Data splicing method for station transfer scanning, related equipment and station transfer scanning system

Abstract

The invention provides a data splicing method for station transfer scanning, related equipment and a station transfer scanning system, and belongs to the field of three-dimensional scanning, and the method comprises the steps: determining a first point cloud obtained through scanning after station transfer and the positioning information of a projector; determining first point cloud projection information based on the positioning information of the projector; the first point cloud projection information comprises projector data corresponding to the first point cloud; acquiring a second point cloud and second point cloud projection information obtained by scanning before station transfer; the second point cloud projection information comprises projector data corresponding to the second point cloud; determining a target projector in the projectors according to the first point cloud projection information and the second point cloud projection information; determining a coordinate conversion relationship between the first point cloud and the second point cloud based on the target projector; and performing data splicing on the first point cloud and the second point cloud according to the coordinate conversion relationship. By applying the method provided by the invention, station transfer data splicing can be realized based on station transfer of the projector, point pasting operation is not needed, and the scanning efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of three-dimensional scanning, and in particular to a data splicing method for transfer scanning and related equipment, and a transfer scanning system. Background Art

[0002] In the 3D scanning scene of large objects, station transfer scanning is one of the common scanning methods. Station transfer scanning refers to scanning different object areas separately during the 3D scanning process, deploying the scanning scene corresponding to each object area, using the scanner to scan the corresponding object area in the current scanning scene, obtaining the point cloud data corresponding to the current scanning scene, and then switching to the next scanning scene, that is, station transfer, and continue scanning another object area. By splicing the point cloud data corresponding to each scanning scene, a complete point cloud is finally obtained.

[0003] At present, in the scene of station transfer scanning, the three-dimensional data of different scanning scenes are mainly spliced ​​based on trackers and markers, that is, markers are placed on the objects to be scanned, and in each scanning scene, the tracker is placed in a position suitable for the current scanning scene. The tracker can unify the coordinate systems of different scanning scene positions by tracking markers at different positions, and then splice the point cloud data corresponding to each scanning scene through the unified coordinate system.

[0004] Based on the existing data splicing method in the transfer scanning, data splicing needs to rely on the tracker and the marker point. It is necessary to ensure that the tracker at different scanning scene positions can track the marker point. Therefore, accurate point sticking operation is required before scanning, which makes the scanning work more complicated and inefficient. In addition, the equipment cost of the tracker is high, which makes the overall scanning cost high. Summary of the invention

[0005] In view of this, an embodiment of the present invention provides a data splicing method and related equipment for transfer station scanning, as well as a transfer station scanning system, to solve the problem that the existing processing method of transfer station scanning relies on the collaboration of a tracker and a marker point to realize transfer station scanning, requires complex point-sticking operations, has low efficiency, and has high equipment costs.

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

[0007] A data splicing method for transfer station scanning, comprising:

[0008] Determine the first point cloud obtained by scanning after the transfer station and the positioning information of each projector; each of the projectors includes at least two projectors with different projection patterns;

[0009] Based on the positioning information of each of the projectors, determining first point cloud projection information; the first point cloud projection information includes projector data corresponding to each projection point in the first point cloud;

[0010] Acquire a second point cloud and second point cloud projection information obtained by scanning before the transfer station; the second point cloud projection information includes projector data corresponding to each projection point in the second point cloud;

[0011] According to the first point cloud projection information and the second point cloud projection information, a target projector is determined among the projectors; the target projector is a projector whose position is fixed during the station transfer process;

[0012] Based on the target projector, determining a coordinate transformation relationship between the first point cloud and the second point cloud;

[0013] According to the coordinate transformation relationship, data splicing is performed on the first point cloud and the second point cloud.

[0014] In the above method, optionally, determining the first point cloud projection information based on the positioning information of each of the projectors includes:

[0015] Determine an object projection image corresponding to the first point cloud; the object projection image includes pattern imaging points corresponding to each of the projectors;

[0016] Determine a mapping relationship between each pattern imaging point in the object projection image and the first point cloud;

[0017] Based on the mapping relationship, determining a projection point in the first point cloud and a projection pattern corresponding to each projection point in the first point cloud;

[0018] Determine a projection pattern corresponding to each of the projectors;

[0019] According to the projection pattern corresponding to each of the projectors and the projection pattern corresponding to each projection point in the first point cloud, determining, among the projectors, a matching projector corresponding to each projection point in the first point cloud;

[0020] For each projection point in the first point cloud, the projection pattern, device identification and positioning information of the matching projector corresponding to the projection point are used as the projector data corresponding to the projection point;

[0021] The first point cloud projection information is composed of projector data corresponding to each projection point in the first point cloud.

[0022] In the above method, optionally, determining a target projector among the projectors according to the first point cloud projection information and the second point cloud projection information includes:

[0023] Based on the first point cloud projection information, determine each first projector identifier corresponding to the first point cloud, a projection pattern corresponding to each first projector identifier, and a projector position corresponding to each first projector identifier;

[0024] Based on the second point cloud projection information, determine each second projector identifier corresponding to the second point cloud, a projection pattern corresponding to each second projector identifier, and a projector position corresponding to each second projector identifier;

[0025] Determine a target projector identifier among each of the first projector identifiers according to the projection patterns and projector positions corresponding to each of the first projector identifiers, and the projection patterns and projector positions corresponding to each of the second projector identifiers;

[0026] The projector among the projectors that matches the target projector identifier is used as the target projector.

[0027] Optionally, in the above method, determining the target projector identifier in each of the first projector identifiers according to the projection pattern and the projector position corresponding to each of the first projector identifiers, and the projection pattern and the projector position corresponding to each of the second projector identifiers, comprises:

[0028] For each of the first projector identifiers, the first projector identifier is compared with each of the second projector identifiers respectively. If there is a second projector identifier that matches the first projector identifier, the first projector identifier is used as a candidate projector identifier, and the second projector identifier that matches the first projector identifier is used as an associated identifier of the first projector identifier;

[0029] For each candidate projector identifier, determine whether the projection pattern corresponding to the candidate projector identifier matches the projection pattern corresponding to the associated identifier, and if they match, use the candidate projector identifier as a preliminary identifier;

[0030] For each of the preliminary selected identifiers, determine whether the projector position corresponding to the preliminary selected identifier matches the projector position corresponding to the associated identifier of the preliminary selected identifier. If they match, use the preliminary selected identifier as the target projector identifier.

[0031] In the above method, optionally, determining the coordinate transformation relationship between the first point cloud and the second point cloud based on the target projector includes:

[0032] In the first point cloud, determine the three-dimensional point corresponding to the projection center point of the target projector, and use the three-dimensional point corresponding to the projection center point of the target projector in the first point cloud as the first three-dimensional point;

[0033] In the second point cloud, determine the three-dimensional point corresponding to the projection center point of the target projector, and use the three-dimensional point corresponding to the projection center point of the target projector in the second point cloud as the second three-dimensional point;

[0034] The coordinate transformation relationship is determined based on the first three-dimensional point and the second three-dimensional point.

[0035] In the above method, optionally, the step of performing data stitching on the first point cloud and the second point cloud according to the coordinate transformation relationship includes:

[0036] According to the coordinate transformation relationship, performing point cloud data transformation on the first point cloud to obtain a transformed first point cloud;

[0037] The converted first point cloud and the second point cloud are data-fused to achieve data splicing.

[0038] A data splicing device for transfer station scanning, comprising:

[0039] A first determination unit is used to determine the first point cloud obtained by scanning after the transfer station and the positioning information of each projector; each of the projectors includes at least two projectors with different projection patterns;

[0040] A second determining unit is used to determine first point cloud projection information based on the positioning information of each of the projectors; the first point cloud projection information includes projector data corresponding to each projection point in the first point cloud;

[0041] A data acquisition unit, used to acquire a second point cloud and second point cloud projection information obtained by scanning before the transfer station; the second point cloud projection information includes projector data corresponding to each projection point in the second point cloud;

[0042] a third determining unit, configured to determine a target projector from among the projectors according to the first point cloud projection information and the second point cloud projection information; the target projector is a projector whose position is fixed during the station transfer process;

[0043] a fourth determining unit, configured to determine a coordinate transformation relationship between the first point cloud and the second point cloud based on the target projector;

[0044] A data stitching unit is used to perform data stitching on the first point cloud and the second point cloud according to the coordinate transformation relationship.

[0045] A storage medium includes stored instructions, wherein when the instructions are executed, the device where the storage medium is located is controlled to execute the data splicing method for transfer scanning as described above.

[0046] An electronic device includes a memory and one or more instructions, wherein the one or more instructions are stored in the memory and are configured to be executed by one or more processors to perform the data splicing method of transfer scanning as described above.

[0047] A transfer station scanning system, comprising:

[0048] A processing end, a control end, a handheld scanner and a plurality of projectors; each of the projectors is provided with a signal receiver and a positioning device; each of the projectors includes at least two projectors with different projection patterns; during the station transfer process, at least one of the projectors remains in the same position;

[0049] The handheld scanner is used to scan the object to be scanned, obtain scan data, and send the scan data to the control end;

[0050] Each of the projectors is used to project a pattern onto the surface of the object to be scanned;

[0051] A signal receiver on each of the projectors, used to receive a control signal from the control terminal;

[0052] The positioning device on each of the projectors is used to collect the positioning data of the projector and send the positioning data of the projector to the control end;

[0053] The control end is used to control the handheld scanner and each of the projectors to work together, and send the scanning data and the positioning data of each of the projectors to the processing end;

[0054] The processing end is used to execute the data splicing method of the transfer station scanning as mentioned above.

[0055] A data splicing method for station transfer scanning based on the above-mentioned embodiment of the present invention includes: determining the first point cloud obtained by scanning after station transfer and the positioning information of each projector; each of the projectors includes at least two projectors with different projection patterns; based on the positioning information of each projector, determining the first point cloud projection information; the first point cloud projection information includes the projector data corresponding to each projection point in the first point cloud; obtaining the second point cloud and the second point cloud projection information obtained by scanning before station transfer; the second point cloud projection information includes the projector data corresponding to each projection point in the second point cloud; according to the first point cloud projection information and the second point cloud projection information, determining the target projector in each projector; the target projector is a projector whose position is fixed during station transfer; based on the target projector, determining the coordinate transformation relationship between the first point cloud and the second point cloud; according to the coordinate transformation relationship, data splicing of the first point cloud and the second point cloud. Applying the method provided by the embodiment of the present invention, in the scanning process of each scanning scene, a pattern can be projected to the current scanning area of ​​the object surface by multiple projectors deployed at corresponding positions, and the position of at least one projector is kept unchanged during station transfer. When processing the point cloud data of each scanning scene, the association between the 3D points in the point cloud and the projector is established. When splicing the point cloud data of the two scanning processes that have passed the transfer station, the projector that has not moved during the transfer process can be identified based on the projector information corresponding to the 3D coordinates of the two scanning processes, and data splicing can be performed based on the 3D points associated with the projector. There is no need to perform complex point sticking operations during the scanning process, and the scanning process is relatively convenient, which is conducive to improving scanning efficiency. Secondly, there is no need to deploy a tracker, which is conducive to reducing scanning costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0057] Figure 1 A method flow chart of a data splicing method for transfer station scanning provided by an embodiment of the present invention;

[0058] Figure 2 A schematic diagram of the structure of a data splicing device for transfer station scanning provided by an embodiment of the present invention;

[0059] Figure 3 A schematic diagram of the system structure of a transfer station scanning system provided by an embodiment of the present invention;

[0060] Figure 4 A schematic diagram of the deployment of a transfer station scanning system provided by an embodiment of the present invention;

[0061] Figure 5 A schematic diagram of a station transfer scanning process provided by an embodiment of the present invention;

[0062] Figure 6 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0063] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0064] In this application, the terms "comprises", "comprising" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0065] The embodiment of the present invention provides a data splicing method for transfer station scanning, which can be applied to a data processing system for transfer station scanning. The execution subject can be a processor of the data processing system. The method flow chart of the method can be Figure 1 As shown, including:

[0066] S101: Determine the first point cloud obtained by scanning after the transfer station and the positioning information of each projector; each of the projectors includes at least two projectors with different projection patterns;

[0067] In the method provided by the embodiment of the present invention, during the scanning process of each scanning scene, a plurality of projectors are used to project a pattern onto the surface of the scanned object, that is, the corresponding pattern is projected onto the surface area of ​​the object currently to be scanned, and each projector is set at a corresponding position to project a pattern onto different positions of the current surface area. There are at least two projectors with different projection patterns among each projector, that is, there are at least two different patterns in the projection patterns of these projectors. For example, if two projectors are deployed, the projection patterns of the two projectors are two different patterns, such as one projector projects a spot pattern and the other projector projects a cross pattern. If three projectors are deployed, the projection patterns of each projector can be different from each other, or two of the projectors can use the same projection pattern and the other projector can use another projection pattern. The setting position of each projector in each scanning scene can be set according to actual needs, and the projection patterns of two projectors with adjacent deployment positions can be the same or different. During the station transfer process, the movable projector projects onto the adjacent area of ​​the current area on the surface of the object, that is, in different scanning scenes, the station is transferred by adjusting the position of the projector, and the position of at least one projector needs to be kept unchanged during the station transfer process.

[0068] In the scanning process of each scanning scene, the surface of the object is scanned by a three-dimensional scanner while a pattern is projected onto the surface of the object. The scanning data collected by the three-dimensional scanner includes data for three-dimensional reconstruction and a projected image of the surface of the object.

[0069] During the scanning process of each scanning scene, the positioning data of each projector can be collected by positioning the positioning device and the like. The scanning data of the three-dimensional scanner and the positioning data of each projector (i.e., the positioning information of each projector) will be sent to the processor for data processing. When the processor receives the scanning data of the current scanning process and the positioning data of each projector, it will perform three-dimensional reconstruction based on the current scanning data to obtain the current point cloud data, and establish a mapping between the point cloud and the projector based on the current positioning data of each projector. After the transfer station, the processor needs to splice the point cloud data obtained during the scanning process before and after the transfer station. When the processor receives the scanning data during the scanning process after the transfer station and the positioning data of each projector, it can first perform three-dimensional coordinate reconstruction based on the data used for three-dimensional reconstruction in the scanning data to obtain each three-dimensional point (i.e., three-dimensional coordinate) on the surface of the object scanned during the current scanning process, and the reconstructed three-dimensional points constitute the first point cloud obtained by scanning after the transfer station.

[0070] S102: determining first point cloud projection information based on positioning information of each of the projectors; the first point cloud projection information includes projector data corresponding to each projection point in the first point cloud;

[0071] In the method provided by the embodiment of the present invention, the projection image of the object surface can be obtained from the scanning data. According to the correspondence between each three-dimensional point in the first point cloud and the object surface point, the correspondence between each three-dimensional point and the projection pattern in the projection image can be determined. According to the correspondence between the three-dimensional point and the projection pattern, the three-dimensional point in the first point cloud belonging to the projection point of the projector can be identified, and the projector corresponding to each projection point can be identified, that is, to determine which projector the projection pattern of the object surface point represented by the projection point belongs to. From the positioning information of the projector and the pre-stored projector information, the positioning data, projection pattern, projector identification and other projector-related data of each projector can be obtained. The relevant data of the projector corresponding to each projection point is used as the projector data corresponding to the projection point. The projector data corresponding to the projection point can include the projector identification (characterizing the projector), the projection pattern, the positioning data of the projector, etc. The projector data corresponding to each projection point in the first point cloud is used as the first point cloud projection information.

[0072] S103: Acquire a second point cloud and second point cloud projection information obtained by scanning before the transfer station; the second point cloud projection information includes projector data corresponding to each projection point in the second point cloud;

[0073] In the method provided by the embodiment of the present invention, when the processor receives the scanning data and projector positioning information of each scanning scene, it will process them through steps S101 and S102 to obtain the corresponding point cloud and the projector data corresponding to each projection point in the point cloud. Therefore, when the processor receives the scanning data corresponding to the scanning process before the transfer and the positioning information of the projector, it will process and obtain the point cloud (i.e., the second point cloud) obtained by scanning before the transfer and the projector data corresponding to each projection point in the second point cloud. When processing the data after the transfer, the point cloud obtained by scanning before the transfer can be obtained from the corresponding storage location, and the point cloud can be used as the second point cloud, and the projector data corresponding to each projection point in the second point cloud can be obtained, and the projector data corresponding to each projection point in the second point cloud can be used as the second point cloud projection information.

[0074] S104: determining a target projector from among the projectors according to the first point cloud projection information and the second point cloud projection information; the target projector is a projector whose position is fixed during the station transfer process;

[0075] In the method provided by the embodiment of the present invention, the projector data corresponding to the projection point in the first point cloud projection information and the projector data corresponding to the projection point in the second point cloud projection information can be used to identify the projector that has not moved during the transfer process from the scanning scene corresponding to the second point cloud to the scanning scene corresponding to the first point cloud. Specifically, the same projector in the two scanning processes can be found through the projector identification and the projection pattern, and whether the projector has moved can be identified based on the positioning data of the same projector in the two scanning processes, so as to determine the projector with a fixed position during the transfer process, and the projector with the fixed position can be used as the target projector.

[0076] S105: determining a coordinate transformation relationship between the first point cloud and the second point cloud based on the target projector;

[0077] In the method provided by the embodiment of the present invention, based on the correspondence between the target projector and the projection points in the first point cloud, the three-dimensional points associated with the projection area of ​​the target projector in the first point cloud can be found. Similarly, based on the correspondence between the target projector and the projection points in the second point cloud, the three-dimensional points associated with the projection area of ​​the target projector in the second point cloud can be found. The three-dimensional points associated with the target projector in the first point cloud and the second point cloud are used as key feature points, thereby determining the coordinate transformation relationship between the first point cloud and the second point cloud.

[0078] S106: performing data splicing on the first point cloud and the second point cloud according to the coordinate transformation relationship.

[0079] In the method provided in the embodiment of the present invention, data fusion of the first point cloud and the second point cloud can be performed according to the coordinate transformation relationship to achieve data splicing of the first point cloud and the second point cloud.

[0080] Based on the method provided by the embodiment of the present invention, during the station transfer scanning process, the first point cloud obtained by scanning after the station transfer and the positioning information of each projector can be determined; each projector includes at least two projectors with different projection patterns; based on the positioning information of the projector, the first point cloud projection information is determined; the first point cloud projection information includes the projector data corresponding to each projection point in the first point cloud; the second point cloud and the second point cloud projection information obtained by scanning before the station transfer are obtained; the second point cloud projection information includes the projector data corresponding to each projection point in the second point cloud; based on the first point cloud projection information and the second point cloud projection information, the target projector is determined in each projector; the target projector is a projector whose position is fixed during the station transfer process; based on the target projector, the coordinate transformation relationship between the first point cloud and the second point cloud is determined; based on the coordinate transformation relationship, the first point cloud and the second point cloud are data spliced. Applying the method provided by the embodiment of the present invention, during the scanning process of each scanning scene, a pattern can be projected to the current scanning area on the surface of the object by multiple projectors deployed at corresponding positions, and the position of at least one projector is kept unchanged during the station transfer. When processing the point cloud data of each scanning scene, the association between the 3D points in the point cloud and the projector is established. When splicing the point cloud data of the two scanning processes that have passed the transfer station, the projector that has not moved during the transfer process can be identified based on the projector information corresponding to the 3D coordinates of the two scanning processes, and data splicing can be performed based on the 3D points associated with the projector. There is no need to perform complex point sticking operations during the scanning process, and the scanning process is relatively convenient, which is conducive to improving scanning efficiency. Secondly, there is no need to deploy a tracker, which is conducive to reducing scanning costs.

[0081] exist Figure 1 On the basis of the method shown, in the method provided by the embodiment of the present invention, the process of determining the first point cloud projection information based on the positioning information of each of the projectors mentioned in step S102 includes:

[0082] Determine an object projection image corresponding to the first point cloud; the object projection image includes pattern imaging points corresponding to each of the projectors;

[0083] In the method provided by the embodiment of the present invention, the object projection image can be obtained from the scanning data corresponding to the first point cloud, that is, during the scanning process after the transfer, when each projector projects a pattern onto the corresponding area of ​​the object surface, the image obtained by photographing the corresponding area of ​​the object surface. It can be understood that the object projection image contains the pattern imaging points corresponding to each projector, that is, the imaging points formed by the projection pattern of each projector on the object surface.

[0084] Determine a mapping relationship between each pattern imaging point in the object projection image and the first point cloud;

[0085] In the method provided by the embodiment of the present invention, the correspondence between the pattern imaging points in the object projection image and the object surface points can be determined based on the scanning data, and at the same time, the correspondence between the three-dimensional points in the first point cloud and the object surface points can be determined based on the scanning data. In combination with the correspondence between the image imaging points and the object surface points, and the correspondence between the three-dimensional points and the object surface points, a mapping relationship between the pattern imaging points and each three-dimensional point can be established, that is, a mapping is established between the pattern imaging points corresponding to the same object surface point and the three-dimensional point.

[0086] Based on the mapping relationship, determining a projection point in the first point cloud and a projection pattern corresponding to each projection point in the first point cloud;

[0087] In the method provided by the embodiment of the present invention, the projection pattern to which each pattern imaging point belongs can be determined through image recognition. For each three-dimensional point in the first point cloud, if there is a mapping relationship between the three-dimensional point and the image imaging point, the three-dimensional point is used as a projection point, thereby determining each projection point in the first point cloud. For each projection point in the first point cloud, the projection pattern to which the pattern imaging point corresponding to the projection point belongs can be used as the projection pattern corresponding to the projection point.

[0088] Determine a projection pattern corresponding to each of the projectors;

[0089] In the method provided in the embodiment of the present invention, the projection pattern corresponding to each projector deployed during the scanning process can be obtained from the preset configuration information, that is, the pattern projected by each projector when performing pattern projection, and the projection pattern is usually represented by a corresponding pattern identifier.

[0090] According to the projection pattern corresponding to each of the projectors and the projection pattern corresponding to each projection point in the first point cloud, determining, among the projectors, a matching projector corresponding to each projection point in the first point cloud;

[0091] In the method provided by the embodiment of the present invention, for each projection point in the first point cloud, the projection pattern corresponding to the projection point can be compared with the projection pattern corresponding to each projector, and the projector whose projection pattern matches the projection point is used as the matching projector corresponding to the projection point. For example, if projection point 1 corresponds to pattern A, projector 1 corresponds to pattern A, and projector 2 corresponds to pattern B, then projector 1 is used as the matching projector corresponding to projection point 1.

[0092] For each projection point in the first point cloud, the projection pattern, device identification and positioning information of the matching projector corresponding to the projection point are used as the projector data corresponding to the projection point;

[0093] The first point cloud projection information is composed of projector data corresponding to each projection point in the first point cloud.

[0094] In the method provided by the embodiment of the present invention, the positioning data of each projector can be obtained from the positioning information of each projector, and the projection pattern and device identification of each projector can be obtained from the pre-stored configuration information. For each projection point in the first point cloud, the positioning information of the matching projector corresponding to the projection point, the projection pattern of the matching projector corresponding to the projection point, and the device identification of the matching projector corresponding to the projection point are used as the projector data corresponding to the projection point. The projector data corresponding to each projection point in the first point cloud is used as the first point cloud projection information.

[0095] exist Figure 1 On the basis of the method shown, in the method provided by the embodiment of the present invention, the process of determining the target projector among the projectors according to the first point cloud projection information and the second point cloud projection information mentioned in step S104 includes:

[0096] Based on the first point cloud projection information, determine each first projector identifier corresponding to the first point cloud, a projection pattern corresponding to each first projector identifier, and a projector position corresponding to each first projector identifier;

[0097] In the method provided by the embodiment of the present invention, the various projectors (represented by the projector identifier) ​​involved in the scanning process corresponding to the first point cloud can be determined based on the projector identifier involved in the first point cloud projection information (i.e., the device identifier of the projector), and the projector identifier of each projector currently involved, the projection pattern of each projector currently involved, and the positioning data of each projector during the scanning process (i.e., the positioning information) can be obtained from the first point cloud projection information. The projector identifier of each projector currently involved is used as the first projector identifier, and the projection pattern of the projector recorded in the first point cloud projection information is used as the projection pattern corresponding to the corresponding first projector identifier. The positioning data of the projector recorded in the first point cloud projection information is used as the projector position corresponding to the corresponding first projector identifier. In this way, each first projector identifier, the projection pattern corresponding to each first projector identifier, and the projector position are obtained.

[0098] Based on the second point cloud projection information, determine each second projector identifier corresponding to the second point cloud, a projection pattern corresponding to each second projector identifier, and a projector position corresponding to each second projector identifier;

[0099] In the method provided by the embodiment of the present invention, based on the projector identification involved in the second point cloud projection information, each projector (characterized by the projector identification) used in the scanning process corresponding to the second point cloud can be determined, and the projection pattern and positioning data of the projector involved in the scanning process corresponding to the second point cloud can be obtained from the projector data in the second point cloud projection information. The positioning data of the projector in the second point cloud projection information refers to the positioning data of the projector in the scanning process corresponding to the second point cloud, that is, the positioning information of the projector in the scanning process before the transfer. The projector identification of each projector involved in the second point cloud projection information is used as the second projector identification, and the projection pattern of the projector recorded in the second point cloud projection information is used as the projection pattern corresponding to the corresponding second projector identification. The positioning data of the projector recorded in the second point cloud projection information is used as the projector position corresponding to the corresponding second projector identification, thereby obtaining each second projector identification, the projection pattern corresponding to each second projector identification, and the projector position.

[0100] Determine a target projector identifier among each of the first projector identifiers according to the projection patterns and projector positions corresponding to each of the first projector identifiers, and the projection patterns and projector positions corresponding to each of the second projector identifiers;

[0101] In the method provided in an embodiment of the present invention, the projectors used before and after the transfer can be identified based on the first projector identification and the second projector identification, and further the projectors whose positions are fixed during the transfer process can be identified based on the projection patterns and projector positions corresponding to these projectors, so as to obtain the target projector identification, that is, the projector identification of the projector whose position is fixed.

[0102] The projector among the projectors that matches the target projector identifier is used as the target projector.

[0103] In the method provided by the embodiment of the present invention, based on the matching of the projector identifiers, the projector corresponding to the target projector identifier can be determined among the deployed projectors, and the projector corresponding to the target projector identifier can be used as the target projector.

[0104] On the basis of the method provided in the above embodiment, in the method provided in the embodiment of the present invention, the step of determining the target projector identifier in each of the first projector identifiers according to the projection pattern and the projector position corresponding to each of the first projector identifiers, and the projection pattern and the projector position corresponding to each of the second projector identifiers, comprises:

[0105] For each of the first projector identifiers, the first projector identifier is compared with each of the second projector identifiers respectively. If there is a second projector identifier that matches the first projector identifier, the first projector identifier is used as a candidate projector identifier, and the second projector identifier that matches the first projector identifier is used as an associated identifier of the first projector identifier;

[0106] In the method provided by the embodiment of the present invention, each first projector identifier is compared with each second projector identifier. If the first projector identifier is the same as a second projector identifier, that is, the projector corresponding to the first projector identifier is used in the scanning process before and after the station transfer, the first projector identifier is used as a candidate projector identifier, and the second projector identifier that matches it is used as an associated identifier of the first projector identifier (that is, the candidate projector identifier). It can be understood that the first projector identifier and its corresponding associated identifier actually represent the same projector, and different names are used only to distinguish the representation of the projector in different scanning scenarios.

[0107] For each candidate projector identifier, determine whether the projection pattern corresponding to the candidate projector identifier matches the projection pattern corresponding to the associated identifier, and if they match, use the candidate projector identifier as a preliminary identifier;

[0108] In the method provided by an embodiment of the present invention, for each candidate projector identifier, the projection pattern corresponding to the candidate projector identifier is compared with the projection pattern corresponding to the associated identifier of the candidate projector identifier to determine whether the projection patterns corresponding to the two are the same. If the projection patterns of the two are the same, it is considered that the projection patterns of the two match. If the projection pattern corresponding to the current candidate projector identifier matches the projection pattern corresponding to its associated identifier, the current candidate projector identifier is used as the preliminary identifier.

[0109] For each of the preliminary selected identifiers, determine whether the projector position corresponding to the preliminary selected identifier matches the projector position corresponding to the associated identifier of the preliminary selected identifier. If they match, use the preliminary selected identifier as the target projector identifier.

[0110] In the method provided by the embodiment of the present invention, the positioning comparison of the preliminary identification and its associated identification is carried out to determine whether the setting positions of the projector corresponding to the preliminary identification and the projector corresponding to the associated identification match. If the setting positions of the two match, the preliminary identification is used as the target projector identification, that is, the identification of the projector whose position is fixed during the transfer process. Specifically, a distance threshold can be set in advance according to actual needs, and the distance threshold can be set based on the positioning error. In the process of judging whether the projector position corresponding to the preliminary identification matches the projector position corresponding to the associated identification, the distance between the two projector positions can be calculated based on the projector position corresponding to the preliminary identification and the projector position corresponding to the associated identification, and it can be judged whether the distance is greater than the preset distance threshold. If the distance is not greater than the preset distance threshold, it is considered that the two projector positions match. If the distance is greater than the preset distance threshold, it is considered that the two projector positions do not match.

[0111] exist Figure 1 On the basis of the method shown, in the method provided by the embodiment of the present invention, the process of determining the coordinate transformation relationship between the first point cloud and the second point cloud based on the target projector mentioned in step S105 includes:

[0112] In the first point cloud, determine the three-dimensional point corresponding to the projection center point of the target projector, and use the three-dimensional point corresponding to the projection center point of the target projector in the first point cloud as the first three-dimensional point;

[0113] In the method provided by an embodiment of the present invention, the imaging point corresponding to the projection center point of the target projector during the scanning process after the transfer, that is, the scanning process corresponding to the first point cloud, can be determined based on the object projection image corresponding to the first point cloud. According to the correspondence between the imaging point in the object projection image corresponding to the first point cloud and the three-dimensional point in the first point cloud, the three-dimensional point in the first point cloud corresponding to the projection center point of the target projector can be determined, and the three-dimensional point can be used as the first three-dimensional point.

[0114] In the second point cloud, determine the three-dimensional point corresponding to the projection center point of the target projector, and use the three-dimensional point corresponding to the projection center point of the target projector in the second point cloud as the second three-dimensional point;

[0115] In the method provided by an embodiment of the present invention, the imaging point corresponding to the projection center point of the target projector during the scanning process before the transfer, that is, the scanning process corresponding to the second point cloud, can be determined based on the object projection image corresponding to the second point cloud. According to the correspondence between the imaging point in the object projection image corresponding to the second point cloud and the three-dimensional point in the second point cloud, the three-dimensional point in the second point cloud corresponding to the projection center point of the target projector can be determined, and the three-dimensional point can be used as the second three-dimensional point.

[0116] The coordinate transformation relationship is determined based on the first three-dimensional point and the second three-dimensional point.

[0117] In the method provided by the embodiment of the present invention, the first three-dimensional point and the second three-dimensional point are used as three-dimensional data representing the surface points of the same object, thereby solving the transformation matrix (RT matrix), and determining the coordinate transformation relationship based on the transformation matrix.

[0118] exist Figure 1 On the basis of the method shown, in the method provided by the embodiment of the present invention, the process of performing data splicing on the first point cloud and the second point cloud according to the coordinate transformation relationship mentioned in step S106 includes:

[0119] According to the coordinate transformation relationship, performing point cloud data transformation on the first point cloud to obtain a transformed first point cloud;

[0120] The converted first point cloud and the second point cloud are data-fused to achieve data splicing.

[0121] In the method provided in an embodiment of the present invention, the coordinates of the three-dimensional points in the first point cloud can be transformed according to the coordinate transformation relationship so as to unify the first point cloud and the second point cloud into the same coordinate system, and data fusion is performed based on the transformed first point cloud and the second point cloud, and the fused three-dimensional data is used as the data stitching result.

[0122] and Figure 1 Corresponding to the data splicing method for transfer scanning shown in the figure, the embodiment of the present invention also provides a data splicing device for transfer scanning, which is used for Figure 1 The specific implementation of the method shown in is shown in the structural diagram Figure 2 As shown, including:

[0123] The first determination unit 201 is used to determine the first point cloud obtained by scanning after the transfer station and the positioning information of each projector; each of the projectors includes at least two projectors with different projection patterns;

[0124] A second determining unit 202 is used to determine first point cloud projection information based on the positioning information of each of the projectors; the first point cloud projection information includes projector data corresponding to each projection point in the first point cloud;

[0125] A data acquisition unit 203 is used to acquire a second point cloud and second point cloud projection information obtained by scanning before the transfer station; the second point cloud projection information includes projector data corresponding to each projection point in the second point cloud;

[0126] A third determining unit 204 is used to determine a target projector from among the projectors according to the first point cloud projection information and the second point cloud projection information; the target projector is a projector whose position is fixed during the station transfer process;

[0127] A fourth determining unit 205, configured to determine a coordinate transformation relationship between the first point cloud and the second point cloud based on the target projector;

[0128] The data stitching unit 206 is used to perform data stitching on the first point cloud and the second point cloud according to the coordinate transformation relationship.

[0129] By using the device provided by the embodiment of the present invention, during the scanning process of each scanning scene, a pattern can be projected onto the current scanning area of ​​the object surface by multiple projectors deployed at corresponding positions, and the position of at least one projector is kept unchanged when the station is switched. When processing the point cloud data of each scanning scene, an association relationship between the three-dimensional points in the point cloud and the projectors is established. When splicing the point cloud data of two scanning processes that have passed the station switch, the projectors that have not moved during the station switch can be identified based on the projector information corresponding to the three-dimensional coordinates of the two scanning processes, and data splicing is performed based on the three-dimensional points associated with the projectors. There is no need to perform complicated point sticking operations during the scanning process, and the scanning process is relatively convenient, which is conducive to improving scanning efficiency. Secondly, there is no need to deploy a tracker, which is conducive to reducing scanning costs.

[0130] exist Figure 2 Based on the device shown, the device provided by the embodiment of the present invention can be further expanded into multiple units. The function of each unit can be found in the description of each embodiment provided for the data splicing method of transfer station scanning in the previous text, and no further examples will be given here.

[0131] The embodiment of the present invention further provides a transfer station scanning system, the structural schematic diagram of the transfer station scanning system can be shown as follows: Figure 3 As shown, the system includes:

[0132] A processing end 301, a control end 302, a handheld scanner 303 and a plurality of projectors 304; each of the projectors 304 is provided with a signal receiver and a positioning device; each of the projectors 304 includes at least two projectors with different projection patterns; during the station transfer process, at least one of the projectors 304 remains in a constant position;

[0133] The handheld scanner 303 is used to scan the object to be scanned, obtain scan data, and send the scan data to the control terminal 302;

[0134] Each of the projectors 304 is used to project a pattern onto the surface of the object to be scanned;

[0135] The signal receiver on each of the projectors 304 is used to receive the control signal of the control terminal 302;

[0136] The positioning device on each of the projectors 304 is used to collect the positioning data of the projector and send the positioning data of the projector to the control terminal 302;

[0137] The control end 302 is used to control the handheld scanner 303 and each of the projectors 304 to work together, and send the scanning data and the positioning data of each of the projectors 304 to the processing end 301;

[0138] The processing end 301 is used to execute the data splicing method of the transfer scanning as described above.

[0139] An embodiment of the present invention provides a transfer station scanning system, which includes a processing end, a control end, a handheld scanner and a plurality of projectors. A signal receiver and a positioning device are provided on the projector, and the signal receiver and the positioning device can be connected to the control end in a wired or wireless manner for communication. Each projector has at least two projectors with different projection patterns, and each projector can be a spot projector, a cross projector, etc. In each scanning process, each projector is fixed at a corresponding position to project a pattern onto a corresponding surface area of ​​the object to be scanned. When transferring stations, each projector is moved while keeping the position of at least one projector unchanged to project a pattern onto adjacent surface areas of the object to be scanned.

[0140] The processing end can be deployed on a computing terminal, and the control end can be integrated inside a handheld scanner or be set on a peripheral device such as a computer. The handheld scanner can transmit a scanning signal to the control end, so that the control end controls each projector to project a pattern onto the surface of the object to be scanned. The user can use the handheld scanner to scan the surface of the object projected by each projector. The handheld scanner can send the collected scanning data to the processing end through the control end. The positioning device of each projector will also send the current positioning data to the processing end through the control end. After receiving the corresponding scanning data and positioning data in each scanning process, the processing end can execute the data splicing method of the transfer scanning mentioned in the previous embodiment, process the data of each scanning scene, and splice the point clouds corresponding to different scanning scenes to finally obtain the overall point cloud data of the object.

[0141] By using the system provided by the embodiment of the present invention, during the scanning process of each scanning scene, a pattern can be projected onto the current scanning area of ​​the object surface by multiple projectors deployed at corresponding positions, and the position of at least one projector can be kept unchanged when the station is switched. When processing the point cloud data of each scanning scene, an association between the three-dimensional points in the point cloud and the projectors is established. When splicing the point cloud data of two scanning processes that have passed the station switch, the projectors that have not moved during the station switch can be identified based on the projector information corresponding to the three-dimensional coordinates of the two scanning processes, and data splicing is performed based on the three-dimensional points associated with the projectors. There is no need to perform complicated point sticking operations during the scanning process, and the scanning process is relatively convenient, which is conducive to improving scanning efficiency. Secondly, there is no need to deploy a tracker, which is conducive to reducing scanning costs.

[0142] In order to better illustrate the transfer station scanning system provided by the embodiment of the present invention, the following is further explained in combination with actual application scenarios. Figure 4 As shown, projectors 1 and 2 are set up near the object to be scanned, the projection pattern of projector 1 is pattern A, and the projection pattern of projector 2 is pattern B. In the first scanning scene, projector 1 is fixed at position 1-1, and projector 2 is fixed at position 2-1, so that the projection areas of each projector can overlap to a certain extent. It should be noted that Figure 4 Only an example of using two projectors is shown. In specific application scenarios, more projectors can be used. Connect each projector to the control end, and connect the handheld scanner to the control end and the processing end. After completing the connection of each device, you can start scanning. The transfer scanning process provided by the embodiment of the present invention can be as follows: Figure 5 As shown, specifically including:

[0143] S401: The scanner starts scanning, controls the projectors to synchronously project patterns, transmits the scanned data to the computing terminal, and transmits the current positioning information of each projector to the computing terminal;

[0144] In the embodiment of the present invention, after the device connection is completed, the scanner can start scanning, and at this time, the projector needs to be controlled to perform synchronous pattern projection. The user can use the handheld scanner to scan the surface of the object on which the pattern is projected, and the scan data will be sent to the computing terminal. At the same time, the positioning device of each projector also sends its positioning information to the computing terminal.

[0145] S402: The computing terminal performs three-dimensional reconstruction to obtain a point cloud corresponding to the current scanning scene, determines the corresponding relationship between the three-dimensional coordinates of each projection point in the point cloud and the projector according to the projection pattern, and establishes a corresponding relationship between the three-dimensional coordinates of each projection point and the positioning data of its corresponding projector;

[0146] In the embodiment of the present invention, the computing terminal can perform three-dimensional reconstruction based on the scanning data to obtain point cloud data of the current scanning scene, including the three-dimensional coordinates of the projection point of each projector. The computing terminal can determine the correspondence between the three-dimensional coordinates of each projection point in the point cloud and the projector through the projection patterns of each projector, and assign the positioning data of the corresponding projector to the three-dimensional coordinates of the projection point.

[0147] S403: After completing the scanning of the current scanning scene position, pausing the scanning;

[0148] In the embodiment of the present invention, after the scanning process of the current position is completed, the handheld scanner can pause scanning and inform the control end, and the control end can control the projector to stop projecting.

[0149] S404: Move the projectors that need to be transferred to a new position, keep at least one projector in its original position, and mark the projectors that have not been moved as fixed projectors, and enter the scanning of the next scanning scene;

[0150] In the embodiment of the present invention, the projector can be moved to a new position as needed when the station is transferred to project a pattern onto other areas of the surface of the object, but the position of one projector must remain unchanged during the movement, for example Figure 4 As shown in the setup, during the transfer process, projector 1 is moved from position 1-1 to position 1-2, while projector 2 is maintained at position 2-1, and projector 2 at position 2-1 and projector 1 at position 1-2 project patterns onto the surface of the object during a new round of scanning of the scene.

[0151] S405: The scanner starts scanning from the projection area of ​​the fixed projector, controls the projector to synchronously project the pattern, and transmits the scanning data and the current positioning information of each projector to the computing terminal;

[0152] In the embodiment of the present invention, the user can start a new round of scanning scenes from the surface area of ​​the object projected by the fixed projector through the handheld scanner, so as to facilitate the subsequent data splicing. After starting a new round of scanning, the scanner can send a synchronization signal to the control end, and the control end controls the projector to perform synchronous projection. The scanning data of the scanner will be transmitted to the computing terminal, and at the same time, the positioning data of each current projector will also be transmitted to the computing terminal.

[0153] S406: The computing terminal performs three-dimensional reconstruction to obtain a point cloud corresponding to the current scanning scene, determines the corresponding relationship between the three-dimensional coordinates of each projection point in the point cloud and the projector according to the projection pattern, and establishes a corresponding relationship between the three-dimensional coordinates of each projection point and the positioning data of its corresponding projector; finds the transition splicing point according to the projector information corresponding to each projection point corresponding to the current scanning scene and the projector information corresponding to each projection point of the previous scanning scene, and performs the transfer splicing;

[0154] In the embodiment of the present invention, the computing terminal will reconstruct based on the current scanning data to obtain the point cloud of the current scanning scene, and also determine the correlation between the three-dimensional coordinates of each projection point in the current point cloud and the projector and the positioning data of the projector. According to the projector information corresponding to the three-dimensional coordinates of the projection points in the two rounds of scanning scenes, the three-dimensional coordinates corresponding to the projection points of the fixed projector in the two rounds of scanning scenes can be found through the matching of the pattern and the positioning data, and the projection points of the fixed projector can be used as transition splicing points, thereby performing data splicing on the point clouds of the two rounds of scanning scenes to achieve station transfer scanning.

[0155] S407: Determine whether the overall scan is completed;

[0156] In the embodiment of the present invention, after completing the data stitching of the current transfer process, it can be determined whether the overall scanning work is currently completed. If the overall scanning is not completed, step S408 is entered; if the overall scanning is completed, step S409 is entered.

[0157] S408: proceed to the next round of transfer;

[0158] S409: End the scan and perform data post-processing.

[0159] The transfer station scanning system provided in the embodiment of the present invention can realize transfer station stitching scanning of large objects based on multiple projectors with positioning devices and different projection patterns. By transferring the same projector, the position and pattern thereof are verified to determine whether to splice with existing data, thereby realizing transfer station scanning. There is no need to configure a tracker or perform point sticking operations, which is beneficial to improving scanning efficiency and reducing scanning equipment costs.

[0160] An embodiment of the present invention further provides a storage medium, which includes stored instructions, wherein when the instructions are executed, the device where the storage medium is located is controlled to execute the data splicing method for transfer scanning as described above.

[0161] The embodiment of the present invention further provides an electronic device, the structural diagram of which is shown in FIG. Figure 6 As shown, it specifically includes a memory 501 and one or more instructions 502, wherein the one or more instructions 502 are stored in the memory 501 and are configured to be executed by one or more processors 503 to perform the following operations:

[0162] Determine the first point cloud obtained by scanning after the transfer station and the positioning information of each projector; each of the projectors includes at least two projectors with different projection patterns;

[0163] Based on the positioning information of each of the projectors, determining first point cloud projection information; the first point cloud projection information includes projector data corresponding to each projection point in the first point cloud;

[0164] Acquire a second point cloud and second point cloud projection information obtained by scanning before the transfer station; the second point cloud projection information includes projector data corresponding to each projection point in the second point cloud;

[0165] According to the first point cloud projection information and the second point cloud projection information, a target projector is determined among the projectors; the target projector is a projector whose position is fixed during the station transfer process;

[0166] Based on the target projector, determining a coordinate transformation relationship between the first point cloud and the second point cloud;

[0167] According to the coordinate transformation relationship, data splicing is performed on the first point cloud and the second point cloud.

[0168] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can refer to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system or system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can refer to the partial description of the method embodiment. The system and system embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without creative work.

[0169] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0170] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A data splicing method for transfer station scanning, characterized in that: include: Determine the first point cloud scanned after the transfer and the positioning information of each projector; Each of the projectors includes at least two projectors with different projection patterns; Determining first point cloud projection information based on positioning information of each of the projectors; The first point cloud projection information includes projector data corresponding to each projection point in the first point cloud; Acquire a second point cloud and second point cloud projection information obtained by scanning before the transfer station; the second point cloud projection information includes projector data corresponding to each projection point in the second point cloud; According to the first point cloud projection information and the second point cloud projection information, a target projector is determined among the projectors; the target projector is a projector whose position is fixed during the station transfer process; Based on the target projector, determining a coordinate transformation relationship between the first point cloud and the second point cloud; According to the coordinate transformation relationship, data splicing is performed on the first point cloud and the second point cloud.

2. The data splicing method for transfer station scanning according to claim 1 is characterized in that: The determining the first point cloud projection information based on the positioning information of each of the projectors includes: Determine an object projection image corresponding to the first point cloud; the object projection image includes pattern imaging points corresponding to each of the projectors; Determine a mapping relationship between each pattern imaging point in the object projection image and the first point cloud; Based on the mapping relationship, determining a projection point in the first point cloud and a projection pattern corresponding to each projection point in the first point cloud; Determine a projection pattern corresponding to each of the projectors; According to the projection pattern corresponding to each of the projectors and the projection pattern corresponding to each projection point in the first point cloud, determining, among the projectors, a matching projector corresponding to each projection point in the first point cloud; For each projection point in the first point cloud, the projection pattern, device identification and positioning information of the matching projector corresponding to the projection point are used as the projector data corresponding to the projection point; The first point cloud projection information is composed of projector data corresponding to each projection point in the first point cloud.

3. The data splicing method for transfer station scanning according to claim 1 is characterized in that: The step of determining a target projector among the projectors according to the first point cloud projection information and the second point cloud projection information includes: Based on the first point cloud projection information, determine each first projector identifier corresponding to the first point cloud, a projection pattern corresponding to each first projector identifier, and a projector position corresponding to each first projector identifier; Based on the second point cloud projection information, determine each second projector identifier corresponding to the second point cloud, a projection pattern corresponding to each second projector identifier, and a projector position corresponding to each second projector identifier; Determine a target projector identifier among each of the first projector identifiers according to the projection patterns and projector positions corresponding to each of the first projector identifiers, and the projection patterns and projector positions corresponding to each of the second projector identifiers; The projector among the projectors that matches the target projector identifier is used as the target projector.

4. The data splicing method for transfer station scanning according to claim 3 is characterized in that: The step of determining a target projector identifier in each of the first projector identifiers according to the projection patterns and projector positions corresponding to each of the first projector identifiers, and the projection patterns and projector positions corresponding to each of the second projector identifiers, comprises: For each of the first projector identifiers, the first projector identifier is compared with each of the second projector identifiers respectively. If there is a second projector identifier that matches the first projector identifier, the first projector identifier is used as a candidate projector identifier, and the second projector identifier that matches the first projector identifier is used as an associated identifier of the first projector identifier; For each candidate projector identifier, determine whether the projection pattern corresponding to the candidate projector identifier matches the projection pattern corresponding to the associated identifier, and if they match, use the candidate projector identifier as a preliminary identifier; For each of the preliminary selected identifiers, determine whether the projector position corresponding to the preliminary selected identifier matches the projector position corresponding to the associated identifier of the preliminary selected identifier. If they match, use the preliminary selected identifier as the target projector identifier.

5. The data splicing method for transfer station scanning according to claim 1 is characterized in that: The determining, based on the target projector, a coordinate transformation relationship between the first point cloud and the second point cloud comprises: In the first point cloud, determine the three-dimensional point corresponding to the projection center point of the target projector, and use the three-dimensional point corresponding to the projection center point of the target projector in the first point cloud as the first three-dimensional point; In the second point cloud, determine the three-dimensional point corresponding to the projection center point of the target projector, and use the three-dimensional point corresponding to the projection center point of the target projector in the second point cloud as the second three-dimensional point; The coordinate transformation relationship is determined based on the first three-dimensional point and the second three-dimensional point.

6. The data splicing method for transfer station scanning according to claim 1 is characterized in that: The step of performing data splicing on the first point cloud and the second point cloud according to the coordinate transformation relationship includes: According to the coordinate transformation relationship, performing point cloud data transformation on the first point cloud to obtain a transformed first point cloud; The converted first point cloud and the second point cloud are data-fused to achieve data splicing.

7. A data splicing device for transfer station scanning, characterized in that: include: A first determination unit, used to determine the first point cloud obtained by scanning after the transfer station and the positioning information of each projector; Each of the projectors includes at least two projectors with different projection patterns; A second determining unit, configured to determine first point cloud projection information based on positioning information of each of the projectors; The first point cloud projection information includes projector data corresponding to each projection point in the first point cloud; A data acquisition unit, used to acquire the second point cloud and the second point cloud projection information obtained by scanning before the transfer station; The second point cloud projection information includes projector data corresponding to each projection point in the second point cloud; a third determining unit, configured to determine a target projector from among the projectors according to the first point cloud projection information and the second point cloud projection information; the target projector is a projector whose position is fixed during the station transfer process; a fourth determining unit, configured to determine a coordinate transformation relationship between the first point cloud and the second point cloud based on the target projector; A data stitching unit is used to perform data stitching on the first point cloud and the second point cloud according to the coordinate transformation relationship.

8. A storage medium, characterized in that: The storage medium includes stored instructions, wherein when the instructions are executed, the device where the storage medium is located is controlled to execute the data splicing method for transfer scanning as described in any one of claims 1 to 6.

9. An electronic device, characterized in that: It comprises a memory and one or more instructions, wherein the one or more instructions are stored in the memory and are configured to be executed by one or more processors for executing the data stitching method for transfer scanning as described in any one of claims 1 to 6.

10. A transfer station scanning system, characterized in that: include: A processing end, a control end, a handheld scanner and a plurality of projectors; each of the projectors is provided with a signal receiver and a positioning device; each of the projectors includes at least two projectors with different projection patterns; during the station transfer process, at least one of the projectors remains in the same position; The handheld scanner is used to scan the object to be scanned, obtain scan data, and send the scan data to the control end; Each of the projectors is used to project a pattern onto the surface of the object to be scanned; A signal receiver on each of the projectors, used to receive a control signal from the control terminal; The positioning device on each of the projectors is used to collect the positioning data of the projector and send the positioning data of the projector to the control end; The control end is used to control the handheld scanner and each of the projectors to work together, and send the scanning data and the positioning data of each of the projectors to the processing end; The processing end is used to execute the data splicing method of transfer scanning as described in any one of claims 1 to 6.

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