Calibration and modeling method and device of three-dimensional scanner and storage medium

Abstract

The invention discloses a calibration and modeling method and device of a three-dimensional scanner and a storage medium. The method comprises the following steps: controlling a camera of an all-round vision system to collect point cloud data of three calibration planes; according to the point cloud data, establishing a first rotation translation relation between a coordinate system of a camera in the look-around visual system and a coordinate system of the calibration pattern; acquiring calibration image data of the calibration pattern according to a camera of the positioner; establishing a second rotation translation relation between the coordinate system of the positioner and the coordinate system of the calibration pattern according to the calibration image data; and according to the first rotation translation relationship and the second rotation translation relationship, establishing a third rotation translation relationship between the coordinate system of the camera and the coordinate system of the positioner in the look-around visual system. According to the embodiment of the invention, the method is compatible with the shaking of a look-around visual system and a positioner, enables the scanned point cloud data to be built on a stable coordinate system, and effectively improves the precision of building the three-dimensional model for the elevator shaft.

Description

Technical Field

[0001] The present invention relates to the field of measurement technology, and in particular, to a calibration and modeling method, device, and storage medium for a three-dimensional scanner. Background Art

[0002] In the initial project of installing an elevator, a scanning instrument such as a laser rangefinder is used to perform three-dimensional modeling on the elevator shaft to provide data support for installing various components of the elevator.

[0003] However, there is a certain amount of shaking when the scanning instrument moves in the elevator shaft, which makes the data measured by the scanning instrument based on a fluctuating coordinate system, resulting in a problem of distorted deformation in the model created for the shaft. Summary of the Invention

[0004] In view of this, the present invention provides a calibration and modeling method, device, and storage medium for a three-dimensional scanner to unify the coordinate system of the scanning instrument and improve the accuracy of the model created for the shaft.

[0005] The first aspect of the present invention provides a calibration method for a three-dimensional scanner. The three-dimensional scanner includes an omnidirectional vision system and a locator. Three calibration planes are placed within the field of view of the camera in the omnidirectional vision system, and the calibration planes intersect pairwise. A calibration pattern is placed within the field of view of the camera in the locator. The method includes:

[0006] Controlling the camera of the omnidirectional vision system to collect point cloud data for the three calibration planes;

[0007] Establishing a first rotation and translation relationship between the coordinate system of the camera in the omnidirectional vision system and the coordinate system of the calibration pattern based on the point cloud data;

[0008] Collecting calibration image data for the calibration pattern by the camera of the locator;

[0009] Establishing a second rotation and translation relationship between the coordinate system of the locator and the coordinate system of the calibration pattern based on the calibration image data;

[0010] Establishing a third rotation and translation relationship between the coordinate system of the camera in the omnidirectional vision system and the coordinate system of the locator based on the first rotation and translation relationship and the second rotation and translation relationship.

[0011] The second aspect of the present invention provides a modeling method based on a three-dimensional scanner. The three-dimensional scanner includes an omnidirectional vision system, a locator, and a laser generator. The laser generator is deployed at the top or bottom of the elevator shaft. The laser generator emits laser light to the locator to form a light spot on the screen of the locator. The method includes:

[0012] When the panoramic vision system and the locator slide in the hoistway of the elevator in combination, control the cameras of the panoramic vision system to collect point cloud data of the hoistway of the elevator, and control the cameras in the locator to collect positioning image data of the light spot on the screen of the locator;

[0013] Query the third rotation and translation relationship established between the coordinate system of the camera in the panoramic vision system and the coordinate system of the locator according to the method described in the first aspect;

[0014] Identify the pose of the locator based on the positioning image data;

[0015] Align the point cloud data with the pose according to the third rotation and translation relationship;

[0016] If the alignment is completed, construct a three-dimensional model of the hoistway of the elevator based on the point cloud data.

[0017] The third aspect of the present invention provides a calibration device for a three-dimensional scanner. The three-dimensional scanner includes a panoramic vision system and a locator. Three calibration planes are placed within the field of view of the cameras in the panoramic vision system, and the three calibration planes intersect with each other. A calibration pattern is placed within the field of view of the cameras in the locator. The device includes:

[0018] A point cloud data acquisition module, configured to control the cameras of the panoramic vision system to collect point cloud data of the three calibration planes;

[0019] A first rotation and translation relationship establishment module, configured to establish a first rotation and translation relationship between the coordinate system of the camera in the panoramic vision system and the coordinate system of the calibration pattern according to the point cloud data;

[0020] A calibration image data acquisition module, configured to collect calibration image data of the calibration pattern according to the cameras of the locator;

[0021] A second rotation and translation relationship establishment module, configured to establish a second rotation and translation relationship between the coordinate system of the locator and the coordinate system of the calibration pattern according to the calibration image data;

[0022] A third rotation and translation relationship establishment module, configured to establish a third rotation and translation relationship between the coordinate system of the camera in the panoramic vision system and the coordinate system of the locator according to the first rotation and translation relationship and the second rotation and translation relationship.

[0023] The fourth aspect of the present invention provides a modeling device based on a 3D scanner. The 3D scanner includes a panoramic vision system, a locator, and a laser generator. The laser generator is deployed at the top or bottom of the hoistway of an elevator. The laser generator emits laser light to the locator to form a light spot on the screen of the locator. The device includes:

[0024] A joint control module, configured to control the camera of the panoramic vision system to collect point cloud data of the hoistway of the elevator and control the camera in the locator to collect positioning image data of the light spot on the screen of the locator when the panoramic vision system and the locator jointly slide in the hoistway of the elevator;

[0025] A rotation and translation relationship query module, configured to query a third rotation and translation relationship established between the coordinate system of the camera in the panoramic vision system and the coordinate system of the locator according to the method described in the first aspect;

[0026] A pose recognition module, configured to recognize the pose of the locator according to the positioning image data;

[0027] A pose alignment module, configured to align the point cloud data with the pose according to the third rotation and translation relationship;

[0028] A 3D model construction module, configured to construct a 3D model of the hoistway of the elevator according to the point cloud data if the alignment is completed.

[0029] The fifth aspect of the present invention provides an electronic device, which includes:

[0030] At least one processor; and

[0031] A memory communicatively connected to the at least one processor; wherein,

[0032] The memory stores a computer program executable by the at least one processor. When the computer program is executed by the at least one processor, the at least one processor is enabled to execute the calibration method of the 3D scanner described in the first aspect above or the modeling method based on the 3D scanner described in the second aspect above.

[0033] The sixth aspect of the present invention provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the calibration method of the 3D scanner described in the first aspect above or the modeling method based on the 3D scanner described in the second aspect above.

[0034] A seventh aspect of the present invention provides a computer program product, which includes a computer program that, when executed by a processor, implements the calibration method of the 3D scanner described in the first aspect above or the modeling method based on the 3D scanner described in the second aspect above.

[0035] In this embodiment, the cameras of the panoramic vision system are controlled to collect point cloud data of three calibration planes; the first rotation and translation relationship between the coordinate system of the cameras in the panoramic vision system and the coordinate system of the calibration pattern is established based on the point cloud data; the calibration image data of the calibration pattern is collected by the cameras of the locator; the second rotation and translation relationship between the coordinate system of the locator and the coordinate system of the calibration pattern is established based on the calibration image data; the third rotation and translation relationship between the coordinate system of the cameras in the panoramic vision system and the coordinate system of the locator is established based on the first rotation and translation relationship and the second rotation and translation relationship. In this embodiment, the panoramic vision system and the locator are jointly calibrated with the calibration pattern as the medium, so as to establish a unified coordinate system for the panoramic vision system and the locator, which can be compatible with the shaking of the panoramic vision system and the locator, making the scanned point cloud data established on a stable coordinate system, and effectively improving the accuracy of creating a 3D model of the elevator shaft.

[0036] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0038] Figure 1 is a flowchart of a calibration method of a 3D scanner provided in Embodiment 1 of the present invention.

[0039] Figure 2 is a combined schematic diagram of a panoramic vision system and a locator provided in Embodiment 1 of the present invention.

[0040] Figure 3 is a schematic diagram of the distribution of the cameras of the panoramic vision system in the panoramic plane provided in Embodiment 1 of the present invention.

[0041] Figure 4 is a schematic diagram of the structure of a locator provided in Embodiment 1 of the present invention.

[0042] Figure 5It is a schematic diagram of a calibration plane and a calibration pattern provided in the first embodiment of the present invention.

[0043] Figure 6 It is a flowchart of a modeling method based on a 3D scanner provided in the second embodiment of the present invention.

[0044] Figure 7 It is a schematic diagram of scanning an elevator shaft provided in the second embodiment of the present invention.

[0045] Figure 8 It is a schematic structural diagram of a calibration device for a 3D scanner provided in the third embodiment of the present invention.

[0046] Figure 9 It is a schematic structural diagram of a modeling device based on a 3D scanner provided in the fourth embodiment of the present invention.

[0047] Figure 10 It is a schematic structural diagram of an electronic device provided in the fourth embodiment of the present invention. Detailed implementation manners

[0048] In order to enable those skilled in the art to better understand the solution of the present invention, 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. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0049] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can cover sequences other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0050] Embodiment 1

[0051] See Figure 1, which shows the flowchart of a calibration method for a 3D scanner provided in the first embodiment of the present invention. This embodiment is applicable to the case of binding the coordinate system of the locator and the coordinate system of the camera in the panoramic vision system with the coordinate system of the calibration pattern as a transition. This method can be executed by the calibration device of the 3D scanner, and the calibration and modeling device of the 3D scanner can be implemented in the form of hardware and / or software. The calibration device of the 3D scanner can be configured in an electronic device.

[0052] As Figure 2 , Figure 3 and Figure 4 shown, the 3D scanner includes a panoramic vision system 210, one or more locators 220, sensors 230 such as a height sensor and an inclination sensor, and components such as a laser generator.

[0053] The panoramic vision system 210, the locator 220, and sensors 230 such as a height sensor and an inclination sensor are combined on the same fixed frame to form a device to be calibrated.

[0054] The panoramic vision system 210 includes at least three cameras 211 distributed in a back-to-back and surrounding manner. The cameras 211 are depth cameras (also known as depth sensors), such as lidar (including area array lidar), structured light sensors, TOF (Time of Flight) cameras, etc. On the panoramic plane 212 of the field of view of the cameras 211 in the panoramic vision system 210, the viewing angles α of the adjacent cameras 201 in the panoramic vision system 210 partially overlap to form a 360° coverage viewing angle.

[0055] The locator 220 is provided with components such as a camera 221 and a screen 222, and the screen 222 is the imaging surface of the camera 221.

[0056] As Figure 5 shown, place the device to be calibrated on a flat plate printed with a calibration pattern 240 so that the calibration pattern 240 is placed within the field of view of the camera in the locator 220. At the same time, on the flat plate, place three calibration planes 250 within the field of view (effective working distance) of the cameras in the panoramic vision system 210. The two calibration planes 250 intersect and are not parallel to obtain a definite 3D (three-dimensional) space.

[0057] The calibration pattern 240 can be selected as a ChArUco calibration map to make the imaging surface of the locator coincide with the printing surface of the calibration pattern 240.

[0058] Generally, the calibration pattern 240 satisfies two conditions: its grid size is small enough to ensure that within the field of view of the camera of the locator 220, the calibration pattern 240 has at least 3 valid corner points and at least one valid QR code positioning pattern, so as to ensure that the camera of the locator 220 can capture the relative coordinate relationship between it and the calibration pattern 240 each time; its overall size is large enough to ensure that when calibrating any camera in the calibration panoramic vision system 210, the selected locator 220 can capture the valid local pattern in the calibration pattern 240 to obtain the relative coordinate relationship with the coordinate system of the calibration pattern 240.

[0059] As Figure 1 shown, the method includes:

[0060] Step 101, control the cameras of the panoramic vision system to collect point cloud data for three calibration planes.

[0061] In this embodiment, the cameras in the panoramic vision system are depth cameras and can collect point cloud data.

[0062] In practical applications, the cameras in the panoramic vision system can be calibrated in a set order. When calibrating a certain camera in the panoramic vision system, align the camera with the three calibration planes, capture the original point cloud data, and extract the point cloud data of each calibration plane from the original point cloud data through algorithms such as deep learning or machine learning such as filtering and semantic segmentation.

[0063] Step 102, establish the first rotation and translation relationship between the coordinate system of the camera in the panoramic vision system and the coordinate system of the calibration pattern according to the point cloud data.

[0064] In practical applications, the spatial relationship between the camera in the panoramic vision system and the calibration pattern can be analyzed according to the point cloud data, so as to establish the first rotation and translation relationship between the coordinate system of the camera in the panoramic vision system and the coordinate system of the calibration pattern.

[0065] In an embodiment of the present invention, step 102 may include the following steps:

[0066] Step 1021, use the point cloud data to fit the first plane equation of each calibration plane in the coordinate system of the camera in the panoramic vision system.

[0067] For the point cloud data of each calibration plane, use algorithms such as the least squares method to use the point cloud data to fit the first plane equation of each calibration plane in the coordinate system of the camera in the panoramic vision system.

[0068] Exemplarily, the first plane equation of the first calibration plane is: a a1 x + b a1 y + c a1 z + da1 = 0, a a1 , b a1 , c a1 and d a1 are fitting coefficients, and the two - norm of a a1 , b a1 , c a1 is 1, that is, |a a1 b a1 c a1 | = 1.

[0069] The first plane equation of the second calibration plane is: a a2 x + b a2 y + c a2 z + d a2 = 0, a a2 , b a2 , c a2 and d a2 are fitting coefficients, and the two - norm of a a2 , b a2 , c a2 is 1, that is, |a a2 b a2 c a2 | = 1.

[0070] The first plane equation of the third calibration plane is: a a3 x + b a3 y + c a3 z + d a3 = 0, a a3 , b a3 , c a3 and d a3 are fitting coefficients, and the two - norm of a a3 , b a3 , c a3 is 1, that is, |a a3 b a3 c a3 | = 1.

[0071] Step 1022: According to the relative positions between the calibration planes and the calibration pattern, fit the second plane equations of each calibration plane in the coordinate system of the calibration pattern.

[0072] In this embodiment, since the calibration plane and the calibration pattern are fixed in the known world coordinate system, high-precision instruments (such as laser trackers, coordinate measuring machines, etc.) can be used to measure the three-dimensional coordinates of the calibration plane and the calibration pattern in the calibration environment. Then, the relative position between the calibration plane and the calibration pattern can be measured based on the three-dimensional coordinates, and algorithms such as PnP (Perspective-n-Point) can be used to correct the relative position between the measured calibration plane and the calibration pattern. Next, based on the relative position between the calibration plane and the calibration pattern, algorithms such as the least squares method can be used to fit the second plane equation of each calibration plane in the coordinate system of the calibration pattern.

[0073] Exemplarily, the second plane equation of the first calibration plane is: a b1 x + b b1 y + c b1 z + d b1 = 0, where a b1 , b b1 , c b1 and d b1 are the fitted coefficients, and the two-norm of a b1 , b b1 , c b1 is 1, that is, |a b1 b b1 c b1 | = 1.

[0074] The second plane equation of the second calibration plane is: a b2 x + b b2 y + c b2 z + d b2 = 0, where a b2 , b b2 , c b2 and d b2 are the fitted coefficients, and the two-norm of a b2 , b b2 , c b2 is 1, that is, |a b2 b b2 c b2 | = 1.

[0075] The second plane equation of the third calibration plane is: a b3 x + b b3 y + c b3 z + d b3 = 0, where a b3 , b b3 , c b3 and d b3 are the fitted coefficients, and the two-norm of a b3 , b b3 , c b3The two-norm of is 1, that is, |a b3 b b3 c b3 | = 1.

[0076] Step 1023: Establish the first rotation and translation relationship between the coordinate system of the camera in the surround-view vision system and the coordinate system of the calibration pattern according to the first plane equation and the second plane equation.

[0077] In this embodiment, the first plane equations and the second plane equations of the three calibration planes can be jointly solved to establish the first rotation and translation relationship between the coordinate system of the camera in the surround-view vision system and the coordinate system of the calibration pattern.

[0078] In one solution method, the first coordinate Pa of the intersection point between the three calibration planes in the coordinate system of the camera in the surround-view vision system can be calculated, and the second coordinate Pb of the intersection point between the three calibration planes in the coordinate system of the calibration pattern can be calculated.

[0079] Translate the origin in the coordinate system of the camera in the surround-view vision system to the first coordinate Pa respectively, and translate the origin in the original coordinate system of the calibration pattern to the second coordinate Pa to achieve translation.

[0080] At this time, update the first plane equations and the second plane equations of the three calibration planes, and represent them in the form of matrix operations.

[0081] Exemplarily, the updated first plane equations of the three calibration planes are expressed as follows:

[0082]

[0083] Among them, x' a , y′ a , z′ a are the coordinates in the updated first plane equations of the three calibration planes, a′ a1 , b′ a1 , c' a1 are the coefficients in the updated first plane equation of the first calibration plane, a′ a2 , b′ a2 , c′ a2 are the coefficients in the updated first plane equation of the second calibration plane, a′ a3 , b′ a2 , c′ a3 are the coefficients in the updated first plane equation of the third calibration plane.

[0084] The updated second plane equations of the three calibration planes are expressed as follows:

[0085]

[0086] Among them, x′ b , y′ b , z′ b are the coordinates in the second plane equation after updating the three calibration planes, and a′ b1 , b′ b1 , c′ b1 are the coefficients in the second plane equation after updating the first calibration plane. a′ b2 , b′ b2 , c′ b2 are the coefficients in the second plane equation after updating the second calibration plane. a′ b3 , a′ b3 , c′ b3 are the coefficients in the second plane equation after updating the third calibration plane.

[0087] If the translation is completed, the first translation relationship between the coordinate system of the camera in the panoramic vision system and the coordinate system of the calibration pattern is generated using the first coordinate and the second coordinate, and the rotation relationship between the coordinate system of the camera in the panoramic vision system and the coordinate system of the calibration pattern is generated using the first plane equation and the second plane equation.

[0088] At this time, the rotation relationship between the coordinate system of the camera in the panoramic vision system and the coordinate system of the calibration pattern is expressed as:

[0089]

[0090] Among them, x' a , y′ a , z′ a are the coordinates in the first plane equation after updating the three calibration planes, x' b , y' b , z′ b are the coordinates in the second plane equation after updating the three calibration planes, and R ab is the rotation relationship.

[0091] The first translation relationship and the rotation relationship are combined to form the first rotation and translation relationship between the coordinate system of the camera in the panoramic vision system and the coordinate system of the calibration pattern.

[0092] In this way, by first translating the plane equation for alignment and then rotating the plane equation, the computational complexity can be greatly reduced compared to directly solving the six plane equations (the first plane equation and the second plane equation).

[0093] Step 103: Collect calibration image data of the calibration pattern based on the camera of the locator.

[0094] While the cameras of the surround-view vision system collect point cloud data from three calibration planes, the camera of the locator captures image data in the calibration pattern. The content of the image data is usually a part of the calibration pattern. Then, the device to be calibrated is rotated and moved to calibrate the next camera of the surround-view vision system.

[0095] Step 104: Establish a second rotation and translation relationship between the coordinate system of the locator and the coordinate system of the calibration pattern based on the calibration image data.

[0096] In practical applications, the spatial relationship between the cameras in the surround-view vision system and the calibration pattern can be analyzed based on the point cloud data, so as to establish a first rotation and translation relationship between the coordinate system of the cameras in the surround-view vision system and the coordinate system of the calibration pattern.

[0097] In an embodiment of the present invention, step 104 may include the following steps:

[0098] Step 1041: Bind the coordinate system of the locator to the calibration pattern that coincides with the imaging plane of the camera in the locator.

[0099] In this embodiment, the locator can be pre-calibrated. At this time, the coordinate system of the locator is bound to the calibration pattern that coincides with the imaging plane of the camera in the locator.

[0100] Furthermore, the coordinate system of the locator is determined by a calibration board that coincides with the imaging surface of the locator, and the calibration pattern on the calibration board also coincides with the imaging surface of the locator.

[0101] Step 1042: If the binding is completed, establish a fourth rotation and translation relationship between the coordinate system of the camera in the locator and the coordinate system of the locator, and establish a fifth rotation and translation relationship between the coordinate system of the camera in the locator and the coordinate system of the calibration pattern based on the calibration image data.

[0102] According to the camera imaging theory, the coordinates of the camera [x y z] T and the world coordinates of the object being photographed [XYZ] T have the following conversion relationship:

[0103]

[0104] where R 11 、R 12 、R 13 、R 21 、R 22 、R 23 、R 31 、R 32 、R 33 are rotation parameters, and T1, T2, and T3 are translation parameters.

[0105] When the coordinate system of the locator is bound to the calibration pattern that coincides with the imaging plane of the camera in the locator, for the coordinate system of the same camera in the locator, a fourth rotation and translation relationship can be established between the coordinate system of the camera in the locator and the coordinate system of the locator, and a fifth rotation and translation relationship can be established between the coordinate system of the camera in the locator and the coordinate system of the calibration pattern based on the calibration image data.

[0106] At this time, the fourth rotation and translation relationship and the fifth rotation and translation relationship are expressed as follows:

[0107]

[0108] Among them, x, y, z are the coordinates of a certain point in the coordinate system of the camera of the locator, X p , Y p , Z p are the coordinates of this point in the coordinate system of the locator, X b , Y p , Z p are the coordinates of this point in the coordinate system of the calibration pattern, Rp is the rotation parameter, tp is the translation parameter, is the fourth rotation and translation relationship, Rb is the rotation parameter, tb is the translation parameter, is the fifth rotation and translation relationship.

[0109] There is usually a certain degree of distortion in the imaging process of the camera of the locator, and the distortion fitting process will fit and assume that the projection of the entire world coordinate system on the imaging plane satisfies a certain distortion equation, and anti-distortion correction is carried out based on this.

[0110] Generally, the distortion correction error is the smallest near the optical axis of the camera, and the farther away from the optical axis of the camera, the greater the distortion correction error.

[0111] Since the camera of the locator captures only partial content of the calibration pattern, in most cases, the origin in the coordinate system of the calibration pattern is outside the effective field of view of the camera. In order to avoid the origin coordinate error in the coordinate system of the calibration pattern caused by distortion correction, in this embodiment, each time the camera of the locator acquires calibration image data for the calibration pattern, one of the corner points (usually the corner point closest to the center of the visible range) is selected from the visible calibration image data to establish a secondary coordinate system parallel to the coordinate system of the calibration pattern. Through the camera imaging principle, considering distortion, a second translation relationship is established between the coordinate system of the calibration pattern and the secondary coordinate system, thereby establishing a fifth rotation and translation relationship among the coordinate system of the camera in the locator, the secondary coordinate system, and the second translation relationship.

[0112] Step 1043: Under the condition of the coordinate system of the camera in the unified locator, establish the second rotation and translation relationship between the coordinate system of the locator and the coordinate system of the calibration pattern according to the fourth rotation and translation relationship and the fifth rotation and translation relationship.

[0113] Under the condition of the coordinate system of the camera in the unified locator, make the fourth rotation and translation relationship between the coordinate system of the camera in the locator and the coordinate system of the locator, and establish an equation relationship between the fifth rotation and translation relationship for establishing the coordinate system of the camera in the locator and the coordinate system of the calibration pattern with the calibration image data. Omit the coordinate system of the camera in the locator, and fuse the fourth rotation and translation relationship and the fifth rotation and translation relationship in this equation relationship to obtain the second rotation and translation relationship between the coordinate system of the locator and the coordinate system of the calibration pattern.

[0114] Then, the second rotation and translation relationship is expressed as follows:

[0115]

[0116] Wherein, X p 、Y p 、Z p are the coordinates of the same point in the coordinate system of the locator, X b 、Y p 、Z p are the coordinates of the same point in the coordinate system of the calibration pattern, Rpb is the rotation parameter, tpb is the translation parameter, is the second rotation and translation relationship.

[0117] Step 105: Establish the third rotation and translation relationship between the coordinate system of the camera in the panoramic vision system and the coordinate system of the locator according to the first rotation and translation relationship and the second rotation and translation relationship.

[0118] In this embodiment, the first rotation and translation relationship and the second rotation and translation relationship can be fused, the coordinate system of the calibration pattern is omitted, and the third rotation and translation relationship between the coordinate system of the camera in the panoramic vision system and the coordinate system of the locator is established to complete the joint calibration of the camera and the locator in the panoramic vision system, and unify the coordinate system of the camera in the panoramic vision system into the coordinate system of the locator.

[0119] In this embodiment, the camera of the panoramic vision system is controlled to collect point cloud data of three calibration planes; a first rotation and translation relationship between the coordinate system of the camera in the panoramic vision system and the coordinate system of the calibration pattern is established based on the point cloud data; the camera of the locator is used to collect calibration image data of the calibration pattern; a second rotation and translation relationship between the coordinate system of the locator and the coordinate system of the calibration pattern is established based on the calibration image data; a third rotation and translation relationship between the coordinate system of the camera in the panoramic vision system and the coordinate system of the locator is established based on the first rotation and translation relationship and the second rotation and translation relationship. In this embodiment, the panoramic vision system and the locator are jointly calibrated with the calibration pattern as the medium, so as to establish a unified coordinate system for the panoramic vision system and the locator, which can be compatible with the shaking of the panoramic vision system and the locator, making the scanned point cloud data established on a stable coordinate system, and effectively improving the accuracy of creating a three-dimensional model of the elevator shaft.

[0120] Embodiment 2

[0121] See Figure 6 , which shows a flowchart of a modeling method based on a 3D scanner provided in Embodiment 2 of the present invention. This method can be executed by a modeling device based on a 3D scanner. The calibration of the 3D scanner and its modeling device can be implemented in the form of hardware and / or software. The modeling device based on the 3D scanner can be configured in an electronic device.

[0122] As Figure 7 shown, the 3D scanner includes a panoramic vision system 710, a locator 720, and a laser generator 730. The laser generator 730 is deployed at the top or bottom of the elevator shaft 700. The number of locators 720 is equal to the number of laser generators 730, and the relative position relationship between the locators 720 is the same as the relative position relationship between the laser generators 730, so that the positions of the locators 720 correspond to the positions of the laser generators 730 one by one.

[0123] Generally, in the control of emission (i.e., controlling the laser generator 730 to emit laser to the locator 720 during scanning), continuous emission (the laser generator 730 continuously emits laser to the locator 720), etc., the laser generator 730 emits laser to the locator 720 to form a light spot on the screen of the locator.

[0124] As Figure 6 shown, the method includes:

[0125] Step 601, when the panoramic vision system and the locator are jointly sliding in the elevator shaft, control the camera of the panoramic vision system to collect point cloud data of the elevator shaft, and control the camera in the locator to collect positioning image data of the light spot on the screen of the locator.

[0126] In this embodiment, a three-dimensional scanner is used to model the hoistway of the elevator. The panoramic vision system and the locator are jointly fixed by means of a bracket or the like and placed in the hoistway of the elevator. A rope or the like is used to control the joint sliding of the panoramic vision system and the locator in the hoistway of the elevator.

[0127] During this process, on the one hand, each camera of the panoramic vision system is controlled to collect point cloud data of the hoistway of the elevator.

[0128] On the other hand, the laser generator emits laser light to the locator to form a light spot on the screen of the corresponding locator.

[0129] Among them, the laser generator emits a laser beam with a light spot in a centrally symmetric shape, such as a circular light spot, and the center of the light spot is where its optical axis is located. The core light spot of the laser light spot gradually increases with the increase of the emission distance. In order to ensure that the light spot can completely fall on the screen of the locator, let the screen width be b, and at the same time ensure the horizontal measurement range a. It is required that the maximum light spot diameter within the measured range be less than the product of the safety ratio coefficient k and (b - a). The safety ratio coefficient k is greater than 1, and the optional range is 1.2 to 2.

[0130] The screen of the locator may include an opaque imaging layer (i.e., the layer where the laser imaging forms the light spot) and a light-transmitting layer. Among them, the light-transmitting layer is located on the side close to the camera to avoid phenomena such as refraction when the laser light penetrates the glass and destroys the linearity of the light. Among them, the main function of the light-transmitting layer is to add the light-transmitting layer to strengthen the stability of the imaging surface position when the imaging layer has insufficient stiffness. That is to say, the light-transmitting layer faces the laser generator so that the laser passes through the light-transmitting layer and finally forms a light spot on the imaging layer on the side close to the camera.

[0131] Considering that the light spot image needs to be collected by the camera, in order to reduce noise and ensure imaging accuracy, it is preferably to make the imaging layer located on the side close to the camera. At the same time, in order to ensure the light transmission efficiency, other medium layers in the screen of the locator have high light transmittance. In addition, considering that the flatness of the imaging layer will cause an imaging distance error when the image acquisition device takes pictures, the higher the flatness of the imaging layer of the screen of the locator, the better.

[0132] In practical applications, products such as rear projection film, rear projection cloth, rear projection hard screen, and frosted glass can be used as the imaging layer of the screen. The light-transmitting layer can be a hard light-transmitting layer, for example, a flat glass layer, a hard light-transmitting resin material layer, and so on. Among them, for soft rear projection film and rear projection cloth (as the imaging layer), they can be attached to a high light transmittance flat glass (as the light-transmitting layer) to form a screen together with the flat glass to ensure the flatness of the screen 21. In addition, the screen size can be determined according to the above relationship between the screen size, the light spot size, and the range.

[0133] On the other hand, the camera in the locator captures the positioning image data of the light spot on the screen of the locator. At this time, the content in the positioning image data includes the light spot on the screen of the locator and the edge line of the screen of the locator.

[0134] Step 602: Query the third rotation and translation relationship established between the coordinate system of the camera and the coordinate system of the locator in the panoramic vision system.

[0135] In this embodiment, the third rotation and translation relationship established between the coordinate system of the camera and the coordinate system of the locator in the panoramic vision system according to the method of Embodiment 1 can be queried locally in the form of configuration parameters or the like.

[0136] Step 603: Identify the pose of the locator according to the positioning image data.

[0137] In this embodiment, a coordinate system is established based on the imaging plane of the screen of the locator, and the specific coordinates of the center of the light spot in the coordinate system of the locator are determined, thereby positioning the locator.

[0138] Furthermore, the screen of the locator is a rectangular frame, so that the edge lines of the screen can be directly extracted from the light spot image and used as the X-axis and Y-axis of the coordinate system of the locator respectively.

[0139] Extract the contour of the light spot from the positioning image data, use algorithms such as the Hough transform method to fit a specified shape (such as a circle) to obtain the light spot area, and calculate the coordinates of the center of the light spot in the coordinate system of the locator using the internal parameter matrix, distortion parameters, and screen external parameter matrix of the camera of the locator, thereby identifying the pose of the locator relative to the laser generator according to the coordinates.

[0140] Step 604: Align the point cloud data with the pose according to the third rotation and translation relationship.

[0141] One of the conditions for three-dimensional scanning based on pose tracking is to obtain the real-time pose of the three-dimensional scanner. The locator is bound to its own pose, rather than the pose of the panoramic vision system, and the panoramic vision system itself needs to unify the coordinate systems of multiple cameras inside it to a unified coordinate system. In this embodiment, a unique coordinate system is established for the panoramic vision system through a calibration method, and the coordinate system of the camera in the panoramic vision system is converted to the coordinate system of the locator. When scanning the shaft, the third rotation and translation relationship can be used to align the point cloud data with the pose, so that the locator can track the pose of the panoramic vision system in real time, thereby unifying the points on the coordinate system of the camera in the panoramic vision system to the coordinate system of the locator.

[0142] Step 605: If the alignment is completed, construct a three-dimensional model of the elevator shaft according to the point cloud data.

[0143] When the coordinate systems of the cameras in the panoramic vision system and the locator are unified, the point cloud data of each camera in the panoramic vision system can be stitched. If the stitching is completed, the point cloud data is used in combination with other data (such as height, etc.) to construct a three-dimensional model of the elevator shaft.

[0144] In this embodiment, the laser generator emits laser light to the locator to form a light spot on the screen of the locator. When the panoramic vision system and the locator jointly slide in the elevator shaft, the cameras of the panoramic vision system collect point cloud data of the elevator shaft, and the cameras in the locator collect positioning image data of the light spot on the screen of the locator; query the third rotation and translation relationship established between the coordinate systems of the cameras in the panoramic vision system and the locator; identify the pose of the locator based on the positioning image data; align the point cloud data with the pose according to the third rotation and translation relationship; if the alignment is completed, a three-dimensional model of the elevator shaft is constructed based on the point cloud data. In this embodiment, the panoramic vision system and the locator are jointly calibrated using a calibration pattern as a medium, so as to establish a unified coordinate system for the panoramic vision system and the locator, which can be compatible with the shaking of the panoramic vision system and the locator, making the scanned point cloud data established on a stable coordinate system, and effectively improving the accuracy of creating a three-dimensional model of the elevator shaft.

[0145] Embodiment III

[0146] See Figure 8 , which shows a schematic structural diagram of a calibration device for a three-dimensional scanner provided in Embodiment III of the present invention. The three-dimensional scanner includes a panoramic vision system and a locator. Three calibration planes are placed within the field of view of the cameras in the panoramic vision system, and the two calibration planes intersect with each other. A calibration pattern is placed within the field of view of the cameras in the locator, as Figure 8 shown, and the device includes:

[0147] A point cloud data acquisition module 801, configured to control the cameras of the panoramic vision system to collect point cloud data of the three calibration planes;

[0148] A first rotation and translation relationship establishment module 802, configured to establish a first rotation and translation relationship between the coordinate system of the cameras in the panoramic vision system and the coordinate system of the calibration pattern based on the point cloud data;

[0149] A calibration image data acquisition module 803, configured to collect calibration image data of the calibration pattern based on the cameras of the locator;

[0150] A second rotation and translation relationship establishment module 804, configured to establish a second rotation and translation relationship between the coordinate system of the locator and the coordinate system of the calibration pattern based on the calibration image data;

[0151] The third rotation and translation relationship establishing module 805 is configured to establish a third rotation and translation relationship between the coordinate system of the camera in the surround vision system and the coordinate system of the locator according to the first rotation and translation relationship and the second rotation and translation relationship.

[0152] In an embodiment of the present invention, the first rotation and translation relationship establishing module 802 includes:

[0153] The first plane equation fitting module is configured to use the point cloud data to fit a first plane equation of each of the calibration planes in the coordinate system of the camera in the surround vision system;

[0154] The second plane equation fitting module is configured to fit a second plane equation of each of the calibration planes in the coordinate system of the calibration pattern according to the relative position between the calibration plane and the calibration pattern;

[0155] The plane equation processing module is configured to establish a first rotation and translation relationship between the coordinate system of the camera in the surround vision system and the coordinate system of the calibration pattern according to the first plane equation and the second plane equation.

[0156] In an embodiment of the present invention, the plane equation processing module includes:

[0157] The first coordinate calculation module is configured to calculate a first coordinate of the intersection point between three of the calibration planes in the coordinate system of the camera in the surround vision system;

[0158] The second coordinate calculation module is configured to calculate a second coordinate of the intersection point between three of the calibration planes in the coordinate system of the calibration pattern;

[0159] The translation module is configured to translate the origin in the coordinate system of the camera in the surround vision system to the first coordinate respectively, and translate the origin in the original coordinate system of the calibration pattern to the second coordinate;

[0160] The rotation module is configured to, if the translation is completed, generate a first translation relationship between the coordinate system of the camera in the surround vision system and the coordinate system of the calibration pattern using the first coordinate and the second coordinate, and generate a rotation relationship between the coordinate system of the camera in the surround vision system and the coordinate system of the calibration pattern using the first plane equation and the second plane equation;

[0161] The translation and rotation fusion module is configured to combine the first translation relationship and the rotation relationship into the first rotation and translation relationship between the coordinate system of the camera in the surround vision system and the coordinate system of the calibration pattern.

[0162] In an embodiment of the present invention, the second rotation and translation relationship establishing module 804 includes:

[0163] A binding module, configured to bind the coordinate system of the locator and the calibration pattern that coincides with the imaging plane of the camera in the locator;

[0164] A coplanar conversion module, configured to establish a fourth rotation and translation relationship between the coordinate system of the camera in the locator and the coordinate system of the locator if the binding is completed, and establish a fifth rotation and translation relationship between the coordinate system of the camera in the locator and the coordinate system of the calibration pattern according to the calibration image data;

[0165] A coplanar equivalence processing module, configured to establish a second rotation and translation relationship between the coordinate system of the locator and the coordinate system of the calibration pattern according to the fourth rotation and translation relationship and the fifth rotation and translation relationship under the condition of unifying the coordinate system of the camera in the locator.

[0166] In an embodiment of the present invention, the coplanar conversion module includes:

[0167] A secondary coordinate system selection module, configured to select one of the corner points in the calibration image data to establish a secondary coordinate system parallel to the coordinate system of the calibration pattern;

[0168] A secondary coordinate system conversion module, configured to establish a second translation relationship between the coordinate system of the calibration pattern and the secondary coordinate system;

[0169] A secondary coordinate system establishing module, configured to establish a fifth rotation and translation relationship between the coordinate system of the camera in the locator, the secondary coordinate system and the second translation relationship.

[0170] In an embodiment of the present invention, the surround vision system includes at least three cameras distributed in a back-to-back and surrounding manner. On the surround vision plane of the cameras in the surround vision system, the viewing angles of adjacent cameras in the surround vision system partially overlap;

[0171] The calibration pattern is a ChArUco calibration map. Within the field of view of the camera of the locator, the calibration pattern has at least three valid corner points and at least one valid two-dimensional code positioning map.

[0172] The calibration device of the three-dimensional scanner provided by the embodiments of the present invention can execute the calibration method of the three-dimensional scanner provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the calibration method of the three-dimensional scanner.

[0173] Embodiment 4

[0174] See Figure 9, showing a schematic structural diagram of a modeling device based on a 3D scanner provided in the fourth embodiment of the present invention. The 3D scanner includes a panoramic vision system, a locator, and a laser generator. The laser generator is deployed at the top or bottom of the hoistway of the elevator. The laser generator emits laser light to the locator to form a light spot on the screen of the locator. As Figure 9 shown, the device includes:

[0175] The joint control module 901 is configured to control the camera of the panoramic vision system to collect point cloud data of the hoistway of the elevator and control the camera in the locator to collect positioning image data of the light spot on the screen of the locator when the panoramic vision system and the locator jointly slide in the hoistway of the elevator;

[0176] The rotation and translation relationship query module 902 is configured to query the third rotation and translation relationship established between the coordinate system of the camera in the panoramic vision system and the coordinate system of the locator according to the method described in Embodiment 1;

[0177] The pose recognition module 903 is configured to recognize the pose of the locator according to the positioning image data;

[0178] The pose alignment module 904 is configured to align the point cloud data with the pose according to the third rotation and translation relationship;

[0179] The 3D model construction module 905 is configured to, if the alignment is completed, construct a 3D model of the hoistway of the elevator according to the point cloud data.

[0180] The modeling device based on a 3D scanner provided in the embodiment of the present invention can execute the modeling method based on a 3D scanner provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the modeling method based on a 3D scanner.

[0181] Embodiment 5

[0182] Refer to Figure 10 , showing a schematic structural diagram of an electronic device provided in the embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, blade servers, mainframe computers, and other suitable computers. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0183] As Figure 10As shown, the electronic device 10 includes at least one processor 11 and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0184] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0185] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the calibration method of a 3D scanner or the modeling method based on a 3D scanner.

[0186] In some embodiments, the calibration method of a 3D scanner or the modeling method based on a 3D scanner can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the calibration method of a 3D scanner or the modeling method based on a 3D scanner described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the calibration method of a 3D scanner or the modeling method based on a 3D scanner in any other appropriate way (e.g., by means of firmware).

[0187] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems-on-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which may be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0188] The computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0189] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0190] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0191] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0192] The computing system can include a client and a server. The client and the server are generally far from each other and usually interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0193] Embodiment Six

[0194] The embodiment of the present invention also provides a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the calibration method of the 3D scanner or the modeling method based on the 3D scanner provided in any embodiment of the present invention.

[0195] In the process of implementing the computer program product, computer program code for performing the operations of the present invention can be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network - including a local area network (LAN) or a wide area network (WAN) - or, alternatively, can be connected to an external computer (e.g., by using an Internet service provider to connect through the Internet).

[0196] It should be understood that various forms of the processes shown above can be used, steps can be reordered, added or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is imposed herein.

[0197] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A calibration method for a three-dimensional scanner, characterized in that: The three-dimensional scanner includes a surround vision system and a locator, three calibration planes are placed in the field of view of a camera in the surround vision system, and two of the calibration planes intersect each other, and a calibration pattern is placed in the field of view of the camera in the locator, and the method includes: Controlling the camera of the surround vision system to collect point cloud data of the three calibration planes; Establishing a first rotational translation relationship between a coordinate system of a camera in the surround view vision system and a coordinate system of the calibration pattern according to the point cloud data; collecting calibration image data of the calibration pattern according to the camera of the locator; Establishing a second rotational translational relationship between the coordinate system of the locator and the coordinate system of the calibration pattern according to the calibration image data; A third rotational translational relationship between the coordinate system of the camera in the surround vision system and the coordinate system of the locator is established based on the first rotational translational relationship and the second rotational translational relationship.

2. The method according to claim 1, characterized in that The step of establishing a first rotational translation relationship between a coordinate system of the camera of the surround view vision system and a coordinate system of the calibration pattern according to the point cloud data includes: Using the point cloud data to fit each of the calibration planes to a first plane equation in the coordinate system of a camera in the surround vision system; According to the relative position between the calibration plane and the calibration pattern, fitting a second plane equation in the coordinate system of the calibration pattern to each calibration plane; A first rotational translational relationship between a coordinate system of a camera in the surround view vision system and a coordinate system of the calibration pattern is established according to the first plane equation and the second plane equation.

3. The method according to claim 2, characterized in that The step of establishing a first rotational translational relationship between a coordinate system of a camera in the surround vision system and a coordinate system of the calibration pattern according to the first plane equation and the second plane equation includes: Calculate the first coordinate of the intersection point between the three calibration planes in the coordinate system of the camera in the surround vision system; Calculating the second coordinates of the intersection points between the three calibration planes in the coordinate system of the calibration pattern; Respectively translating the origin of the coordinate system of the camera in the surround vision system to the first coordinate system, and translating the origin of the original coordinate system of the calibration pattern to the second coordinate system; If the translation is completed, the first coordinate and the second coordinate are used to generate a first translation relationship between the coordinate system of the camera in the surround view vision system and the coordinate system of the calibration pattern, and the first plane equation and the second plane equation are used to generate a rotation relationship between the coordinate system of the camera in the surround view vision system and the coordinate system of the calibration pattern; The first translation relationship and the rotation relationship are combined to form a first rotational translation relationship between the coordinate system of the camera in the surround vision system and the coordinate system of the calibration pattern.

4. The method according to claim 1, characterized in that: The step of establishing a second rotational translational relationship between the coordinate system of the locator and the coordinate system of the calibration pattern according to the calibration image data comprises: Binding the coordinate system of the locator and the calibration pattern that coincides with the imaging plane of the camera in the locator; If the binding is completed, a fourth rotational translation relationship is established between the coordinate system of the camera in the locator and the coordinate system of the locator, and a fifth rotational translation relationship is established between the coordinate system of the camera in the locator and the coordinate system of the calibration pattern according to the calibration image data; Under the condition of unifying the coordinate system of the camera in the locator, a second rotational translation relationship between the coordinate system of the locator and the coordinate system of the calibration pattern is established according to the fourth rotational translation relationship and the fifth rotational translation relationship.

5. The method according to claim 4, characterized in that The step of establishing a fifth rotational translational relationship between a coordinate system of a camera in the locator and a coordinate system of the calibration pattern according to the calibration image data comprises: Selecting one of the corner points in the calibration image data to establish a secondary coordinate system parallel to the coordinate system of the calibration pattern; Establishing a second translation relationship between the coordinate system of the calibration pattern and the secondary coordinate system; A fifth rotational translation relationship is established between the coordinate system of the camera in the locator, the secondary coordinate system and the second translation relationship.

6. The method according to any one of claims 1 to 5, characterized in that The surround vision system includes at least three cameras that are distributed in a back-to-back manner. On a surround vision plane of the cameras in the surround vision system, the viewing angles of adjacently distributed cameras in the surround vision system partially overlap.

7. The method according to any one of claims 1 to 5, characterized in that The calibration pattern is a ChArUco calibration map. Within the field of view of the camera of the locator, the calibration pattern has at least three valid corner points and at least one valid two-dimensional code positioning map.

8. A modeling method based on a three-dimensional scanner, characterized in that: The three-dimensional scanner includes a surround vision system, a locator and a laser generator, wherein the laser generator is deployed at the top or bottom of the elevator shaft, and the laser generator emits laser to the locator to form a light spot on the screen of the locator. The method includes: When the surround vision system and the locator slide in the elevator shaft together, the camera of the surround vision system is controlled to collect point cloud data of the elevator shaft, and the camera in the locator is controlled to collect positioning image data of the light spot on the screen of the locator; Querying a third rotational translation relationship established between the coordinate system of the camera in the surround vision system and the coordinate system of the locator according to the method of any one of claims 1 to 7; Identifying the position and posture of the locator according to the positioning image data; Aligning the point cloud data with the posture according to the third rotation and translation relationship; If the alignment is completed, a three-dimensional model of the elevator shaft is constructed based on the point cloud data.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the calibration method of the three-dimensional scanner as described in any one of claims 1 to 7 or the modeling method based on the three-dimensional scanner as described in claim 8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the three-dimensional scanner calibration method according to any one of claims 1 to 7 or the three-dimensional scanner-based modeling method according to claim 8 is implemented.

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