensional coordinates corresponding to pattern projection points on the surface of the scanned object;

[0109] The method provided in the embodiment of the present invention can be specifically applied to Figure 1 In the three-dimensional scanning system shown, the execution subject of the method provided in the embodiment of the present invention can be a processing end in the system.

[0110] In the method provided by an embodiment of the present invention, when performing a three-dimensional scan of an object, a projector is used to project a pattern onto the object, so that the corresponding pattern is projected onto the surface of the object. The object is then scanned using a scanner to obtain initial three-dimensional data in the scanner's coordinate system. This data includes the three-dimensional coordinates of the projector's pattern-projected points on the object's surface, i.e., the first three-dimensional coordinates.

[0111] S202: Capturing an image of the scanned object using the tracker, and determining a second three-dimensional coordinate corresponding to the pattern projection point based on the captured object image;

[0112] In the method provided by an embodiment of the present invention, when performing a three-dimensional scan on the scanned object, the tracker can capture an image of the scanned object and measure the three-dimensional coordinates corresponding to the pattern projection point based on the captured image to obtain the three-dimensional coordinates of the pattern projection point in the tracker coordinate system, that is, the second three-dimensional coordinates.

[0113] It should be noted that, in a specific implementation process, there is no necessary order for executing step S201 and step S202, and they can be executed simultaneously.

[0114] S203: Determine a first conversion matrix based on the first three-dimensional coordinates and the second three-dimensional coordinates; the first conversion matrix is ​​a coordinate conversion matrix from the scanner coordinate system to the tracker coordinate system.

[0115] In the method provided by an embodiment of the present invention, the three-dimensional coordinates of the pattern projection point in the scanner coordinate system (i.e., the first three-dimensional coordinates) and the three-dimensional coordinates of the pattern projection point in the tracker coordinate system (i.e., the second three-dimensional coordinates) are used to determine the coordinate transformation relationship between the scanner coordinate system and the tracker coordinate system. This results in the construction of a coordinate transformation matrix from the scanner coordinate system to the tracker coordinate system, which serves as the first transformation matrix. The first transformation matrix can be used to transform initial three-dimensional data obtained by the scanner, converting the initial three-dimensional data from the scanner coordinate system to the tracker coordinate system, thereby obtaining the corresponding three-dimensional data in the tracker coordinate system.

[0116] It should be noted that the method provided in the embodiment of the present invention is similar in principle to the processing logic of the three-dimensional scanning system in the previous embodiment. For the corresponding operations, please refer to the corresponding description in the previous embodiment and will not be repeated here.

[0117] Using the method provided by embodiments of the present invention, during a 3D scanning process, a projector can be used to project a pattern onto the scanned object, forming a corresponding pattern on the object's surface. The scanner processes and obtains the 3D coordinates corresponding to the pattern-projected points on the scanned object's surface. Simultaneously, the tracker also processes and obtains the 3D coordinates corresponding to the pattern-projected points on the scanned object's surface through image acquisition. Using the 3D coordinates of the pattern-projected points obtained by the scanner and the 3D coordinates of the pattern-projected points processed by the tracker, a coordinate transformation matrix from the scanner coordinate system to the tracker coordinate system can be constructed. Based on this matrix, 3D data obtained by the scanner in the scanner coordinate system can be transformed into the tracker coordinate system, enabling unified 3D data processing of the 3D data during the scanning process. The 3D data conversion process does not rely on the relative positional relationship between the scanner and the ball cage, which improves the accuracy of the 3D data conversion and, consequently, the accuracy of the 3D scanning. Furthermore, non-ball cage scanners can be used, reducing the weight of the handheld scanning device. Furthermore, the method provided by embodiments of the present invention allows 3D data in the scanner coordinate system to be directly converted to the tracker coordinate system without requiring a secondary conversion, which reduces the cumulative error in data conversion and further improves the accuracy of data conversion.

[0118] An embodiment of the present invention further provides a storage medium, which includes stored instructions, wherein when the instructions are executed, the device where the storage medium is located is controlled to execute the three-dimensional scanning method as described above.

[0119] The embodiment of the present invention further provides an electronic device, the structural diagram of which is shown in FIG. Figure 5As shown, it specifically includes a memory 301 and one or more instructions 302, wherein the one or more instructions 302 are stored in the memory 301 and are configured to be executed by one or more processors 303 to perform the following operations:

[0120] When the projector projects a pattern onto the scanned object, the scanner scans the scanned object to obtain initial three-dimensional data in the scanner coordinate system; the initial three-dimensional data includes first three-dimensional coordinates corresponding to the pattern projection points on the surface of the scanned object;

[0121] Capturing an image of the scanned object using a tracker, and determining a second three-dimensional coordinate corresponding to the pattern projection point based on the captured object image;

[0122] A first conversion matrix is ​​determined based on the first three-dimensional coordinates and the second three-dimensional coordinates; the first conversion matrix is ​​a coordinate conversion matrix from the scanner coordinate system to the tracker coordinate system.

[0123] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. The systems and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. A person of ordinary skill in the art can understand and implement it without expending creative effort.

[0124] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0125] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A three-dimensional scanning system, characterized in that: include: Scanners, trackers, point-casters and processing terminals; The projector is used to project a pattern onto the scanned object; The scanner is used to scan the object to obtain initial three-dimensional data in the scanner coordinate system; The initial three-dimensional data includes first three-dimensional coordinates corresponding to the pattern projection points on the surface of the scanned object; The tracker is configured to capture an image of the scanned object and determine a second three-dimensional coordinate corresponding to the pattern projection point based on the captured object image; The processing end is used to determine a first conversion matrix based on the first three-dimensional coordinates and the second three-dimensional coordinates; the first conversion matrix is ​​a coordinate conversion matrix from the scanner coordinate system to the tracker coordinate system.

2. The three-dimensional scanning system according to claim 1, characterized in that: The tracker is equipped with a first camera and a second camera, and is specifically used for: Using the first camera and the second camera to photograph the scanned object, obtaining a first object image photographed by the first camera and a second object image photographed by the second camera; Determining, in the first object image, a first projection point image corresponding to the pattern projection point; In the second object image, determining a second projection point image corresponding to the pattern projection point; The pattern projection point is coordinate-measured based on the first projection point image, the second projection point image, and preset camera calibration information, and the three-dimensional coordinates obtained by the measurement are used as the second three-dimensional coordinates.

3. The three-dimensional scanning system according to claim 1, characterized in that: The processing end is further used for: The initial three-dimensional data is transformed according to the first transformation matrix to obtain first transformed three-dimensional data in the tracker coordinate system.

4. The three-dimensional scanning system according to claim 3, characterized in that: The three-dimensional scanning system further comprises: a ball cage; the scanner is fixedly connected to the ball cage; The tracker is further used to track the position of the ball cage to obtain the current position of the ball cage; The processing end is further used for: Determining a coordinate transformation relationship from a ball cage coordinate system to a tracker coordinate system based on a current position of the ball cage; According to the coordinate transformation relationship and the preset scanner-ball cage position relationship, the initial three-dimensional data is transformed to obtain second transformed three-dimensional data in the tracker coordinate system; determining whether the three-dimensional scanning system meets a preset scanning accuracy condition based on the first converted three-dimensional data and the second converted three-dimensional data; If the three-dimensional scanning system does not meet the scanning accuracy conditions, a device abnormality prompt is issued.

5. The three-dimensional scanning system according to claim 4, characterized in that: The processing end for determining whether the three-dimensional scanning system meets a preset scanning accuracy condition based on the first converted three-dimensional data and the second converted three-dimensional data is specifically configured to: Determining, in the first converted three-dimensional data, first converted three-dimensional coordinates corresponding to the pattern projection point; Determining, in the second converted three-dimensional data, second converted three-dimensional coordinates corresponding to the pattern projection point; determining a coordinate deviation value between the first transformed three-dimensional coordinate and the second transformed three-dimensional coordinate; Determining whether the coordinate deviation value is within a preset difference range; If the coordinate deviation value is not within the difference range, it is determined that the three-dimensional scanning system does not meet the scanning accuracy condition.

6. The three-dimensional scanning system according to claim 4, characterized in that: The processing end is further configured to: if the three-dimensional scanning system meets the scanning accuracy condition, perform data splicing based on the first converted three-dimensional data and the second converted three-dimensional data.

7. The three-dimensional scanning system according to claim 1, characterized in that: The three-dimensional scanning system further includes: at least one other tracker for station-to-station scanning, and at least one other spotter for station-to-station scanning.

8. The three-dimensional scanning system according to claim 1, characterized in that: The spotter is deployed on the tracker.

9. A three-dimensional scanning method, characterized in that: The three-dimensional scanning method is applied to a three-dimensional scanning system, the three-dimensional scanning system including a scanner, a tracker, and a projector, and the three-dimensional scanning method includes: When the projector projects a pattern onto the scanned object, the scanner scans the scanned object to obtain initial three-dimensional data in the scanner coordinate system; the initial three-dimensional data includes first three-dimensional coordinates corresponding to the pattern projection points on the surface of the scanned object; Capturing an image of the scanned object using the tracker, and determining a second three-dimensional coordinate corresponding to the pattern projection point based on the captured object image; A first conversion matrix is ​​determined based on the first three-dimensional coordinates and the second three-dimensional coordinates; the first conversion matrix is ​​a coordinate conversion matrix from the scanner coordinate system to the tracker coordinate system.

10. A storage medium, characterized in that: The storage medium includes stored instructions, wherein when the instructions are executed, the device where the storage medium is located is controlled to execute the three-dimensional scanning method according to claim 9.

11. An electronic device, characterized in that: The system comprises a memory and one or more instructions, wherein the one or more instructions are stored in the memory and configured to be executed by one or more processors to perform the three-dimensional scanning method according to claim 9.

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