A three-dimensional laser scanning calibration block, calibration method, device, equipment and medium

Abstract

The embodiments of the present invention disclose a three-dimensional laser scanning calibration block, calibration method, device, equipment and medium. The calibration block includes: a base plate and a calibration body; wherein the calibration body is formed by a triangular pyramid through horizontal grooves along the symmetry plane of the triangular pyramid, and the symmetry plane is perpendicular to the upper surface of the base plate, and the bottom surface of the triangular pyramid is in contact with the upper surface of the base plate; after the grooves are formed, a first inclined surface and a second inclined surface are formed on the triangular pyramid, the first inclined surface and the second inclined surface are symmetrical about the symmetry plane, and the intersection line of the first inclined surface and the second inclined surface is located on the bottom surface of the triangular pyramid; the area outside the bottom surface of the triangular pyramid in the upper surface of the base plate also includes multiple calibration holes, and the positions of the multiple calibration holes are linearly independent. The polyhedral structure of the calibration block is relatively stable and not prone to deformation, thereby avoiding the influence of the deformation of the calibration block on the calibration results and improving data accuracy. At the same time, using the intersection point as the calibration point during the calibration process can also achieve simple and accurate positioning of the calibration point.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of three-dimensional laser scanning technology, and in particular to a three-dimensional laser scanning calibration block, calibration method, device, equipment and medium. Background Art

[0002] When using a linear laser for three-dimensional scanning, calibration must first be performed using a calibration block. The calibration block commonly used today consists of a flat base, a vertical plate, and multiple calibration posts or lines on the vertical plate. During calibration, the mapping relationship between multiple points in the calibration block coordinate system and the scanner coordinate system is calculated simultaneously to complete the calibration. However, this calibration method makes it difficult to locate calibration points when searching for them in the acquired scan data, and the actual calibration points are also susceptible to deformation of the calibration posts or lines, resulting in low accuracy. After the calibration block is manufactured, it is difficult to maintain the quality of the calibration lines and posts, and it is also difficult to detect their deformation. Summary of the Invention

[0003] Embodiments of the present invention provide a three-dimensional laser scanning calibration block, calibration method, device, equipment and medium to reduce deformation of the calibration block, avoid the influence of the deformation of the calibration block on the calibration result, and solve the problem of difficulty in locating the calibration point.

[0004] In a first aspect, an embodiment of the present invention provides a three-dimensional laser scanning calibration block, the calibration block comprising: a base plate and a calibration body; wherein,

[0005] The calibration body is formed by a triangular pyramid by horizontally grooving along the symmetry plane of the triangular pyramid, and the symmetry plane is perpendicular to the upper surface of the base plate, and the bottom surface of the triangular pyramid is in contact with the upper surface of the base plate; after grooving, a first inclined surface and a second inclined surface are formed on the triangular pyramid, the first inclined surface and the second inclined surface are symmetrical about the symmetry plane, and the intersection of the first inclined surface and the second inclined surface is located on the bottom surface of the triangular pyramid; the area outside the bottom surface of the triangular pyramid in the upper surface of the base plate also includes multiple calibration holes, and the positions of the multiple calibration holes are linearly independent.

[0006] Optionally, the base of the triangular pyramid is an equilateral triangle.

[0007] Optionally, the first side surface and the second side surface of the triangular pyramid are symmetrical about the symmetry plane, and the angle between the intersection line of the first side surface and the second side surface and the bottom surface of the triangular pyramid is 45 degrees.

[0008] Optionally, after the grooving, a process groove plane is further formed on the triangular pyramid, and the process groove plane is located between the first inclined surface and the second inclined surface.

[0009] Optionally, the number of the calibration holes is four, and they are evenly distributed near the edge of the upper surface of the base plate.

[0010] In a second aspect, an embodiment of the present invention further provides a three-dimensional laser scanning calibration method, which is applied to the three-dimensional laser scanning calibration block provided by any embodiment of the present invention, comprising:

[0011] Projecting a laser line onto the calibration block using a three-dimensional laser scanner, and sequentially forming a first straight line segment, a second straight line segment, a third straight line segment, a fourth straight line segment, a fifth straight line segment, and a sixth straight line segment on the upper surface of the base plate, the first side surface of the triangular pyramid, the first inclined surface, the second inclined surface, the second side surface of the triangular pyramid, and the upper surface of the base plate; wherein the first side surface and the second side surface are symmetrical about the symmetry plane;

[0012] acquiring, by the three-dimensional laser scanner, first coordinates of target intersection points between the first straight line segment, the second straight line segment, the third straight line segment, the fourth straight line segment, the fifth straight line segment, and the sixth straight line segment in a scanner coordinate system, and determining target distances between the target intersection points based on the first coordinates;

[0013] determining a second coordinate of the target intersection point in the calibration block coordinate system according to the target distance and the design size of the calibration block, and establishing a first mapping relationship between the scanner coordinate system and the calibration block coordinate system according to the first coordinate and the second coordinate;

[0014] Determining a third coordinate of each calibration hole in the world coordinate system by mechanical alignment, and establishing a second mapping relationship between the calibration block coordinate system and the world coordinate system according to the third coordinate and a fourth coordinate of each calibration hole in the calibration block coordinate system;

[0015] A third mapping relationship between the scanner coordinate system and the world coordinate system is determined according to the first mapping relationship and the second mapping relationship.

[0016] Optionally, the target intersection includes the intersection between the first straight line segment and the second straight line segment, the intersection between the second straight line segment and the fifth straight line segment, the intersection between the fifth straight line segment and the sixth straight line segment, and the intersection between the third straight line segment and the fourth straight line segment.

[0017] In a third aspect, an embodiment of the present invention further provides a three-dimensional laser scanning calibration device, the device comprising:

[0018] a laser line projection module, configured to project a laser line onto the calibration block through a three-dimensional laser scanner, and sequentially form a first straight line segment, a second straight line segment, a third straight line segment, a fourth straight line segment, a fifth straight line segment, and a sixth straight line segment on the upper surface of the base plate, the first side surface of the triangular pyramid, the first inclined surface, the second inclined surface, the second side surface of the triangular pyramid, and the upper surface of the base plate; wherein the first side surface and the second side surface are symmetrical about the symmetry plane;

[0019] a target distance determination module, configured to obtain, by the three-dimensional laser scanner, first coordinates of target intersection points between the first straight line segment, the second straight line segment, the third straight line segment, the fourth straight line segment, the fifth straight line segment, and the sixth straight line segment in a scanner coordinate system, and determine a target distance between each of the target intersection points based on the first coordinates;

[0020] a first mapping relationship establishing module, configured to determine a second coordinate of the target intersection point in the calibration block coordinate system according to the target distance and the design size of the calibration block, and to establish a first mapping relationship between the scanner coordinate system and the calibration block coordinate system according to the first coordinate and the second coordinate;

[0021] a second mapping relationship establishing module, configured to determine a third coordinate of each calibration hole in the world coordinate system by mechanical alignment, and establish a second mapping relationship between the calibration block coordinate system and the world coordinate system according to the third coordinate and a fourth coordinate of each calibration hole in the calibration block coordinate system;

[0022] The third mapping relationship determining module is configured to determine a third mapping relationship between the scanner coordinate system and the world coordinate system according to the first mapping relationship and the second mapping relationship.

[0023] In a fourth aspect, an embodiment of the present invention further provides a computer device, the computer device comprising:

[0024] one or more processors;

[0025] a memory for storing one or more programs;

[0026] When the one or more programs are executed by the one or more processors, the one or more processors implement the three-dimensional laser scanning calibration method provided by any embodiment of the present invention.

[0027] In a fifth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the three-dimensional laser scanning calibration method provided by any embodiment of the present invention.

[0028] An embodiment of the present invention provides a three-dimensional laser scanning calibration block, comprising a base plate and a calibration body, wherein the calibration body can be obtained by slotting a triangular pyramid, wherein the two inclined planes formed after the slotting are symmetrical, and the intersection of the inclined planes is located on the base surface of the triangular pyramid. In addition, the upper surface of the base plate includes multiple calibration holes. During calibration, the laser line projected onto the calibration block can be divided into multiple straight line segments. The mapping relationship between the scanner coordinate system and the calibration block coordinate system can be determined based on the intersection of the straight line segments. The mapping relationship between the calibration block coordinate system and the world coordinate system can then be determined based on the calibration holes. Thus, the mapping relationship between the scanner coordinate system and the world coordinate system can be calculated, and the calibration is completed. Compared to traditional calibration blocks using calibration columns or calibration lines, the polyhedral structure of the calibration block provided by the embodiment of the present invention is more stable and less prone to deformation, thereby avoiding the impact of calibration block deformation on the calibration results and improving data accuracy. At the same time, using the intersection points as calibration points during the calibration process can also achieve simple and accurate positioning of the calibration points. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of the structure of a three-dimensional laser scanning calibration block provided in Example 1 of the present invention;

[0030] Figure 2 A cross-sectional view of a three-dimensional laser scanning calibration block provided in Example 1 of the present invention;

[0031] Figure 3 A flowchart of a three-dimensional laser scanning calibration method provided in Example 2 of the present invention;

[0032] Figure 4 A schematic diagram of the structure of a three-dimensional laser scanning calibration device provided in Example 3 of the present invention;

[0033] Figure 5 This is a structural diagram of a computer device provided in Example 4 of the present invention. DETAILED DESCRIPTION

[0034] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0035] Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe the steps as sequential processes, many of the steps can be implemented in parallel, concurrently, or simultaneously. In addition, the order of the steps can be rearranged. The process can be terminated when its operation is completed, but can also have additional steps not included in the accompanying drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0036] In addition, the terms "first", "second", etc. may be used in this document to describe various directions, actions, steps or elements, but these directions, actions, steps or elements are not limited by these terms. These terms are only used to distinguish a first direction, action, step or element from another direction, action, step or element. For example, without departing from the scope of this application, the first slope can be referred to as the second slope, and similarly, the second slope can be referred to as the first slope. Both the first slope and the second slope are slopes, but they are not the same slope. The terms "first", "second", etc. should not be understood to indicate or imply relative importance or to implicitly indicate the number of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0037] Example 1

[0038] Figure 1 This is a schematic diagram of the structure of the three-dimensional laser scanning calibration block provided in the first embodiment of the present invention. This embodiment is applicable to the case of calibrating a three-dimensional laser scanner. Figure 1 As shown, the calibration block includes: a base plate 100 and a calibration body 200; wherein, the calibration body 200 is formed by a triangular pyramid by horizontally grooving along the symmetry plane 201 of the triangular pyramid, and the symmetry plane 201 is perpendicular to the upper surface of the base plate 100, and the bottom surface of the triangular pyramid is in contact with the upper surface of the base plate 100; after grooving, a first inclined surface 202 and a second inclined surface 203 are formed on the triangular pyramid, the first inclined surface 202 and the second inclined surface 203 are symmetrical about the symmetry plane 201, and the intersection of the first inclined surface 202 and the second inclined surface 203 is located on the bottom surface of the triangular pyramid; the area outside the bottom surface of the triangular pyramid in the upper surface of the base plate 100 also includes a plurality of calibration holes 101, and the positions of the plurality of calibration holes 101 are linearly independent.

[0039] Specifically, the calibration body 200 can be formed by slotting a triangular pyramid, the bottom surface of the triangular pyramid is in contact with the upper surface of the base plate 100, and the triangular pyramid and the base plate 100 can be integrally formed to further improve the stability of the calibration block. At the same time, the triangular pyramid has at least one symmetry plane 201, and the symmetry plane 201 is perpendicular to the upper surface of the base plate 100, that is, perpendicular to the bottom surface of the triangular pyramid. The shape of the base plate 100 can be arbitrary and is not limited to this. Specifically, it can be a flat rectangular parallelepiped and can be chamfered on all sides to remove sharp edges for easy storage and use, and also more beautiful. Optionally, the bottom surface of the triangular pyramid is an equilateral triangle to facilitate the calculation of the coordinates of the calibration point. For example, the length, width and height of the base plate 100 can be 80 mm, 80 mm and 8 mm respectively, the length of the chamfered right-angled side can be 2 mm, the roughness of the upper and lower surfaces of the base plate 100 can be 1.6, and at the same time, a symmetry axis of the upper surface of the base plate 100 can be located on the symmetry plane 201, the side length of the equilateral triangle of the base surface can be 60 mm, and the distance between the side perpendicular to the symmetry plane 201 and the edge of the base plate 100 can be 14 mm. The design of these specific parameters can provide more convenience for the use of the calibration block.

[0040] Optional, such as Figure 1 As shown, the first side surface 205 and the second side surface 206 of the triangular pyramid are symmetrical about the symmetry plane 201, that is, the intersection line between the first side surface 205 and the second side surface 206 is located on the symmetry plane 201, and the angle between the intersection line of the first side surface 205 and the second side surface 206 and the base of the triangular pyramid is 45 degrees. That is, the angle between the edge between the two side surfaces symmetrical about the symmetry plane 201 in the triangular pyramid and the base of the triangular pyramid can be designed to be 45 degrees to facilitate the calculation of the coordinates of the calibration point. For example, the angle between the first side surface 205 and the second side surface 206 and the base of the triangular pyramid can be 60 degrees, thereby providing greater convenience for the use of the calibration block.

[0041] Optional, such as Figure 1 As shown, the third side surface 207 of the triangular pyramid can be perpendicular to the bottom surface of the triangular pyramid. Then, when the laser line is projected onto the calibration block, no straight line segment is formed on the third side surface 207, thereby making it easier to calculate the coordinates of the calibration point and ensuring the stability of the calibration block.

[0042] After determining the symmetry plane 201, a horizontal groove can be made on the triangular pyramid along the symmetry plane 201, that is, the bottom of the groove is parallel to the bottom surface of the triangular pyramid. At the same time, after the groove is made, a first inclined surface 202 and a second inclined surface 203 are formed on both sides of the groove on the triangular pyramid. By making grooves, more planes intersecting in space can be obtained, so that when the laser line is projected onto the calibration block, multiple straight line segments can be formed on each plane, thereby increasing the number of intersection points that can be used as calibration points. To facilitate the calculation of the coordinates of the calibration points, the first inclined surface 202 and the second inclined surface 203 are also symmetrical about the symmetry plane 201, that is, their intersection line (including the extension surface) is located on the symmetry plane 201. At the same time, the intersection line must also be located on the bottom surface of the triangular pyramid, that is, on the midline of the bottom triangle. For example, the angles between the first bevel 202 and the second bevel 203 and the bottom surface of the triangular pyramid can both be 60 degrees. After grooving, two peaks are formed on the triangular pyramid, and the distance between the two peaks can be 30 mm, thereby providing more convenience for the use of the calibration block.

[0043] Optional, such as Figure 1 As shown, after slotting, a process slot plane 204 is formed on the triangular pyramid. The process slot plane 204 is located between the first inclined surface 202 and the second inclined surface 203 and is parallel to the bottom surface of the triangular pyramid, equivalent to the bottom of the slot. To facilitate processing, the process slot plane 204 is parallel to the two intersection lines between the first inclined surface 202 and the second inclined surface 203, and the process slot plane 204 is also symmetrical about the symmetry plane 201. For example, the width of the process slot plane 204 can be 5 mm, and the height from the bottom surface of the triangular pyramid can be 5 mm, thereby providing greater convenience for the use of the calibration block.

[0044] The upper surface of the base plate 100 also includes a plurality of calibration holes 101. The calibration holes 101 can be high-precision holes that can be used to obtain the mapping relationship between the calibration block coordinate system and the world coordinate system. It is only necessary to ensure that the positions of the calibration holes 101 are linearly independent, such as they can be arranged on different lines. Figure 1 As shown, there are four calibration holes 101, which are evenly distributed near the edge of the upper surface of the base plate 100. Specifically, they can be set near the four vertices of the square upper surface to separate the calibration holes 101 as much as possible, thereby improving the accuracy of the above-mentioned mapping relationship determination. Exemplarily, the calibration holes 101 are circular through holes with a diameter of 1.5 mm, respectively, and are set near the four vertices of the square upper surface. The distance between them and each edge of the upper surface can be 7.5 mm, thereby providing greater convenience for the use of the calibration block.

[0045] When the calibration block mentioned above is required, Figure 2As shown, a laser line can first be projected onto the calibration block using a three-dimensional laser scanner, specifically onto a position that traverses the calibration body 200, thereby sequentially forming a first straight line segment, a second straight line segment, a third straight line segment, a fourth straight line segment, a fifth straight line segment, and a sixth straight line segment on the upper surface 102, the first side surface 205, the first inclined surface 202, the second inclined surface 203, the second side surface 206, and the upper surface 102 of the base plate 100. The three-dimensional laser scanner can then be used to obtain the first coordinates of the target intersections between the various straight line segments in the scanner coordinate system. The target intersections can be selected from the first intersection between the first and second straight line segments, the second intersection between the second and fifth straight line segments, the third intersection between the fifth and sixth straight line segments, and the fourth intersection between the third and fourth straight line segments. The first, second, and third intersections can form a triangle, and the fourth intersection can be located at the midpoint of the base of the triangle. Of course, other intersections can also be selected as target intersections, as long as the positional relationship and number of the target intersections meet the calculation conditions of the mapping relationship. After determining the first coordinates of the target intersections, the target distance between the target intersections can be calculated based on the first coordinates. At the same time, the design size of the calibration block is specific and known, then the second coordinate of the target intersection in the calibration block coordinate system can be calculated based on the calculated target distance and the design size of the calibration block, wherein the origin of the calibration block coordinate system can be established at the vertex position of the triangular pyramid. Thus, the first mapping relationship T1 between the scanner coordinate system and the calibration block coordinate system can be established based on the first coordinates and the second coordinates. On the other hand, the third coordinates of each calibration hole 101 in the world coordinate system can be determined by mechanical alignment, specifically, the nine-point calibration method can be used, or each calibration hole 101 can be directly positioned to a known position in the world coordinate system. At the same time, the position of the calibration hole 101 on the calibration block is determined, so the fourth coordinate of each calibration hole 101 in the calibration block coordinate system can be obtained. Therefore, based on the correspondence between the third coordinate and the fourth coordinate, the second mapping relationship T2 between the calibration block coordinate system and the world coordinate system can be obtained by a series of linear transformation equations. Finally, based on the first mapping relationship T1 and the second mapping relationship T2, the third mapping relationship T3 between the scanner coordinate system and the world coordinate system can be determined, that is, T3 = T2 * T1, thereby completing the calibration process and reconstructing the three-dimensional data in the three-dimensional laser scanner in the world coordinate system.

[0046] The three-dimensional laser scanning calibration block provided in an embodiment of the present invention includes a base plate and a calibration body, wherein the calibration body can be obtained by slotting a triangular pyramid. The two inclined planes formed after the slotting are symmetrical, and the intersection line of the inclined planes is located on the bottom surface of the triangular pyramid. In addition, the upper surface of the base plate also includes multiple calibration holes. During calibration, the laser line projected onto the calibration block can be divided into multiple straight line segments. The mapping relationship between the scanner coordinate system and the calibration block coordinate system can be determined based on the intersection of the straight line segments. The mapping relationship between the calibration block coordinate system and the world coordinate system can then be determined based on the calibration holes. The mapping relationship between the scanner coordinate system and the world coordinate system can be calculated, and the calibration can be completed. Compared with traditional calibration blocks using calibration columns or calibration lines, the polyhedral structure of the calibration block provided in an embodiment of the present invention is more stable and less prone to deformation, thereby avoiding the influence of calibration block deformation on the calibration results and improving data accuracy. At the same time, using the intersection as the calibration point during the calibration process can also achieve simple and accurate positioning of the calibration point.

[0047] Example 2

[0048] Figure 3 This is a flowchart of the three-dimensional laser scanning calibration method provided in the second embodiment of the present invention. This embodiment is applicable to the situation of calibrating a three-dimensional laser scanner. This method can be applied to the three-dimensional laser scanning calibration block provided in any embodiment of the present invention, and has the corresponding method flow and beneficial effects of the calibration block. This method can be executed by the three-dimensional laser scanning calibration device provided in the embodiment of the present invention. The device can be implemented by hardware and / or software and can generally be integrated into a computer device. Figure 3 As shown, the specific steps include:

[0049] S31. Project a laser line onto the calibration block through a three-dimensional laser scanner, and sequentially form a first straight line segment, a second straight line segment, a third straight line segment, a fourth straight line segment, a fifth straight line segment and a sixth straight line segment on the upper surface of the base plate, the first side surface of the triangular pyramid, the first inclined surface, the second inclined surface, the second side surface of the triangular pyramid and the upper surface of the base plate; wherein the first side surface and the second side surface are symmetrical about the symmetry plane.

[0050] S32. Obtain the first coordinates of the target intersections between the first straight line segment, the second straight line segment, the third straight line segment, the fourth straight line segment, the fifth straight line segment and the sixth straight line segment in the scanner coordinate system through the three-dimensional laser scanner, and determine the target distance between each of the target intersections based on the first coordinates.

[0051] S33. Determine the second coordinate of the target intersection in the calibration block coordinate system according to the target distance and the design size of the calibration block, and establish a first mapping relationship between the scanner coordinate system and the calibration block coordinate system according to the first coordinate and the second coordinate.

[0052] S34. Determine the third coordinate of each calibration hole in the world coordinate system through mechanical alignment, and establish a second mapping relationship between the calibration block coordinate system and the world coordinate system based on the third coordinate and the fourth coordinate of each calibration hole in the calibration block coordinate system.

[0053] S35. Determine a third mapping relationship between the scanner coordinate system and the world coordinate system according to the first mapping relationship and the second mapping relationship.

[0054] Wherein, optionally, the target intersection includes the intersection between the first straight line segment and the second straight line segment, the intersection between the second straight line segment and the fifth straight line segment, the intersection between the fifth straight line segment and the sixth straight line segment, and the intersection between the third straight line segment and the fourth straight line segment.

[0055] The specific process of the three-dimensional laser scanning calibration method provided in this embodiment can be referred to the description in the above embodiment and will not be repeated here.

[0056] The technical solution provided by the embodiment of the present invention is more stable than the traditional calibration block using calibration poles or calibration lines. The polyhedron structure of the calibration block used is not easily deformed, thereby avoiding the influence of the deformation of the calibration block on the calibration result and improving the data accuracy. At the same time, the intersection point is used as the calibration point during the calibration process, which can also realize the positioning of the calibration point simply and accurately.

[0057] Example 3

[0058] Figure 4 This is a schematic diagram of the structure of the three-dimensional laser scanning calibration device provided in the third embodiment of the present invention. The device can be implemented by hardware and / or software, and can generally be integrated into a computer device to execute the three-dimensional laser scanning calibration method provided in any embodiment of the present invention. Figure 4 As shown, the device includes:

[0059] a laser line projection module 41, configured to project a laser line onto the calibration block using a three-dimensional laser scanner, and sequentially form a first straight line segment, a second straight line segment, a third straight line segment, a fourth straight line segment, a fifth straight line segment, and a sixth straight line segment on the upper surface of the base plate, the first side surface of the triangular pyramid, the first inclined surface, the second inclined surface, the second side surface of the triangular pyramid, and the upper surface of the base plate, respectively; wherein the first side surface and the second side surface are symmetrical about the symmetry plane;

[0060] a target distance determination module 42, configured to obtain, by the three-dimensional laser scanner, first coordinates of target intersection points between the first straight line segment, the second straight line segment, the third straight line segment, the fourth straight line segment, the fifth straight line segment, and the sixth straight line segment in a scanner coordinate system, and determine target distances between the target intersection points based on the first coordinates;

[0061] a first mapping relationship establishing module 43, configured to determine a second coordinate of the target intersection point in the calibration block coordinate system according to the target distance and the design size of the calibration block, and to establish a first mapping relationship between the scanner coordinate system and the calibration block coordinate system according to the first coordinate and the second coordinate;

[0062] a second mapping relationship establishing module 44, configured to determine a third coordinate of each calibration hole in the world coordinate system by mechanical alignment, and establish a second mapping relationship between the calibration block coordinate system and the world coordinate system based on the third coordinate and a fourth coordinate of each calibration hole in the calibration block coordinate system;

[0063] The third mapping relationship determining module 45 is configured to determine a third mapping relationship between the scanner coordinate system and the world coordinate system according to the first mapping relationship and the second mapping relationship.

[0064] Based on the above technical solution, optionally, the target intersection includes the intersection between the first straight line segment and the second straight line segment, the intersection between the second straight line segment and the fifth straight line segment, the intersection between the fifth straight line segment and the sixth straight line segment, and the intersection between the third straight line segment and the fourth straight line segment.

[0065] The three-dimensional laser scanning calibration device provided in the embodiment of the present invention can execute the three-dimensional laser scanning calibration method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0066] It is worth noting that in the embodiment of the above-mentioned three-dimensional laser scanning calibration device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0067] Example 4

[0068] Figure 5 The structural diagram of the computer device provided for the fourth embodiment of the present invention shows a block diagram of an exemplary computer device suitable for implementing the embodiments of the present invention. Figure 5The computer device shown is only an example and should not limit the functionality and scope of use of the embodiments of the present invention. Figure 5 As shown, the computer device includes a processor 51, a memory 52, an input device 53 and an output device 54; the number of processors 51 in the computer device can be one or more. Figure 5 Taking a processor 51 as an example, the processor 51, memory 52, input device 53 and output device 54 in the computer device can be connected through a bus or other means. Figure 5 The bus connection is taken as an example.

[0069] The memory 52, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the 3D laser scanning calibration method in the embodiments of the present invention (for example, the laser line projection module 41, the target distance determination module 42, the first mapping relationship establishment module 43, the second mapping relationship establishment module 44, and the third mapping relationship determination module 45 in the 3D laser scanning calibration device). The processor 51 executes the software programs, instructions, and modules stored in the memory 52 to execute various functional applications and data processing of the computer device, thereby implementing the above-mentioned 3D laser scanning calibration method.

[0070] The memory 52 may primarily include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function; the data storage area may store data generated based on the use of the computer device. Furthermore, the memory 52 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state memory device. In some instances, the memory 52 may further include memory remotely located relative to the processor 51, and such remote memory may be connected to the computer device via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0071] The input device 53 can be used to obtain coordinate data from the 3D laser scanner and generate key signal input related to user settings and function control of the computer device. The output device 54 can include a display screen and other devices to display processing results to the user.

[0072] Example 5

[0073] The fifth embodiment of the present invention further provides a storage medium containing computer-executable instructions. When the computer-executable instructions are executed by a computer processor, the computer-executable instructions are used to perform a three-dimensional laser scanning calibration method. The method includes:

[0074] Projecting a laser line onto the calibration block using a three-dimensional laser scanner, and sequentially forming a first straight line segment, a second straight line segment, a third straight line segment, a fourth straight line segment, a fifth straight line segment, and a sixth straight line segment on the upper surface of the base plate, the first side surface of the triangular pyramid, the first inclined surface, the second inclined surface, the second side surface of the triangular pyramid, and the upper surface of the base plate; wherein the first side surface and the second side surface are symmetrical about the symmetry plane;

[0075] acquiring, by the three-dimensional laser scanner, first coordinates of target intersection points between the first straight line segment, the second straight line segment, the third straight line segment, the fourth straight line segment, the fifth straight line segment, and the sixth straight line segment in a scanner coordinate system, and determining target distances between the target intersection points based on the first coordinates;

[0076] determining a second coordinate of the target intersection point in the calibration block coordinate system according to the target distance and the design size of the calibration block, and establishing a first mapping relationship between the scanner coordinate system and the calibration block coordinate system according to the first coordinate and the second coordinate;

[0077] Determining a third coordinate of each calibration hole in the world coordinate system by mechanical alignment, and establishing a second mapping relationship between the calibration block coordinate system and the world coordinate system according to the third coordinate and a fourth coordinate of each calibration hole in the calibration block coordinate system;

[0078] A third mapping relationship between the scanner coordinate system and the world coordinate system is determined according to the first mapping relationship and the second mapping relationship.

[0079] The storage medium can be any of various types of memory devices or storage devices. The term "storage medium" is intended to include: installation media, such as CD-ROMs, floppy disks, or tape devices; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (such as hard disks or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the computer system in which the program is executed, or may be located in a different second computer system that is connected to the computer system via a network (such as the Internet). The second computer system may provide program instructions to the computer for execution. The term "storage medium" may include two or more storage media that may reside in different locations (e.g., in different computer systems connected via a network). The storage medium may store program instructions (e.g., embodied as a computer program) that may be executed by one or more processors.

[0080] Of course, the storage medium containing computer-executable instructions provided in an embodiment of the present invention is not limited to the method operations described above, and can also execute related operations in the three-dimensional laser scanning calibration method provided in any embodiment of the present invention.

[0081] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0082] Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0083] Through the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented with the help of software and necessary general-purpose hardware, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory (FLASH), hard disk or optical disk, etc., including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0084] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the concept of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A three-dimensional laser scanning calibration method, characterized in that: Applicable to a three-dimensional laser scanning calibration block, the three-dimensional laser scanning calibration block includes a base plate and a calibration body; the calibration body is formed by a triangular pyramid through horizontal grooves along the symmetry plane of the triangular pyramid, and the symmetry plane is perpendicular to the upper surface of the base plate, and the bottom surface of the triangular pyramid is in contact with the upper surface of the base plate; after the grooves are formed, a first inclined surface and a second inclined surface are formed on the triangular pyramid, the first inclined surface and the second inclined surface are symmetrical about the symmetry plane, and the intersection of the first inclined surface and the second inclined surface is located on the bottom surface of the triangular pyramid; the area outside the bottom surface of the triangular pyramid in the upper surface of the base plate also includes a plurality of calibration holes, and the positions of the plurality of calibration holes are linearly independent; The method comprises: Projecting a laser line onto the calibration block using a three-dimensional laser scanner, and sequentially forming a first straight line segment, a second straight line segment, a third straight line segment, a fourth straight line segment, a fifth straight line segment, and a sixth straight line segment on the upper surface of the base plate, the first side surface of the triangular pyramid, the first inclined surface, the second inclined surface, the second side surface of the triangular pyramid, and the upper surface of the base plate; wherein the first side surface and the second side surface are symmetrical about the symmetry plane; acquiring, by the three-dimensional laser scanner, first coordinates of target intersection points between the first straight line segment, the second straight line segment, the third straight line segment, the fourth straight line segment, the fifth straight line segment, and the sixth straight line segment in a scanner coordinate system, and determining target distances between the target intersection points based on the first coordinates; determining a second coordinate of the target intersection point in the calibration block coordinate system according to the target distance and the design size of the calibration block, and establishing a first mapping relationship between the scanner coordinate system and the calibration block coordinate system according to the first coordinate and the second coordinate; Determining a third coordinate of each calibration hole in the world coordinate system by mechanical alignment, and establishing a second mapping relationship between the calibration block coordinate system and the world coordinate system according to the third coordinate and a fourth coordinate of each calibration hole in the calibration block coordinate system; A third mapping relationship between the scanner coordinate system and the world coordinate system is determined according to the first mapping relationship and the second mapping relationship.

2. The three-dimensional laser scanning calibration method according to claim 1, characterized in that: The target intersection points include an intersection point between the first straight line segment and the second straight line segment, an intersection point between the second straight line segment and the fifth straight line segment, an intersection point between the fifth straight line segment and the sixth straight line segment, and an intersection point between the third straight line segment and the fourth straight line segment.

3. A three-dimensional laser scanning calibration device, characterized in that: Applicable to a three-dimensional laser scanning calibration block, the three-dimensional laser scanning calibration block includes a base plate and a calibration body; the calibration body is formed by a triangular pyramid through horizontal grooves along the symmetry plane of the triangular pyramid, and the symmetry plane is perpendicular to the upper surface of the base plate, and the bottom surface of the triangular pyramid is in contact with the upper surface of the base plate; after the grooves are formed, a first inclined surface and a second inclined surface are formed on the triangular pyramid, the first inclined surface and the second inclined surface are symmetrical about the symmetry plane, and the intersection of the first inclined surface and the second inclined surface is located on the bottom surface of the triangular pyramid; the area outside the bottom surface of the triangular pyramid in the upper surface of the base plate also includes a plurality of calibration holes, and the positions of the plurality of calibration holes are linearly independent; The device comprises: a laser line projection module, configured to project a laser line onto the calibration block through a three-dimensional laser scanner, and sequentially form a first straight line segment, a second straight line segment, a third straight line segment, a fourth straight line segment, a fifth straight line segment, and a sixth straight line segment on the upper surface of the base plate, the first side surface of the triangular pyramid, the first inclined surface, the second inclined surface, the second side surface of the triangular pyramid, and the upper surface of the base plate; wherein the first side surface and the second side surface are symmetrical about the symmetry plane; a target distance determination module, configured to obtain, by the three-dimensional laser scanner, first coordinates of target intersection points between the first straight line segment, the second straight line segment, the third straight line segment, the fourth straight line segment, the fifth straight line segment, and the sixth straight line segment in a scanner coordinate system, and determine a target distance between each of the target intersection points based on the first coordinates; a first mapping relationship establishing module, configured to determine a second coordinate of the target intersection point in the calibration block coordinate system according to the target distance and the design size of the calibration block, and to establish a first mapping relationship between the scanner coordinate system and the calibration block coordinate system according to the first coordinate and the second coordinate; a second mapping relationship establishing module, configured to determine a third coordinate of each calibration hole in the world coordinate system by mechanical alignment, and establish a second mapping relationship between the calibration block coordinate system and the world coordinate system according to the third coordinate and a fourth coordinate of each calibration hole in the calibration block coordinate system; The third mapping relationship determining module is configured to determine a third mapping relationship between the scanner coordinate system and the world coordinate system according to the first mapping relationship and the second mapping relationship.

4. A computer device, characterized in that: include: one or more processors; a memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the three-dimensional laser scanning calibration method as described in any one of claims 1-2.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the three-dimensional laser scanning calibration method as described in any one of claims 1-2 is implemented.

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