Three-dimensional scanning method, device and system for use in microgravity environment

Abstract

The present application relates to a three-dimensional scanning method, device and system for use in a microgravity environment, wherein the method includes: establishing a marker point library based on multiple groups of the first marker point data on the object to be measured in the microgravity environment; judging the motion state of the object to be measured in the microgravity environment based on the initial velocity of the object to be measured; when the object to be measured is in a hovering state or a moving state, acquiring the surface image of the object to be measured based on the initial velocity; and splicing the surface image according to the marker point library and the second marker point data in the surface image to obtain three-dimensional target data. Through this application, the problem that the traditional three-dimensional scanning method in the related art is limited by the motion state of the object to be measured, resulting in the inability to complete the scanning of the object to be measured in the microgravity environment is solved; the scanning of the object to be measured in the microgravity environment is achieved, and the scanning efficiency can be guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of three-dimensional scanning technology, and in particular to a three-dimensional scanning method, device and system applied in a microgravity environment. Background Art

[0002] With the development of manned spaceflight technology, establishing a long-term living and working environment in outer space has become the focus of human spaceflight. The traditional 3D scanning method is to perform 3D scanning on the object being measured in a static state to ensure the scanning accuracy of the 3D scanning. However, the motion state of the object being measured cannot be determined in a microgravity environment, resulting in the inability of the traditional 3D scanning method to complete the scanning of the object being measured in a microgravity environment.

[0003] Currently, in the relevant technologies, the traditional three-dimensional scanning method is limited by the motion state of the object being measured, resulting in the inability to complete the scanning of the object being measured in a microgravity environment. No effective solution has been proposed yet. Summary of the invention

[0004] In this embodiment, a three-dimensional scanning method, device and system for application in a microgravity environment are provided to solve the problem that the traditional three-dimensional scanning method in the related art is limited by the motion state of the object to be measured, resulting in the inability to complete the scanning of the object to be measured in a microgravity environment.

[0005] In a first aspect, a three-dimensional scanning method applied in a microgravity environment is provided in this embodiment, which is applicable to a three-dimensional scanning system; the method comprises:

[0006] Acquire multiple sets of first marking point data on the measured object in a microgravity environment, and establish a marking point library based on the multiple sets of first marking point data;

[0007] Determining the motion state of the object under test in the microgravity environment based on the initial velocity of the object under test;

[0008] When the object to be measured is in a hovering state or a moving state, a surface image of the object to be measured is obtained based on the initial velocity; and according to the marker point library and the second marker point data in the surface image, the surface image is spliced ​​to obtain three-dimensional target data.

[0009] In some embodiments, when the object to be measured is in a hovering state, a surface image of the object to be measured is obtained based on the initial velocity; and the surface image is spliced ​​according to the marker library and the second marker data in the surface image to obtain three-dimensional target data, including:

[0010] When the object to be measured is in a hovering state, controlling the scanning speed of the three-dimensional scanning system around the object to be measured to meet the initial speed, and scanning the object to be measured to obtain a surface image of the object to be measured;

[0011] Using the first marking point data in the marking point library to perform marking point optimization on the second marking point data in the surface image;

[0012] Based on the optimized topological structure of the second marking point data, the surface image is spliced ​​to obtain three-dimensional target data.

[0013] In some embodiments, when the object to be measured is in a moving state, a surface image of the object to be measured is obtained based on the initial speed; and according to the marker library and the second marker data in the surface image, the surface image is spliced ​​to obtain three-dimensional target data, including:

[0014] When the object to be measured is in a moving state, determining a motion trajectory of the object to be measured according to the initial speed and the first marking point data in the marking point library, and setting key path point parameters in the motion trajectory;

[0015] Controlling the scanning speed of the three-dimensional scanning system around the object to be measured to meet the initial speed, and scanning the object to be measured to obtain a surface image of the object to be measured;

[0016] Using the first marking point data in the marking point library to perform marking point optimization on the second marking point data in the surface image;

[0017] Based on the optimized topological structure of the second marking point data and the key path point parameters in the motion trajectory, the surface image is spliced ​​to obtain three-dimensional target data.

[0018] In some embodiments, the step of acquiring a plurality of sets of first marking point data on the object under test in a microgravity environment and establishing a marking point library based on the plurality of sets of the first marking point data includes:

[0019] Scanning the object under test in a microgravity environment from various directions to obtain multiple sets of first marking point data;

[0020] In the world coordinate system, a topological structure is determined based on common marking points between two groups of the first marking point data, and multiple groups of the first marking point data are spliced ​​through the topological structure to establish a marking point library.

[0021] In some embodiments, judging the motion state of the object under test in a microgravity environment based on the initial velocity of the object under test includes:

[0022] If the initial motion speed in the initial speed of the measured object is 0, the measured object in the microgravity environment is in a hovering state;

[0023] If the initial motion speed in the initial speed of the measured object is not 0, the measured object in the microgravity environment is in a moving state.

[0024] In some embodiments, the method further comprises:

[0025] Acquiring a reference image of a standard device; the standard device is arranged around the object to be measured, and the standard device moves synchronously with the object to be measured;

[0026] The real-time accuracy of the three-dimensional scanning system is determined according to the reference image and preset standard parameters.

[0027] In some embodiments, the method further comprises:

[0028] Performing feature recognition on the surface image to obtain marking point data and laser line data;

[0029] Whether the laser line data is valid is determined based on whether the marking point data and the laser line data overlap.

[0030] In a second aspect, a three-dimensional scanning device for use in a microgravity environment is provided in this embodiment, which is suitable for a three-dimensional scanning system; the device includes: an acquisition module, a judgment module, and a splicing module;

[0031] The acquisition module is used to acquire multiple groups of first marking point data on the measured object in the microgravity environment, and establish a marking point library based on the multiple groups of first marking point data;

[0032] The determination module is used to determine the motion state of the object under test in the microgravity environment based on the initial velocity of the object under test;

[0033] The splicing module is used to obtain the surface image of the object under test based on the initial velocity when the object under test is in a hovering state or a moving state; and to splice the surface image according to the marker point library and the second marker point data in the surface image to obtain three-dimensional target data.

[0034] In a third aspect, a three-dimensional scanning system is provided in this embodiment, including: a scanning device and a processing device;

[0035] The scanning device is connected to the processing device and is used to scan the object under test in the microgravity environment;

[0036] The processing device includes a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the three-dimensional scanning method applied in a microgravity environment as described in the first aspect above.

[0037] In a fourth aspect, in this embodiment, a storage medium is provided, on which a computer program is stored. When the program is executed by a processor, the three-dimensional scanning method applied in a microgravity environment described in the first aspect above is implemented.

[0038] Compared with the related art, the three-dimensional scanning method, device and system for microgravity environment provided in the present embodiment obtain multiple groups of first marking point data on the measured object in the microgravity environment, and establish a marking point library based on the multiple groups of first marking point data; based on the initial velocity of the measured object, the motion state of the measured object in the microgravity environment is judged; when the measured object is in a hovering state or a moving state, based on the initial velocity, the surface image of the measured object is obtained; and according to the marking point library and the second marking point data in the surface image, the surface image is spliced ​​to obtain three-dimensional target data; the problem that the traditional three-dimensional scanning method in the related art is limited by the motion state of the measured object, resulting in the inability to complete the scanning of the measured object in the microgravity environment is solved; the scanning of the measured object in the microgravity environment is realized, and the scanning efficiency can be guaranteed.

[0039] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0041] Figure 1 is a structural schematic diagram of a three-dimensional scanning system provided in one embodiment of the present application;

[0042] Figure 2 is a flow chart of a three-dimensional scanning method applied in a microgravity environment provided by an embodiment of the present application;

[0043] Figure 3 It is a structural block diagram of a three-dimensional scanning device applied in a microgravity environment provided by an embodiment of the present application.

[0044] In the figure: 10, scanning device; 20, processing device; 210, acquisition module; 220, judgment module; 230, splicing module. DETAILED DESCRIPTION

[0045] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0046] Unless otherwise defined, the technical terms or scientific terms involved in this application shall have the general meaning understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the", "these" and the like in this application do not represent quantitative restrictions, and they can be singular or plural. The terms "include", "comprise", "have" and any variants thereof involved in this application are intended to cover non-exclusive inclusions; for example, a process, method and system, product or device comprising a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether directly or indirectly. The "multiple" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone. Usually, the character " / " indicates that the objects associated with each other are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0047] Figure 1 is a schematic diagram of an exemplary three-dimensional scanning system according to some embodiments of the present invention. Figure 1 As shown, the three-dimensional scanning system includes: a scanning device 10 and a processing device 20;

[0048] The scanning device 10 is connected to the processing device 20 and is used to scan the object under test in the microgravity environment;

[0049] The processing device 20 includes a memory and a processor. The memory stores a computer program. The processor is configured to run the computer program to execute the steps of the three-dimensional scanning method applied in a microgravity environment.

[0050] The scanning device 10 includes a housing and a scanning body; a handle is provided on the outside of the housing, and the handle is streamlined, and the streamlined shape of the handle conforms to the ergonomic design. There are hollow openings on both sides of the housing, which can not only dissipate heat, but also reduce the weight of the scanning device 10, making it convenient for handheld scanning operations.

[0051] A number of marking points are also provided on the housing of the scanning device 10; the marking points can be identified by the tracking device to achieve a wide range of scanning and improve the scanning accuracy.

[0052] Among them, the processing device 20 can be a computer in the space station or a computer on the ground. If it is a computer on the ground, then the relevant data needs to be downloaded to the ground and processed by the computer on the ground. The processing device 20 may include one or more processors and a memory for storing data, wherein the processor may include but is not limited to a processing device 20 such as a microprocessor MCU or a programmable logic device FPGA. The memory can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the three-dimensional scanning method applied in the microgravity environment in this embodiment. The processor 1 executes various functional applications and data processing by running the computer program stored in the memory, that is, implementing the above method. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0053] In some of these embodiments, Figure 1 On the basis of, the three-dimensional scanning system also includes a calibration device;

[0054] The calibration device is connected to the processing device 20 and is used to calibrate the three-dimensional scanning system based on the calibration plate before performing three-dimensional scanning.

[0055] Generally, the 3D scanning system will be calibrated based on the calibration plate before performing a 3D scan. Among them, the calibration plate is a geometric model with a fixed-spacing pattern array. The 3D scanning system captures the image of the calibration plate, and then calculates the calibration algorithm to obtain the geometric model of the captured image, thereby obtaining high-precision measurement and reconstruction results, effectively correcting the lens distortion and improving the scanning accuracy. The calibration plate can be in many forms. For example: the calibration plate includes irregularly arranged marking points and the calibration plate body. Four fixings are provided at the four corners of the calibration plate body. The fixings can be nuts or other parts that can play a fixing role, so as to facilitate the fixing of the calibration plate in the storage cabinet in the space station to prevent the calibration plate from flying around in the space station. In addition, fixings are provided on both sides of the calibration plate body, which also play a fixing role; thereby meeting the storage requirements of the space station.

[0056] In some of these embodiments, Figure 1 On the basis of, the 3D scanning system also includes standard devices;

[0057] The standard device is arranged around the object to be measured, and the standard device moves synchronously with the object to be measured.

[0058] Specifically, standard devices include but are not limited to standard spheres, standard polygons, etc. The standard devices are arranged around the object to be measured, and the standard devices move synchronously with the object to be measured, and the movement speed of the standard devices is the same as that of the object to be measured. During the scanning process of the scanning device 10, the standard devices will be scanned together; the processing device 20 calculates the parameters of the scanned standard devices in real time, and compares them with the standard data of the standard devices to verify the real-time accuracy of the three-dimensional scanning system. If it is detected that the real-time accuracy of the three-dimensional scanning system does not meet the preset accuracy threshold in a certain path, real-time recording is performed; and after the object to be measured completes the motion trajectory, the three-dimensional scanning system is recalibrated, and the path with insufficient accuracy is re-scanned; without the need to check the three-dimensional scanning data, it can quickly determine whether the three-dimensional scanning data is low in accuracy, so as to re-scan the corresponding path to avoid the mixing of low-precision data and affect the three-dimensional scanning results.

[0059] In some of these embodiments, Figure 1 On the basis of, the three-dimensional scanning system also includes a projector and a fill light; the projector and the fill light are connected to the processing device 20, the projector is used to project a laser line onto the surface of the object to be measured; the fill light is used to fill light for the object to be measured or the marking point according to the environmental conditions.

[0060] In some of these embodiments, Figure 1 On the basis of, the three-dimensional scanning system also includes a camera, which can be a binocular camera for acquiring the surface image of the object being measured.

[0061] In some of these embodiments, Figure 1 On the basis of , the 3D scanning system also includes storage cabinets;

[0062] The storage cabinet is used to store the scanning device 10 and the processing device 20 .

[0063] Specifically, the storage cabinet can be an online cabinet. In addition to storing the scanning device 10 and the processing device 20, it can also store other related accessories such as standard devices and calibration boards. These accessories are provided with fixings that match the storage cabinet. When these accessories need to be in a static state or are stored, they can be fixed in the storage cabinet.

[0064] In this embodiment, a three-dimensional scanning method applied in a microgravity environment is provided. Figure 2 is a flow chart of the three-dimensional scanning method applied in a microgravity environment of this embodiment, which is applicable to a three-dimensional scanning system; Figure 2 As shown, the process includes the following steps:

[0065] Step S210, acquiring multiple sets of first marking point data on the object under test in a microgravity environment, and establishing a marking point library based on the multiple sets of first marking point data;

[0066] Step S220, determining the motion state of the object under test in the microgravity environment based on the initial velocity of the object under test;

[0067] Step S230, when the object to be measured is in a hovering state or a moving state, a surface image of the object to be measured is obtained based on the initial velocity; and the surface image is spliced ​​according to the marker point library and the second marker point data in the surface image to obtain three-dimensional target data.

[0068] Specifically, microgravity, also known as zero gravity, is not generated by the earth's gravity, but is caused by factors such as the residual atmosphere in space. In a microgravity environment in a space station, it means that if no external force is applied, objects in the space station will maintain approximately uniform linear motion. Since the traditional 3D scanning method is to perform 3D scanning on the object being measured in a stationary state to ensure the scanning accuracy of the 3D scanning. Since the motion state of the object being measured in a microgravity environment cannot be determined, the traditional 3D scanning method cannot complete the scanning of the object being measured in a microgravity environment.

[0069] An appropriate number of marking points are set on the object to be measured, and the marking points can be reflective marking points. The appropriate number of marking points are at least four common marking points in each group of first marking point data and other groups of first marking point data; for example: when a surface image is taken each time the object to be measured is scanned, any surface image in the plurality of surface images has at least four common marking points with at least one surface image in the remaining surface images.

[0070] The above method can be considered as a scan in two separate parts.

[0071] The first part is the pre-scanning stage: in this stage, step S210 is executed to scan only the marking points on the object to be measured to obtain multiple sets of first marking point data, and a marking point library is established based on the multiple sets of first marking point data. For example, if the marking point is an uncoded marking point, the marking point library can be established based on the same or similar topological structure between the multiple sets of first marking point data. If the marking point is a coded marking point, the marking point library can be established based on the marking point coding data between the multiple sets of first marking point data.

[0072] The second part is the formal scanning stage: this stage determines the motion state of the object to be measured based on the initial velocity of the object to be measured, and performs corresponding processing based on different motion states. This stage scans the marked points and the surface data of the object to be measured; it can be considered that the surface image obtained by the formal scanning stage contains the surface data and the second marked point data.

[0073] Based on the initial speeds of the above different motion states, the surface image of the object to be measured is obtained; and according to the marking point library and the second marking point data in the surface image, the surface image is spliced ​​to obtain three-dimensional target data.

[0074] The initial velocity includes an initial motion velocity and a rotation velocity; the initial motion velocity is used to determine whether the object being measured is moving, and the rotation velocity is used to determine whether the object being measured is rotating.

[0075] The motion state of the measured object is divided into a hovering state and a moving state. It can be considered that: if the initial motion speed in the initial velocity of the measured object is 0, the measured object in the microgravity environment is in a hovering state; if the initial motion speed in the initial velocity of the measured object is not 0, the measured object in the microgravity environment is in a moving state.

[0076] Among them, the hovering state is divided into a hovering stationary state and a hovering rotating state; the hovering stationary state is that the initial movement speed is 0 and the initial rotation speed is 0; the hovering rotating state is that the initial movement speed is 0 and the initial rotation speed is not 0.

[0077] Among them, the moving state is divided into a moving stationary state and a moving rotating state; the moving stationary state is that the initial moving speed is not 0 and the initial rotation speed is 0; the moving rotating state is that the initial moving speed is not 0 and the initial rotation speed is not 0.

[0078] It should be noted that the motion state of the measured object is relative to the motion state of the space station. In general, the space station is assumed to be stationary. The hovering stationary state is the state in which the measured object is absolutely stationary relative to the space station; the moving stationary state is the state in which the measured object is moving but not rotating relative to the space station.

[0079] Through the above steps, a marking point library is first established based on multiple groups of first marking point data as a reference for stitching and comparison; then, based on the initial speed of the object under test in a hovering state or a moving state, the surface image of the object under test is obtained to avoid the existence of problems such as incomplete surface image acquisition under different motion states; then, according to the marking point library and the second marking point data in the surface image, the surface image is stitched to obtain three-dimensional target data; thereby solving the problem that the traditional three-dimensional scanning method in the related art is limited by the motion state of the object under test, resulting in the inability to complete the scanning of the object under test in a microgravity environment; the scanning of the object under test in a microgravity environment is achieved, and the scanning efficiency can be guaranteed.

[0080] The specific steps of step S230 are different depending on the motion state of the object being measured.

[0081] In some of the embodiments, when the object to be measured is in a hovering state, the surface image of the object to be measured is obtained based on the initial velocity in step S230; and the surface image is spliced ​​according to the marker library and the second marker data in the surface image to obtain the three-dimensional target data, including the following steps:

[0082] When the object to be measured is in a hovering state, the three-dimensional scanning system is controlled to scan around the object to be measured at a speed that satisfies an initial speed, and the object to be measured is scanned to obtain a surface image of the object to be measured;

[0083] Using the first marking point data in the marking point library to optimize the second marking point data in the surface image;

[0084] Based on the optimized topological structure of the second marker point data, the surface image is spliced ​​to obtain three-dimensional target data.

[0085] Specifically, the hovering state is divided into a hovering static state and a hovering rotating state; in both states, the scanning speed of the 3D scanning system around the object to be measured must be controlled to meet the initial speed. Here, it is mainly required to control the rotation speed of the 3D scanning system around the object to be measured to be greater than the rotation speed in the initial speed of the object to be measured, so as to ensure that all surface images of the object to be measured can be scanned. For example: you can scan along the direction of the hovering rotation of the object to be measured;

[0086] When the scan starts, the projector projects a laser line onto the surface of the object to be measured, and the fill light fills the mark point with light; the two cameras in the three-dimensional scanning system simultaneously capture the surface image of the object to be measured, and the corresponding first mark point data of the second mark point data in the acquired surface image are searched in the mark point library, and the mark point optimization is performed on the second mark point data in the surface image using the first mark point data in the mark point library; based on the topological structure of the optimized second mark point data, the surface image is spliced ​​to obtain the three-dimensional target data.

[0087] Since the second marker point data is obtained together with the laser line data during the scanning process, the accuracy of the second marker point data obtained directly is not enough; therefore, the first marker point data in the marker point library can be used to optimize the second marker point data in the surface image, thereby improving the accuracy of the second marker point data. The marker point optimization here can be based on the marker point data obtained after the marker point is reconstructed by the camera monocular or binocular. The marker point data is the data of three-dimensional coordinates.

[0088] Among them, the marking point data (including the first marking point data and the second marking point data) in each surface image constitute a topological structure. For example: taking each marking point in the marking point data as the center, the distance, angle and other relationships between the marking point and other marking points are calculated, so as to determine the topological structure. Take surface image a and surface image b as examples: there are 6 marking points in surface image a, and the corresponding marking point data are a1 to a6 respectively; select a1 as the center, calculate the distance, angle and other relationships between a1 and a2 to a6; then select a2 to a6 as the center in turn, and calculate the distance, angle and other relationships between each center and other marking points respectively; thus forming a topological structure. There are 6 marking points in surface image b, and the corresponding marking point data are b1 to b6 respectively; select b1 as the center, calculate the distance, angle and other relationships between b1 and b2 to b6; then select b2 to b6 as the center in turn, and calculate the distance, angle and other relationships between each center and other marking points respectively, so as to form a topological structure. All the topological structures in the surface image a and all the topological structures in the surface image b are compared one by one, and the marking points with similarity higher than or equal to the preset threshold are determined as matching marking points to determine the corresponding relationship of the three-dimensional coordinates of the matching marking points; then based on the corresponding relationship of the three-dimensional coordinates of the marking points, the transformation matrix between the camera coordinate system where the selected surface image and any surface image in the remaining surface images are located is determined; based on the transformation matrix, the three-dimensional coordinates of the reconstructed marking points of any surface image in the remaining surface images are transformed into the world coordinate system; thereby completing the splicing of the surface images to obtain three-dimensional target data.

[0089] In other embodiments, if the marking points are coded marking points, then the optimized splicing of the marking points may be achieved based on a coded marking point splicing algorithm, which will not be elaborated in detail.

[0090] In some of the embodiments, when the object to be measured is in a moving state, in step S230, based on the initial velocity, a surface image of the object to be measured is obtained; and according to the marker library and the second marker point data in the surface image, the surface image is spliced ​​to obtain three-dimensional target data, including the following steps:

[0091] When the object to be measured is in a moving state, the motion trajectory of the object to be measured is determined according to the initial speed and the first marking point data in the marking point library, and the key path point parameters in the motion trajectory are set;

[0092] Controlling the scanning speed of the three-dimensional scanning system around the object to be measured to meet the initial speed, and scanning the object to be measured to obtain a surface image of the object to be measured;

[0093] Using the first marking point data in the marking point library to optimize the second marking point data in the surface image;

[0094] Based on the optimized topological structure of the second marker point data and the key path point parameters in the motion trajectory, the surface image is spliced ​​to obtain three-dimensional target data.

[0095] Specifically, the motion trajectory of the object under test is calculated based on the data in the pre-scanning stage. The three-dimensional coordinates of the marker points on the surface of the object under test at different positions in space are calculated based on the initial speed in the pre-scanning stage and the first marker point data in the marker point library. The motion trajectory of the object under test can be calculated by arranging these three-dimensional coordinates.

[0096] Set the key path points in the motion trajectory and record the key path point parameters of each key path point. Among them, the key path points include but are not limited to the starting point of the measured object, the end point of the movement, and a series of movement process points in the middle; and record the real-time key path point parameters of each key path point, which include but are not limited to three-dimensional coordinates, movement direction and key point movement speed.

[0097] The moving state is divided into a moving stationary state and a moving rotating state; in both states, the scanning speed of the three-dimensional scanning system around the object to be measured must be controlled to meet the initial speed. Here, it is mainly required to control the rotation speed of the three-dimensional scanning system around the object to be measured to be greater than the rotation speed in the initial speed of the object to be measured; and the three-dimensional scanning system can follow the movement of the object to be measured. For example: given an initial speed v1 of the object to be measured, so that it moves in an approximately uniform straight line at v1, the three-dimensional scanning system can also move around the object to be measured from the left side of the object to be measured at a speed slightly greater than v1, and complete the entire scan from the three-dimensional scanning system scanning to the right side of the three-dimensional scanning system; thereby ensuring that all surface images of the object to be measured can be scanned. If a specific area on the object to be measured is to be scanned, the three-dimensional scanning system can also move at a speed equal to or less than v1; thereby ensuring that all surface images of the object to be measured can be scanned.

[0098] Scanning begins at the starting point of the movement, the projector projects a laser line onto the surface of the object being measured, and the fill light fills in the marking point; the two cameras in the three-dimensional scanning system simultaneously capture the surface image of the object being measured, and the corresponding first marking point data is searched in the marking point library for the second marking point data in the acquired surface image, and the marking point is optimized using the first marking point data in the marking point library; the surface image is spliced ​​based on the topological structure of the optimized second marking point data and the key path point parameters in the motion trajectory to obtain the three-dimensional target data. The key path point parameters in the motion trajectory and the topological structure of the optimized second marking point data are used to determine the position of each marking point in the three-dimensional scan in space, thereby improving the accuracy of splicing the surface image.

[0099] In order to reduce the consumption of resources in the space station, when the motion trajectory of the object to be measured has been determined, after completing the splicing of the surface image scanned at the motion starting point and the surface image of the next frame, the fill light around the camera can be turned off, and combined with the existing mark point library, the key path point parameters of the object to be measured at the next key path point and the features in the surface image for splicing. Repeat the above steps until all surface images are spliced. Since the subsequent splicing uses the features in the surface image for splicing, that is, no fill light is needed, resources in the space station can be saved.

[0100] In some of the embodiments, in the pre-scanning stage, the step S210 of acquiring multiple sets of first marking point data on the object under test in the microgravity environment and establishing a marking point library based on the multiple sets of first marking point data includes the following steps:

[0101] Scanning the object under test in a microgravity environment from various directions to obtain multiple sets of first marking point data;

[0102] In the world coordinate system, a topological structure is determined based on common marking points between two groups of first marking point data, and multiple groups of first marking point data are spliced ​​through the topological structure to establish a marking point library.

[0103] Specifically, the fill light around the camera in the three-dimensional scanning system is turned on according to the environmental conditions, without opening a projector; the object to be measured in the microgravity environment is scanned from various directions to obtain multiple sets of first marking point data corresponding to the marking points, which are marked as 1, 2, 3 to n, respectively, where n represents the nth set of first marking point data obtained at the nth direction for the nth time. Then, multiple sets of first marking point data are spliced ​​and unified in the world coordinate system to obtain multiple first marking point data, and a marking point library is established.

[0104] Specifically, according to the topological structure of the three-dimensional coordinates in the first marker point data, determine the transformation matrix between the camera coordinate system where the selected first marker point data and any first marker point data in the remaining first marker point data are located, and based on the transformation matrix, transform the reconstructed three-dimensional coordinates of any first marker point data in the remaining first marker point data into the world coordinate system. For example, when the number of identical marker points in the first group of first marker point data and the second group of first marker point data is at least four, splicing can be performed through the topological structure of the identical marker points.

[0105] In some of the embodiments, the three-dimensional scanning method applied in a microgravity environment further includes the following steps:

[0106] Acquire a reference image of a standard device; the standard device is arranged around the object to be measured, and the standard device moves synchronously with the object to be measured;

[0107] Determine the real-time accuracy of the 3D scanning system based on the reference image and preset standard parameters.

[0108] Specifically, in the space station, an appropriate amount of standard devices can be set around the object to be measured, and the standard devices move synchronously with the object to be measured. During the scanning process, the standard device can also be photographed by the three-dimensional scanning system at the same time to obtain a reference image of the standard device. The real-time parameters of the standard device are calculated in real time based on the reference image, and the real-time parameters are compared with the preset standard parameters of the standard device to verify the real-time accuracy of the three-dimensional scanning system. If it is detected that the real-time accuracy of the three-dimensional scanning system does not meet the preset accuracy threshold in a certain path, real-time recording is performed; and after the object to be measured completes the motion trajectory, the three-dimensional scanning system is recalibrated, and the path with insufficient accuracy is re-scanned; without the need to check the three-dimensional scanning data, it can quickly determine whether the three-dimensional scanning data is low in accuracy, so as to re-scan the corresponding path to avoid the mixing of low-precision data and affect the three-dimensional scanning results.

[0109] In some of the embodiments, the three-dimensional scanning method applied in a microgravity environment further includes the following steps:

[0110] Perform feature recognition on the surface image to obtain marking point data and laser line data;

[0111] Whether the laser line data is valid is determined based on whether the marking point data and the laser line data overlap.

[0112] Specifically, during the scanning process, not all laser lines projected by the projector onto the surface of the object being measured are valid; the positional relationship between the laser line projected onto the surface of the object and the marking point is determined. If it is found that the laser line and the marking point coincide with each other, the projector can be controlled to dim the brightness of the laser line, and the laser line data that coincides with each other is marked as invalid data. The specific steps for determining whether the laser line data is invalid are: obtaining two surface images from two cameras respectively, performing feature recognition on the surface images, and obtaining marking point data and laser line data; determining whether the marking point data and the laser line data coincide with each other, if so, the laser line data is invalidated. This embodiment can further improve the accuracy of scanning.

[0113] It should be noted that the steps shown in the above process or the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0114] In this embodiment, a three-dimensional scanning device for use in a microgravity environment is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and those that have been described will not be repeated. The terms "module", "unit", "subunit", etc. used below can implement a combination of software and / or hardware for a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable. The modules involved below can be considered as components in a processing device.

[0115] Figure 3 is a structural block diagram of the three-dimensional scanning device for use in a microgravity environment according to this embodiment. Figure 3 As shown, the device includes: an acquisition module 210, a judgment module 220 and a splicing module 230;

[0116] An acquisition module 210 is used to acquire multiple sets of first marking point data on the measured object in a microgravity environment, and establish a marking point library based on the multiple sets of first marking point data;

[0117] A determination module 220, configured to determine the motion state of the object under test in the microgravity environment based on the initial velocity of the object under test;

[0118] The stitching module 230 is used to obtain the surface image of the object under test based on the initial velocity when the object under test is in a hovering state or a moving state; and stitch the surface image according to the marking point library and the second marking point data in the surface image to obtain three-dimensional target data.

[0119] Through the above-mentioned device, the problem that the traditional three-dimensional scanning method in the related technology is limited by the motion state of the object to be measured, resulting in the inability to complete the scanning of the object to be measured in a microgravity environment is solved; the scanning of the object to be measured in a microgravity environment is completed, and the scanning efficiency can be guaranteed.

[0120] In some of the embodiments, the stitching module 230 is further used to control the scanning speed of the three-dimensional scanning system around the object to be measured to meet the initial speed when the object to be measured is in a hovering state, and scan the object to be measured to obtain a surface image of the object to be measured;

[0121] Using the first marking point data in the marking point library to optimize the second marking point data in the surface image;

[0122] Based on the optimized topological structure of the second marker point data, the surface image is spliced ​​to obtain three-dimensional target data.

[0123] In some of the embodiments, the splicing module 230 is further used to determine the motion trajectory of the object under test according to the initial speed and the first marking point data in the marking point library when the object under test is in a moving state, and set the key path point parameters in the motion trajectory;

[0124] Controlling the scanning speed of the three-dimensional scanning system around the object to be measured to meet the initial speed, and scanning the object to be measured to obtain a surface image of the object to be measured;

[0125] Using the first marking point data in the marking point library to optimize the second marking point data in the surface image;

[0126] Based on the optimized topological structure of the second marker point data and the key path point parameters in the motion trajectory, the surface image is spliced ​​to obtain three-dimensional target data.

[0127] In some of the embodiments, the acquisition module 210 is further used to scan the object under test in the microgravity environment from various directions to obtain multiple sets of first marking point data;

[0128] In the world coordinate system, a topological structure is determined based on common marking points between two groups of first marking point data, and multiple groups of first marking point data are spliced ​​through the topological structure to establish a marking point library.

[0129] In some of the embodiments, the judging module 220 is further configured to determine that if the initial motion speed in the initial speed of the object under test is 0, the object under test in the microgravity environment is in a hovering state;

[0130] If the initial motion speed in the initial speed of the measured object is not 0, the measured object in the microgravity environment is in a moving state.

[0131] In some of the embodiments, the apparatus further comprises a real-time accuracy calculation module;

[0132] A real-time precision calculation module is used to obtain a reference image of a standard device; the standard device is arranged around the object to be measured, and the standard device moves synchronously with the object to be measured;

[0133] Determine the real-time accuracy of the 3D scanning system based on the reference image and preset standard parameters.

[0134] In some of the embodiments, the apparatus further comprises a data detection module;

[0135] A data detection module is used to perform feature recognition on the surface image to obtain marking point data and laser line data;

[0136] Whether the laser line data is valid is determined based on whether the marking point data and the laser line data overlap.

[0137] It should be noted that the above modules can be functional modules or program modules, and can be implemented by software or hardware. For modules implemented by hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0138] In addition, in combination with the three-dimensional scanning method applied in a microgravity environment provided in the above embodiments, a storage medium can also be provided in this embodiment to implement the three-dimensional scanning method applied in a microgravity environment. The storage medium stores a computer program; when the computer program is executed by the processor, any one of the three-dimensional scanning methods applied in a microgravity environment in the above embodiments is implemented.

[0139] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation modes, and will not be repeated in this embodiment.

[0140] It should be understood that the specific embodiments described herein are only used to explain the application, rather than to limit it. Based on the embodiments provided in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of this application.

[0141] Obviously, the drawings are only some examples or embodiments of the present application. For ordinary technicians in the field, the present application can also be applied to other similar situations based on these drawings without creative work. In addition, it is understandable that although the work done in this development process may be complicated and lengthy, for ordinary technicians in the field, certain changes in design, manufacturing or production based on the technical content disclosed in this application are only conventional technical means and should not be regarded as insufficient content disclosed in this application.

[0142] The term "embodiment" in this application refers to a specific feature, structure or characteristic described in conjunction with the embodiment that can be included in at least one embodiment of the present application. The appearance of this phrase in various locations in the specification does not necessarily mean the same embodiment, nor does it mean that it is mutually exclusive with other embodiments and is independent or optional. It is clearly or implicitly understood by those of ordinary skill in the art that the embodiments described in this application can be combined with other embodiments without conflict.

[0143] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of patent protection. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the attached claims.

Claims

1. A three-dimensional scanning method applied in a microgravity environment, characterized in that: Applicable to a three-dimensional scanning system; the method comprises: Acquire multiple sets of first marking point data on the measured object in a microgravity environment, and establish a marking point library based on the multiple sets of first marking point data; Determining the motion state of the object under test in the microgravity environment based on the initial velocity of the object under test; When the object to be measured is in a hovering state or a moving state, a surface image of the object to be measured is obtained based on the initial velocity; and according to the marker library and the second marker data in the surface image, the surface image is spliced ​​to obtain three-dimensional target data, which includes the following: When the object to be measured is in a hovering state, the scanning speed of the three-dimensional scanning system around the object to be measured is controlled to meet the initial speed, and the object to be measured is scanned to obtain the surface image of the object to be measured; the second marking point data in the surface image is optimized by using the first marking point data in the marking point library; the surface image is spliced ​​based on the topological structure of the optimized second marking point data to obtain three-dimensional target data; and, when the object to be measured is in a moving state, the motion trajectory of the object to be measured is determined according to the initial speed and the first marking point data in the marking point library, and the key path point parameters in the motion trajectory are set; the scanning speed of the three-dimensional scanning system around the object to be measured is controlled to meet the initial speed, and the object to be measured is scanned to obtain the surface image of the object to be measured; the second marking point data in the surface image is optimized by using the first marking point data in the marking point library; the surface image is spliced ​​based on the topological structure of the optimized second marking point data and the key path point parameters in the motion trajectory to obtain three-dimensional target data.

2. The three-dimensional scanning method in a microgravity environment according to claim 1, characterized in that: The step of acquiring a plurality of sets of first marking point data on the object under test in a microgravity environment and establishing a marking point library based on the plurality of sets of the first marking point data includes: Scanning the object under test in a microgravity environment from various directions to obtain multiple sets of first marking point data; In the world coordinate system, a topological structure is determined based on common marking points between two groups of the first marking point data, and multiple groups of the first marking point data are spliced ​​through the topological structure to establish a marking point library.

3. The three-dimensional scanning method in a microgravity environment according to claim 1, characterized in that: The step of determining the motion state of the object under test in the microgravity environment based on the initial velocity of the object under test includes: If the initial motion speed in the initial speed of the measured object is 0, the measured object in the microgravity environment is in a hovering state; If the initial motion speed in the initial speed of the measured object is not 0, the measured object in the microgravity environment is in a moving state.

4. The three-dimensional scanning method in a microgravity environment according to claim 1, characterized in that: The method further comprises: Acquiring a reference image of a standard device; the standard device is arranged around the object to be measured, and the standard device moves synchronously with the object to be measured; The real-time accuracy of the three-dimensional scanning system is determined according to the reference image and preset standard parameters.

5. The three-dimensional scanning method in a microgravity environment according to claim 1, characterized in that: The method further comprises: Performing feature recognition on the surface image to obtain marking point data and laser line data; Whether the laser line data is valid is determined based on whether the marking point data and the laser line data overlap.

6. A three-dimensional scanning device for use in a microgravity environment, characterized in that: Applicable to a three-dimensional scanning system; the device comprises: an acquisition module, a judgment module and a splicing module; The acquisition module is used to acquire multiple groups of first marking point data on the measured object in the microgravity environment, and establish a marking point library based on the multiple groups of first marking point data; The determination module is used to determine the motion state of the object under test in the microgravity environment based on the initial velocity of the object under test; The splicing module is used to obtain the surface image of the object under test based on the initial speed when the object under test is in a hovering state or a moving state; and splice the surface image according to the marker point library and the second marker point data in the surface image to obtain three-dimensional target data, which includes the following: When the object to be measured is in a hovering state, the scanning speed of the three-dimensional scanning system around the object to be measured is controlled to meet the initial speed, and the object to be measured is scanned to obtain the surface image of the object to be measured; the second marking point data in the surface image is optimized by using the first marking point data in the marking point library; the surface image is spliced ​​based on the topological structure of the optimized second marking point data to obtain three-dimensional target data; and, when the object to be measured is in a moving state, the motion trajectory of the object to be measured is determined according to the initial speed and the first marking point data in the marking point library, and the key path point parameters in the motion trajectory are set; the scanning speed of the three-dimensional scanning system around the object to be measured is controlled to meet the initial speed, and the object to be measured is scanned to obtain the surface image of the object to be measured; the second marking point data in the surface image is optimized by using the first marking point data in the marking point library; the surface image is spliced ​​based on the topological structure of the optimized second marking point data and the key path point parameters in the motion trajectory to obtain three-dimensional target data.

7. A three-dimensional scanning system, characterized in that: include: Scanning device and processing device; The scanning device is connected to the processing device and is used to scan the object under test in a microgravity environment; The processing device comprises a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps of the three-dimensional scanning method applied in a microgravity environment as described in any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the three-dimensional scanning method applied in a microgravity environment described in any one of claims 1 to 5 are implemented.

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