Spatial precision measurement method and device of scanning system and scanning system

Abstract

The invention relates to a spatial precision measurement method and device of a scanning system and the scanning system. The method comprises the following steps: acquiring measurement data of a standard component in a visual field range of the scanning system; the standard component moves in a visual field range; and according to the measurement data and the reference data of the standard component, determining the precision error of the measurement data of the standard component in the field of view so as to reflect the spatial precision of the scanning system through the precision error. According to the invention, the precision error of the measurement data of the standard component is determined according to the reference data of the standard component and the measurement data in the field of view of the scanning system, so that the spatial precision of the field of view of the scanning system is reflected by measuring the precision error of the standard component. The problem that an existing spatial precision measurement method cannot be used universally is solved.

Description

Technical Field

[0001] The present application relates to the field of three-dimensional scanning technology, and in particular to a method and device for measuring the spatial accuracy of a scanning system, and a scanning system. Background Art

[0002] A scanning system is a device or technology combination that uses laser, structured light or other optical technologies to capture the three-dimensional shape of an object and obtain the three-dimensional coordinate data of the object's surface. Common scanners, trackers and other devices all belong to scanning systems.

[0003] The spatial accuracy of the scanning system is one of the key indicators to measure the performance of the scanning system, and is directly related to the reliability and practicality of the scanning results. Currently, the common three-dimensional scanning systems include monocular, binocular, and multi-camera scanning systems, which have significant differences in working principles, accuracy, and scope of application. As a result, the spatial accuracy measurement methods of the scanning system are different, and there is no universal spatial accuracy measurement method between various scanning systems.

[0004] With regard to the problem that current spatial accuracy measurement methods in related technologies are not universally applicable, no effective solution has been proposed yet. Summary of the invention

[0005] Based on this, it is necessary to provide a universal scanning system spatial accuracy measurement method, device and scanning system to address the above technical issues.

[0006] In a first aspect, a method for measuring the spatial accuracy of a scanning system is provided in this embodiment, comprising:

[0007] Acquiring measurement data of a standard part within the field of view of the scanning system; the standard part moves within the field of view;

[0008] According to the measurement data and the reference data of the standard part, the accuracy error of the measurement data of the standard part within the field of view is determined, so that the spatial accuracy of the scanning system can be reflected through the accuracy error.

[0009] In some of the embodiments, a plurality of characteristic points are arranged on the standard part; and obtaining the measurement data of the standard part within the field of view of the scanning system includes:

[0010] Obtain the observation data of the current frame in real time;

[0011] The three-dimensional information of the feature points on the standard part in the current frame is determined according to the observation data.

[0012] In some embodiments, determining the accuracy error of the standard component within the field of view according to the measurement data and the reference data of the standard component includes:

[0013] Splicing and comparing the measurement data and the reference data to obtain a splicing error of the measurement data of the standard component at the current position;

[0014] The accuracy error of the field of view is determined according to the splicing errors of the measurement data of the standard component at each position within the field of view.

[0015] In some embodiments, the step of splicing and comparing the measurement data with the reference data to obtain a splicing error of the standard component at the current position includes:

[0016] Convert the measurement data and the reference data into a preset coordinate system for splicing and comparison;

[0017] Obtaining the distance measurement error between the same feature points in the preset coordinate system according to the three-dimensional information of the feature points in the measurement data and the reference data;

[0018] The stitching error is determined according to the ranging errors of all feature points in the current frame and the current position of the standard component.

[0019] In some of the embodiments, it also includes:

[0020] Based on the calibration accuracy range of the scanning system and a preset mapping strategy, the accuracy error is mapped to a corresponding accuracy metric value to generate a spatial accuracy distribution map.

[0021] In some of the embodiments, the preset mapping strategy includes linear mapping and non-linear mapping.

[0022] In some of the embodiments, it also includes:

[0023] The standard part is driven by a mechanical structure to move within the field of view through a pre-planned path; the path includes the path of the mechanical structure.

[0024] In some of the embodiments, it also includes:

[0025] For an overlapping area of ​​a plurality of the field of view ranges, the accuracy error of each position in the overlapping area is determined by fusion according to the accuracy error of the overlapping area in each field of view range.

[0026] In a second aspect, in this embodiment, a spatial accuracy measurement device of a scanning system is provided, comprising:

[0027] A scanning module, used to obtain measurement data of a standard part within the field of view of the scanning system; the standard part moves within the field of view;

[0028] The accuracy measurement module is used to determine the accuracy error of the measurement data of the standard component within the field of view according to the measurement data and the reference data of the standard component, so as to reflect the spatial accuracy of the scanning system through the accuracy error.

[0029] According to a third aspect, a scanning system is provided in this embodiment, comprising a visual sensor, a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the spatial accuracy measurement method of the scanning system described in the first aspect is implemented.

[0030] In a fourth aspect, in this embodiment, a storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the spatial accuracy measurement method of the scanning system described in the first aspect is implemented.

[0031] Compared with the related art, the spatial accuracy measurement method, device and scanning system of the scanning system provided in this embodiment obtain the measurement data of the standard part within the field of view of the scanning system; the standard part moves within the field of view; according to the measurement data and the reference data of the standard part, the accuracy error of the measurement data of the standard part within the field of view is determined, so as to reflect the spatial accuracy of the scanning system through the accuracy error. Through this embodiment, the accuracy error of the measurement data of the standard part is determined according to the reference data of the standard part and the measurement data within the field of view of the scanning system, so as to reflect the spatial accuracy of the field of view of the scanning system through the accuracy error of the measured standard part, which can be applied to various scanning systems, and solves the problem that the current spatial accuracy measurement method cannot be universal.

[0032] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0034] Figure 1 is a hardware structure block diagram of a terminal of a method for measuring spatial accuracy of a scanning system in an embodiment;

[0035] Figure 2 is a flow chart of a method for measuring spatial accuracy of a scanning system in one embodiment;

[0036] Figure 3 is a schematic diagram of a spatial accuracy distribution diagram in an embodiment;

[0037] Figure 4 is a flow chart of a method for measuring spatial accuracy of a scanning system in another embodiment;

[0038] Figure 5 It is a structural block diagram of a spatial accuracy measurement device of a scanning system in an embodiment.

[0039] In the figure: 102, processor; 104, memory; 106, transmission device; 108, input and output device; 10, scanning module; 20, accuracy measurement module. DETAILED DESCRIPTION

[0040] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0041] Unless otherwise defined, the technical terms or scientific terms involved in this application shall have the general meaning understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the", "these" and the like in this application do not represent quantitative restrictions, and they can be singular or plural. The terms "include", "comprise", "have" and any variants thereof involved in this application are intended to cover non-exclusive inclusions; for example, a process, method and system, product or device comprising a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether directly or indirectly. The "multiple" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone. Usually, the character " / " indicates that the objects associated with each other are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0042] The method embodiment provided in this embodiment can be executed in a terminal, a computer or a similar computing device. For example, running on a terminal, Figure 1 FIG. 1 is a hardware structure block diagram of a terminal of the spatial accuracy measurement method of the scanning system of this embodiment. Figure 1 As shown, the terminal may include one or more ( Figure 1Only one is shown in the figure) processor 102 and memory 104 for storing data, wherein processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA. The above terminal may also include a transmission device 106 and an input and output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0043] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the spatial accuracy measurement method of the scanning system in this embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the terminal via a network. Examples of the above network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0044] The transmission device 106 is used to receive or send data via a network. The above network includes a wireless network provided by the communication provider of the terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0045] In this embodiment, a method for measuring the spatial accuracy of a scanning system is provided. Figure 2 is a flow chart of the method for measuring the spatial accuracy of the scanning system in this embodiment. Figure 2 As shown, the method comprises the following steps:

[0046] Step S201, obtaining measurement data of a standard part within a field of view of a scanning system; the standard part moves within the field of view.

[0047] Specifically, the scanning system can be a monocular scanning system, a binocular scanning system, and a multi-eye scanning system, for example, a system with a visual sensor such as a scanner or a tracker. The field of view is the visible area in the scanning system, including the monocular visible area and the common viewing area. For a monocular scanning system, the field of view can be the monocular visible area of ​​a single camera therein, and for a binocular scanning system and a multi-eye scanning system, the field of view can be the monocular visible area of ​​a single camera therein, or the common viewing area of ​​multiple cameras.

[0048] Move the standard part within the field of view to be measured, and try to ensure that the moving trajectory of the standard part covers the field of view to be measured, and its movement trajectory is evenly distributed within the field of view. Scan the standard part through the scanning system to obtain the measurement data of the standard part in multiple frames of scanning images. The measurement data can locate the standard part and reflect the shape, structure and other characteristics of the standard part. Among them, the standard part can be an integrated reference object or an object composed of multiple connecting parts. There is no restriction on its specific shape, which can be flat, three-dimensional, etc.

[0049] Step S202 : determining the accuracy error of the measurement data of the standard part within the field of view according to the measurement data and the reference data of the standard part, so as to reflect the spatial accuracy of the scanning system through the accuracy error.

[0050] Specifically, reference data of the standard part is acquired in advance before scanning, and a priori information of the standard part is used as reference data. The a priori information can be obtained by measuring the standard part with an instrument whose accuracy is higher than the accuracy of the model of the standard part itself.

[0051] When the moving trajectory of the standard part covers the field of view to be measured and the measurement data is valid, the measurement is terminated. Cases where the measurement data is invalid include but are not limited to the case where the standard part is not within the field of view, the standard part cannot be located in the scanned image, or the positioning accuracy is poor. For each frame of the scanned image acquired when the standard part moves, the measurement data and the reference data are spliced ​​in the same coordinate system, and the accuracy error of each position in the field of view corresponding to each frame of the scanned image is determined based on the splicing error of the measurement data relative to the reference data, thereby obtaining all the accuracy errors within the field of view that need to be measured. The accuracy error within the field of view can reflect the spatial accuracy of the scanning system. Furthermore, a spatial accuracy distribution map of the scanning system can be generated based on the accuracy error to more intuitively reflect the spatial accuracy.

[0052] It should be noted that the measurement data can be transmitted in real time during the scanning process and the accuracy error of the field of view can be calculated in real time, or the accuracy error of the field of view can be calculated after the scanning is completed. The specific calculation can be performed according to actual application requirements.

[0053] Through the above steps, the measurement data of the standard parts at different positions within the field of view of the scanning system are obtained, and the accuracy error of the standard parts measurement data is determined in combination with the reference data, so that the spatial accuracy of the field of view of the scanning system can be reflected by measuring the accuracy error of the standard parts. This method can be applicable to the accuracy measurement of the monocular visible field of view and the common field of view of monocular, binocular, and multi-eye scanning systems. Compared with the existing technology, this method can be applicable to different fields of view of various scanning systems, solving the problem that the current spatial accuracy measurement method cannot be universally used.

[0054] In some of the embodiments, the step S201 of obtaining the measurement data of the standard part within the field of view of the scanning system includes the following steps:

[0055] The observation data of the current frame is acquired in real time; based on the observation data, the three-dimensional information of the feature points on the standard part in the current frame is determined.

[0056] Specifically, a number of feature points are set on the standard part, including but not limited to reflective marks, active luminous marks, etc., which can reflect the characteristics of the standard part. When the standard part moves within the field of view, a scanning system is used to scan and obtain multiple frames of scanned images of the field of view, and the observation data in the current frame is obtained. When the standard part is within the field of view, the three-dimensional information of the feature points in the current frame is located according to the observation data as the measurement data of the standard part. Among them, the observation data includes the pixel position of the feature points, etc.

[0057] When the field of view is a binocular or multi-eye common viewing area, the three-dimensional information of the feature points in the current frame can be determined by binocular reconstruction. Specifically, the three-dimensional information of the feature points is restored by camera calibration, feature point extraction and matching. When the field of view is a monocular visible area, the three-dimensional information of the feature points in the current frame can be determined by reprojection.

[0058] In this embodiment, feature points are set on the standard part, and the three-dimensional information of the feature points is restored to obtain the measurement data of the standard part in the current frame.

[0059] In some of the embodiments, the following steps are also included:

[0060] The mechanical structure drives the standard part to move within the field of view through a pre-planned path; the path includes the path of the mechanical structure.

[0061] Specifically, the standard part is fixed on a mechanical structure, which includes but is not limited to a mechanical arm, a guide rail, etc. The path of the mechanical structure is pre-planned, and the mechanical structure drives the standard part to move within the field of view when it moves along the planned path. In order to ensure that the moving trajectory of the standard part can cover the field of view to be measured, and its movement trajectory is evenly distributed within the field of view, the path of the mechanical mechanism that can cover the entire field of view is pre-planned. In addition, the movement speed of the mechanical structure can also be controlled.

[0062] By planning the path of the mechanical mechanism in this embodiment, the mechanical structure drives the standard part to move within the field of view, so that the measurement data of the standard part at different positions in the field of view can be obtained more comprehensively, so as to obtain the accuracy error of the positions that do not pass through the field of view in the subsequent calculation.

[0063] In some embodiments, determining the accuracy error of the standard component within the field of view according to the measurement data and the reference data of the standard component in step S202 includes the following steps:

[0064] The measured data and the reference data are spliced ​​and compared to obtain the splicing error of the measured data of the standard part at the current position; the accuracy error of the field of view is determined according to the splicing error of the measured data of the standard part at each position within the field of view.

[0065] Specifically, the three-dimensional information of the feature points on the standard parts is measured by an instrument with higher accuracy than the model accuracy of the standard parts themselves, and used as reference data. The measurement data and reference data of each frame are converted to the same coordinate system for splicing and comparison, and the ranging error of the three-dimensional information of the same feature point in the measurement data and reference data is calculated. The ranging error of each feature point in each frame of the scanned image is integrated, and the splicing error of the position in the field of view is obtained after averaging, and then the accuracy error of the entire field of view is determined.

[0066] In some embodiments, the measurement data and the reference data are converted to a preset coordinate system for stitching and comparison; the ranging error between the same feature points in the preset coordinate system is obtained based on the three-dimensional information of the feature points in the measurement data and the reference data; the stitching error is determined based on the ranging errors of all feature points in the current frame and the current position of the standard part.

[0067] The preset coordinate system can be a camera coordinate system of the scanning system or a standard part coordinate system. The measurement data and the reference data are converted to the preset coordinate system for splicing and comparison to determine the corresponding feature points in the measurement data and the reference data, that is, the feature points with the same name. Specifically, the feature points with the same name can be determined by using information such as point cloud splicing matching or the encoding value of the feature point. For each feature point in the scanned image, the ranging error is calculated based on the three-dimensional information of the feature point in the measurement data and the reference data, wherein the observation distance between the standard part and the scanning system can be determined based on the measurement data of the standard part, and the ranging error of each feature point is obtained based on the distance between the feature points with the same name in the measurement data and the reference data and the observation distance.

[0068] The following is a calculation expression for the ranging error E:

[0069] P R ′ =R·P S +T;

[0070] L=|P R ′ -P R |;

[0071] E=L / Z S ;

[0072] Among them, P S represents the three-dimensional information (coordinates) of the feature points of the standard parts in the camera coordinate system. R and T represent the rotation and translation operations of the camera coordinate system to the standard parts coordinate system, respectively. R ′ It represents the three-dimensional information of the characteristic point of the standard part in the standard part coordinate system; L represents the distance between the observed data and the reference data of the same characteristic point; Z S represents the observation distance, that is, the distance between the standard part and the scanning system; E represents the ranging error.

[0073] Furthermore, the ranging error of each feature point in each frame of the scanned image is integrated and averaged to obtain the stitching error of the position within the field of view.

[0074] In this embodiment, the ranging error between the observed data and the reference data of each feature point with the same name is calculated, and then the stitching error at different positions within the field of view is determined. By reconstructing the measurement data of each frame of the scanned image and stitching it with the reference data, the accuracy error of the entire field of view is obtained.

[0075] In some of the embodiments, for an overlapping area of ​​a plurality of field of view ranges, the accuracy error of each position in the overlapping area is determined by fusion according to the accuracy error of the overlapping area in each field of view range.

[0076] Specifically, when multiple scanning systems are jointly observed, there may be overlapping areas in the field of view of each scanning system, or multiple field of view can be divided into multiple field of view in a multi-eye scanning system, and there may be overlapping areas between multiple field of view. Through the above embodiments, the accuracy error of each field of view can be calculated separately, and for the overlapping area of ​​multiple field of view, the accuracy error of the overlapping area in each field of view is fused to determine the accuracy error of each position in the overlapping area. Among them, for the accuracy error of each position in the overlapping area, the fusion processing includes but is not limited to the mean calculation or weighted average calculation of the accuracy error of the position in different field of view.

[0077] Through this embodiment, when multiple viewing ranges have overlapping areas, the accuracy error of the overlapping areas can be jointly defined according to the accuracy error of the overlapping areas in each viewing range.

[0078] In some of the embodiments, the following steps are also included:

[0079] Based on the calibration accuracy range of the scanning system and the preset mapping strategy, the accuracy error is mapped to the corresponding accuracy measurement value to generate a spatial accuracy distribution map. The preset mapping strategy includes linear mapping and nonlinear mapping.

[0080] Specifically, the calibration accuracy range is evenly divided with a fixed step size in linear mapping, and the calibration accuracy range can be unevenly divided in nonlinear mapping to highlight the more refined accuracy error in a certain area. The accuracy errors at different positions within the field of view are mapped to accuracy measurement values, and visualized at the corresponding positions of the spatial accuracy distribution map. The spatial accuracy distribution map includes but is not limited to color maps, grayscale maps, and stereograms. Correspondingly, the accuracy measurement values ​​obtained by mapping are color values, grayscale values, and height values.

[0081] Taking the spatial accuracy distribution map as a grayscale map as an example, a higher accuracy error can be mapped to a brighter grayscale value (close to white), and a lower accuracy error can be mapped to a darker grayscale (close to black). In a linear mapping with a calibration accuracy range of 0 to 1 mm, an accuracy error of 0.25 mm can be mapped to a grayscale value of RGB (64, 64, 64), and an accuracy error of 0.50 mm can be mapped to a grayscale value of RGB (128, 128, 128).

[0082] Taking the spatial accuracy distribution map as a color map as an example, Figure 3 is a schematic diagram of the spatial accuracy distribution diagram in this embodiment, such as Figure 3 As shown, different colors in the spatial accuracy distribution diagram of the field of view represent the accuracy errors at different positions.

[0083] By mapping the precision error to the corresponding precision measurement value in this embodiment and generating a spatial precision distribution map, the precision error at different positions in the field of view can be displayed more intuitively. In addition, the precision error at each position in the field of view is calculated in real time during the movement of the standard part and reflected in the spatial precision distribution map. The position of the field of view that has been covered by the trajectory of the standard part can be obtained by updating the spatial precision distribution map in real time, so as to better adjust the movement trajectory of the standard part.

[0084] The present embodiment is described and illustrated below through preferred embodiments.

[0085] Figure 4 is a flow chart of the method for measuring the spatial accuracy of the scanning system of this embodiment. Figure 4 As shown, the method comprises the following steps:

[0086] Step S401 , the mechanical structure drives the standard component to move within a field of view through a pre-planned path; the path includes the path of the mechanical structure.

[0087] Step S402, acquiring observation data of the current frame in real time; and determining three-dimensional information of feature points on the standard part in the current frame according to the observation data.

[0088] Step S403, converting the measurement data and the reference data into a preset coordinate system for splicing and comparison; obtaining the distance measurement error between the same feature points in the preset coordinate system according to the three-dimensional information of the feature points in the measurement data and the reference data.

[0089] Step S404, determining the stitching errors of each position in the field of view and the accuracy error of the entire field of view according to the ranging errors of all feature points in the current frame and the current position of the standard component.

[0090] Step S405 , based on the calibration accuracy range of the scanning system and a preset mapping strategy, the accuracy error is mapped to a corresponding accuracy measurement value to generate a spatial accuracy distribution map.

[0091] It should be noted that the steps shown in the above process or the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0092] In this embodiment, a spatial accuracy measuring device of a scanning system is also provided, and the device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made are not repeated here. The terms "module", "unit", "subunit", etc. used below can implement a combination of software and / or hardware of a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0093] Figure 5 is a structural block diagram of the spatial accuracy measurement device of the scanning system of this embodiment. Figure 5 As shown, the device comprises:

[0094] Scanning module 10, used to obtain measurement data of the standard part within the field of view of the scanning system; the standard part moves within the field of view;

[0095] The accuracy measurement module 20 is used to determine the accuracy error of the measurement data of the standard part within the field of view according to the measurement data and the reference data of the standard part, so as to reflect the spatial accuracy of the scanning system through the accuracy error.

[0096] Through the device provided in this embodiment, measurement data of the standard parts at different positions within the field of view of the scanning system are obtained, and the accuracy error of the standard parts measurement data is determined in combination with the reference data. The spatial accuracy of the field of view of the scanning system can be reflected by measuring the accuracy error of the standard parts. This device can be applicable to the accuracy measurement of the monocular visible field of view and the common field of view of monocular, binocular, and multi-eye scanning systems. Compared with the existing technology, it can be applicable to different fields of view of various scanning systems, solving the problem that the current spatial accuracy measurement method cannot be universally used.

[0097] In some embodiments, the scanning module 10 is further used to:

[0098] The observation data of the current frame is acquired in real time; based on the observation data, the three-dimensional information of the feature points on the standard part in the current frame is determined.

[0099] In some of the embodiments, the accuracy measurement module 20 is further configured to:

[0100] The measured data and the reference data are spliced ​​and compared to obtain the splicing error of the measured data of the standard part at the current position; the accuracy error of the field of view is determined according to the splicing error of the measured data of the standard part at each position within the field of view.

[0101] In some of the embodiments, the accuracy measurement module 20 is further configured to:

[0102] The measured data and the reference data are converted to a preset coordinate system for stitching and comparison; the ranging error between the same feature points in the preset coordinate system is obtained based on the three-dimensional information of the feature points in the measured data and the reference data; the stitching error is determined based on the ranging error of all feature points in the current frame and the current position of the standard part.

[0103] In some of the embodiments, the accuracy measurement module 20 is further configured to:

[0104] For the overlapping area of ​​multiple field of view ranges, the accuracy error of each position in the overlapping area is determined by fusion according to the accuracy error of the overlapping area in each field of view range.

[0105] In some of the embodiments, the present invention further comprises: a visualization module for:

[0106] Based on the calibration accuracy range of the scanning system and the preset mapping strategy, the accuracy error is mapped to the corresponding accuracy measurement value to generate a spatial accuracy distribution map.

[0107] In some of the embodiments, the preset mapping strategy includes linear mapping and non-linear mapping.

[0108] In some of the embodiments, the present invention further comprises a motion module, which is used to:

[0109] The mechanical structure drives the standard part to move within the field of view through a pre-planned path; the path includes the path of the mechanical structure.

[0110] It should be noted that the above modules can be functional modules or program modules, and can be implemented by software or hardware. For modules implemented by hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0111] In this embodiment, a scanning system is also provided, including a visual sensor, a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0112] The scanning system may be a monocular scanning system, a binocular scanning system, or a multi-eye scanning system, for example, a system with a visual sensor such as a scanner or a tracker. The field of view is the visible area in the scanning system, including the monocular visible area and the common viewing area. For a monocular scanning system, the field of view may be the monocular visible area of ​​a single camera therein; for a binocular scanning system or a multi-eye scanning system, the field of view may be the monocular visible area of ​​a single camera therein, or the common viewing area of ​​multiple cameras.

[0113] Optionally, the computer device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0114] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation modes, and will not be repeated in this embodiment.

[0115] In addition, in combination with the spatial accuracy measurement method of the scanning system provided in the above embodiments, a storage medium can also be provided in this embodiment to implement the method. The storage medium stores a computer program; when the computer program is executed by a processor, any of the spatial accuracy measurement methods of the scanning system in the above embodiments is implemented.

[0116] It should be understood that the specific embodiments described herein are only used to explain the application, rather than to limit it. Based on the embodiments provided in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of this application.

[0117] Obviously, the drawings are only some examples or embodiments of the present application. For ordinary technicians in the field, the present application can also be applied to other similar situations based on these drawings without creative work. In addition, it is understandable that although the work done in this development process may be complicated and lengthy, for ordinary technicians in the field, certain changes in design, manufacturing or production based on the technical content disclosed in this application are only conventional technical means and should not be regarded as insufficient content disclosed in this application.

[0118] The term "embodiment" in this application refers to a specific feature, structure or characteristic described in conjunction with the embodiment that can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily mean the same embodiment, nor does it mean that it is mutually exclusive with other embodiments and is independent or optional. It is clearly or implicitly understood by those of ordinary skill in the art that the embodiments described in this application can be combined with other embodiments without conflict.

[0119] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of patent protection. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the attached claims.

Claims

1. A method for measuring the spatial accuracy of a scanning system, characterized in that: include: Acquiring measurement data of a standard part within the field of view of the scanning system; The standard part moves within the field of view; According to the measurement data and the reference data of the standard part, the accuracy error of the measurement data of the standard part within the field of view is determined, so that the spatial accuracy of the scanning system can be reflected through the accuracy error.

2. The method for measuring the spatial accuracy of a scanning system according to claim 1, characterized in that: The standard part is provided with a plurality of characteristic points; the obtaining of the measurement data of the standard part within the field of view of the scanning system comprises: Obtain the observation data of the current frame in real time; The three-dimensional information of the feature points on the standard part in the current frame is determined according to the observation data.

3. The method for measuring the spatial accuracy of a scanning system according to claim 2, characterized in that: Determining the accuracy error of the standard component within the field of view according to the measurement data and the reference data of the standard component includes: Splicing and comparing the measurement data and the reference data to obtain a splicing error of the measurement data of the standard component at the current position; The accuracy error of the field of view is determined according to the stitching errors of the measurement data of the standard component at each position within the field of view.

4. The method for measuring the spatial accuracy of a scanning system according to claim 3, characterized in that: The step of splicing and comparing the measurement data with the reference data to obtain a splicing error of the standard component at the current position includes: Convert the measurement data and the reference data into a preset coordinate system for splicing and comparison; Obtaining the distance measurement error between the same feature points in the preset coordinate system according to the three-dimensional information of the feature points in the measurement data and the reference data; The stitching error is determined according to the ranging errors of all feature points in the current frame and the current position of the standard component.

5. The method for measuring the spatial accuracy of a scanning system according to claim 1, characterized in that: Also includes: Based on the calibration accuracy range of the scanning system and a preset mapping strategy, the accuracy error is mapped to a corresponding accuracy metric value to generate a spatial accuracy distribution map.

6. The method for measuring the spatial accuracy of a scanning system according to claim 5, characterized in that: The preset mapping strategy includes linear mapping and nonlinear mapping.

7. The method for measuring the spatial accuracy of a scanning system according to claim 1, characterized in that: Also includes: The standard part is driven by a mechanical structure to move within the field of view through a pre-planned path; The path includes a path of the mechanical structure.

8. The method for measuring the spatial accuracy of a scanning system according to claim 1, characterized in that: Also includes: For an overlapping area of ​​a plurality of the field of view ranges, the accuracy error of each position in the overlapping area is determined by fusion according to the accuracy error of the overlapping area in each field of view range.

9. A spatial accuracy measurement device for a scanning system, characterized in that: include: A scanning module, used to obtain measurement data of standard parts within the field of view of the scanning system; The standard part moves within the field of view; The accuracy measurement module is used to determine the accuracy error of the measurement data of the standard component within the field of view according to the measurement data and the reference data of the standard component, so as to reflect the spatial accuracy of the scanning system through the accuracy error.

10. A scanning system, characterized in that: The method comprises a visual sensor, a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the spatial accuracy measurement method of the scanning system according to any one of claims 1 to 8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for measuring spatial accuracy of a scanning system according to any one of claims 1 to 8 are implemented.

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