Three-dimensional scanning method, device and system, storage medium and product

Abstract

The invention discloses a three-dimensional scanning method, device and system, a storage medium and a product, which are applied to a three-dimensional scanning system, and the three-dimensional scanning system comprises an optical tracker, M laser trackers and a scanner. Wherein M is an integer greater than or equal to 3; the method comprises the following steps: acquiring pose information of a scanner obtained when an optical tracker tracks the scanner; obtaining pose information of the optical tracker in real time through M laser trackers; wherein the positions of the M laser trackers are kept unchanged; and reconstructing scanning data obtained by dynamic scanning of the scanner based on the pose information of the optical tracker and the pose information of the scanner. According to the method, the high-precision laser trackers are matched with the optical trackers to realize the dynamic expansion of a large-range tracking and scanning working area, so that the optical trackers can transfer stations without the aid of mark points, and meanwhile, the plurality of laser trackers are utilized to obtain the real-time poses of the optical trackers, so that the expansion of the tracking and scanning system is facilitated, and the large-range three-dimensional scanning is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of three-dimensional scanning, and particularly to a three-dimensional scanning method, device, system, storage medium and product. Background Art

[0002] An optical tracking device is a dual-camera that can accurately track and three-dimensionally position a laser scanner probe or other feature markers in the space to be tracked in real time. It can be used in conjunction with a scanner or a contact measurement probe, and is mainly used for large-scale three-dimensional scanning in industries including aerospace, automotive, shipbuilding, energy, etc. Due to the limitations of its principle, the optical tracking device has a fixed field of view space (generally less than 90 degrees). During use, if it is necessary to track and position a scanner or other objects to be tracked in an area outside the field of view, it is necessary to splice the tracking space range of the optical tracking device through public landmark points at fixed positions, that is, to achieve station transfer and expansion.

[0003] However, if the public landmark points are displaced relative to the object to be scanned during the station transfer of the optical tracking device, or if the public landmark points are unreasonably arranged (such as distributed in a very small area of the field of view), resulting in weak constraints on the spatial position, both will lead to a reduction in the station transfer accuracy. At the same time, when the object to be scanned is large, it is necessary to gradually expand the station transfer at multiple positions, and errors will accumulate continuously during the station transfer and expansion process. Summary of the Invention

[0004] The present invention provides a three-dimensional scanning method, device, system, storage medium and product, which can use a high-precision laser tracker in cooperation with an optical tracker to realize the dynamic expansion of a large-scale tracking scanning work area, so that the optical tracker can transfer stations without relying on landmark points.

[0005] According to an aspect of the present invention, there is provided a three-dimensional scanning method, which is applied to a three-dimensional scanning system. The three-dimensional scanning system includes an optical tracker, M laser trackers and a scanner; where M is an integer greater than or equal to 3; the method includes:

[0006] In response to the triggering of a three-dimensional scanning event, obtain the pose information of the scanner obtained when the optical tracker tracks the scanner;

[0007] Obtain the pose information of the optical tracker through the M laser trackers; where the positions of the M laser trackers remain unchanged;

[0008] Reconstruct the scan data dynamically scanned by the scanner based on the pose information of the optical tracker and the pose information of the scanner.

[0009] According to another aspect of the present invention, there is provided a three-dimensional scanning device, which is applied to a three-dimensional scanning system. The three-dimensional scanning system includes an optical tracker, M laser trackers and a scanner; where M is an integer greater than or equal to 3; the device includes:

[0010] A scanner pose information acquisition module, configured to, in response to a three-dimensional scanning event being triggered, acquire the pose information of the scanner obtained when the optical tracker tracks the scanner;

[0011] An optical tracker pose information acquisition module, configured to acquire the pose information of the optical tracker through the M laser trackers; where the positions of the M laser trackers remain unchanged;

[0012] A scan data reconstruction module, configured to reconstruct the scan data dynamically scanned by the scanner based on the pose information of the optical tracker and the pose information of the scanner.

[0013] According to another aspect of the present invention, there is provided a three-dimensional scanning system. The three-dimensional scanning system includes an optical tracker, M laser trackers and a scanner; where M is an integer greater than or equal to 3; the three-dimensional scanning system further includes:

[0014] At least one processor; and

[0015] A memory communicatively connected to the at least one processor; where

[0016] 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 three-dimensional scanning method according to any embodiment of the present invention.

[0017] According to another aspect of the present invention, there is provided a computer-readable storage medium. The computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the three-dimensional scanning method according to any embodiment of the present invention when executed by a processor.

[0018] According to another aspect of the present invention, there is provided a computer program product. The computer program product includes a computer program, and the computer program implements the three-dimensional scanning method according to any embodiment of the present invention when executed by a processor.

[0019] The 3D scanning solution of the embodiment of the present invention is applied to a 3D scanning system, and the 3D scanning system includes an optical tracker, M laser trackers, and a scanner; where M is an integer greater than or equal to 3; the method includes: in response to the triggering of a 3D scanning event, obtaining the pose information of the scanner obtained when the optical tracker tracks the scanner; obtaining the pose information of the optical tracker through the M laser trackers; where the positions of the M laser trackers remain unchanged; reconstructing the scan data dynamically scanned by the scanner based on the pose information of the optical tracker and the pose information of the scanner. Through the technical solution provided by the embodiment of the present invention, it is possible to use high-precision laser trackers in cooperation with optical trackers to realize the dynamic expansion of a large-range tracking scanning work area, so that the optical tracker can be transferred without relying on fiducial points, and at the same time, multiple laser trackers are used to obtain the real-time pose of the optical tracker, which is convenient for the extended use of the tracking scanning system, thereby realizing large-range 3D scanning.

[0020] 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

[0021] 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 drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0022] Figure 1 It is a flowchart of a 3D scanning method provided by an embodiment of the present invention;

[0023] Figure 2 It is a schematic structural diagram of a 3D scanning device provided by an embodiment of the present invention;

[0024] Figure 3 It is a schematic structural diagram of a 3D scanning system for implementing the 3D scanning method of the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] In order to enable those skilled in the art to better understand the solution of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all of 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.

[0026] It should be noted that the terms "first", "second", etc. in the description, claims and above-mentioned drawings of the present invention are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such data used can be interchanged under appropriate circumstances, so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily 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.

[0027] Figure 1 The figure is a flowchart of a three-dimensional scanning method provided by an embodiment of the present invention. This embodiment is applicable to the situation of performing three-dimensional scanning. This method can be executed by a three-dimensional scanning device, and the three-dimensional scanning device can be implemented in the form of hardware and / or software. The three-dimensional scanning device can be configured in a three-dimensional scanning system, where the three-dimensional scanning system includes an optical tracker, M laser trackers and a scanner; where M is an integer greater than or equal to 3. As Figure 1 shown, the method includes:

[0028] S110. In response to the triggering of a three-dimensional scanning event, obtain the pose information of the scanner obtained when the optical tracker tracks the scanner.

[0029] In the embodiment of the present invention, when a three-dimensional scanning instruction input by the user is received, it can be determined that the three-dimensional scanning event is triggered. In response to the triggering of the three-dimensional scanning event, control the scanner to perform dynamic scanning on the object to be scanned to obtain scan data. For example, the scanner can be controlled to scan the object to be scanned at a preset scanning frequency; where the scan data can be understood as the image frames obtained by the scanner for image acquisition of the object to be scanned. During the process of the scanner performing dynamic scanning on the object to be scanned, control the optical tracker to perform real-time tracking on the scanner to obtain the pose information of the scanner obtained when the optical tracker tracks the scanner, where the pose information of the scanner includes the position information and attitude information of the scanner. Exemplarily, the optical tracker can perform image acquisition on the scanner through a binocular camera built in the optical tracker, obtain the scanner image, and analyze the scanner image to determine the pose information of the scanner.

[0030] S120. Real-time obtain the pose information of the optical tracker through M laser trackers; where the positions of the M laser trackers remain unchanged.

[0031] In an embodiment of the present invention, while controlling an optical tracker to perform real-time tracking on a scanner, M laser trackers are controlled to perform real-time tracking on the optical tracker to obtain the pose information of the optical tracker. Wherein, during the process of the laser trackers tracking the optical tracker, the positions and relative position relationships of the M laser trackers remain unchanged. Exemplarily, a group of retroreflective target balls with a relative position relationship unchanged with the optical tracker during the three-dimensional scanning process can be set in the three-dimensional scanning system. Wherein, the group of retroreflective target balls includes at least three retroreflective target balls. Control the M laser trackers to perform real-time tracking on the group of retroreflective target balls, obtain the pose information of the group of retroreflective target balls, and determine the pose information of the optical tracker based on the pre-calibrated relative position relationship between the group of retroreflective target balls and the optical tracker and the pose information of the group of retroreflective target balls.

[0032] Optionally, M retroreflective target balls are arranged on the optical tracker, and the laser trackers correspond to the retroreflective target balls one by one; obtaining the pose information of the optical tracker through the M laser trackers includes: obtaining the position information of the retroreflective target balls obtained when each of the M laser trackers synchronously detects the corresponding retroreflective target balls on the optical tracker; determining the pose information of the optical tracker according to the position information of the retroreflective target balls corresponding to the M laser trackers. The advantage of such a setting is that when the optical tracker moves from one position to another to track the scanner, without relying on common fiducial points, the pose information of the optical tracker can be determined in real time by at least three laser trackers performing corresponding tracking on the retroreflective target balls arranged on the optical tracker. In addition, since the measurement range of the laser tracker is relatively large (usually the radius can reach 160 meters), it can meet the requirements of continuous multi-station expansion of the optical tracker, thereby realizing the expansion of a large-range tracking work area.

[0033] In an embodiment of the present invention, M retroreflective target balls are provided on an optical tracker, that is, the number of retroreflective target balls provided on the optical tracker is the same as the number of laser trackers in the three-dimensional scanning system, and the laser trackers and the retroreflective target balls are in one-to-one correspondence. Among them, the retroreflective target ball is a reflector for laser reflection. Exemplarily, if there are 3 laser trackers in the three-dimensional scanning system, then 3 retroreflective target balls are provided on the corresponding optical tracker. During the process of the optical tracker tracking the scanner, each laser tracker is controlled to synchronously detect the corresponding retroreflective target ball on the optical tracker to determine the position information of the corresponding retroreflective target ball (that is, the retroreflective target ball position information). Thus, each of the M laser trackers can determine the position information of the corresponding retroreflective target ball. Among them, the synchronization method for ensuring that each laser tracker synchronously detects the corresponding retroreflective target ball on the optical tracker may include wired synchronization and wireless synchronization. Among them, wireless synchronization may include synchronization methods such as timestamp synchronization and Bluetooth synchronization. Analyze the position information of the retroreflective target balls corresponding to the M laser trackers to determine the pose information of the optical tracker. Exemplarily, the relative position relationship between the tracking camera on the optical tracker and each retroreflective target ball can be obtained, and the relative position relationship between the tracking camera and each retroreflective target ball and the position information of the retroreflective target balls corresponding to the M laser trackers are input into a pre-trained pose determination model, and the pose information of the optical tracker is determined according to the output result of the pose determination model.

[0034] Optionally, before obtaining the position information of the retroreflective target ball obtained when each of the laser trackers synchronously detects the corresponding retroreflective target ball on the optical tracker, it further includes: obtaining the tracking frequency when the optical tracker tracks the scanner; controlling each of the laser trackers to synchronously detect the corresponding retroreflective target ball on the optical tracker based on the tracking frequency. The advantage of such a setting is that it can effectively ensure that the pose information of the optical tracker and the pose information of the scanner can be obtained synchronously. Exemplarily, obtain the tracking frequency when the optical tracker tracks the scanner. Among them, the tracking frequency can also be understood as the image acquisition frequency of the binocular camera configured on the optical tracker for image acquisition of the scanner, and control each laser tracker to synchronously detect the corresponding retroreflective target ball on the optical tracker based on the tracking frequency, that is, control each laser tracker to keep in sync with the optical tracker's tracking of the scanner when detecting the position of the corresponding retroreflective target ball.

[0035] Optionally, determining the pose information of the optical tracker according to the position information of the retroreflective target balls corresponding to the M laser trackers includes: respectively obtaining a first relative position relationship between the tracking camera on the optical tracker and each retroreflective target ball and a second relative position relationship between the M laser trackers, which are pre-calibrated; determining the position information of the optical tracker tracked by each laser tracker according to the position information of the retroreflective target ball corresponding to each laser tracker and the corresponding first relative position relationship; and determining the pose information of the optical tracker according to the position information of the optical tracker corresponding to the M laser trackers and the second relative position relationship.

[0036] In an embodiment of the present invention, during the process of the optical tracker tracking the scanner, the relative position relationship between the tracking camera on the optical tracker and each retroreflective target ball remains unchanged. Therefore, the relative position relationship between the tracking camera on the optical tracker and each retroreflective target ball can be pre-calibrated, and the pre-calibrated relative position relationship between the tracking camera on the optical tracker and each retroreflective target ball is stored in a storage device (such as a USB flash drive). Herein, for the convenience of description, the relative position relationship between the tracking camera on the optical tracker and each retroreflective target ball is referred to as the first relative position relationship. The first relative position relationship can be calibrated by an external target ball set (such as a target ball set arranged on the ground). Since during the three-dimensional scanning process, the positions and relative position relationships of the M laser trackers in the three-dimensional scanning system remain unchanged, the relative position relationship between the M laser trackers can also be pre-calibrated, and the pre-calibrated relative position relationship between the M laser trackers is stored in a storage device (such as a USB flash drive). Herein, for the convenience of description, the relative position relationship between the M laser trackers is referred to as the second relative position relationship.

[0037] Optionally, obtaining the second relative position relationship between the M laser trackers that has been pre-calibrated includes: respectively obtaining the position information of the target ball group measured by each of the laser trackers for an external target ball group; wherein, the relative position relationship between each of the laser trackers and the external target ball group remains unchanged; determining the second relative position relationship between the M laser trackers according to the position information of the target ball group corresponding to the M laser trackers. Among them, the external target ball group is a target ball group with a fixed position during the three-dimensional scanning process. For example, the external target ball group can be arranged on a wall surface or other devices with a fixed position. The external target ball group includes at least three target balls. Optionally, the external target ball group is arranged on the ground. Specifically, the external target ball group can be fixed on the ground through a target base, which can reduce the difficulty of setting up the external target ball group. Exemplarily, controlling each of the M laser trackers to measure the external target ball group to obtain the corresponding position information of the target ball group. It can be understood that when each laser tracker measures or detects the external target ball group, the corresponding position information of the target ball group can be obtained, that is, the position information of the target ball group in the coordinate system corresponding to each laser tracker. Then, coordinate transformation is performed on the position information of the M target ball groups to unify them into the same coordinate system, so as to determine the relative position relationship between the M laser trackers.

[0038] In the embodiment of the present invention, according to the position information of the retroreflective target ball corresponding to each laser tracker and the first relative position relationship between the retroreflective target ball corresponding to the laser tracker and the tracking camera on the optical tracker, the position information of the optical tracker corresponding to each laser tracker is determined. It can be understood that, based on the first relative position relationship between the retroreflective target ball on the optical tracker and the tracking camera, the position information of the retroreflective target ball tracked by each laser tracker is converted into the position information of the optical tracker. Then, according to the position information of the optical trackers corresponding to the M laser trackers and the second relative position relationship, the pose information of the optical tracker is determined. It can be understood that, based on the relative position relationship between the M laser trackers, the position information of the optical trackers corresponding to each laser tracker is converted to the same laser tracker coordinate system, so as to obtain the pose information of the optical tracker.

[0039] S130. Reconstructing the scan data dynamically scanned by the scanner based on the pose information of the optical tracker and the pose information of the scanner.

[0040] In the embodiments of the present invention, the pose information of the optical tracker can be understood as the pose information of the optical tracker in the same laser tracker coordinate system, the pose information of the scanner can be understood as the pose information of the scanner in the optical tracker coordinate system, and the scan data can be understood as the data in the scanner coordinate system. Therefore, the first coordinate system conversion relationship (such as a conversion matrix) between the optical tracker coordinate system and the scanner coordinate system, and the second coordinate system conversion relationship (such as a conversion matrix) between the laser tracker coordinate system and the optical tracker coordinate system can be obtained, and the scan data is uniformly converted to the laser coordinate system according to the first coordinate system conversion relationship and the second coordinate system conversion relationship. According to the pose information of the scanner and the pose information of the optical tracker, the pose information of the scanner in the laser coordinate system is determined. In this way, the scan data dynamically scanned by the scanner can be stitched and reconstructed based on the pose of the scanner in the same laser tracker coordinate system.

[0041] The three-dimensional scanning method of the embodiments of the present invention is applied to a three-dimensional scanning system, and the three-dimensional scanning system includes an optical tracker, M laser trackers and a scanner; where M is an integer greater than or equal to 3; the method includes: in response to a three-dimensional scanning event being triggered, obtaining the pose information of the scanner obtained when the optical tracker tracks the scanner; obtaining the pose information of the optical tracker through the M laser trackers; where the positions of the M laser trackers remain unchanged; reconstructing the scan data dynamically scanned by the scanner based on the pose information of the optical tracker and the pose information of the scanner. Through the technical solution provided by the embodiments of the present invention, it is possible to use a high-precision laser tracker in cooperation with an optical tracker to dynamically expand the large-range tracking scanning work area, so that the optical tracker can be transferred without relying on fiducial points, and at the same time, the real-time pose of the optical tracker is obtained by using multiple laser trackers, which is convenient for the extended use of the tracking scanning system, thereby realizing large-range three-dimensional scanning.

[0042] Figure 2 It is a schematic structural diagram of a three-dimensional scanning device provided by an embodiment of the present invention. The device is applied to a three-dimensional scanning system, and the three-dimensional scanning system includes an optical tracker, M laser trackers and a scanner; where M is an integer greater than or equal to 3. As Figure 2 shown, the device includes:

[0043] A scanner pose information acquisition module 210, configured to obtain the pose information of the scanner obtained when the optical tracker tracks the scanner in response to a three-dimensional scanning event being triggered;

[0044] An optical tracker pose information acquisition module 220, configured to obtain the pose information of the optical tracker through the M laser trackers; where the positions of the M laser trackers remain unchanged;

[0045] A scanning data reconstruction module 230, configured to reconstruct the scanning data dynamically scanned by the scanner based on the pose information of the optical tracker and the pose information of the scanner.

[0046] Optionally, M retro-reflective target balls are arranged on the optical tracker, and the laser tracker corresponds to the retro-reflective target ball one by one;

[0047] The optical tracker pose information acquisition module includes:

[0048] A retro-reflective target ball position information acquisition unit, configured to acquire the retro-reflective target ball position information obtained when each laser tracker synchronously detects the corresponding retro-reflective target ball on the optical tracker;

[0049] An optical tracker pose information acquisition unit, configured to determine the pose information of the optical tracker according to the retro-reflective target ball position information corresponding to the M laser trackers.

[0050] Optionally, it further includes:

[0051] A tracking frequency acquisition module, configured to acquire the tracking frequency when the optical tracker tracks the scanner before acquiring the retro-reflective target ball position information obtained when each laser tracker synchronously detects the corresponding retro-reflective target ball on the optical tracker;

[0052] A synchronous detection control module, configured to control each laser tracker to synchronously detect the corresponding retro-reflective target ball on the optical tracker based on the tracking frequency.

[0053] Optionally, the optical tracker pose information acquisition unit includes:

[0054] A relative position relationship acquisition subunit, configured to respectively acquire a first relative position relationship between a tracking camera on the optical tracker and each retro-reflective target ball and a second relative position relationship between the M laser trackers that are pre-calibrated;

[0055] A position information acquisition subunit, configured to determine the position information of the optical tracker tracked by each laser tracker according to the retro-reflective target ball position information corresponding to each laser tracker and the corresponding first relative position relationship;

[0056] An optical tracker pose information determination subunit, configured to determine the pose information of the optical tracker according to the position information of the optical tracker corresponding to the M laser trackers and the second relative position relationship.

[0057] Optionally, the relative position relationship acquisition subunit is configured to:

[0058] Obtain the position information of the external target ball group measured by each of the laser trackers respectively; wherein, the relative position relationship between each laser tracker and the external target ball group remains unchanged;

[0059] Determine the second relative position relationship between the M laser trackers according to the position information of the target ball group corresponding to the M laser trackers.

[0060] Optionally, the external target ball group is arranged on the ground.

[0061] The three-dimensional scanning device provided by the embodiments of the present invention can execute the three-dimensional scanning method provided by any embodiment of the present invention, and has the corresponding function modules and beneficial effects for executing the method.

[0062] Figure 3 The structural schematic diagram of a three-dimensional scanning system 10 that can be used to implement the embodiments of the present invention is shown. The three-dimensional scanning system is intended to represent various forms of digital computers, such as, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The three-dimensional scanning system can also represent various forms of mobile devices, such as, personal digital processors, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. 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.

[0063] The three-dimensional scanning system includes an optical tracker, M laser trackers and a scanner (not shown in the figure); wherein, M is an integer greater than or equal to 3. As Figure 3 shown, the three-dimensional scanning system 10 further 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., wherein, the memory stores a computer program executable by the at least one processor, and the processor 11 can execute 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 three-dimensional scanning system 10 can also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0064] Multiple components in the three-dimensional scanning system 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 magnetic 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 three-dimensional scanning system 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0065] 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 suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the three-dimensional scanning method.

[0066] In some embodiments, the three-dimensional scanning method 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 three-dimensional scanning system 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 three-dimensional scanning method described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the three-dimensional scanning method in any other suitable manner (e.g., by means of firmware).

[0067] The various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuit systems, 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 can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special or general programmable processor, and can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0068] A computer program for implementing the method 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, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowchart and / or block diagram are implemented. The computer program can be executed entirely on the machine, partially on the machine, executed partially on the machine and partially on a remote machine as an independent software package, or executed entirely on a remote machine or server.

[0069] 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 disk, 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.

[0070] In order to provide interaction with a user, the systems and techniques described herein can be implemented on a three-dimensional scanning system 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 three-dimensional scanning system. 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).

[0071] 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 a 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 with each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0072] A computing system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The client-server relationship is created by computer programs that run on respective computers and have 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, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0073] In an embodiment of the present invention, a computer-readable storage medium is further provided. The computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the three-dimensional scanning method described in any embodiment of the present invention when executed by a processor.

[0074] It should be understood that various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described 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.

[0075] 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 three-dimensional scanning method, characterized in that, Applied to a three-dimensional scanning system, the three-dimensional scanning system includes an optical tracker, M laser trackers, and a scanner; where M is an integer greater than or equal to 3; the method includes: In response to a three-dimensional scanning event being triggered, obtain the pose information of the scanner obtained when the optical tracker tracks the scanner; Obtain the pose information of the optical tracker through the M laser trackers; where the positions of the M laser trackers remain unchanged; Reconstruct the scan data dynamically scanned by the scanner based on the pose information of the optical tracker and the pose information of the scanner.

2. The method according to claim 1, characterized in that, M retro-reflective target balls are arranged on the optical tracker, and the laser trackers correspond to the retro-reflective target balls one by one; Obtaining the pose information of the optical tracker through the M laser trackers includes: Obtain the position information of the retro-reflective target balls obtained when each laser tracker synchronously detects the corresponding retro-reflective target ball on the optical tracker; Determine the pose information of the optical tracker according to the position information of the retro-reflective target balls corresponding to the M laser trackers.

3. The method according to claim 2, wherein Before obtaining the position information of the retro-reflective target balls obtained when each laser tracker synchronously detects the corresponding retro-reflective target ball on the optical tracker, it further includes: Obtain the tracking frequency when the optical tracker tracks the scanner; Control each laser tracker to synchronously detect the corresponding retro-reflective target ball on the optical tracker based on the tracking frequency.

4. The method according to claim 2, characterized in that, Determining the pose information of the optical tracker according to the position information of the retro-reflective target balls corresponding to the M laser trackers includes: Respectively obtain the first relative position relationship between the tracking camera on the pre-calibrated optical tracker and each retro-reflective target ball and the second relative position relationship between the M laser trackers; Determine the position information of the optical tracker tracked by each laser tracker according to the position information of the retro-reflective target ball corresponding to each laser tracker and the corresponding first relative position relationship; Determine the pose information of the optical tracker according to the position information of the optical tracker corresponding to the M laser trackers and the second relative position relationship.

5. The method according to claim 4, wherein Obtaining the second relative position relationship between the M laser trackers obtained by pre-calibration includes: Respectively obtain the position information of the target ball group obtained when each laser tracker measures an external target ball group; where the relative position relationship between each laser tracker and the external target ball group remains unchanged; Determine the second relative position relationship between the M laser trackers according to the position information of the target ball group corresponding to the M laser trackers.

6. The method according to claim 5, wherein The external target ball group is arranged on the ground.

7. A three-dimensional scanning device, characterized in that, Applied to a three-dimensional scanning system, the three-dimensional scanning system includes an optical tracker, M laser trackers, and a scanner; where M is an integer greater than or equal to 3; the device includes: A scanner pose information acquisition module, configured to obtain the pose information of the scanner obtained when the optical tracker tracks the scanner in response to a three-dimensional scanning event being triggered; An optical tracker pose information acquisition module, configured to acquire the pose information of the optical tracker through the M laser trackers; wherein, the positions of the M laser trackers remain unchanged; A scan data reconstruction module, configured to reconstruct the scan data dynamically scanned by the scanner based on the pose information of the optical tracker and the pose information of the scanner.

8. A three-dimensional scanning system, characterized in that, The three-dimensional scanning system includes an optical tracker, M laser trackers and a scanner; wherein, M is an integer greater than or equal to 3; the three-dimensional scanning system further includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable 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 three-dimensional scanning method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the three-dimensional scanning method according to any one of claims 1-6 when executed by a processor.

10. A computer program product, characterized in that, The computer program product includes a computer program, and the computer program implements the three-dimensional scanning method according to any one of claims 1-6 when executed by a processor.

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