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

Abstract

The invention provides a three-dimensional scanning control system and method, an electronic device and a storage medium. The three-dimensional scanning control system comprises a processing device, a scanning device, a main optical tracking device and at least one slave optical tracking device. The scanning equipment responds to the scanning instruction, performs multi-group scanning on the to-be-detected object, and sends obtained multi-group scanning images to the processing equipment; the scanning equipment also sends a synchronizing signal to the optical tracking equipment during each group of scanning, the optical tracking equipment respectively responds to the synchronizing signal, carries out image acquisition on the scanning equipment, determines the position information of the scanning equipment according to the acquired image, and sends the position information to the processing equipment; and the processing equipment determines the three-dimensional data of each group according to each group of scanning images and performs splicing to obtain the three-dimensional data of the object to be detected. According to the invention, the scanning equipment is matched with the optical tracking equipment, so that the visual field in the scanning process can be expanded, the scene limitation in the scanning process is avoided, the scanning precision in the scanning process can be improved, and the data transmission pressure is reduced.

Description

Technical Field

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

[0002] With the development of science and technology, 3D scanning and imaging technology is widely used in industrial production. Based on the principle of parallax, 3D scanning and imaging technology combines optical means and image processing and analysis methods to convert a plane image into a 3D image with a sense of depth. The acquired 3D image is used to measure the position, size, shape and the relationship between the parts of the object to be measured.

[0003] The three-dimensional scanning and imaging solutions in the prior art often adopt a combination of a camera, a transmission module and a host computer. During use, the camera is used to photograph and scan the object to be measured, and the photographed image is sent to the host computer through the transmission module. After receiving the image of the object to be measured, the host computer processes the image to further obtain information such as the position, size, shape and the relationship between the various parts of the object to be measured.

[0004] However, existing three-dimensional scanning and imaging solutions are often limited by the size and position of the object to be measured, resulting in a small field of view during the shooting and scanning process. At the same time, due to the transmission of the original image, the transmission pressure is high and it is difficult to avoid image packet loss, which further makes the scanning and imaging process more complicated and the obtained three-dimensional image accuracy is low. Summary of the invention

[0005] The purpose of this application is to provide a three-dimensional scanning control system, method, electronic device and storage medium to address the deficiencies in the above-mentioned prior art, so as to solve the problems of small field of view, high transmission pressure and low image accuracy in the prior art.

[0006] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0007] In a first aspect, an embodiment of the present application provides a three-dimensional scanning control system, the system comprising: a processing device, a scanning device, a master optical tracking device, and at least one slave optical tracking device;

[0008] The scanning device, the master optical tracking device and each of the slave optical tracking devices are all communicatively connected to the processing device;

[0009] The scanning device is used to respond to the scanning instruction of the processing device, perform multiple groups of scans on the object to be measured, and send the multiple groups of scanned images obtained by scanning to the processing device;

[0010] The scanning device is also communicatively connected with the master optical tracking device and each of the slave optical tracking devices;

[0011] The scanning device is also used to send a synchronization signal to the master optical tracking device and each of the slave optical tracking devices during each group of scanning;

[0012] The master optical tracking device and each of the slave optical tracking devices are respectively used to respond to the synchronization signal, collect images of the scanning device, determine the position information of the scanning device according to the collected images, and send the position information to the processing device;

[0013] The processing device is used to determine the pre-conversion three-dimensional data of each group of scans based on each group of scan images, perform coordinate system conversion on the pre-conversion three-dimensional data according to the position information to obtain the post-conversion three-dimensional data of each group of scans, and splice the post-conversion three-dimensional data of each group of scans to obtain the three-dimensional data of the object to be measured.

[0014] As a possible implementation, the scanning device includes: a laser, a first camera, a second camera, and a scanning processor;

[0015] The laser, the first camera and the second camera are respectively connected to the scanning processor;

[0016] The scanning processor is communicatively connected to the processing device via a communication interface on the scanning device;

[0017] The laser is used to emit laser light to the surface of the object to be measured under the control of the scanning processor, and the first camera and the second camera are used to photograph the laser light reflected by the object to be measured under the control of the scanning controller to obtain a set of scanning images;

[0018] The scanning processor is used to control the movement of the laser and the first camera and the second camera, and to control the laser to emit laser and the first camera and the second camera to take pictures at different positions to obtain multiple groups of scanning images, and send the multiple groups of scanning images to the processing device.

[0019] As a possible implementation, the master optical tracking device and each of the slave optical tracking devices respectively include: a first scanner, a second scanner and a tracking processor;

[0020] The first scanner and the second scanner are respectively connected to the tracking processor;

[0021] The tracking processor is communicatively connected to the processing device;

[0022] The first scanner and the second scanner are respectively used to collect images of the scanning device, determine the candidate position information of the scanning device according to the collected images, and send the candidate position information to the tracking processor;

[0023] The tracking processor is used to perform fusion processing on the candidate position information sent by the first scanner and the second scanner to obtain the position information of the scanning device.

[0024] As a possible implementation, the first scanning controller and the second scanner respectively include: a collection unit, a first processing unit, a signal processing unit and a first protection circuit unit;

[0025] The acquisition unit and the signal processing unit are respectively connected to the first processing unit;

[0026] The first protection circuit unit is connected to the signal processing unit;

[0027] The acquisition unit is used to acquire images from the scanning device and send the acquired image data to the first processing unit;

[0028] The first processing unit is used to integrate the collected image data, and extract and identify the reflective mark points on the scanning device from the integrated data, obtain the selected position information based on the reflective mark points, and send the selected position information to the tracking processor through the signal processing unit and the first protection circuit unit.

[0029] As a possible implementation, the tracking processor includes: a second protection circuit unit, a third protection circuit unit and a second processing unit;

[0030] The second protection circuit unit and the third protection circuit unit are respectively connected to the second processing unit;

[0031] The second processing unit is used to receive the selected position information from the first scanner through the second protection circuit unit, receive the selected position information from the second scanner through the third protection circuit unit, and fuse the selected position information from the first scanner and the selected position information from the second scanner to obtain the position information of the scanning device.

[0032] In a second aspect, another embodiment of the present application provides a three-dimensional scanning control method, which is applied to a processing device of the system described in the first aspect, and the method includes:

[0033] receiving a plurality of groups of scanned images sent by a scanning device and position information of the scanning device corresponding to each group of scanned images sent by at least one optical tracking device;

[0034] Determine the three-dimensional data before conversion of each group of scans according to each group of scanned images;

[0035] Performing coordinate system conversion on the three-dimensional data before conversion according to the position information of the scanning device corresponding to each group of scanned images, so as to obtain the three-dimensional data after conversion during each group of scanning;

[0036] The converted three-dimensional data of each group of scans are spliced ​​to obtain the three-dimensional data of the object to be measured.

[0037] As a possible implementation, the coordinate system conversion of the pre-conversion three-dimensional data is performed according to the position information of the scanning device corresponding to each group of scanned images to obtain the converted three-dimensional data of each group of scans, including:

[0038] If the position information of the scanning device corresponding to the current group of scanning images is sent by the main optical tracking device, the three-dimensional data before conversion is converted to the coordinate system of the main optical tracking device according to the position information of the scanning device corresponding to the current group of scanning images to obtain the three-dimensional data after conversion during the current group scanning.

[0039] As a possible implementation, the coordinate system conversion of the pre-conversion three-dimensional data is performed according to the position information of the scanning device corresponding to each group of scanned images to obtain the converted three-dimensional data of each group of scans, including:

[0040] If the position information of the scanning device corresponding to the current group of scanning images is sent by the slave optical tracking device, the three-dimensional data before conversion is converted into the coordinate system of the slave optical tracking device according to the position information of the scanning device corresponding to the current group of scanning images to obtain intermediate three-dimensional data, and according to the coordinate system mapping relationship between the master optical tracking device and the slave optical tracking device, the intermediate three-dimensional data is converted into the coordinate system of the master optical tracking device to obtain the converted three-dimensional data during the current group scanning.

[0041] In the third aspect, another embodiment of the present application provides an electronic device, comprising: a processor and a memory, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor executes the machine-readable instructions to perform the steps of the method described in the second aspect above.

[0042] In a fourth aspect, another embodiment of the present application provides a storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method described in the second aspect are executed.

[0043] The beneficial effects of the present application are as follows: the three-dimensional scanning control system provided by the present application uses a scanning device in conjunction with an optical tracking device, and a master optical tracking device is arranged in the optical tracking device to cooperate with multiple slave optical tracking devices for image acquisition, ensuring that at least one optical tracking device can capture the scanning device, further expanding the shooting field of view during the scanning process, and avoiding the problem of being restricted by the scene during the scanning process. At the same time, since the master optical tracking device cooperates with multiple slave optical tracking devices, the scanning accuracy can be improved during scanning. In addition, since the coordinate transmission and conversion processing method is adopted in the process of mutual cooperation between the master and slave optical tracking devices, the data transmission pressure is reduced and the image packet loss is avoided. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 A schematic diagram of an exemplary scenario of a three-dimensional scanning control system provided in an embodiment of the present application;

[0046] Figure 2 An exemplary structural diagram of a three-dimensional scanning control system provided in an embodiment of the present application;

[0047] Figure 3 A schematic diagram of the specific structure of a scanning device of a three-dimensional scanning control system provided in an embodiment of the present application;

[0048] Figure 4 A schematic diagram of the specific structure of an optical tracking device of a three-dimensional scanning control system provided in an embodiment of the present application;

[0049] Figure 5 A schematic diagram of the specific structure of a first scanner and a second scanner of an optical tracking device of a three-dimensional scanning control system provided in an embodiment of the present application;

[0050] Figure 6 A schematic diagram of the specific structure of a tracking processor of an optical tracking device of a three-dimensional scanning control system provided in an embodiment of the present application;

[0051] Figure 7 A schematic diagram of a flow chart of a three-dimensional scanning control method provided in an embodiment of the present application;

[0052] Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart under the guidance of the content of the present application, or remove one or more operations from the flowchart.

[0054] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0055] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the existence of the features declared thereafter, but does not exclude the addition of other features.

[0056] At present, the existing three-dimensional scanning system usually uses a camera, a transmission module and a host computer to perform three-dimensional scanning and imaging of the object to be measured. In the actual application scenario, the camera is first used to shoot and scan the object to be measured, and the original image information captured is sent to the host computer through the transmission module. After receiving the original image information, the host computer processes the original image information accordingly according to the current demand, and further obtains the information in the image under the current demand. However, when the object to be measured is large in size and the object to be measured is relatively complex, the original image information is relatively large due to the complexity of the object to be measured. When transmitting the original image information, the transmission module needs to transmit a large amount of data, and packet loss often occurs, resulting in a small field of view, a large transmission pressure, and a low precision of the three-dimensional scanning and imaging solution in the prior art, which further leads to the low efficiency of the three-dimensional scanning and imaging solution in the prior art.

[0057] Based on the above problems, the embodiment of the present application proposes a three-dimensional scanning control system, which uses a scanning device, a main optical tracking device, a slave optical tracking device and a processor to cooperate with each other to perform multiple groups of scans, and at the same time transmits the processed three-dimensional coordinate data during the transmission process, and performs coordinate conversion in the host computer before imaging, thereby expanding the field of view of the three-dimensional scanning, reducing the pressure of data transmission, and improving the scanning accuracy, and can be applied to scenes with larger objects to be measured.

[0058] Figure 1 This is an exemplary scenario diagram of a three-dimensional scanning control system provided in an embodiment of the present application. Figure 1 As shown, the scene may involve an object to be measured, a three-dimensional scanning control system, and an optical system. Among them, the three-dimensional scanning control system includes a scanning device, multiple optical tracking devices, and a host computer. The host computer can also be called a processing device, and the following embodiments of this application are described using a processing device. Among them, the optical system can be a lens.

[0059] It can be understood that the position of the scanning device in the three-dimensional scanning control system can be adjusted during the three-dimensional scanning.

[0060] It can be understood that the positions of the multiple optical tracking devices in the three-dimensional scanning control system can be reasonably placed according to the actual situation, and the number of optical tracking devices in the three-dimensional scanning control system can be selected according to the actual situation. Accordingly, when there are multiple optical tracking devices in the three-dimensional scanning control system, there are also multiple optical systems. The multiple optical tracking devices include a master optical tracking device, and the remaining optical tracking devices are slave optical tracking devices.

[0061] For example, Figure 1 In the figure, a three-dimensional scanning control system using two optical tracking devices is used as an example. When the three-dimensional scanning control system uses two optical tracking devices, four optical systems are used accordingly. Each optical tracking device is fixedly connected to the two optical systems for optical shooting. The image data shot by the optical system is transmitted to the optical tracking device of the three-dimensional scanning control system. Among them, each optical system can be the same optical system.

[0062] Next, Figure 2 For the purpose of referring to the specific structure of the three-dimensional scanning control system provided in the embodiment of the present application, for the convenience of description, Figure 2 The example uses four optical tracking devices.

[0063] Figure 2 This is an exemplary structural diagram of a three-dimensional scanning control system provided in an embodiment of the present application, referring to Figure 2The above three-dimensional scanning control system includes: a processing device 100, a scanning device 200, a master optical tracking device 300 and at least one slave optical tracking device 400. Exemplarily, this embodiment shows one master optical tracking device and three slave optical tracking devices.

[0064] The scanning device 200 , the master optical tracking device 300 , and each of the slave optical tracking devices 400 are communicatively connected to the processing device 100 .

[0065] It is worth noting that in the three-dimensional scanning control system shown in this embodiment, four optical tracking devices can be distributed around the object to be measured and placed. It should be understood that due to the different placement positions of the optical tracking devices, the optical tracking devices can have different fields of view, and the coordinate systems of each optical tracking device are different, which further leads to different positions of the object to be measured. Therefore, it is necessary to divide the optical tracking devices into master and slave according to certain rules. The division rules can be obtained through experience, or the optical tracking device with a wider field of view can be used as the master optical tracking device. In the division, only one master optical tracking device and several slave optical tracking devices are obtained, and correspondingly, one master optical tracking device coordinate system and several slave optical tracking device coordinate systems are obtained. Before the object to be measured is three-dimensionally scanned, the conversion relationship between the coordinate systems of each slave optical tracking device and the coordinate system of the master optical tracking device is obtained through a calibration scheme, so that the position information obtained from the slave optical tracker during three-dimensional scanning can be converted into the master and slave optical tracking device coordinate systems, and at the same time, the position information of the scanning device is also fixed in the master optical tracking coordinate system.

[0066] Optionally, the master optical tracking device and the slave optical tracking device shown in this embodiment may be identical in structure. One of the optical tracking devices may be configured as the master optical tracking device in advance, and the remaining optical tracking devices may be configured as slave optical tracking devices.

[0067] Optionally, the processing device 100 is respectively connected in communication with the master optical tracking device 300 and each slave optical tracking device 400 , and the processing device 100 is respectively connected in communication with the scanning device 200 .

[0068] Optionally, the communication connection may be connected via an interface, and the interface may be a Universal Serial Bus (USB) interface.

[0069] The scanning device 200 is used to respond to the scanning instruction of the processing device 100, perform multiple groups of scans on the object to be measured, and send the multiple groups of scanned images obtained by scanning to the processing device 100.

[0070] Optionally, before scanning, the processing device 100 sends a scanning instruction to the scanning device 200 through the communication interface, where the scanning instruction includes a configuration instruction for the scanning device 200 and a scanning instruction.

[0071] It is worth noting that the scanning device 200 may include multiple cameras. When the scanning device 200 receives a scanning instruction, each camera is controlled to take a picture of the object to be measured at the current position of the scanning device 200, that is, a group of scans, and the result of each group of scans includes images obtained by scanning the object to be measured by all cameras. For example, when the scanning device 200 includes two cameras, each group of scans can obtain two images. The position of the scanning device can change during the three-dimensional scanning process, and the object to be measured is scanned at multiple positions to obtain corresponding multiple groups of scanned images.

[0072] Optionally, the multiple groups of images scanned by the scanning device 200 are sent to the processing device 100 via the communication interface.

[0073] The scanning device 200 is also communicatively connected with the master optical tracking device 300 and each of the slave optical tracking devices 400 .

[0074] Optionally, the scanning device 200 is respectively communicatively connected with the master optical tracking device 300 and the three slave optical tracking devices 400 .

[0075] The scanning device 200 is also used to send a synchronization signal to the master optical tracking device 300 and each of the slave optical tracking devices 400 during each group of scanning.

[0076] Optionally, after receiving the scanning instruction sent by the processing device 100, the scanning device 200 sends a synchronization signal to the master optical tracking device 300 and the three slave optical tracking devices 400 when performing each group of scans, and the synchronization signal is received by the master optical tracking device 300 and the three slave optical tracking devices 400, respectively, wherein the synchronization signal is used to instruct the master optical tracking device 300 and the slave optical tracking device 400 to track the scanning device 200. The synchronization signal may be an electrical signal. The scanning device 200 sends a synchronization signal to the master optical tracking device 300 and the slave optical tracking device 400 while scanning, so that the master optical tracking device 300 and the slave optical tracking device 400 start image acquisition at the same time as the scanning device, thereby ensuring the synchronization of a group of scanned images output by the scanning device 200 to the processing device 100 and the three-dimensional data output by each optical tracking device to the processing device 100, thereby ensuring the accuracy of the processing result of the processing device 100.

[0077] The master optical tracking device 300 and each slave optical tracking device 400 are respectively used to respond to the synchronization signal, capture images of the scanning device 200, determine the position information of the scanning device according to the captured image, and send the position information to the processing device 100.

[0078] Optionally, after the master optical tracking device 300 and the three slave optical tracking devices 400 receive the synchronization signal, the master optical tracking device 300 and the three slave optical tracking devices 400 may parse the synchronization signal and then shoot the scanning device 200 to obtain a group of images of the scanning device 200, and process the group of image information to obtain the position information of the scanning device 200, and send the position information of the scanning device 200 to the processing device 100 through the communication interface. The position information may be a three-dimensional coordinate.

[0079] It is worth noting that, due to the different placement positions of the master optical tracking device 300 and the three slave optical tracking devices 400, the shooting fields of the optical tracking devices are different. It should be ensured that the scanning device 200 is within the field of view of at least one optical tracking device, that is, during the shooting process of the scanning device 200 by the master optical tracking device 300 and the three slave optical tracking devices 400, at least one optical tracking device can obtain a set of images of the scanning device 200, and process the images to obtain the position information of the scanning device 200 in the optical tracking coordinate system corresponding to the optical tracking device. At this point, for the convenience of explanation, the optical tracking device that can obtain a set of images of the scanning device 200 is called an effective optical tracking device, and the effective optical tracking device sends the position information of the scanning device 200 to the processing device 100, that is, sends the position information of the scanning device 200 in the effective optical tracking device coordinate system.

[0080] The above-mentioned processing device 100 is used to determine the three-dimensional data before conversion during each group of scanning according to each group of scanning images, perform coordinate system conversion on the above-mentioned three-dimensional data before conversion according to the above-mentioned position information to obtain the three-dimensional data after conversion during each group of scanning, and splice the three-dimensional data after conversion during each group of scanning to obtain the three-dimensional data of the above-mentioned object to be measured.

[0081] It is worth noting that after receiving each group of scanning images sent by the scanning device 200, the processing device 100 processes each group of scanning images to obtain the position information of the object to be measured relative to the scanning device 200 during each group of scanning, that is, the three-dimensional data before conversion during each group of scanning, wherein the position information can be a three-dimensional coordinate.

[0082] It is worth noting that the processing device 100 receives the position information of the scanning device 200 in the above-mentioned effective optical tracking device coordinate system, obtains the position information of the scanning device 200 in the optical tracking device coordinate system during each group of scanning, and converts the pre-conversion data during each group of scanning to the optical tracking device coordinate system to obtain intermediate three-dimensional data. Next, according to the conversion relationship between the main optical tracking device coordinate system and the slave optical tracking device coordinate system, the intermediate three-dimensional data is converted to the main optical tracking device coordinate system to obtain the converted three-dimensional data during each group of scanning. The converted three-dimensional data during each group of scanning is spliced ​​to obtain the three-dimensional data of the object to be measured.

[0083] Optionally, when the effective optical tracking device is the main optical tracking device, the process of converting the pre-conversion data of each group of scans into the coordinate system of the optical tracking device to obtain intermediate three-dimensional data may not be performed.

[0084] In this embodiment, a scanning device is used in conjunction with an optical tracking device, and a master optical tracking device is set in the optical tracking device to cooperate with multiple slave optical tracking devices for image acquisition, ensuring that at least one optical tracking device can capture the scanning device, further expanding the shooting field of view during the scanning process, and avoiding the problem of being restricted by the scene during the scanning process. At the same time, since the master optical tracking device cooperates with multiple slave optical tracking devices, the scanning accuracy can be improved during scanning. In addition, since the coordinate transmission and conversion processing method is adopted in the process of mutual cooperation between the master and slave optical tracking devices, the data transmission pressure is reduced and the image packet loss is avoided.

[0085] Figure 3 A schematic diagram of the specific structure of the scanning device of the three-dimensional scanning control system provided in an embodiment of the present application.

[0086] As a possible implementation, refer to Figure 3 ,exist Figure 2 On the basis of, the above-mentioned scanning device 200 includes: a laser 201, a first camera 202, a second camera 203 and a scanning processor 204.

[0087] The laser 201 , the first camera 202 , and the second camera 203 are connected to the scanning processor 204 , respectively.

[0088] Optionally, the laser 201 , the first camera 202 , and the second camera 203 are electrically connected to the scanning processor 204 , respectively.

[0089] Optionally, the first camera 202 and the second camera 203 may be the same camera or different cameras.

[0090] Optionally, the scanning processor 204 may be a microcontroller unit (MCU).

[0091] The scanning processor 204 is connected to the processing device 100 via a communication interface on the scanning device 200 .

[0092] Optionally, the scanning processor 204 has an interface unit corresponding to the communication interface, which is used to communicate with the processing device 100 .

[0093] Optionally, the scanning processor 204 may have a signal processing unit and a power conversion unit connected to the interface unit, the signal processing unit is used to perform quality processing on received and sent signals, and the power conversion unit is used to manage and convert power for the scanning processor 204.

[0094] The laser 201 is used to emit laser light to the surface of the object to be measured under the control of the scanning processor 204, and the first camera 202 and the second camera 203 are used to photograph the laser line reflected by the object to be measured under the control of the scanning processor 204 to obtain a set of scanned images.

[0095] Optionally, after receiving the scanning instruction sent by the processing device 100, the interface unit on the scanning device 200 sends it to the scanning processor 204. The scanning processor 204 receives and processes the scanning instruction, and controls the laser 201 to emit laser to the surface of the object to be measured. At this time, the emitted laser is two beams of laser light with mutually perpendicular directions. At the same time, the first camera 202 and the second camera 203 are controlled to respectively shoot the two beams of laser light with mutually perpendicular directions, and the images captured by the first camera 202 and the second camera 203 of the two beams of laser light with mutually perpendicular directions are obtained, that is, a set of scanned images.

[0096] The scanning processor 204 is used to control the movement of the laser 201 and the first camera 202 and the second camera 203, and to control the laser 201 to emit laser at different positions and to control the first camera 202 and the second camera 203 to take pictures, so as to obtain multiple groups of scanning images, and send the multiple groups of scanning images to the processing device 100.

[0097] Optionally, after completing the above process of obtaining a set of scanned images, the scanning processor 204 controls the laser 201, the first camera 202 and the second camera 203 to move, and after moving to the next position, continues to control the laser 201 to emit two beams of laser light perpendicular to each other to the surface of the object to be measured, and at the same time controls the first camera 202 and the second camera 203 to respectively shoot the two beams of laser light perpendicular to each other, and obtains a set of images captured by the first camera 202 and the second camera 203 of the two beams of laser light perpendicular to each other, until the scanning of the object to be measured is completed, and multiple sets of scanned images are obtained.

[0098] Optionally, the scanning processor 204 may send the plurality of scanned images to the processing device 100 during the scanning process or after the scanning is completed.

[0099] Figure 4 A schematic diagram of the specific structure of the optical tracking device of the three-dimensional scanning control system provided in an embodiment of the present application.

[0100] As a possible implementation, refer to Figure 4 ,exist Figure 2 On the basis of, the master optical tracking device 300 and each slave optical tracking device 400 respectively include: a first scanner 301, a second scanner 302 and a tracking processor 303.

[0101] The first scanner 301 and the second scanner 302 are connected to the tracking processor 303 , respectively.

[0102] Optionally, the first scanner 301 and the second scanner 302 are electrically connected to the tracking processor 303 respectively, and the first scanner 301 and the second scanner 302 may be the same or different in structure.

[0103] The tracking processor 303 is in communication with the processing device 100 .

[0104] Optionally, the first scanner 301 and the second scanner 302 are connected to the processing device 100 via the tracking processor 303 .

[0105] The first scanner 301 and the second scanner 302 are respectively used to collect images of the scanning device 200 , determine the candidate position information of the scanning device 200 according to the collected images, and send the candidate position information to the tracking processor 303 .

[0106] Optionally, after the master optical tracking device 300 and the slave optical tracking device 400 receive the synchronization signal, the tracking processor processes the synchronization signal and sends it to the first scanner 301 and the second scanner 302 respectively, and the first scanner 301 and the second scanner 302 perform image acquisition. After acquiring the image, the first scanner 301 and the second scanner 302 process the image information respectively to obtain the position information of the scanning device 200 determined by the first scanner 301 and the position information of the scanning device 200 determined by the second scanner 302, and then send it to the tracking processor. If the first scanner 301 and the second scanner 302 do not acquire the image after the master optical tracking device 300 or the slave optical tracking device 400 receives the synchronization signal, the master optical tracking device 300 or the slave optical tracking device 400 does not send the position information to the processing device 100. Accordingly, the processing device 100 can process based on the position information sent by other valid optical tracking devices.

[0107] The tracking processor 303 is used to perform fusion processing on the candidate position information sent by the first scanner 301 and the second scanner 302 to obtain the position information of the scanning device 200 .

[0108] Optionally, after the tracking processor 303 receives the position information of the scanning device 200 determined by the first scanner 301 and the position information of the scanning device 200 determined by the second scanner 302, it can fuse the position information determined by the first scanner 301 and the position information determined by the second scanner 302 to obtain the position information of the scanning device 200 in the current optical tracking device coordinate system. Exemplarily, a binocular camera three-dimensional coordinate calculation method can be used for fusion calculation. The tracking processor 303 further sends the position information of the scanning device 200 in the current optical tracking device coordinate system to the processing device 100.

[0109] Figure 5 A schematic diagram of the specific structures of the first scanner and the second scanner of the optical tracking device of the three-dimensional scanning control system provided in an embodiment of the present application.

[0110] As a possible implementation, refer to Figure 5 ,exist Figure 4 On the basis of, the first scanner 301 and the second scanner 302 respectively include: a collection unit, a first processing unit, a signal processing unit and a first protection circuit unit.

[0111] The acquisition unit and the signal processing unit are respectively connected to the first processing unit.

[0112] Optionally, the acquisition unit and the signal processing unit are electrically connected to the first processing unit respectively.

[0113] Optionally, the signal processing unit is used to perform quality enhancement processing on received and sent signals.

[0114] Optionally, the first processing unit may be a Field Programmable Gate Array (FPGA).

[0115] Optionally, the acquisition unit and the signal processing unit are electrically connected to interfaces on the first processing unit respectively.

[0116] The first protection circuit unit is connected to the signal processing unit.

[0117] Optionally, the first protection circuit unit is electrically connected to the signal processing unit.

[0118] Optionally, the first protection circuit unit is electrically connected to the tracking processor 303 and is used to detect the signal received from the tracking processor 303 to protect the scanner, and to send the information processed by the signal processing unit to the tracking processor 303.

[0119] The acquisition unit is used to acquire images of the scanning device 200 and send the acquired image data to the first processing unit.

[0120] Optionally, before the three-dimensional scanning begins, the processing device 100 may send configuration instructions of the optical tracker to the optical tracking device. After the optical tracking device receives the configuration instructions, the tracking processor 303 sends them to the first processing unit on the scanner. After receiving the configuration instructions, the first processing unit processes them and configures the acquisition unit.

[0121] Optionally, after the optical tracking device receives the synchronization signal, the tracking processor processes the synchronization signal and sends it to the first scanner 301 and the second scanner 302 respectively. After the first processing unit on the scanner receives the signal from the tracking processor 303, it sends it to the acquisition unit.

[0122] Optionally, the acquisition unit sends the acquired image information to the first processing unit.

[0123] The above-mentioned first processing unit is used to integrate the collected image data, and extract and identify the reflective mark points on the above-mentioned scanning device 200 from the integrated data, obtain the selected position information based on the above-mentioned reflective mark points, and send the above-mentioned selected position information to the above-mentioned tracking processor 303 through the above-mentioned signal processing unit and the above-mentioned first protection circuit unit.

[0124] Optionally, reflective marking points are provided on the scanning device 200. After receiving the image data, the first processing unit integrates the image data and performs frame header judgment, and extracts the coordinates of the reflective marking points from the image data. After processing, the coordinate information of the scanning device 200 is obtained, and the coordinate information of the scanning device 200 is sent to the tracking processor 303 through the signal processing unit and the first protection circuit unit.

[0125] Optionally, the first scanner 301 and the second scanner 302 may further include a fill light module, which is electrically connected to the first processing unit and is used to supplement the light source of the acquisition unit under the control of the first processing unit to improve the quality of the acquired image.

[0126] Figure 6 A schematic diagram of the specific structure of a tracking processor of an optical tracking device of a three-dimensional scanning control system provided in an embodiment of the present application.

[0127] As a possible implementation, refer to Figure 6 ,exist Figure 5 On the basis of, the tracking processor 303 includes: a second protection circuit unit 3031 , a third protection circuit unit 3033 and a second processing unit 3032 .

[0128] The second protection circuit unit 3031 and the third protection circuit unit 3033 are connected to the second processing unit 3032 respectively.

[0129] Optionally, the second protection circuit unit 3031 is electrically connected to the second processing unit 3032 , and the first scanner 301 is connected to the second processing unit 3032 on the tracking processor 303 via the first protection circuit unit and the second protection circuit unit 3031 .

[0130] Optionally, the third protection circuit unit 3033 is electrically connected to the second processing unit 3032 , and the second scanner 302 is connected to the second processing unit 3032 on the tracking processor 303 via the first protection circuit unit and the third protection circuit unit 3033 .

[0131] Optionally, the tracking processor 303 may further include an interface unit for communicating with the processing device 100 and the scanning device 200 respectively.

[0132] Optionally, the second protection circuit unit 3031 and the third protection circuit unit 3033 are used to detect the signals received from the first scanner 301 and the second scanner 302 to protect the tracking processor 303, and to send the information processed by the second processing unit 3032 to the first scanner 301 and the second scanner 302.

[0133] Optionally, the second processing unit may be a Field Programmable Gate Array (FPGA).

[0134] The second processing unit 3032 is used to receive the selected position information from the first scanner 301 through the second protection circuit unit 3031, receive the selected position information from the second scanner 302 through the third protection circuit unit 3033, and fuse the selected position information from the first scanner 301 and the selected position information from the second scanner 302 to obtain the position information of the scanning device 200.

[0135] Optionally, after the second processing unit 3032 receives the position information of the scanning device 200 determined by the first processing unit on the first scanner 301 and the position information of the scanning device 200 determined by the first processing unit on the second scanner 302, it uses a common three-dimensional coordinate calculation method for the target under a binocular camera to perform fusion processing to obtain the three-dimensional coordinates of the scanning device 200 in the current optical tracking device coordinate system.

[0136] Optionally, the second processing unit 3032 may send the three-dimensional coordinates of the scanning device 200 in the current optical tracking device coordinate system to the processing device 100 through the interface unit.

[0137] Figure 7 This is a flow chart of a three-dimensional scanning control method provided in an embodiment of the present application. The execution subject of the method may be the processing device 100 in the aforementioned embodiment.

[0138] It should be understood that in other embodiments, the order of some steps can be interchanged according to actual needs, or some steps can be omitted or deleted. Figure 7 As shown, the method includes:

[0139] S401, receiving multiple groups of scanning images sent by a scanning device and position information of the scanning device corresponding to each group of scanning images sent by at least one optical tracking device.

[0140] Optionally, the processing device performs initialization, and the initialization includes but is not limited to determining the number of optical tracking devices, determining the master optical tracking device, determining the coordinate system corresponding to the master optical tracking device, obtaining the coordinate system conversion relationship between the master optical tracking device and the slave optical tracking device, determining the scanning device configuration information, etc.

[0141] Optionally, before the scanning starts, the processing device sends scanning device configuration information to the scanning device, where the configuration information is used to indicate parameter configuration of a collection unit of the scanning device.

[0142] Optionally, the processing device sends optical tracking device configuration information to each optical tracking device, and the configuration signal is used to indicate parameter configuration of a collection unit of each optical tracking device.

[0143] Optionally, when scanning, the processing device receives multiple sets of scanned images sent by the scanning device. The scanning device takes a set of images at one position. The multiple sets of scanned images are multiple sets of images obtained after the scanning device scans the object to be measured at each position.

[0144] Optionally, when scanning, the scanning device synchronizes each group of data with the optical tracking device by sending a synchronization signal to the optical tracking device. When the processing device receives multiple groups of scanning images sent by the scanning device, it also receives the position information of the corresponding scanning device. The position information of the scanning device is the position information of the scanning device sent by the effective optical tracking device in the coordinate system of the effective optical tracking device.

[0145] S402, determining the three-dimensional data before conversion of each group of scans according to each group of scanned images.

[0146] Optionally, the processing device processes each group of scanned images using a common target three-dimensional coordinate calculation method under a binocular camera based on the multiple groups of scanned images sent by the scanning device, so as to obtain the coordinate information of each group of objects to be measured relative to the scanning device, that is, the three-dimensional data of each group before conversion during scanning.

[0147] S403 , performing coordinate system conversion on the three-dimensional data before conversion according to the position information of the scanning device corresponding to each group of scanned images, to obtain the three-dimensional data after conversion during each group of scanning.

[0148] Optionally, after initialization, a conversion relationship between the master and slave optical tracking device coordinate systems is stored in the processing device, and coordinate conversion is performed in the processing device according to the conversion relationship between the master and slave optical tracking device coordinate systems.

[0149] S404, splicing the converted three-dimensional data of each group of scans to obtain the three-dimensional data of the object to be measured.

[0150] Optionally, the processing device performs data splicing on the converted three-dimensional data of each group of scans in the main optical tracker coordinate system to obtain a point cloud of complete three-dimensional data of the above-mentioned object to be measured.

[0151] Optionally, the processing device can process the point cloud of the complete three-dimensional data of the object to be measured according to actual needs to obtain information such as the height, height difference, width, contour, and cross-section of the object to be measured.

[0152] As a possible implementation, in the above step S403, coordinate system conversion is performed on the above three-dimensional data before conversion according to the position information of the scanning device corresponding to each group of scanned images to obtain the converted three-dimensional data of each group of scans, including:

[0153] If the position information of the scanning device corresponding to the current group of scanning images is sent by the above-mentioned main optical tracking device, then according to the position information of the scanning device corresponding to the current group of scanning images, the above-mentioned three-dimensional data before conversion is converted into the coordinate system of the above-mentioned main optical tracking device to obtain the converted three-dimensional data during the current group scanning.

[0154] Optionally, if the effective optical tracking device is determined as the main optical tracking device by the processing device, the processing device receives the position information of the scanning device in the coordinate system of the above-mentioned main optical tracking device, obtains the position information of the current group of scanning devices in the coordinate system of the main optical tracking device, and converts it in combination with the pre-conversion data when the current group is scanned, to obtain the converted three-dimensional data when the current group is scanned, that is, to obtain the three-dimensional data of the object to be measured when the current group is scanned in the coordinate system of the main optical tracking device.

[0155] As a possible implementation, in the above step S403, coordinate system conversion is performed on the above three-dimensional data before conversion according to the position information of the scanning device corresponding to each group of scanned images to obtain the converted three-dimensional data of each group of scans, including:

[0156] If the position information of the scanning device corresponding to the current group of scanning images is sent by the above-mentioned slave optical tracking device, then the above-mentioned three-dimensional data before conversion is converted into the coordinate system of the above-mentioned slave optical tracking device according to the position information of the scanning device corresponding to the current group of scanning images to obtain intermediate three-dimensional data, and according to the coordinate system mapping relationship between the above-mentioned master optical tracking device and the above-mentioned slave optical tracking device, the above-mentioned intermediate three-dimensional data is converted into the coordinate system of the above-mentioned master optical tracking device to obtain the converted three-dimensional data during the current group scanning.

[0157] Optionally, if the valid optical tracking device is determined to be a slave optical tracking device by the processing device, the processing device receives the position information of the scanning device in the above-mentioned slave optical tracking device coordinate system, obtains the position information of the current group scanning device in the slave optical tracking device coordinate system, and converts the pre-conversion data during the current group scanning to the slave optical tracking device coordinate system to obtain intermediate three-dimensional data. Next, the processing device converts the intermediate three-dimensional data to the master optical tracking device coordinate system according to the coordinate system mapping relationship between the master optical tracking device coordinate system and the slave optical tracking device coordinate system, and obtains the converted three-dimensional data during the current group scanning, that is, obtains the three-dimensional data of the object to be measured during the current group scanning in the master optical tracking device coordinate system.

[0158] Figure 8This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device may be the processing device 100 in the aforementioned embodiment, and the electronic device is used to implement the three-dimensional scanning control method provided in the present application.

[0159] Reference Figure 8 The electronic device includes: a processor 801 and a memory 802, and optionally, a bus 903. The memory 802 stores machine-readable instructions executable by the processor 801. When the electronic device is running, the processor 801 communicates with the memory 802 via the bus 803. When the machine-readable instructions are executed by the processor, the steps of the three-dimensional scanning control method are performed.

[0160] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned three-dimensional scanning control method are executed.

[0161] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0162] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A three-dimensional scanning control system, characterized in that: include: a processing device, a scanning device, a master optical tracking device, and at least one slave optical tracking device; The scanning device, the master optical tracking device and each of the slave optical tracking devices are all communicatively connected to the processing device; The scanning device is used to respond to the scanning instruction of the processing device, perform multiple groups of scans on the object to be measured, and send the multiple groups of scanned images obtained by scanning to the processing device; The scanning device is also communicatively connected with the master optical tracking device and each of the slave optical tracking devices; The scanning device is also used to send a synchronization signal to the master optical tracking device and each of the slave optical tracking devices during each group of scanning; The master optical tracking device and each of the slave optical tracking devices are respectively used to respond to the synchronization signal, collect images of the scanning device, determine the position information of the scanning device according to the collected images, and send the position information to the processing device; The processing device is used to determine the pre-conversion three-dimensional data of each group of scans based on each group of scan images, perform coordinate system conversion on the pre-conversion three-dimensional data according to the position information to obtain the post-conversion three-dimensional data of each group of scans, and splice the post-conversion three-dimensional data of each group of scans to obtain the three-dimensional data of the object to be measured.

2. The three-dimensional scanning control system according to claim 1, characterized in that: The scanning device includes: a laser, a first camera, a second camera and a scanning processor; The laser, the first camera and the second camera are respectively connected to the scanning processor; The scanning processor is communicatively connected to the processing device via a communication interface on the scanning device; The laser is used to emit laser light to the surface of the object to be measured under the control of the scanning processor, and the first camera and the second camera are used to photograph the laser light reflected by the object to be measured under the control of the scanning controller to obtain a set of scanning images; The scanning processor is used to control the movement of the laser and the first camera and the second camera, and to control the laser to emit laser and the first camera and the second camera to take pictures at different positions to obtain multiple groups of scanning images, and send the multiple groups of scanning images to the processing device.

3. The three-dimensional scanning control system according to claim 1, characterized in that: The master optical tracking device and each of the slave optical tracking devices respectively include: a first scanner, a second scanner and a tracking processor; The first scanner and the second scanner are respectively connected to the tracking processor; The tracking processor is communicatively connected to the processing device; The first scanner and the second scanner are respectively used to collect images of the scanning device, determine the candidate position information of the scanning device according to the collected images, and send the candidate position information to the tracking processor; The tracking processor is used to perform fusion processing on the candidate position information sent by the first scanner and the second scanner to obtain the position information of the scanning device.

4. The three-dimensional scanning control system according to claim 3, characterized in that: The first scanning controller and the second scanner respectively include: an acquisition unit, a first processing unit, a signal processing unit and a first protection circuit unit; The acquisition unit and the signal processing unit are respectively connected to the first processing unit; The first protection circuit unit is connected to the signal processing unit; The acquisition unit is used to acquire images from the scanning device and send the acquired image data to the first processing unit; The first processing unit is used to integrate the collected image data, and extract and identify the reflective mark points on the scanning device from the integrated data, obtain the selected position information based on the reflective mark points, and send the selected position information to the tracking processor through the signal processing unit and the first protection circuit unit.

5. The three-dimensional scanning control system according to claim 4, characterized in that: The tracking processor includes: a second protection circuit unit, a third protection circuit unit and a second processing unit; The second protection circuit unit and the third protection circuit unit are respectively connected to the second processing unit; The second processing unit is used to receive the selected position information from the first scanner through the second protection circuit unit, receive the selected position information from the second scanner through the third protection circuit unit, and fuse the selected position information from the first scanner and the selected position information from the second scanner to obtain the position information of the scanning device.

6. A three-dimensional scanning control method, characterized in that: A processing device applied to a three-dimensional scanning control system according to any one of claims 1 to 5, wherein the method comprises: receiving a plurality of groups of scanned images sent by a scanning device and position information of the scanning device corresponding to each group of scanned images sent by at least one optical tracking device; Determine the three-dimensional data before conversion of each group of scans according to each group of scanned images; Performing coordinate system conversion on the three-dimensional data before conversion according to the position information of the scanning device corresponding to each group of scanned images, so as to obtain the three-dimensional data after conversion during each group of scanning; The converted three-dimensional data of each group of scans are spliced ​​to obtain the three-dimensional data of the object to be measured.

7. The three-dimensional scanning control method according to claim 6, characterized in that: The coordinate system conversion of the pre-conversion three-dimensional data according to the position information of the scanning device corresponding to each group of scanned images to obtain the converted three-dimensional data of each group of scans includes: If the position information of the scanning device corresponding to the current group of scanning images is sent by the main optical tracking device, the three-dimensional data before conversion is converted to the coordinate system of the main optical tracking device according to the position information of the scanning device corresponding to the current group of scanning images to obtain the three-dimensional data after conversion during the current group scanning.

8. The three-dimensional scanning control method according to claim 6, characterized in that: The coordinate system conversion of the pre-conversion three-dimensional data according to the position information of the scanning device corresponding to each group of scanned images to obtain the converted three-dimensional data of each group of scans includes: If the position information of the scanning device corresponding to the current group of scanning images is sent by the slave optical tracking device, the three-dimensional data before conversion is converted into the coordinate system of the slave optical tracking device according to the position information of the scanning device corresponding to the current group of scanning images to obtain intermediate three-dimensional data, and according to the coordinate system mapping relationship between the master optical tracking device and the slave optical tracking device, the intermediate three-dimensional data is converted into the coordinate system of the master optical tracking device to obtain the converted three-dimensional data during the current group scanning.

9. An electronic device, characterized in that: include: A processor and a memory, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor executes the machine-readable instructions to perform the steps of the three-dimensional scanning control method as described in any one of claims 6 to 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the three-dimensional scanning control method as described in any one of claims 6 to 8 are executed.

Images