Data stitching method for transit scanning, related devices, and transit scanning system

Abstract

The present invention provides a data stitching method for station-changing scanning, related devices, and a station-changing scanning system, belonging to the field of three-dimensional scanning. The method includes: determining the first point cloud obtained by scanning after station-changing and the positioning information of the projector; based on the positioning information of the projector, determining the first point cloud projection information; the first point cloud projection information includes the projector data corresponding to the first point cloud; obtaining the second point cloud obtained by scanning before station-changing and the second point cloud projection information; the second point cloud projection information includes the projector data corresponding to the second point cloud; according to the first point cloud projection information and the second point cloud projection information, determining the target projector among each projector; 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, performing data stitching on the first point cloud and the second point cloud. By applying the method of the present invention, station-changing data stitching can be realized based on the station-changing of the projector, without the need for sticking points operation, and the scanning efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of three-dimensional scanning, and particularly to a data stitching method for station transfer scanning, related devices, and a station transfer scanning system. Background Art

[0002] In the three-dimensional scanning scenario of large objects, station transfer scanning is one of the common scanning methods. Station transfer scanning refers to separately scanning corresponding different object regions during three-dimensional scanning, deploying the scanning scenarios corresponding to each object region, using a scanner to scan the corresponding object region in the current scanning scenario to obtain the point cloud data corresponding to the current scanning scenario, and then switching to the next scanning scenario, that is, performing a station transfer, and continuing to scan another object region. By stitching the point cloud data corresponding to each scanning scenario, a complete point cloud is finally obtained.

[0003] Currently, in the scenario of station transfer scanning, the three-dimensional data of different scanning scenarios is mainly stitched based on a tracker and fiducial points. That is, fiducial points are arranged on the object to be scanned. In each scanning scenario, the tracker is placed at a position suitable for the current scanning scenario. The tracker can unify the coordinate systems of different scanning scenario positions by tracking the fiducial points at different positions, and then stitch the point cloud data corresponding to each scanning scenario through the unified coordinate system.

[0004] Based on the existing data stitching method in station transfer scanning, it is necessary to rely on a tracker and fiducial points to achieve data stitching, and it is necessary to ensure that the tracker at different scanning scenario positions can track the fiducial points. Therefore, precise fiducial point pasting operations need to be performed before scanning, resulting in relatively complex scanning work and low efficiency. In addition, the equipment cost of the tracker is relatively high, making the overall scanning cost relatively high. Summary of the Invention

[0005] In view of this, embodiments of the present invention provide a data stitching method for station transfer scanning, related devices, and a station transfer scanning system to solve the problems of the existing processing method for station transfer scanning, which needs to rely on the cooperation of a tracker and fiducial points to achieve station transfer scanning, requires complex fiducial point pasting operations, has low efficiency, and has a relatively high equipment cost.

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

[0007] A data stitching method for station transfer scanning includes:

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

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

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

[0011] Determine a target projector among each of the projectors according to the first point cloud projection information and the second point cloud projection information; the target projector is a projector with a fixed position during the station transfer process;

[0012] Determine the coordinate transformation relationship between the first point cloud and the second point cloud based on the target projector;

[0013] Perform data stitching on the first point cloud and the second point cloud according to the coordinate transformation relationship.

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

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

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

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

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

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

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

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

[0022] For the above method, optionally, the determining the target projector among each of 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, the projection pattern corresponding to each first projector identifier, and the 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, the projection pattern corresponding to each second projector identifier, and the projector position corresponding to each second projector identifier;

[0025] According to the projection patterns and projector positions corresponding to each first projector identifier, and the projection patterns and projector positions corresponding to each second projector identifier, determine a target projector identifier among each first projector identifier;

[0026] Among each projector, use the projector that matches the target projector identifier as the target projector.

[0027] For the above method, optionally, the determining a target projector identifier among each first projector identifier according to the projection patterns and projector positions corresponding to each first projector identifier, and the projection patterns and projector positions corresponding to each second projector identifier includes:

[0028] For each first projector identifier, compare this first projector identifier with each second projector identifier respectively. If there is a second projector identifier that matches this first projector identifier, then use this first projector identifier as a candidate projector identifier, and use the second projector identifier that matches this first projector identifier as the associated identifier of this first projector identifier;

[0029] For each candidate projector identifier, determine whether the projection pattern corresponding to it matches the projection pattern corresponding to its associated identifier. If they match, then use this candidate projector identifier as a primary selection identifier;

[0030] For each primary selection identifier, determine whether the projector position corresponding to this primary selection identifier matches the projector position corresponding to the associated identifier of this primary selection identifier. If they match, then use this primary selection identifier as the target projector identifier.

[0031] For the above method, optionally, the 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] Based on the first three-dimensional point and the second three-dimensional point, determine the coordinate transformation relationship.

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

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

[0037] Perform data fusion on the transformed first point cloud and the second point cloud to achieve data stitching.

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

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

[0040] A second determination unit, configured to determine first point cloud projection information based on the positioning information of each projector; the first point cloud projection information includes projector data corresponding to each projection point in the first point cloud;

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

[0042] A third determination unit, configured to determine a target projector among each of the projectors according to the first point cloud projection information and the second point cloud projection information; the target projector is a projector with a fixed position during the station transfer process;

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

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

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

[0046] An electronic device includes a memory and one or more instructions, where 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 stitching method for station transfer scanning as described above.

[0047] A station transfer scanning system includes:

[0048] A processing end, a control end, a handheld scanner, and multiple projectors; a signal receiver and a positioning device are provided on each of the projectors; each of the projectors includes projectors with at least two different projection patterns; during the station transfer process, the position of at least one projector remains unchanged among the projectors.

[0049] The handheld scanner is used to scan an 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] The signal receiver on each of the projectors is used to receive the control signal from the control end;

[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 in coordination and send the scan data and the positioning data of each projector to the processing end;

[0054] The processing end is used to execute the data stitching method for station transfer scanning as described above.

[0055] A data stitching method for station-changing scanning provided by the embodiments of the present invention includes: determining a first point cloud obtained by scanning after station-changing and the positioning information of each projector; each of the projectors includes projectors with at least two different projection patterns; determining first point cloud projection information based on the positioning information of each projector; the first point cloud projection information includes projector data corresponding to each projection point in the first point cloud; obtaining a second point cloud obtained by scanning before station-changing and second point cloud projection information; the second point cloud projection information includes projector data corresponding to each projection point in the second point cloud; determining a target projector in each projector according to the first point cloud projection information and the second point cloud projection information; the target projector is a projector with a fixed position during the station-changing process; determining a coordinate conversion relationship between the first point cloud and the second point cloud based on the target projector; and performing data stitching on the first point cloud and the second point cloud according to the coordinate conversion relationship. By applying the method provided by the embodiments of the present invention, during the scanning process of each scanning scene, multiple projectors deployed at corresponding positions can project patterns onto the current scanning area of the object surface, and at least one projector remains stationary during station-changing. 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 stitching the point cloud data of two scanning processes after station-changing, the projector that does not move during the station-changing process can be identified according to the projector information corresponding to the three-dimensional coordinates of the two scanning processes, and data stitching is performed based on the three-dimensional points associated with the projector. There is no need to perform complex point-pasting operations during the scanning process, and the scanning process is relatively convenient, which is beneficial to improving the scanning efficiency. Secondly, there is no need to deploy a tracker, which is beneficial to reducing the scanning cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0057] Figure 1 It is a flowchart of a data stitching method for station-changing scanning provided by the embodiments of the present invention;

[0058] Figure 2 It is a schematic structural diagram of a data stitching device for station-changing scanning provided by the embodiments of the present invention;

[0059] Figure 3 It is a schematic system structure diagram of a station-changing scanning system provided by the embodiments of the present invention;

[0060] Figure 4 It is a deployment schematic diagram of a station-changing scanning system provided by the embodiments of the present invention;

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

[0062] Figure 6 A schematic structural diagram of an electronic device provided by an embodiment of the present invention. Detailed implementation manners

[0063] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0064] In this application, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "including a..." does not exclude the presence of additional identical elements in the process, method, article or device including the element.

[0065] An embodiment of the present invention provides a data splicing method for transfer station scanning. The method can be applied to a data processing system for transfer station scanning, and its execution subject can be a processor of the data processing system. The method flowchart of the method can Figure 1 be shown as follows and includes:

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

[0067] In the method provided by the embodiment of the present invention, during the scanning process of each scanning scenario, a plurality of projectors project patterns onto the surface of the object to be scanned, that is, project corresponding patterns onto the surface area of the object to be scanned currently. Each projector is set at a corresponding position and projects patterns onto different positions of the current surface area. At least two projectors with different projection patterns are included among the projectors, that is, at least two different patterns are included in the projection patterns of these projectors. For example, if two projectors are deployed, the projection patterns of these two projectors are two different patterns. For example, one projector projects a speckle 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 adopt the same projection pattern and the other projector adopts another projection pattern. The setting positions of each projector in each scanning scenario can be set according to actual needs. The projection patterns of two adjacent projectors in the deployment positions can be the same or different. During the transfer process, the movable projector projects onto the adjacent area of the current area of the object surface, that is, in different scanning scenarios, the transfer is performed by adjusting the position of the projector. During the transfer process, at least one projector's position needs to be kept unchanged.

[0068] During the scanning process of each scanning scenario, when projecting patterns onto the object surface, the object surface is scanned by a 3D scanner. The scanning data collected by the 3D scanner includes data for 3D reconstruction and also includes the projection image of the object surface.

[0069] During the scanning process of each scanning scenario, the positioning data of each projector can be collected by means of positioning by a positioning device, etc. The scanning data of the 3D scanner and the positioning data of each projector (that is, the positioning information of each projector) will be sent to the processor for data processing. When the processor receives the scanning data and the positioning data of each projector during the current scanning process, it will perform 3D 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, the processor needs to splice the point cloud data obtained during the scanning process before and after the transfer. When the processor receives the scanning data and the positioning data of each projector during the scanning process after the transfer, it can first perform 3D coordinate reconstruction based on the data for 3D reconstruction in the scanning data to obtain each 3D point (that is, 3D coordinates) on the surface of the object scanned during the current scanning process, and the first point cloud obtained by scanning after the transfer is composed of the reconstructed 3D points.

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

[0071] In the method provided by the embodiment of the present invention, a projection image of the object surface can be obtained from the scan data. According to the correspondence between each three-dimensional point in the first point cloud and the object surface points, 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 points belonging to the projection points of the projector in the first point cloud can be identified, and the projector corresponding to each projection point can be identified, that is, it is determined 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 relevant data of the projector such as the positioning data, projection pattern, and projector identifier 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 may include a projector identifier (representing the projector), a 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: Obtain a second point cloud and second point cloud projection information obtained by scanning before the transfer station; the second point cloud projection information includes the 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 scan data and projector positioning information of each scan scenario, it will be processed in the manner of 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 scan data and the positioning information of the projector corresponding to the scan process before the transfer station, it will process to obtain the point cloud obtained by scanning before the transfer station (i.e., the second point cloud) and the projector data corresponding to each projection point in the second point cloud. When processing the data after the transfer station, the point cloud obtained by scanning before the transfer station can be obtained from the corresponding storage location, and this point cloud is used as the second point cloud, and the projector data corresponding to each projection point in the second point cloud is obtained. The projector data corresponding to each projection point in the second point cloud is used as the second point cloud projection information.

[0074] S104: Determine a target projector among the projectors according to the first point cloud projection information and the second point cloud projection information; the target projector is the projector with a fixed position during the transfer process.

[0075] In the method provided by the embodiments of the present invention, the projectors that do not move during the transfer process from the scanning scene corresponding to the second point cloud to the scanning scene corresponding to the first point cloud can be identified by the projector data corresponding to the projection points in the first point cloud projection information and the projector data corresponding to the projection points in the second point cloud projection information. Specifically, the same projectors in the two scanning processes can be found through the projector identifier and the projection pattern, and whether the projector moves can be identified according to the positioning data of the same projector in the two scanning processes, so as to determine the projectors with fixed positions during the transfer process, and use the projectors with fixed positions as the target projectors.

[0076] S105: Based on the target projector, determine the coordinate transformation relationship between the first point cloud and the second point cloud;

[0077] In the method provided by the embodiments of the present invention, the three-dimensional points in the first point cloud associated with the projection area of the target projector can be found according to the correspondence between the target projector and the projection points in the first point cloud. Similarly, the three-dimensional points in the second point cloud associated with the projection area of the target projector can be found according to the correspondence between the target projector and the projection points in the second point cloud. 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: According to the coordinate transformation relationship, perform data stitching on the first point cloud and the second point cloud.

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

[0080] Based on the method provided by the embodiments of the present invention, during the process of station transfer scanning, the first point cloud obtained after the station transfer and the positioning information of each projector can be determined; each projector includes projectors with at least two 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 obtained before the station transfer and the second point cloud projection information are acquired; 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, the target projector is determined in each projector; the target projector is the projector with a fixed position 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; according to the coordinate transformation relationship, the data of the first point cloud and the second point cloud are stitched. Applying the method provided by the embodiments of the present invention, during the scanning process of each scanning scene, multiple projectors deployed at corresponding positions can project patterns onto the current scanning area of the object surface, and at least one projector's position remains unchanged during the station transfer. When processing the point cloud data of each scanning scene, the association relationship between the three-dimensional points in the point cloud and the projector is established. When stitching the point cloud data of two scanning processes after the station transfer, the projector that has not moved during the station transfer process can be identified according to the projector information corresponding to the three-dimensional coordinates of the two scanning processes, and data stitching is performed based on the three-dimensional points associated with the projector. During the scanning process, there is no need to perform complex point sticking operations, and the scanning process is relatively convenient, which is conducive to improving the scanning efficiency. Secondly, there is no need to deploy a tracker, which is conducive to reducing the scanning cost.

[0081] On the basis of the Figure 1 method shown, in the method provided by the embodiments 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 the object projection image corresponding to the first point cloud; the object projection image includes the pattern imaging points corresponding to each of the projectors;

[0083] In the method provided by the embodiments 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 station 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 the 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, based on the scanning data, the correspondence between the pattern imaging points and the object surface points in the object projection image can be determined. At the same time, based on the scanning data, the correspondence between the three-dimensional points in the first point cloud and the object surface points can be determined. Combining 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 point and the three-dimensional point corresponding to the same object surface point.

[0086] Based on the mapping relationship, determine the projection points in the first point cloud and the projection patterns corresponding to each projection point in the first point cloud;

[0087] In the method provided by the embodiment of the present invention, through image recognition, the projection pattern to which each pattern imaging point belongs can be determined. 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, then 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 the projection pattern corresponding to each projector;

[0089] In the method provided by 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 during pattern projection, which is usually represented by a corresponding pattern identifier.

[0090] Based on the projection patterns corresponding to each projector and the projection patterns corresponding to each projection point in the first point cloud, determine the matching projector corresponding to each projection point in the first point cloud among each projector;

[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 patterns corresponding to each projector respectively, 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, use the projection pattern, device identifier, and positioning information of the matching projector corresponding to the projection point as the projector data corresponding to the projection point;

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

[0094] In the method provided by the embodiment of the present invention, from the positioning information of each projector, the positioning data of each projector can be obtained, and from the pre-stored configuration information, the projection pattern and device identifier of each projector can be acquired. 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 identifier 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] In Figure 1 Based on the method shown above, in the method provided by the embodiment of the present invention, the process of determining the target projector among each of 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, the projection pattern corresponding to each first projector identifier, and the projector position corresponding to each first projector identifier;

[0097] In the method provided by the embodiment of the present invention, according to the projector identifier involved in the first point cloud projection information (i.e., the device identifier of the projector), each projector involved in the scanning process corresponding to the first point cloud can be determined (represented by the projector identifier). The projector identifier of each currently involved projector, the projection pattern of each currently involved projector, and the positioning data (i.e., positioning information) of each projector during the scanning process can be obtained from the first point cloud projection information. The projector identifier of each currently involved projector 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. Thus, 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, the projection pattern corresponding to each second projector identifier, and the projector position corresponding to each second projector identifier;

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

[0100] Based on the projection pattern and projector position corresponding to each of the first projector identifiers, and the projection pattern and projector position corresponding to each of the second projector identifiers, determine the target projector identifier among each of the first projector identifiers;

[0101] In the method provided by the embodiment of the present invention, the projectors that are applied before and after the transfer can be identified according to the first projector identifier and the second projector identifier, and further, based on the projection pattern and projector position corresponding to these projectors, the projectors with fixed positions during the transfer process can be identified, and the target projector identifier is obtained, that is, the projector identifier of the projector with a fixed position.

[0102] Among each of the projectors, the projector 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, among the deployed projectors, the projector corresponding to the target projector identifier can be determined, and the projector corresponding to the target projector identifier is used as the target projector.

[0104] Based on the method provided in the above embodiment, in the method provided by the embodiment of the present invention, the step of determining the target projector identifier among each of the first projector identifiers based on the projection pattern and projector position corresponding to each of the first projector identifiers, and the projection pattern and projector position corresponding to each of the second projector identifiers, includes:

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

[0106] In the method provided by the embodiments of the present invention, each of the first projector identifiers is compared with each of the second projector identifiers respectively. If a first projector identifier is the same as a certain second projector identifier, that is, the projector corresponding to the first projector identifier is used in the scanning processes before and after the transfer station, then use the first projector identifier as a candidate projector identifier, and use the second projector identifier that matches it as the associated identifier of the first projector identifier (i.e., 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 only used to distinguish the representations of the projector in different scanning scenarios.

[0107] For each of the candidate projector identifiers, determine whether the projection pattern corresponding to it matches the projection pattern corresponding to its associated identifier. If they match, then use the candidate projector identifier as a preliminary selection identifier;

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

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

[0110] In the method provided by the embodiments of the present invention, the primary selection identifier is compared with its associated identifier for positioning to determine whether the installation positions of the projectors corresponding to the primary selection identifier and the projectors corresponding to its associated identifier match. If the installation positions of the two match, the primary selection identifier is used as the target projector identifier, that is, the identifier of the projector with a fixed position during the transfer process. Specifically, a distance threshold can be set in advance according to actual requirements, and this distance threshold can be set based on the positioning error. During the process of determining whether the positions of the projectors corresponding to the primary selection identifier and the positions of the projectors corresponding to its associated identifier match, first, based on the positions of the projectors corresponding to the primary selection identifier and the positions of the projectors corresponding to its associated identifier, calculate the distance between the positions of these two projectors, and determine whether this distance is greater than the preset distance threshold. If this distance is not greater than the preset distance threshold, it is considered that the positions of these two projectors match; if this distance is greater than the preset distance threshold, it is considered that the positions of these two projectors do not match.

[0111] Based on Figure 1 the method shown, in the method provided by the embodiments 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 the embodiments of the present invention, based on the object projection image corresponding to the first point cloud, during the scanning process after the transfer, that is, during the scanning process corresponding to the first point cloud, the imaging point corresponding to the projection center point of the target projector can be determined. According to the correspondence between the imaging point and the three-dimensional point in the first point cloud in the object projection image corresponding to the first point cloud, the three-dimensional point corresponding to the projection center point of the target projector in the first point cloud can be determined, and this three-dimensional point is 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 the embodiments of the present invention, based on the object projection image corresponding to the second point cloud, during the scanning process before the transfer, that is, during the scanning process corresponding to the second point cloud, the imaging point corresponding to the projection center point of the target projector can be determined. According to the correspondence between the imaging point and the three-dimensional point in the second point cloud in the object projection image corresponding to the second point cloud, the three-dimensional point corresponding to the projection center point of the target projector in the second point cloud can be determined, and this three-dimensional point is used as the second three-dimensional point.

[0116] Based on the first three-dimensional point and the second three-dimensional point, determine the coordinate conversion relationship.

[0117] In the method provided by the embodiments of the present invention, the first three-dimensional point and the second three-dimensional point are used as three-dimensional data representing the same object surface point, and thus the transformation matrix (RT matrix) is solved, and the coordinate conversion relationship is determined based on the transformation matrix.

[0118] In Figure 1 Based on the method shown, in the method provided by the embodiments of the present invention, the process of data stitching the first point cloud and the second point cloud according to the coordinate conversion relationship mentioned in step S106 includes:

[0119] According to the coordinate conversion relationship, perform point cloud data conversion on the first point cloud to obtain the converted first point cloud;

[0120] Perform data fusion on the converted first point cloud and the second point cloud to achieve data stitching.

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

[0122] Corresponding to Figure 1 a data stitching method for station transfer scanning shown, the embodiments of the present invention further provide a data stitching device for station transfer scanning, which is used for Figure 1 the specific implementation of the method shown in Figure 2 shown, and includes:

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

[0124] The second determination unit 202 is configured to determine the first point cloud projection information based on the positioning information of each projector; the first point cloud projection information includes the projector data corresponding to each projection point in the first point cloud;

[0125] The data acquisition unit 203 is configured to acquire the second point cloud scanned before station transfer and the second point cloud projection information; the second point cloud projection information includes the projector data corresponding to each projection point in the second point cloud;

[0126] A third determination unit 204, configured to determine a target projector among all the projectors according to the first point cloud projection information and the second point cloud projection information; the target projector is a projector with a fixed position during the transfer process;

[0127] A fourth determination 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] A data splicing unit 206, configured to splice the data of the first point cloud and the second point cloud according to the coordinate transformation relationship.

[0129] When applying the device provided by the embodiment of the present invention, during the scanning process of each scanning scene, multiple projectors deployed at corresponding positions can project patterns onto the current scanning area of the object surface, and at least one projector remains stationary during the transfer. 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 after transfer, the projectors that have not moved during the transfer process can be identified according to 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 projector. There is no need to perform complex point sticking operations during the scanning process, and the scanning process is relatively convenient, which is beneficial to improving the scanning efficiency. Secondly, there is no need to deploy a tracker, which is beneficial to reducing the scanning cost.

[0130] In Figure 2 Based on the device shown, the device provided by the embodiment of the present invention can further expand multiple units. The functions of each unit can refer to the descriptions in the respective embodiments of the data splicing method for transfer scanning provided above, and no further examples will be given here.

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

[0132] A processing end 301, a control end 302, a handheld scanner 303, and multiple projectors 304; a signal receiver and a positioning device are provided on each projector 304; each projector 304 includes projectors with at least two different projection patterns; during the transfer process, at least one projector among all the projectors 304 has a fixed position;

[0133] The handheld scanner 303 is configured to scan a to-be-scanned object to obtain scan data and send the scan data to the control end 302;

[0134] Each projector 304 is configured to project a pattern onto the surface of the to-be-scanned object;

[0135] A signal receiver on each of the projectors 304 for receiving a control signal from the control terminal 302;

[0136] A positioning device on each of the projectors 304 for collecting positioning data of the projector and sending the positioning data of the projector to the control terminal 302;

[0137] The control terminal 302 for controlling the handheld scanner 303 and each of the projectors 304 to work in cooperation and sending the scan data and the positioning data of each of the projectors 304 to the processing terminal 301;

[0138] The processing terminal 301 for executing the data stitching method for station transfer scanning as described above.

[0139] An embodiment of the present invention provides a station transfer scanning system, which includes a processing terminal, a control terminal, 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 communicatively connected to the control terminal in a wired or wireless manner. Among the projectors, there are at least two projectors with different projection patterns, and each projector can be a dot projector, a cross projector, etc. In each scanning process, each projector is fixed at a corresponding position to project a pattern on a corresponding surface area of the object to be scanned. When performing a station transfer, while keeping the position of at least one projector unchanged, each projector is moved to project a pattern on an adjacent surface area of the object to be scanned.

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

[0141] When the system provided by the embodiments of the present invention is applied, during the scanning process of each scanning scenario, multiple projectors deployed at corresponding positions can project patterns onto the current scanning area of the object surface, and at least one projector remains stationary during the transfer station. When processing the point cloud data of each scanning scenario, 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 after passing through the transfer station, the projectors that did not move during the transfer station 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 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 the scanning efficiency. Secondly, there is no need to deploy a tracker, which is conducive to reducing the scanning cost.

[0142] To better illustrate the transfer station scanning system provided by the embodiments of the present invention, the following further illustrates with an actual application scenario. The deployment schematic diagram of the transfer station scanning system provided by the embodiments of the present invention can be as Figure 4 shown. Projector 1 and Projector 2 are erected 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 scenario, Projector 1 is fixed at Position 1-1, and Projector 2 is fixed at Position 2-1, which can make the projection areas of the respective projectors have a certain overlap. It should be noted that Figure 4 only shows an example of using two projectors. In a specific application scenario, more projectors can be used. Connect each projector to the control terminal, and connect the handheld scanner to the control terminal and the processing terminal. After completing the connection of each device, scanning can start. The transfer station scanning process provided by the embodiments of the present invention can be as Figure 5 shown, specifically including:

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

[0144] In the embodiments of the present invention, after the device connection is completed, the scanner can start scanning. At this time, it is necessary to control the projectors to project patterns synchronously. The user can scan the object surface projected with patterns through the handheld scanner, and the scanning 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 the point cloud corresponding to the current scanning scenario, determines the correspondence between the three-dimensional coordinates of each projection point in the point cloud and the projector according to the projection pattern, and establishes the correspondence between the three-dimensional coordinates of each projection point and the positioning data of its corresponding projector;

[0146] In an embodiment of the present invention, the computing terminal can perform three-dimensional reconstruction based on the scanned data to obtain the point cloud data of the current scanned scene, including the three-dimensional coordinates of the projection points 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 the respective projectors, and assign the positioning data of the corresponding projector to the three-dimensional coordinates of the projection points.

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

[0148] In an embodiment of the present invention, after the scanning process at the current position ends, the handheld scanner can pause the scanning and inform the control terminal, and the control terminal can control the projector to stop projecting.

[0149] S404: Move the projectors that need to be transferred to a new position. At least one projector needs to be retained in place, and the projectors with unchanged positions are marked as fixed projectors, and enter the scanning of the next scanned scene;

[0150] In an embodiment of the present invention, when transferring stations, the projectors can be moved to new positions as needed to project patterns onto other areas of the object surface, but during the movement, the position of one projector needs to remain unchanged. For example Figure 4 As shown in the setup, during the transfer station process, projector 1 is moved from position 1-1 to position 1-2, while projector 2 remains at position 2-1. Projector 2 at position 2-1 and projector 1 at position 1-2 project patterns onto the object surface during the scanning process of the new round of scanned scene.

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

[0152] In an embodiment of the present invention, the user can start scanning the new round of scanned scene from the area of the object surface projected by the fixed projector through the handheld scanner to facilitate subsequent data stitching. After starting the new round of scanning, the scanner can send a synchronization signal to the control terminal, and the control terminal controls the projector to perform synchronous projection. The scanned data of the scanner will be transmitted to the computing terminal. 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 the point cloud corresponding to the current scanned scene. According to the projection pattern, determine the correspondence between the three-dimensional coordinates of each projection point in the point cloud and the projector, and establish the correspondence between the three-dimensional coordinates of each projection point and the positioning data of its corresponding projector; According to the projector information corresponding to each projection point in the current scanned scene and the projector information corresponding to each projection point in the previous scanned scene, find the transition stitching points, and perform transfer station stitching based on this;

[0154] In the embodiments of the present invention, the computing terminal will perform reconstruction based on the current scan data to obtain the point cloud of the current scan scene, and also determine the association relationship 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 scan scenes, by matching the patterns and positioning data, the three-dimensional coordinates corresponding to the projection points of the fixed projector in these two rounds of scan scenes can be found, and the projection points of the fixed projector can be used as transition stitching points, thereby performing data stitching on the point clouds of these two rounds of scan scenes to achieve station-changing scanning.

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

[0156] In the embodiments of the present invention, after completing the data stitching of the current station-changing process, it can be determined whether the overall scan work has been completed. If the overall scan has not been completed, step S408 is entered; if the overall scan has been completed, step S409 is entered.

[0157] S408: Perform the next round of station-changing;

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

[0159] Based on the station-changing scanning system provided by the embodiments of the present invention, station-changing stitching scanning of large objects can be realized based on multiple projectors with positioning devices and different projection patterns. Through the station-changing of the same projector, it is judged whether to splice with the existing data by verifying whether its position and pattern are the same, so as to realize station-changing scanning. There is no need to configure a tracker, nor to perform the operation of sticking points, which is beneficial to improving the scanning efficiency and reducing the equipment cost of scanning.

[0160] The embodiments of the present invention also provide a storage medium, which includes stored instructions. When the instructions are running, the device where the storage medium is located is controlled to execute the data stitching method for station-changing scanning as described above.

[0161] The embodiments of the present invention also provide an electronic device, and its structural schematic diagram is as Figure 6 shown, which specifically includes a memory 501 and one or more instructions 502. 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 after station-changing scanning and the positioning information of each projector; each of the projectors includes projectors with at least two different projection patterns;

[0163] Based on the positioning information of each of the projectors, determine 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.

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

[0165] Based on the first point cloud projection information and the second point cloud projection information, determine target projectors among the projectors; the target projectors are projectors with fixed positions during the station transfer process.

[0166] Based on the target projectors, determine the coordinate transformation relationship between the first point cloud and the second point cloud.

[0167] According to the coordinate transformation relationship, perform data stitching on the first point cloud and the second point cloud.

[0168] Each embodiment in this specification is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments. In particular, for the system or system embodiments, since they are basically similar to the method embodiments, the description is relatively simple. For the relevant parts, reference can be made to the partial description of the method embodiments. The systems and system embodiments described above are only illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0169] Those skilled in the art can further realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in this article can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the components and steps of each example have been generally described according to their functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0170] The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can 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 is to be accorded 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, Including: Determine the first point cloud obtained by scanning after the transfer station and the positioning information of each projector; Each of the projectors includes projectors with at least two different projection patterns; Based on the positioning information of each projector, determine 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; Obtain the second point cloud obtained by scanning before the transfer station and the second point cloud projection information; 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, determine the target projector among each of the projectors; the target projector is the projector with a fixed position during the transfer process; among each of the projectors, other projectors except the target projector include projectors with a moving position during the transfer process; Based on the target projector, determine the coordinate transformation relationship between the first point cloud and the second point cloud; According to the coordinate transformation relationship, perform data stitching on the first point cloud and the second point cloud.

2. The data splicing method for transfer station scanning according to claim 1, wherein The determining the first point cloud projection information based on the positioning information of each projector includes: Determine the object projection image corresponding to the first point cloud; the object projection image includes the pattern imaging points corresponding to each projector; Determine the mapping relationship between each pattern imaging point in the object projection image and the first point cloud; Based on the mapping relationship, determine the projection points in the first point cloud and the projection pattern corresponding to each projection point in the first point cloud; Determine the projection pattern corresponding to each projector; According to the projection patterns corresponding to each projector and the projection pattern corresponding to each projection point in the first point cloud, determine the matching projector corresponding to each projection point in the first point cloud among each of the projectors; For each projection point in the first point cloud, use the projection pattern, device identifier, and positioning information of the matching projector corresponding to the projection point as the projector data corresponding to the projection point; The first point cloud projection information is composed of the 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, characterized in that, The determining the target projector among each of 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, the projection pattern corresponding to each first projector identifier, and the 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, the projection pattern corresponding to each second projector identifier, and the projector position corresponding to each second projector identifier; According to the projection pattern and projector position corresponding to each first projector identifier, and the projection pattern and projector position corresponding to each second projector identifier, determine the target projector identifier among each of the first projector identifiers; Use the projector that matches the target projector identifier among each of the projectors as the target projector.

4. The data splicing method for transfer station scanning according to claim 3, wherein Determining a target projector identifier from each of the first projector identifiers based on 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 includes: For each of the first projector identifiers, compare the first projector identifier with each of the second projector identifiers respectively. If there is a second projector identifier that matches the first projector identifier, then use the first projector identifier as a candidate projector identifier, and use the second projector identifier that matches the first projector identifier as the associated identifier of the first projector identifier; For each of the candidate projector identifiers, determine whether the projection pattern corresponding to it matches the projection pattern corresponding to its associated identifier. If they match, then use the candidate projector identifier as a preliminary selection identifier; For each of the preliminary selection identifiers, determine whether the projector position corresponding to the preliminary selection identifier matches the projector position corresponding to the associated identifier of the preliminary selection identifier. If they match, then use the preliminary selection identifier as the target projector identifier.

5. The data stitching method for transit scanning according to claim 1, characterized in that Determining the coordinate transformation relationship between the first point cloud and the second point cloud based on the target projector includes: 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; Determine the coordinate transformation relationship based on the first three-dimensional point and the second three-dimensional point.

6. The data stitching method for transit scanning according to claim 1, characterized in that Performing data stitching on the first point cloud and the second point cloud according to the coordinate transformation relationship includes: According to the coordinate transformation relationship, perform point cloud data transformation on the first point cloud to obtain the transformed first point cloud; Perform data fusion on the transformed first point cloud and the second point cloud to achieve data stitching.

7. A data splicing device for transfer station scanning, characterized in that Including: A first determination unit for determining the first point cloud scanned after the station change and the positioning information of each projector; Each of the projectors includes projectors with at least two different projection patterns; A second determination unit for determining the first point cloud projection information based on the positioning information of each of the projectors; The first point cloud projection information includes the projector data corresponding to each projection point in the first point cloud; A data acquisition unit for acquiring the second point cloud scanned before the station change and the second point cloud projection information; The second point cloud projection information includes the projector data corresponding to each projection point in the second point cloud; A third determination unit for determining a target projector from each of the projectors according to the first point cloud projection information and the second point cloud projection information; the target projector is a projector with a fixed position during the station change; among each of the projectors, other projectors except the target projector include projectors with a moving position during the station change; A fourth determination 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, configured 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 running, the device where the storage medium is located is controlled to execute the data stitching method for transit scanning according to any one of claims 1 to 6.

9. An electronic device, characterized in that, It 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 execute the data stitching method for transit scanning according to any one of claims 1 to 6.

10. A transfer station scanning system, characterized in that, It includes: A processing end, a control end, a handheld scanner, and multiple projectors; a signal receiver and a positioning device are arranged on each projector; each of the projectors includes projectors with at least two different projection patterns; during the transit process, the positions of at least one of the projectors remain unchanged; The handheld scanner is configured to scan an object to be scanned, obtain scan data, and send the scan data to the control end; Each of the projectors is configured to project a pattern onto the surface of the object to be scanned; The signal receiver on each projector is configured to receive a control signal from the control end; The positioning device on each projector is configured to collect positioning data of the projector and send the positioning data of the projector to the control end; The control end is configured to control the handheld scanner and each projector to work in coordination, and send the scan data and the positioning data of each projector to the processing end; The processing end is configured to execute the data stitching method for transit scanning according to any one of claims 1 to 6.

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