Control method and device of tracking device and three-dimensional scanning system

Abstract

The invention relates to a control method and device of a tracking device and a three-dimensional scanning system, and the method comprises the steps: dividing a tracking visual field region of the tracking device, and obtaining a stable visual field region and an adjustment visual field region; when the tracking device works, the holder is controlled to rotate, so that an object to be tracked is located in a stable view area of the tracking device; splicing the background mark points reconstructed in real time in the current frame with the mark points in the mark point file; and when the number of the mark points spliced by the current frame is smaller than a preset number threshold value, stopping the rotation of the holder. According to the application, the problem that automatic tracking and scanning of a large workpiece cannot be realized in the prior art is solved, and the to-be-tracked object is positioned in the stable view area of the tracking device by controlling the rotation of the holder; and the working precision is improved while the automatic tracking and scanning of the large workpiece are realized.

Description

Technical Field

[0001] This application relates to the field of three-dimensional scanning technology, and particularly to a control method and device for a tracking device and a three-dimensional scanning system. Background Art

[0002] In the existing tracking device, the attitude of the device to be tracked is reconstructed according to the principle of binocular imaging, so as to convert the three-dimensional data of the measured object obtained by the device to be tracked into the coordinate system of the tracking device. Therefore, the device to be tracked needs to work within the common working field of view of the two cameras of the tracking device. Then, when scanning a large workpiece, it is necessary for an operator to rotate the tracking device manually to ensure that the device to be tracked is within the above-mentioned common working field of view during the scanning process, resulting in the inability to achieve automatic tracking scanning.

[0003] Regarding the problem that automatic tracking scanning of large workpieces cannot be achieved in the related art, no effective solution has been proposed yet. Summary of the Invention

[0004] In this embodiment, a control method and device for a tracking device and a three-dimensional scanning system are provided to solve the problem that automatic tracking scanning of large workpieces cannot be achieved in the related art.

[0005] In the first aspect, in this embodiment, a control method for a tracking device is provided, which is applicable to a three-dimensional scanning system; the three-dimensional scanning system includes a tracking device and a pan-tilt for carrying the tracking device; the method includes:

[0006] Divide the tracking field of view area of the tracking device to obtain a stable field of view area and an adjustment field of view area;

[0007] During the operation of the tracking device, control the pan-tilt to rotate so that the object to be tracked is located in the stable field of view area of the tracking device;

[0008] Stitch the background marker points reconstructed in real time in the current frame with the marker points in the marker point file; when the number of the stitched marker points in the current frame is less than a preset number threshold, stop the rotation of the pan-tilt.

[0009] In some of these embodiments, during the operation of the tracking device, controlling the pan-tilt to rotate so that the object to be tracked is located in the stable field of view area of the tracking device includes:

[0010] During the operation of the tracking device, obtain a control instruction for the pan-tilt;

[0011] Based on the control instruction, control the pan-tilt to rotate so that the object to be tracked is located in the stable field of view area of the tracking device.

[0012] In some of these embodiments, the three-dimensional scanning system further includes a device to be tracked; the device to be tracked is used for performing measurement work on the object to be measured;

[0013] During the operation of the tracking device, obtaining a control instruction for the pan-tilt head includes:

[0014] During the operation of the tracking device, obtaining first tracking data generated by the tracking device for tracking the device to be tracked;

[0015] Based on the first tracking data, when it is detected that the device to be tracked is in the adjustment visual field area, generating a control instruction for the pan-tilt head.

[0016] In some of these embodiments, during the operation of the tracking device, obtaining a control instruction for the pan-tilt head includes:

[0017] During the operation of the tracking device, obtaining second tracking data generated by the tracking device for tracking the marked points on the object to be measured;

[0018] Based on the second tracking data, when it is detected that the image of the object to be measured in the current frame is in the adjustment visual field area, generating a control instruction for the pan-tilt head.

[0019] In some of these embodiments, dividing the tracking visual field area of the tracking device to obtain a stable visual field area and an adjustment visual field area includes:

[0020] Obtaining third tracking data generated by the tracking device for tracking the object to be tracked before the operation;

[0021] Based on the third tracking data, dividing the tracking visual field area of the tracking device to obtain a stable visual field area and an adjustment visual field area.

[0022] In some of these embodiments, based on the third tracking data, dividing the tracking visual field area of the tracking device to obtain a stable visual field area and an adjustment visual field area includes:

[0023] Based on the working accuracy, tracking angle, and tracking distance in the third tracking data, dividing the tracking visual field area of the tracking device to obtain a stable visual field area and an adjustment visual field area.

[0024] In some of these embodiments, the method further includes:

[0025] After stopping the rotation of the pan-tilt head, determining whether the work on the object to be tracked is completed;

[0026] If it is completed, then based on the stitching result, generating three-dimensional scan data of the tracking object.

[0027] In some of these embodiments, the method further includes:

[0028] directly importing the pre-generated marker point file into the three-dimensional scanning system;

[0029] or, based on a panoramic scan of the object to be tracked by the tracking device, obtaining marker point data on the object to be tracked;

[0030] Based on the marker point data, establishing the marker point file.

[0031] In a second aspect, a control device for a tracking device is provided in this embodiment, which is applicable to a three-dimensional scanning system; the three-dimensional scanning system includes a tracking device and a pan-tilt head; the tracking device is arranged on the pan-tilt head; the device includes: a division module, a tracking module, and a processing module;

[0032] The division module is configured to divide the tracking field of view area of the tracking device to obtain a stable field of view area and an adjustable field of view area;

[0033] The tracking module is configured to, during the operation of the tracking device, by controlling the rotation of the pan-tilt head, make the object to be tracked located in the stable field of view area of the tracking device;

[0034] The processing module is configured to splice the background marker points reconstructed in real time for the current frame with the marker points in the marker point file; when the number of the spliced marker points is less than a preset number threshold, stop the rotation of the pan-tilt head.

[0035] In a third aspect, a three-dimensional scanning system is provided in this embodiment, the three-dimensional scanning system includes a processor, a tracking device, and a pan-tilt head for carrying the tracking device;

[0036] A computer program is stored on the processor, and when the processor executes the computer program, the control method of the tracking device described in the first aspect above is implemented.

[0037] In a fourth aspect, a storage medium is provided in this embodiment, on which a computer program is stored, and when the program is executed by a processor, the control method of the tracking device described in the first aspect above is implemented.

[0038] Compared with the related technologies, in the control method, device, and three-dimensional scanning system of the tracking device provided in this embodiment, by dividing the tracking vision area of the tracking device, a stable vision area and an adjustment vision area are obtained; during the operation of the tracking device, by controlling the rotation of the pan-tilt, the object to be tracked is located in the stable vision area of the tracking device; the background marker points reconstructed in real time in the current frame are spliced with the marker points in the marker point file; when the number of marker points spliced in the current frame is less than the preset number threshold, the rotation of the pan-tilt is stopped; the problem that automatic tracking and scanning of large workpieces cannot be achieved in the related technologies is solved. By controlling the rotation of the pan-tilt, the object to be tracked is located in the stable vision area of the tracking device; while achieving automatic tracking and scanning of large workpieces, the working accuracy is improved.

[0039] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects, and advantages of this application more concise and understandable. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The drawings described herein are used to provide a further understanding of this application and form a part of this application. The illustrative embodiments and descriptions thereof are used to explain this application and do not constitute an improper limitation of this application. In the drawings:

[0041] Figure 1 is a hardware structure block diagram of a terminal device for the control method of a tracking device provided in an embodiment of this application;

[0042] Figure 2 is a flowchart of the control method of a tracking device provided in an embodiment of this application;

[0043] Figure 3 is a flowchart of step S220;

[0044] Figure 4 is a flowchart of step S210;

[0045] Figure 5 is a structure block diagram of the control device of a tracking device provided in an embodiment of this application.

[0046] In the figure: 1, tracking device; 2, pan-tilt; 3, object to be tracked; 210, division module; 220, tracking module; 230, processing module. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0047] To understand the purpose, technical solution, and advantages of this application more clearly, the following describes and explains this application with reference to the drawings and embodiments.

[0048] Unless otherwise defined, the technical terms or scientific terms involved in this application shall have the ordinary meanings understood by those with ordinary skills in the technical field to which this application belongs. In this application, words such as "a", "an", "one kind", "the", "these", etc. do not indicate a limitation in quantity, and they can be singular or plural. The terms "comprising", "including", "having" and any variants thereof involved in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product or device comprising a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent in these processes, methods, products or devices. The terms "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether directly or indirectly. The term "plurality" involved in this application means two or more. "And / or" describes the association relationship of associated objects and indicates that three relationships may exist. For example, "A and / or B" may mean: A exists alone, A and B exist simultaneously, and B exists alone. Usually, the character " / " indicates that the objects associated before and after are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific order for the objects.

[0049] Figure 1 is a schematic structural diagram of an exemplary three-dimensional scanning system according to some embodiments of the present invention. Refer to Figure 1 As shown, the three-dimensional scanning system includes: a tracking device 1, a pan-tilt 2 for carrying the tracking device 1, and an object to be tracked 3; the tracking device 1 rotates under the drive of the pan-tilt 2 to perform tracking scanning on the object to be tracked 3. A processor built in the tracking device 1 or a processor connected to the tracking device 1 is used to execute the method embodiments.

[0050] Among them, the object to be tracked 3 includes, but is not limited to, measurement devices such as scanning devices and light pens, industrial products, agricultural products, and construction products. Among them, the scanning device is a binocular vision scanner, a handheld 3D scanning device, etc. Among them, the tracking device 1 is a tracking scanner; it can have different working modes in different usage scenarios. For example: in the usage scenario of directly scanning the object to be measured such as industrial products, the panoramic scanning mode is realized; it is to directly perform panoramic scanning on the object to be measured such as industrial products. In the usage scenario of cooperating with scanning devices, light pens, etc., the tracking scanning mode is realized. For example, the tracking scanning mode in cooperation with the scanning device is: the tracking device 1 collects the marker point data on the scanning device to real-time track the position and attitude of the scanning device, so as to determine the coordinates of the scanning device in the three-dimensional space. The scanning device collects the marker point or laser point data on the object to be measured. The processor simultaneously receives the data of the tracking device 1 and the data of the scanning device, combines the two data and converts them to the same coordinate system for processing, analysis and modeling, and generates the three-dimensional model or related data information of the object to be measured.

[0051] Among them, the processor may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA. The processing device may include one or more processors and a memory for storing data; the memory can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the control method of the tracking device 1 in this embodiment. The processor executes various functional applications and data processing by running the computer program stored in the memory, that is, implements the above method. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memories. In some instances, the memory may further include a memory remotely set relative to the processor, and these remote memories can be connected to the terminal through a network. Examples of the above network include, but are not limited to, the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0052] In this embodiment, a control method for a tracking device is provided. Figure 2 is the flowchart of the control method of the tracking device in this embodiment, as Figure 2 shown, this process includes the following steps:

[0053] Step S210, divide the tracking vision area of the tracking device to obtain a stable vision area and an adjustment vision area;

[0054] Step S220, during the operation of the tracking device, by controlling the rotation of the pan-tilt, make the object to be tracked located in the stable vision area of the tracking device;

[0055] Step S230: splice the background marker points reconstructed in real time for the current frame with the marker points in the marker point file; when the number of marker points spliced for the current frame is less than the preset number threshold, stop the pan-tilt rotation.

[0056] Specifically, the tracking field of view area of the tracking device is the scene angle and distance range that the camera in the tracking device can capture, usually measured by an angle, and is mainly related to factors such as the lens focal length and the camera frame size. After the relevant factors are determined, the tracking field of view area forms a conical area that is smaller near and larger far away; affected by the internal parameters of the camera, different positions in this conical area will affect the working accuracy of the tracking device. Based on this, the tracking field of view area of the tracking device is divided into a stable field of view area and an adjustment field of view area. Among them, the stable field of view area means that the working accuracy meets the preset accuracy requirements when the object to be tracked is located in this area. The adjustment field of view area means that the working accuracy does not meet the preset accuracy requirements when the object to be tracked is located in this area.

[0057] During the operation of the tracking device (panoramic scanning mode, tracking scanning mode, etc.), by controlling the rotation of the pan-tilt to drive the tracking device mounted on the pan-tilt to rotate, the object to be tracked can always be located in the stable field of view area of the tracking device. The marker points in the marker point file can be directly obtained or pre-generated; during the operation of the tracking device, the object to be tracked (background marker points are set on the object to be tracked) is scanned frame by frame to obtain images, and the background marker points are reconstructed in real time based on the images; the background marker points reconstructed in real time for the current frame are spliced with the marker points in the marker point file; when the number of marker points spliced for the current frame is less than the preset number threshold (which can be set according to the usage scenario), it indicates that the current scan is completed, and the pan-tilt rotation is stopped; thus, automatic tracking and scanning of large workpieces can be achieved. At the same time, it can prevent the object to be tracked from appearing in the adjustment field of view area, resulting in a reduction in working accuracy and affecting the subsequent three-dimensional scanning.

[0058] In the related art, the tracking device reconstructs the pose of the device to be tracked according to the principle of binocular imaging, so as to convert the three-dimensional data of the measured object obtained by the device to be tracked into the coordinate system of the tracking device. Therefore, the device to be tracked needs to work within the common working field of view of the two cameras of the tracking device. Then, when scanning a large workpiece, it is necessary for a human to rotate the tracking device manually to ensure that the device to be tracked is within the above-mentioned common working field of view during the scanning process, resulting in the inability to achieve automatic tracking and scanning. In this embodiment, by dividing the tracking field of view area of the tracking device, a stable field of view area and an adjustment field of view area are obtained; during the operation of the tracking device, by controlling the rotation of the pan-tilt head, the object to be tracked is located in the stable field of view area of the tracking device; the background marker points reconstructed in real time in the current frame are spliced with the marker points in the marker point file; when the number of marker points spliced in the current frame is less than the preset number threshold, the rotation of the pan-tilt head is stopped; the problem that automatic tracking and scanning of large workpieces cannot be achieved in the related art is solved. By controlling the rotation of the pan-tilt head, the object to be tracked is located in the stable field of view area of the tracking device; while achieving automatic tracking and scanning of large workpieces, the working accuracy is improved.

[0059] The following is a detailed description of the above steps:

[0060] In some of these embodiments, as Figure 3 shown, in the operation of the tracking device, by controlling the rotation of the pan-tilt head to make the object to be tracked located in the stable field of view area of the tracking device in step S220 includes:

[0061] Step S221, in the operation of the tracking device, obtain a control command for the pan-tilt head;

[0062] Step S222, based on the control command, control the rotation of the pan-tilt head to make the object to be tracked located in the stable field of view area of the tracking device.

[0063] Specifically, the control command can be generated by a built-in processor or an external processor and other processing devices according to the feedback of the specific position of the object to be tracked in the tracking device, and there is no limitation on this.

[0064] Among them, the control command includes a horizontal rotation command, a vertical rotation command, a speed control command, a cruise control command, etc. Since the tracking device is mounted on the pan-tilt head, the pan-tilt head rotates under the control command, which can drive the tracking device to rotate, so that the object to be tracked is always located in the stable field of view area of the tracking device.

[0065] Through this embodiment, only by controlling the rotation of the pan-tilt head, the object to be tracked can be stably located in the stable field of view area of the tracking device, improving the reliability of the operation of the three-dimensional scanning system.

[0066] It should be noted that the tracking device obtains control commands for the pan-tilt head in different usage scenarios through different schemes.

[0067] Exemplarily, the three-dimensional scanning system further includes a device to be tracked; the device to be tracked is a type of object to be tracked and is used for measuring the object to be measured; the device to be tracked (excluding the object to be measured) includes but is not limited to a scanning device, a light pen, etc. At this time, it can be considered as the tracking and scanning mode.

[0068] In some embodiments, in the operation of the tracking device, obtaining a control command for the pan-tilt head includes:

[0069] In the operation of the tracking device, obtaining first tracking data generated by the tracking device tracking the device to be tracked;

[0070] Based on the first tracking data, when it is detected that the device to be tracked is in the adjusted viewing area, generating a control command for the pan-tilt head.

[0071] Specifically, in the operation of the tracking device, the first tracking data generated by the tracking device tracking the device to be tracked is obtained in real time. For example: if the device to be tracked is a scanning device, then the first tracking data can be the position and attitude of the scanning device, so as to determine the coordinates of the scanning device in the three-dimensional space, that is, to determine the current tracking viewing area where the scanning device is located (whether it is in the stable viewing area or the adjusted viewing area).

[0072] When it is detected that the scanning device is in the adjusted viewing area, generating a control command for the pan-tilt head based on the first tracking data; this control command can adjust the scanning device to the stable viewing area.

[0073] After obtaining the control command, in order to prevent the pan-tilt head from rotating frequently due to frequently entering and exiting the stable viewing area during the operation, which affects the working accuracy of the tracking device. After the object to be tracked is in the adjusted viewing area, record a period of time C for multiple times; calculate the cumulative time D in the adjusted viewing area from this. After the cumulative time reaches the preset cumulative time threshold E, control the rotation of the pan-tilt head through the control command to make the object to be tracked located in the stable viewing area of the tracking device; splice the background marker points reconstructed in real time in the current frame with the marker points in the marker point file; when the number of marker points spliced in the current frame is less than the preset number threshold, stop the rotation of the pan-tilt head.

[0074] Through this embodiment, when it is detected that the device to be tracked is in the adjusted viewing area, generating a control command for the pan-tilt head based on the first tracking data can further ensure that the device to be tracked is located in the stable viewing area through feedback adjustment.

[0075] Exemplarily: when the object to be tracked is the object under test, it can be considered as the panoramic scanning mode at this time.

[0076] In some of these embodiments, in the operation of the tracking device in step S221, obtaining the control instruction for the pan-tilt head includes the following steps:

[0077] In the operation of the tracking device, obtaining the second tracking data generated by the tracking device for tracking the marked points on the object under test;

[0078] Based on the second tracking data, when it is detected that the image of the object under test in the current frame is in the adjusted field of view area, generating a control instruction for the pan-tilt head.

[0079] Specifically, since the object under test is a large workpiece product, limited by the tracking field of view range, in the operation of the tracking device, the tracking device needs to continuously track all the marked points on the object under test; then the second tracking data generated by the tracking device for tracking the marked points on the object under test will be obtained in real time. The second tracking data includes the marked point data on the object under test; then the second tracking data can determine whether each marked point in the image of the object under test in the current frame is in the tracking field of view area (in the stable field of view area or the adjusted field of view area). When it is detected that the image of the object under test in the current frame is in the adjusted field of view area, generating a control instruction for the pan-tilt head based on the second tracking data; this control instruction can adjust the image of the object under test in the current frame to the stable field of view area.

[0080] After obtaining the control instruction, in order to prevent the pan-tilt head from rotating frequently during the operation and affecting the working accuracy of the tracking device due to frequently entering and exiting the stable field of view area. After the object to be tracked is in the adjusted field of view area, record a period of time C for a number of times; then calculate the cumulative time D in the adjusted field of view area. After the cumulative time reaches the preset cumulative time threshold E, control the rotation of the pan-tilt head through the control instruction to make the object to be tracked located in the stable field of view area of the tracking device; splice the background marked points reconstructed in real time in the current frame with the marked points in the marked point file; when the number of spliced marked points in the current frame is less than the preset number threshold, stop the rotation of the pan-tilt head.

[0081] And, based on the topological information or marked point identification information in the marked point data for indicating the splicing relationship, complete the splicing of the marked points to generate a marked point file.

[0082] Through this embodiment, when it is detected that the image of the object under test in the current frame is in the adjusted field of view area, generating a control instruction for the pan-tilt head based on the second tracking data can further ensure that the image of the object under test in the current frame is located in the stable field of view area through feedback adjustment.

[0083] In some of these embodiments, such as Figure 4As shown, the step of dividing the tracking visual field area of the tracking device in step S210 to obtain a stable visual field area and an adjustment visual field area includes the following steps:

[0084] Step S211, obtain the third tracking data generated by the tracking device for tracking the object to be tracked before work;

[0085] Step S212, based on the third tracking data, divide the tracking visual field area of the tracking device to obtain a stable visual field area and an adjustment visual field area.

[0086] Specifically, before the work of the tracking device, the tracking visual field area of the tracking device is divided in advance. The specific process is as follows: the third tracking data generated by tracking the object to be tracked; the third tracking data is related to the object to be tracked, and the object to be tracked includes the device to be tracked (including but not limited to a scanning device, a light pen, etc.) and the object to be measured, and the selection of the object to be tracked is determined by the usage scenario. The third tracking data can refer to the first tracking data and the second tracking data, and will not be repeated here.

[0087] Then, based on the third tracking data, the working accuracy, the tracking angle with respect to the axis of the visual field center point, and / or the tracking distance with respect to the axis of the visual field center point of the object to be tracked can be calculated under different tracking visual field areas of the tracking device, so that the tracking visual field area of the tracking device can be divided to obtain a stable visual field area and an adjustment visual field area. Among them, one or more of the working accuracy, the tracking angle, and the tracking distance can be selected as the basis for division, and there is no limitation on this.

[0088] Through this embodiment, based on the third tracking data, the tracking visual field area of the tracking device is divided to obtain a stable visual field area and an adjustment visual field area, improving the efficiency or accuracy of dividing the tracking visual field area.

[0089] In some of these embodiments, based on the third tracking data, dividing the tracking visual field area of the tracking device to obtain a stable visual field area and an adjustment visual field area includes the following steps:

[0090] Based on the working accuracy, the tracking angle, and the tracking distance in the third tracking data, divide the tracking visual field area of the tracking device to obtain a stable visual field area and an adjustment visual field area.

[0091] Specifically, one or more of the working accuracy, the tracking angle, and the tracking distance can be selected as the basis for division.

[0092] Exemplarily: taking the working accuracy as the basis for division; calculating the working accuracy of the object to be tracked at different positions in the tracking visual field area; dividing the tracking visual field area into a stable visual field area and an adjustment visual field area for the area where the working accuracy is greater than or equal to the preset accuracy threshold.

[0093] Exemplarily: based on the tracking angle from the axis of the center point of the field of view; pre-specify the area within the angle A of the axis of the center point of the field of view of the tracking device as the stable field of view area; other tracking field of view areas as the adjustment field of view area; then it is possible to divide the tracking field of view area into a stable field of view area and an adjustment field of view area.

[0094] Exemplarily: based on the tracking distance from the axis of the center point of the field of view; pre-specify the area within the distance B from the axis of the center point of the field of view of the tracking device as the stable field of view area; other tracking field of view areas as the adjustment field of view area; then it is possible to divide the tracking field of view area into a stable field of view area and an adjustment field of view area.

[0095] Exemplarily: based on the tracking distance and working angle from the axis of the center point of the field of view; pre-specify the area within the distance B and the angle A from the axis of the center point of the field of view of the tracking device as the stable field of view area; other tracking field of view areas as the adjustment field of view area; then it is possible to divide the tracking field of view area into a stable field of view area and an adjustment field of view area.

[0096] In other embodiments, other partitioning methods can also be used, and there is no limitation thereto.

[0097] In this embodiment, by selecting different bases for partitioning, the requirements of different application scenarios are met, and the applicability is improved.

[0098] In some of the embodiments, the control method of the tracking device further includes the following steps:

[0099] After stopping the rotation of the pan-tilt head, determine whether the work on the object to be tracked is completed;

[0100] If it is completed, based on the stitching result, generate the three-dimensional scan data of the object to be tracked.

[0101] Specifically, after stopping the rotation of the pan-tilt head, it is possible to determine whether the work on the object to be tracked is completed by calculating the number of background marker points reconstructed in real time for the current frame; if the number of background marker points is less than or equal to the preset background marker number threshold; it is considered that the work on the object to be tracked is completed, and using relevant three-dimensional scan processing methods, based on the stitching result, generate the three-dimensional scan data of the object to be tracked. If the number of background marker points is greater than the preset background marker number threshold; it is considered that the work on the object to be tracked is not completed, and the pan-tilt head can be re-controlled to rotate and continue working until the work is completed.

[0102] In some of the embodiments, the control method of the tracking device further includes the following steps:

[0103] Directly import the pre-generated marker point file into the three-dimensional scan system;

[0104] Alternatively, based on the panoramic scanning of the tracking device for the object to be tracked, obtain the marker point data on the object to be tracked;

[0105] Based on the marker point data, establish a marker point file.

[0106] Specifically, the marker point file can be obtained in various ways. For example: The marker point file is pre-generated and can be directly imported into the 3D scanning system, which can reduce the demand for computing resources.

[0107] Or: The marker point file is generated through panoramic scanning. The process is as follows: Based on the panoramic scanning of the tracking device for the object to be tracked, obtain the marker point data on the object to be tracked; reconstruct and splice the marker point data to establish a marker point file, which can improve the working accuracy of the 3D scanning system and is suitable for high-precision usage scenarios.

[0108] It should be noted that the steps shown in the above process or the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0109] In this embodiment, a control device for a tracking device is also provided. This device is used to implement the above embodiments and preferred implementation manners, and those that have been described will not be repeated. The following terms "module", "unit", "sub-unit", etc. can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0110] Figure 5 is the structural block diagram of the control device of the tracking device in this embodiment, as Figure 5 shown, this device includes: a division module 210, a tracking module 220, and a processing module 230;

[0111] The division module 210 is used to divide the tracking visual field area of the tracking device to obtain a stable visual field area and an adjustment visual field area;

[0112] The tracking module 220 is used to, during the operation of the tracking device, control the pan-tilt to rotate so that the object to be tracked is located in the stable visual field area of the tracking device;

[0113] The processing module 230 is used to splice the background marker points reconstructed in real time in the current frame with the marker points in the marker point file; when the number of spliced marker points is less than a preset number threshold, stop the rotation of the pan-tilt.

[0114] With the above device, the problem in the related art that automatic tracking and scanning of large workpieces cannot be achieved is solved. By controlling the rotation of the pan-tilt, the object to be tracked is located in the stable viewing area of the tracking device; while achieving automatic tracking and scanning of large workpieces, the working accuracy is improved.

[0115] In some of these embodiments, the tracking module 220 is further configured to obtain a control instruction for the pan-tilt during the operation of the tracking device;

[0116] Based on the control instruction, control the rotation of the pan-tilt to make the object to be tracked located in the stable viewing area of the tracking device.

[0117] The three-dimensional scanning system further includes a device to be tracked; the device to be tracked is used for measuring the object to be measured;

[0118] In some of these embodiments, the tracking module 220 is further configured to obtain first tracking data generated by the tracking device tracking the device to be tracked during the operation of the tracking device;

[0119] Based on the first tracking data, when it is detected that the device to be tracked is in the adjustment viewing area, generate a control instruction for the pan-tilt.

[0120] In some of these embodiments, the tracking module 220 is further configured to obtain second tracking data generated by the tracking device tracking the marked points on the object to be measured during the operation of the tracking device;

[0121] Based on the second tracking data, when it is detected that the current frame of the object to be measured image is in the adjustment viewing area, generate a control instruction for the pan-tilt.

[0122] In some of these embodiments, the partitioning module 210 is further configured to obtain third tracking data generated by the tracking device tracking the object to be tracked before the operation;

[0123] Based on the third tracking data, partition the tracking viewing area of the tracking device to obtain a stable viewing area and an adjustment viewing area.

[0124] In some of these embodiments, the partitioning module 210 is further configured to partition the tracking viewing area of the tracking device based on the working accuracy, tracking angle, and tracking distance in the third tracking data to obtain a stable viewing area and an adjustment viewing area.

[0125] In some of these embodiments, the control device of the tracking device further includes: a judgment module;

[0126] The judgment module is configured to judge whether the work on the object to be tracked is completed after stopping the rotation of the pan-tilt;

[0127] If completed, based on the splicing result, generate the three-dimensional scan data of the tracked object.

[0128] In some of these embodiments, the control device of the tracking device further includes: a marker point file processing module;

[0129] The marker point file processing module is used to directly import the pre-generated marker point file into the three-dimensional scanning system;

[0130] Or, based on the panoramic scan of the object to be tracked by the tracking device, obtain the marker point data on the object to be tracked;

[0131] Based on the marker point data, establish a marker point file.

[0132] It should be noted that the above-mentioned each module can be a functional module or a program module, and can be implemented either by software or by hardware. For the modules implemented by hardware, the above-mentioned each module can be located in the same processor; or the above-mentioned each module can also be located in different processors in any combination form.

[0133] In addition, in combination with the control method of the tracking device provided in the above embodiments, a storage medium can also be provided to implement in this embodiment. A computer program is stored on the storage medium; when the computer program is executed by a processor, it implements any one of the control methods of the tracking device in the above embodiments.

[0134] It should be noted that the information and data involved in this application are all information and data that have been authorized by the user or fully authorized by all parties, and will be used legally.

[0135] It should be understood that the specific embodiments described here are only used to explain this application, rather than to limit it. According to the embodiments provided in this application, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the protection scope of this application.

[0136] Obviously, the drawings are only some examples or embodiments of this application. For those of ordinary skill in the art, this application can also be applied to other similar situations based on these drawings without creative work. In addition, it can be understood that although the work done during the development process here may be complex and time-consuming, for those of ordinary skill in the art, some design, manufacturing or production changes based on the technical content disclosed in this application are only conventional technical means and should not be regarded as insufficient disclosure of this application.

[0137] As used in this application, the term "embodiment" means that the specific features, structures, or characteristics described in connection with an embodiment may be included in at least one embodiment of this application. The phrase appears in various places in the specification and does not necessarily mean the same embodiment, nor does it mean that it is independent or alternative to other embodiments and mutually exclusive. Those of ordinary skill in the art can clearly or implicitly understand that the embodiments described in this application can be combined with other embodiments without conflict.

[0138] The above-described embodiments merely represent several implementation manners of this application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of patent protection. It should be noted that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can still be made, and these all fall within the protection scope of this application. Therefore, the protection scope of this application shall be subject to the appended claims.

Claims

1. A control method for a tracking device, characterized in that Applicable to a three-dimensional scanning system; the three-dimensional scanning system includes a tracking device and a pan-tilt head for carrying the tracking device; the method includes: Divide the tracking field of view area of the tracking device to obtain a stable field of view area and an adjustment field of view area; During the operation of the tracking device, by controlling the rotation of the pan-tilt head, make the object to be tracked located in the stable field of view area of the tracking device; Stitch the background marker points reconstructed in real time in the current frame with the marker points in the marker point file; when the number of the stitched marker points in the current frame is less than the preset number threshold, stop the rotation of the pan-tilt head.

2. The control method of the tracking device according to claim 1, characterized in that, During the operation of the tracking device, by controlling the rotation of the pan-tilt head, make the object to be tracked located in the stable field of view area of the tracking device, including: During the operation of the tracking device, obtain a control command for the pan-tilt head; Based on the control command, control the rotation of the pan-tilt head to make the object to be tracked located in the stable field of view area of the tracking device.

3. The control method of the tracking device according to claim 2, wherein The three-dimensional scanning system further includes a device to be tracked; the device to be tracked is used for performing measurement work on the object to be measured; During the operation of the tracking device, obtaining a control command for the pan-tilt head includes: During the operation of the tracking device, obtain first tracking data generated by the tracking device for tracking the device to be tracked; Based on the first tracking data, when it is detected that the device to be tracked is in the adjustment field of view area, generate a control command for the pan-tilt head.

4. The control method of the tracking device according to claim 2, characterized in that, During the operation of the tracking device, obtaining a control command for the pan-tilt head includes: During the operation of the tracking device, obtain second tracking data generated by the tracking device for tracking the marker points on the object to be measured; Based on the second tracking data, when it is detected that the image of the object to be measured in the current frame is in the adjustment field of view area, generate a control command for the pan-tilt head.

5. The control method of the tracking device according to any one of claims 1 to 4, characterized in that, Dividing the tracking field of view area of the tracking device to obtain a stable field of view area and an adjustment field of view area includes: Obtain third tracking data generated by the tracking device for tracking the object to be tracked before the operation; Based on the third tracking data, divide the tracking field of view area of the tracking device to obtain a stable field of view area and an adjustment field of view area.

6. The control method of the tracking device according to claim 5, characterized in that, Based on the third tracking data, dividing the tracking field of view area of the tracking device to obtain a stable field of view area and an adjustment field of view area includes: Based on the working accuracy, tracking angle and tracking distance in the third tracking data, divide the tracking field of view area of the tracking device to obtain a stable field of view area and an adjustment field of view area.

7. The control method of the tracking device according to claim 5, characterized in that, The method further includes: After stopping the rotation of the pan-tilt head, determine whether the work on the object to be tracked is completed; If completed, generate three-dimensional scanning data of the tracking object based on the stitching result.

8. The control method of the tracking device according to claim 5, characterized in that The method further includes: Directly import the pre-generated marker point file into the three-dimensional scanning system; Or, based on the panoramic scan of the object to be tracked by the tracking device, obtain the marker point data on the object to be tracked; Based on the marker point data, establish the marker point file.

9. A control device for a tracking device, characterized in that, Applicable to a three-dimensional scanning system; the three-dimensional scanning system includes a tracking device and a pan-tilt head; the tracking device is disposed on the pan-tilt head; the device includes: a dividing module, a tracking module, and a processing module; The dividing module is configured to divide the tracking visual field area of the tracking device to obtain a stable visual field area and an adjustment visual field area; The tracking module is configured to, during the operation of the tracking device, control the pan-tilt head to rotate so that the object to be tracked is located in the stable visual field area of the tracking device; The processing module is configured to splice the background marker points reconstructed in real time in the current frame with the marker points in the marker point file; when the number of the spliced marker points is less than a preset number threshold, stop the rotation of the pan-tilt head.

10. A three-dimensional scanning system, characterized in that, The three-dimensional scanning system includes a processor, a tracking device, and a pan-tilt head for carrying the tracking device; A computer program is stored on the processor, and when the computer program is executed by the processor, the steps of the control method of the tracking device according to any one of claims 1 to 8 are implemented.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the control method of the tracking device according to any one of claims 1 to 8 are implemented.

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