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 M laser trackers and scanners. Wherein M reflective target balls are arranged on the scanner, and the laser trackers are in one-to-one correspondence with the reflective target balls; the method comprises the following steps: in response to the triggering of a three-dimensional scanning event, controlling a scanner to scan a scanned object to obtain scanning data; reflective target ball position information obtained when each laser tracker carries out synchronous detection on the corresponding reflective target ball on the scanner is obtained; determining pose information of the scanner according to the position information of the reflective target balls corresponding to the M laser trackers; and reconstructing the scanning data based on the pose information of the scanner. According to the method, a plurality of high-precision laser trackers can be used for acquiring the real-time pose of the scanner, and dynamic expansion of a large-range tracking scanning working area can be realized without the aid of mark points, so that 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 a space to be tracked in real time. It can be used with a scanner or a contact measurement probe, and is mainly used in large-scale three-dimensional scanning in industries including aerospace, automotive, shipbuilding, and energy. Due to the limitations of the 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 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 relatively 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 multiple high-precision laser trackers to obtain the real-time pose of the scanner, and can realize the dynamic expansion of a large-scale tracking scanning work area without relying on landmark points, so as to achieve large-scale three-dimensional scanning.

[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 M laser trackers and a scanner; wherein, M reflecting target balls are arranged on the scanner, M is an integer greater than or equal to 3, and the laser trackers correspond to the reflecting target balls one by one. The method includes:

[0006] In response to the triggering of a three-dimensional scanning event, controlling the scanner to scan an object to be scanned to obtain scan data;

[0007] Obtaining the position information of the reflecting target balls obtained when each of the laser trackers synchronously detects the corresponding reflecting target ball on the scanner;

[0008] Determining the pose information of the scanner according to the position information of the reflecting target balls corresponding to the M laser trackers;

[0009] Reconstruct the scan data based on the pose information of the scanner.

[0010] According to another aspect of the present invention, there is provided a three-dimensional scanning device applied to a three-dimensional scanning system. The three-dimensional scanning system includes M laser trackers and a scanner. Wherein, M retroreflective target balls are arranged on the scanner, M is an integer greater than or equal to 3, and the laser trackers correspond to the retroreflective target balls one by one. The device includes:

[0011] A scan data acquisition module, configured to control the scanner to scan an object to be scanned to obtain scan data in response to the triggering of a three-dimensional scanning event;

[0012] A retroreflective target ball position information acquisition module, configured to acquire the retroreflective target ball position information obtained when each laser tracker synchronously detects the corresponding retroreflective target ball on the scanner;

[0013] A scanner pose information determination module, configured to determine the pose information of the scanner according to the retroreflective target ball position information corresponding to the M laser trackers;

[0014] A scan data reconstruction module, configured to reconstruct the scan data based on the pose information of the scanner.

[0015] According to another aspect of the present invention, there is provided a three-dimensional scanning system. The three-dimensional scanning system includes M laser trackers and a scanner. Wherein, M retroreflective target balls are arranged on the scanner, M is an integer greater than or equal to 3, and the laser trackers correspond to the retroreflective target balls one by one. The three-dimensional scanning system further includes:

[0016] At least one processor; and

[0017] A memory communicatively connected to the at least one processor; wherein,

[0018] 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.

[0019] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to execute the three-dimensional scanning method according to any embodiment of the present invention when executed.

[0020] According to another aspect of the present invention, there is provided a computer program product including a computer program that implements the three-dimensional scanning method according to any embodiment of the present invention when executed by a processor.

[0021] The 3D scanning solution of the embodiment of the present invention is applied to a 3D scanning system, and the 3D scanning system includes M laser trackers and a scanner; wherein, M retro-reflective spheres are arranged on the scanner, M is an integer greater than or equal to 3, and the laser trackers and the retro-reflective spheres correspond to each other one by one. The method includes: in response to the triggering of a 3D scanning event, controlling the scanner to scan an object to be scanned to obtain scan data; obtaining the position information of the retro-reflective spheres when each laser tracker synchronously detects the corresponding retro-reflective sphere on the scanner; determining the pose information of the scanner according to the position information of the retro-reflective spheres corresponding to the M laser trackers; and reconstructing the scan data based on the pose information of the scanner. Through the technical solution provided by the embodiment of the present invention, it is possible to obtain the real-time pose of the scanner by using multiple high-precision laser trackers, and the dynamic expansion of a large-range tracking scanning work area can be realized without relying on fiducial points, thereby realizing large-range 3D scanning.

[0022] 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

[0023] 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, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0024] Figure 1 It is a flowchart of a 3D scanning method provided by an embodiment of the present invention;

[0025] Figure 2 It is a schematic structural diagram of a 3D scanning device provided by an embodiment of the present invention;

[0026] 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 Embodiments

[0027] 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 in conjunction with 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 of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0028] 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 necessarily need to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order 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 including 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.

[0029] Figure 1 It 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, which 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. Among them, the three-dimensional scanning system includes M laser trackers and scanners; among them, M reflecting target balls are arranged on the scanner, and M is an integer greater than or equal to 3. The laser trackers correspond to the reflecting target balls one by one. It can be understood that the number of reflecting target balls arranged on the scanner is the same as the number of laser trackers in the three-dimensional scanning system, and the laser trackers correspond to the reflecting target balls one by one. Among them, the reflecting target ball is also a reflector for laser reflection. Exemplarily, if there are 3 laser trackers in the three-dimensional scanning system, then 3 reflecting target balls are arranged on the corresponding scanner.

[0030] As Figure 1 shown, the method includes:

[0031] S110. In response to the triggering of a three-dimensional scanning event, control the scanner to scan the object to be scanned to obtain scan data.

[0032] In an embodiment of the present invention, when a three-dimensional scanning instruction input by a user is received, it can be determined that a three-dimensional scanning event is triggered. In response to the triggering of the three-dimensional scanning event, the scanner is controlled to perform dynamic scanning on the object to be scanned to obtain scanning data. For example, the scanner can be controlled to scan the object to be scanned at a preset scanning frequency; wherein, the scanning data can be understood as the image frames obtained by the scanner for image acquisition of the object to be scanned.

[0033] S120. Obtain the position information of the retroreflective target balls obtained when each of the laser trackers synchronously detects the corresponding retroreflective target balls on the scanner.

[0034] In an embodiment of the present invention, during the process of the scanner performing dynamic scanning on the object to be scanned, each of the M laser trackers is controlled to synchronously detect the corresponding retroreflective target balls on the scanner to determine the position information of the corresponding retroreflective target balls (i.e., the position information of the retroreflective target balls), so that each of the M laser trackers can determine the position information of the corresponding retroreflective target balls. Among them, during the process of the laser tracker tracking and detecting the corresponding retroreflective target balls on the scanner, the positions and relative position relationships of the M laser trackers remain unchanged. The synchronization methods for ensuring that each laser tracker synchronously detects the corresponding retroreflective target balls on the scanner may include wired synchronization and wireless synchronization. Among them, wireless synchronization may include synchronization methods such as timestamp synchronization and Bluetooth synchronization.

[0035] Optionally, before obtaining the position information of the retroreflective target balls obtained when each of the laser trackers synchronously detects the corresponding retroreflective target balls on the scanner, it further includes: obtaining the scanning frequency when the scanner scans the object to be scanned; controlling each of the laser trackers to synchronously detect the corresponding retroreflective target balls on the scanner based on the scanning frequency. The advantage of such a setting is that it can effectively ensure that the pose information and scanning data of the scanner can be obtained synchronously. Exemplarily, obtain the scanning frequency when the scanner scans the object to be scanned. Among them, the scanning frequency can also be understood as the image acquisition frequency of the scanning camera configured on the scanner for image acquisition of the object to be scanned, and the scanning frequency can be set according to the volume size and / or three-dimensional scanning accuracy of the object to be scanned. Controlling each laser tracker to synchronously detect the corresponding retroreflective target balls on the scanner based on the scanning frequency, that is, controlling each laser tracker to keep synchronous with the scanner when performing position detection on the corresponding retroreflective target balls.

[0036] S130. Determine the pose information of the scanner according to the position information of the retroreflective target balls corresponding to the M laser trackers.

[0037] In an embodiment of the present invention, the position information of the retroreflective target balls corresponding to M laser trackers is analyzed to determine the pose information of the scanner. Among them, the pose information of the scanner includes the position information and the attitude information of the scanner. Exemplarily, the relative position relationship between the scanning camera on the scanner and each retroreflective target ball can be obtained, and the relative position relationship between the scanning 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 scanner is determined according to the output result of the pose determination model.

[0038] Optionally, determining the pose information of the scanner according to the position information of the retroreflective target balls corresponding to the M laser trackers includes: obtaining a first relative position relationship between the scanning camera on the pre-calibrated scanner and each retroreflective target ball and a second relative position relationship between the M laser trackers; determining the position information of the scanner tracked by each laser tracker according to the position information of the retroreflective target balls corresponding to each laser tracker and the corresponding first relative position relationship; and determining the pose information of the scanner according to the position information of the scanner corresponding to the M laser trackers and the second relative position relationship.

[0039] In an embodiment of the present invention, during the dynamic scanning of the object to be scanned by the scanner, the relative position relationship between the scanning camera on the scanner and each retroreflective target ball remains unchanged. Therefore, the relative position relationship between the scanning camera on the scanner and each retroreflective target ball can be pre-calibrated and stored in a storage device (such as a USB flash drive). Among them, for the convenience of description, the relative position relationship between the scanning camera on the scanner and each retroreflective target ball is referred to as the first relative position relationship. Among them, the first relative position relationship can be calibrated by an external target ball group (such as a target ball group set on the ground). Since the positions and relative position relationships of the M laser trackers in the three-dimensional scanning system remain unchanged during the three-dimensional scanning process, the relative position relationship between the M laser trackers can also be pre-calibrated and stored in a storage device (such as a USB flash drive). Among them, for the convenience of description, the relative position relationship between the M laser trackers is referred to as the second relative position relationship.

[0040] Optionally, obtaining the second relative position relationship between the M laser trackers that has been pre-calibrated includes: obtaining the position information of the target ball group measured by each of the laser trackers for an external target ball group respectively; wherein, the relative position relationship between each laser tracker 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. Wherein, the external target ball group is a target ball group with a fixed position during the 3D scanning process. For example, the external target ball group can be arranged on a wall or other equipment with a fixed position, and 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 stand, which can reduce the difficulty of setting up the external target ball group. Exemplarily, control 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 each laser tracker can obtain the corresponding position information of the target ball group by measuring or detecting the external target ball group, that is, the position information of the target ball group in the coordinate system corresponding to each laser tracker. Then, perform coordinate transformation 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.

[0041] 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 scanning camera on the scanner, the position information of the scanner tracked by each laser tracker is determined. It can be understood that, according to the first relative position relationship between the retroreflective target ball on the scanner and the scanning camera, the position information of the retroreflective target ball tracked by each laser tracker is converted into the position information of the scanner. Then, according to the position information of the scanners corresponding to the M laser trackers and the second relative position relationship, the pose information of the scanner is determined. It can be understood that, according to the relative position relationship between the M laser trackers, the position information of the scanners corresponding to each laser tracker is converted to the same laser tracker coordinate system, so as to obtain the pose information of the scanner.

[0042] In the embodiment of the present invention, when tracking the movement of the scanner from one position to another, without relying on common fiducial points, by using at least three laser trackers to correspondingly track the retroreflective target balls arranged on the scanner, the pose information of the scanner can be determined in real time. In addition, since the measurement range of the laser tracker is relatively large (usually up to 160 meters in radius), it is possible to expand the tracking working area over a large range.

[0043] S140. Reconstruct the scan data based on the pose information of the scanner.

[0044] In the embodiments of the present invention, the pose information of the scanner can be understood as the pose information of the scanner in the same coordinate system of the laser tracker, and the scan data can be understood as the data in the coordinate system of the scanner. Therefore, the coordinate system conversion relationship (such as the conversion matrix) between the coordinate system of the laser tracker and the coordinate system of the scanner can be obtained, and the scan data can be uniformly converted to the laser coordinate system according to the first coordinate system conversion relationship. In this way, the scan data obtained by the dynamic scan of the scanner can be spliced and reconstructed based on the pose of the scanner in the same coordinate system of the laser tracker.

[0045] 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 M laser trackers and a scanner; wherein, M retro-reflective target balls are arranged on the scanner, M is an integer greater than or equal to 3, and the laser trackers correspond to the retro-reflective target balls one by one. The method includes: in response to the triggering of a three-dimensional scanning event, controlling the scanner to scan the object to be scanned to obtain scan data; 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 scanner; determining the pose information of the scanner according to the position information of the retro-reflective target balls corresponding to the M laser trackers; and reconstructing the scan data based on the pose information of the scanner. Through the technical solution provided by the embodiments of the present invention, the real-time pose of the scanner can be obtained by using multiple high-precision laser trackers, and the dynamic expansion of a large-range tracking scanning work area can be realized without relying on fiducial points, thereby realizing large-range three-dimensional scanning.

[0046] 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 M laser trackers and a scanner; wherein, M retro-reflective target balls are arranged on the scanner, M is an integer greater than or equal to 3, and the laser trackers correspond to the retro-reflective target balls one by one. As Figure 2 shown, the device includes:

[0047] A scan data acquisition module 210, configured to control the scanner to scan the object to be scanned to obtain scan data in response to the triggering of a three-dimensional scanning event;

[0048] A retro-reflective target ball position information acquisition module 220, configured to 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 scanner;

[0049] A scanner pose information determination module 230, configured to determine the pose information of the scanner according to the position information of the retro-reflective target balls corresponding to the M laser trackers;

[0050] A scanning data reconstruction module 240, configured to reconstruct the scanning data based on the pose information of the scanner.

[0051] Optionally, the apparatus further includes:

[0052] A scanning frequency acquisition module, configured to acquire the scanning frequency of the scanner when scanning the object to be scanned before acquiring the position information of the retroreflective target balls obtained when each laser tracker synchronously detects the corresponding retroreflective target balls on the scanner;

[0053] A synchronous detection control module, configured to control each laser tracker to synchronously detect the corresponding retroreflective target balls on the scanner based on the scanning frequency.

[0054] Optionally, the scanner pose information determination module includes:

[0055] A relative position relationship acquisition unit, configured to acquire a first relative position relationship between the scanning camera on the scanner and each retroreflective target ball and a second relative position relationship between the M laser trackers, which are pre-calibrated;

[0056] A position information determination unit, configured to determine the position information of the scanner tracked by each laser tracker according to the position information of the retroreflective target balls corresponding to each laser tracker and the corresponding first relative position relationship;

[0057] A scanner pose information determination unit, configured to determine the pose information of the scanner according to the position information of the scanner corresponding to the M laser trackers and the second relative position relationship.

[0058] Optionally, the relative position relationship acquisition unit is configured to:

[0059] Acquire the position information of the target ball group measured by each laser tracker for the external target ball group;

[0060] 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.

[0061] Optionally, the external target ball group is arranged on the ground.

[0062] The three-dimensional scanning apparatus 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 corresponding functional modules and beneficial effects for executing the method.

[0063] Figure 3The 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.

[0064] The three-dimensional scanning system includes M laser trackers and scanners (not shown in the figure); wherein, M retro-reflective target balls are arranged on the scanner, M is an integer greater than or equal to 3, and the laser trackers correspond to the retro-reflective target balls one by one. 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. 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 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. An input / output (I / O) interface 15 is also connected to the bus 14.

[0065] 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 disk, 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.

[0066] The processor 11 may 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.

[0067] In some embodiments, the three-dimensional scanning method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may 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 may be executed. Alternatively, in other embodiments, the processor 11 may be configured to execute the three-dimensional scanning method in any other suitable manner (e.g., by means of firmware).

[0068] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuitry, integrated circuit systems, field-programmable gate arrays (FPGA), application-specific integrated circuits (ASIC), application-specific standard products (ASSP), systems-on-chip (SOC), complex programmable logic devices (CPLD), 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 dedicated or general-purpose programmable processor that 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.

[0069] 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, a dedicated computer, or other programmable data processing device, such that when the computer programs are executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer programs can be executed entirely on the machine, partially on the machine, as a stand-alone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0070] 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.

[0071] 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 (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by 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).

[0072] 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 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.

[0073] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The relationship between the client and the server is created by computer programs that run on respective computers and have a client-server relationship with each other. The server may 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.

[0074] 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 according to any embodiment of the present invention when executed by a processor.

[0075] 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 made herein.

[0076] The above specific embodiments do not constitute a limitation to 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 principle 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 M laser trackers and a scanner; wherein, M reflecting target balls are arranged on the scanner, M is an integer greater than or equal to 3, and the laser trackers correspond to the reflecting target balls one by one; the method includes: In response to the triggering of a three-dimensional scanning event, controlling the scanner to scan the object to be scanned to obtain scanning data; Obtaining the position information of the reflecting target balls obtained when each laser tracker synchronously detects the corresponding reflecting target ball on the scanner; Determining the pose information of the scanner according to the position information of the reflecting target balls corresponding to the M laser trackers; Reconstructing the scanning data based on the pose information of the scanner.

2. The method according to claim 1, characterized in that Before obtaining the position information of the reflecting target balls obtained when each laser tracker synchronously detects the corresponding reflecting target ball on the scanner, it further includes: Obtaining the scanning frequency when the scanner scans the object to be scanned; Controlling each laser tracker to synchronously detect the corresponding reflecting target ball on the scanner based on the scanning frequency.

3. The method according to claim 1, wherein Determining the pose information of the scanner according to the position information of the reflecting target balls corresponding to the M laser trackers includes: Obtaining the first relative position relationship between the scanning camera on the scanner and each reflecting target ball and the second relative position relationship between the M laser trackers that are pre-calibrated; Determining the position information of the scanner corresponding to each laser tracker according to the position information of the reflecting target ball corresponding to each laser tracker and the corresponding first relative position relationship; Determining the pose information of the scanner according to the position information of the scanner corresponding to the M laser trackers and the second relative position relationship.

4. The method according to claim 3, wherein Obtaining the second relative position relationship between the M laser trackers that are pre-calibrated includes: Obtaining the position information of the target ball group obtained when each laser tracker measures an external target ball group; 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.

5. The method according to claim 4, wherein The external target ball group is arranged on the ground.

6. A three-dimensional scanning device, characterized in that, Applied to a three-dimensional scanning system, the three-dimensional scanning system includes M laser trackers and a scanner; wherein, M reflecting target balls are arranged on the scanner, M is an integer greater than or equal to 3, and the laser trackers correspond to the reflecting target balls one by one; the device includes: A scanning data acquisition module, configured to control the scanner to scan the object to be scanned to obtain scanning data in response to the triggering of a three-dimensional scanning event; A reflecting target ball position information acquisition module, configured to obtain the position information of the reflecting target balls obtained when each laser tracker synchronously detects the corresponding reflecting target ball on the scanner; A scanner pose information determination module, configured to determine the pose information of the scanner according to the position information of the reflecting target balls corresponding to the M laser trackers; A scanning data reconstruction module, configured to reconstruct the scanning data based on the pose information of the scanner.

7. The device according to claim 6, characterized in that, It further includes: A scanning frequency acquisition module, configured to acquire the scanning frequency of the scanner when scanning the object to be scanned before acquiring the position information of the retroreflective target ball obtained when each of the laser trackers synchronously detects the corresponding retroreflective target ball on the scanner; A synchronous detection control module, configured to control each of the laser trackers to synchronously detect the corresponding retroreflective target ball on the scanner based on the scanning frequency.

8. A three-dimensional scanning system, characterized in that, The three-dimensional scanning system includes M laser trackers and a scanner; wherein, M retroreflective target balls are arranged on the scanner, M is an integer greater than or equal to 3, and the laser trackers correspond to the retroreflective target balls one by one; 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 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 one of claims 1-5.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions, and when the computer instructions are executed by a processor, the three-dimensional scanning method according to any one of claims 1-5 is implemented.

10. A computer program product, characterized in that, The computer program product includes a computer program, and when the computer program is executed by a processor, the three-dimensional scanning method according to any one of claims 1-5 is implemented.

Images