Equipment blind area calibration method and system, electronic equipment and storage medium

Abstract

The invention provides an equipment blind area calibration method and system, electronic equipment and a storage medium, the equipment blind area calibration method comprises the following steps: determining a first relative position relation between a coordinate system of a laser tracker and a coordinate system of an optical tracking system, the optical tracking system being located in a visual field range of the laser tracker; determining a blind area outside the field of view of the laser tracker; under the condition that the optical tracking system or the laser tracker moves to the blind area, a second relative position relation is determined based on different positions of the optical tracking system moving in the blind area, or the second relative position relation is determined based on different positions of the laser tracker moving in the blind area; and completing calibration of the blind area based on the first relative position relation and the second relative position relation. According to the method, the blind area calibration cost can be reduced, and the blind area calibration efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the field of scanning, and in particular to a method, system, electronic device and storage medium for calibrating blind areas of a device. Background Art

[0002] The scanning range of an optical tracking system is limited, requiring calibration between corresponding coordinate systems by moving the device and using a laser tracker to guide the device at different locations. However, the measurement range of a laser tracker is also limited, and blind spots may exist that are difficult for the laser tracker to measure. Currently, cameras or other auxiliary equipment are commonly used to calibrate the blind spots of laser trackers. The equipment used in this method is generally complex and expensive. Summary of the Invention

[0003] The embodiments of the present application disclose a method, system, electronic device and storage medium for calibrating blind spots of a device, which solve the technical problem of high cost of calibrating blind spots.

[0004] The present application provides a method for calibrating a blind spot of a device, the method comprising: determining a first relative position relationship between a coordinate system of a laser tracker and a coordinate system of an optical tracking system, the optical tracking system being located within a field of view of the laser tracker; determining a blind spot outside the field of view of the laser tracker; when the optical tracking system or the laser tracker moves into the blind spot, determining a second relative position relationship based on different positions of the optical tracking system within the blind spot, or determining a second relative position relationship based on different positions of the laser tracker within the blind spot; and completing calibration of the blind spot based on the first relative position relationship and the second relative position relationship.

[0005] In some embodiments of the present application, determining the second relative position relationship based on different positions of the optical tracking system moving within the blind spot includes: obtaining multiple positions of the optical tracking system moving within the blind spot, and obtaining a first coordinate set obtained by the optical tracking system after measuring a preset blind spot marker point at each position, the blind spot marker point including a common marker point; based on the first coordinate set, determining a first conversion relationship between the coordinate systems of the optical tracking systems located at different positions; obtaining a second coordinate set obtained by the optical tracking system located within the field of view measuring the common marker point; based on the first coordinate set and the second coordinate set, determining a second conversion relationship between the coordinate system of the optical tracking system located within the field of view and the coordinate system of the optical tracking system located within the blind spot; and determining the second relative position relationship based on the first conversion relationship and the second conversion relationship.

[0006] In some embodiments of the present application, after completing the calibration of the blind spot, the method further includes: when the optical tracking system is within the blind spot, obtaining first target data obtained by the scanner from measuring the scanned object; when the optical tracking system is outside the blind spot, obtaining second target data obtained by the scanner from measuring the scanned object; based on the first conversion relationship, the second conversion relationship and the first relative position relationship, determining the coordinates corresponding to the first target data and the second target data in the coordinate system of the laser tracker.

[0007] In some embodiments of the present application, the optical tracking system includes a target point. Before determining the second relative position relationship based on different positions of the laser tracker moving within the blind spot, the method further includes: determining a common field of view of the laser tracker before entering the blind spot and the laser tracker after entering the blind spot, and determining the target position within the common field of view; when the optical tracking system is at the target position, obtaining a third coordinate set obtained by measuring the target point by the laser tracker before entering the blind spot; obtaining a fourth coordinate set obtained by measuring the target point by the laser tracker after entering the blind spot; and determining a third conversion relationship between the coordinate system of the laser tracker before entering the blind spot and the coordinate system of the laser tracker after entering the blind spot based on the third coordinate set and the fourth coordinate set.

[0008] In some embodiments of the present application, determining the second relative position relationship based on different positions of the laser tracker moving within the blind spot includes: obtaining multiple positions of the laser tracker moving within the blind spot, and obtaining a fifth coordinate set obtained by the laser tracker at each position measuring the target point of the optical tracking system; based on the fifth coordinate set, determining a fourth transformation relationship between the coordinate systems of the laser trackers located at different positions; and determining the second relative position relationship based on the third transformation relationship and the fourth transformation relationship.

[0009] In some embodiments of the present application, after completing the calibration of the blind spot, the method further includes: when the optical tracking system is within the blind spot, obtaining third target data obtained by the scanner measuring the scanned object; when the optical tracking system is outside the blind spot, obtaining fourth target data obtained by the scanner measuring the scanned object; based on the third conversion relationship, the fourth conversion relationship and the first relative position relationship, determining the coordinates corresponding to the third target data and the fourth target data in the coordinate system of the laser tracker.

[0010] In some embodiments of the present application, determining the first relative position relationship between the coordinate system of the laser tracker and the coordinate system of the optical tracking system includes: obtaining a sixth coordinate set obtained by measuring the calibration plate at different positions by the laser tracker; obtaining a seventh coordinate set obtained by measuring the calibration plate at different positions by the optical tracking system; and determining the first relative position relationship based on the sixth coordinate set and the seventh coordinate set.

[0011] The present application also proposes a calibration system for a device blind spot, which includes: an electronic device for determining a first relative position relationship between a coordinate system of a laser tracker and a coordinate system of an optical tracking system, wherein the optical tracking system is located within the field of view of the laser tracker; the electronic device is further used to determine a blind spot outside the field of view of the laser tracker; the laser tracker is used to move to multiple positions within the blind spot outside the field of view of the laser tracker to determine a second relative position relationship; the optical tracking system is used to move to multiple positions within the blind spot to determine the second relative position relationship; the electronic device is further used to determine the second relative position relationship based on different positions of the optical tracking system moved within the blind spot, or to determine the second relative position relationship based on different positions of the laser tracker moved within the blind spot; the electronic device is further used to complete the transfer calibration of the blind spot based on the first relative position relationship and the second relative position relationship.

[0012] The present application also provides an electronic device, which includes a processor and a memory, and the processor is used to implement the device blind area calibration method when executing the computer program stored in the memory.

[0013] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the device blind area calibration method is implemented.

[0014] In the device blind spot calibration method provided herein, a first relative positional relationship is determined between the coordinate system of a laser tracker and the coordinate system of an optical tracking system; wherein the optical tracking system is located within the field of view of the laser tracker. This first relative positional relationship can serve as a bridge for subsequent calibration of the device blind spot. A blind spot outside the field of view of the laser tracker to be calibrated is determined. After the blind spot is determined, since both the laser tracker and the optical tracking system are movable, the device blind spot can be calibrated using the laser tracker and the optical tracking system. Specifically, when the optical tracking system or the laser tracker moves into the blind spot, a second relative positional relationship is determined based on different positions of the optical tracking system within the blind spot, or a second relative positional relationship is determined based on different positions of the laser tracker within the blind spot. Based on the first and second relative positional relationships, the device blind spot calibration is completed. The above embodiments can reduce the cost of blind spot calibration and improve its accuracy. This can also improve the accuracy of subsequent data scanning to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the architecture of the device blind spot calibration system provided in an embodiment of the present application.

[0016] Figure 2 This is a flow chart of a method for calibrating blind spots of a device provided in an embodiment of the present application.

[0017] Figure 3 This is a flowchart for determining the second relative position relationship provided in an embodiment of the present application.

[0018] Figure 4 Schematic diagram of the positions of the optical tracking system and the laser tracker provided in the embodiment of the present application.

[0019] Figure 5 This is another embodiment of the present application providing a flowchart for determining the second relative position relationship.

[0020] Figure 6 This is a schematic diagram of the positions of an optical tracking system and a laser tracker provided in another embodiment of the present application.

[0021] Figure 7 This is a flowchart for determining the first relative position relationship provided in an embodiment of the present application.

[0022] Figure 8 It is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] To facilitate understanding, some illustrations of concepts related to the embodiments of the present application are given as examples for reference.

[0024] It should be noted that, in this application, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can mean: A alone, A and B together, and B alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," and so on (if any) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or precedence.

[0025] The scanning range of an optical tracking system is limited, requiring calibration between corresponding coordinate systems by moving the device and using a laser tracker to guide the device at different locations. However, the measurement range of a laser tracker is also limited, and blind spots may exist that are difficult for the laser tracker to measure. Currently, cameras or other auxiliary equipment are commonly used to calibrate the blind spots of laser trackers. The equipment used in this method is generally complex and expensive.

[0026] To address the technical issue of high equipment costs, embodiments of the present application provide a device blind spot calibration method, system, electronic device, and storage medium. These methods enable blind spot calibration by moving an optical tracking system or laser tracker within the blind spot, expanding the measurement range and achieving coordinate consistency. The following first describes the architecture of the device blind spot calibration system of the present application.

[0027] Figure 1 This is a schematic diagram of the architecture of the device blind spot calibration system provided in the embodiment of the present application. Figure 1 As shown, the device blind spot calibration system includes an electronic device 10, a laser tracker 20, and an optical tracking system 30. The embodiment of the present application does not limit the number of laser trackers 20 and optical tracking systems 30.

[0028] The electronic device 10 may include a device with communication capabilities, such as a laptop computer, a tablet computer, a programmable logic controller (PLC), and a human-machine interface (HMI) with touch input capabilities. It may also include a device simulated by a virtual machine or simulator. The electronic device 10 is used to receive data sent by the laser tracker 20 and the optical tracking system 30 and calculate the data to complete the transfer station calibration of the device blind spot.

[0029] The laser tracker 20 is a high-precision, large-scale measuring instrument capable of performing precise point measurements across large scenes. It is used to measure the coordinates of markers on a calibration plate. Markers, also known as reflective markers, can be objects of various shapes and materials. The laser tracker 20 can transmit the coordinates of the markers on the calibration plate to the electronic device 10.

[0030] The optical tracking system 30 includes an optical tracker ( Figure 1 not shown) and scanner ( Figure 1 (not shown) the coordinates of the marking points on the calibration plate can be measured by an optical tracker, or by a scanner. The optical tracking system 30 can transmit the coordinates of the blind spot marking points to the electronic device 10. In addition, the optical tracking system 30 can be provided with a target point, and the laser tracker 20 can also measure the coordinates of the target point and transmit the measured target point coordinates to the electronic device 10.

[0031] Among them, the optical tracker and scanner in the optical tracking system 30 can be two independently operating devices that can achieve communication connection, or they can be two sub-devices belonging to the same system (for example, a tracking scanner). They can be assembled to operate collaboratively, or they can be disassembled to operate independently. This application does not limit the device form, operation mode, etc. of the optical tracker and scanner in the optical tracking system 30.

[0032] In the application scenario of a device blind spot calibration system, a laser tracker 20 can be fixed at a preset position. A blind spot outside the field of view of the laser tracker 20 is determined. The optical tracking system 30 or the laser tracker 20 is moved to the blind spot and repeatedly moved within the blind spot. The electronic device 10 can receive the coordinate sets measured by the laser tracker 20 and the optical tracking system 30 to complete the transfer calibration of the device blind spot.

[0033] The schematic Figure 1 It is only an example of a calibration system for a device blind spot and does not constitute a limitation on the calibration system for a device blind spot. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the calibration system for a device blind spot may also include multiple optical tracking systems, etc.

[0034] Figure 2 This is a flow chart of a method for calibrating a device blind spot provided by an embodiment of the present application, which is applied to electronic devices (such as Figure 1 According to different requirements, the order of the steps in the flowchart can be changed, and some steps can be omitted.

[0035] Step S201 : determining a first relative position relationship between a coordinate system of the laser tracker and a coordinate system of the optical tracking system.

[0036] In some embodiments of the present application, the first relative position relationship is determined by a first target transformation matrix, which is used to represent the transformation relationship between the coordinate system of the optical tracking system and the coordinate system of the laser tracker. During the calibration process of the transformation relationship, the transformation relationship between the coordinate system of the optical tracking system and the coordinate system of the laser tracker can be calibrated using a calibration plate. The calibration plate can be provided with a target base, and a marker point can be placed on the target base. The marker point can be a high-precision reflective marker point, such as a hubbs marker point.

[0037] Specifically, a calibration plate is placed within the common field of view of the optical tracking system and the laser tracker. By moving the calibration plate multiple times, the conversion relationship between the coordinate system of the optical tracking system and the coordinate system of the laser tracker is calibrated to obtain a first target conversion matrix, and then a first relative position relationship is determined based on the first target conversion matrix. The first relative position relationship can realize the transfer of the optical tracking system and avoid the occurrence of cumulative transfer errors. The specific description of calibration using the calibration plate can be found in the following figure. Figure 7 The embodiment shown.

[0038] In another embodiment, the first relative position relationship can also be determined by placing a target base (including target points) on the optical tracking system, placing marker points on the ground, and moving the optical tracking system multiple times. Specifically, a first coordinate set sequence is obtained by measuring the marker points attached to the ground when the optical tracking system is in multiple different positions. A second coordinate set sequence is obtained by measuring the target points attached to the optical tracking system using a laser tracker when the optical tracking system is in multiple different positions. The first relative position relationship is determined based on the first coordinate set sequence and the second coordinate set sequence. The above is merely an example, and this application does not limit the method for determining the first relative position relationship.

[0039] Step S202: Determine a blind spot outside the field of view of the laser tracker.

[0040] In some embodiments of the application, the field of view of the laser tracker can be understood as the result of the combined effect of the mechanical motion range of the tracking head and the effective ranging range of the laser interferometer. The laser tracker's field of view is limited; if it exceeds this range, the laser tracker must be moved to complete subsequent scanning operations. However, this requires interrupting the current scan and repositioning the laser tracker before moving, which results in high labor costs and reduces scanning efficiency.

[0041] Therefore, blind areas outside the laser tracker's field of view can be calibrated, enabling continuous scanning without interruption during subsequent scans. Furthermore, since the laser tracker's position is fixed during subsequent scans, positioning errors caused by movement can be avoided. Furthermore, by keeping the laser tracker in a fixed position, the laser tracker's measurement range can be expanded, eliminating the need for multiple laser trackers to collaborate on the scan, thus saving subsequent scanning costs.

[0042] In some embodiments of the application, the laser tracker is fixed at an arbitrary position, and after the field of view of the laser tracker is determined, the area outside the field of view is marked as a blind spot. The blind spot is adjacent to the area where the field of view is located, and can be divided into a left area outside the field of view and a right area outside the field of view. It is understandable that the blind spot described in this application can be the left area outside the field of view, the right area outside the field of view, or the left area outside the field of view and the right area outside the field of view. This application does not limit the area corresponding to the blind spot.

[0043] Step S203: When the optical tracking system or the laser tracker moves to the blind spot, a second relative position relationship is determined based on different positions of the optical tracking system moving within the blind spot, or a second relative position relationship is determined based on different positions of the laser tracker moving within the blind spot.

[0044] In some embodiments of the present application, after determining the blind spot of the laser tracker, the optical tracking system can be moved to the blind spot, thereby using the optical tracking system to move multiple times within the blind spot to determine a second target transformation matrix, and a second relative position relationship is determined based on the second target transformation matrix. The second relative position relationship is determined by the transformation matrix and is used to represent the transformation relationship between the coordinate system of the optical tracking system at different positions within the blind spot and the coordinate system of the optical tracking system within the field of view. The specific process of determining the second relative position relationship by using the optical tracking system to move multiple times within the blind spot can be referred to as follows: Figure 3 The embodiment shown.

[0045] In another embodiment, after the blind spot of the laser tracker is determined, the laser tracker can be moved to the blind spot, thereby using multiple movements of the laser tracker within the blind spot to determine a second relative position relationship. The second relative position relationship represents the conversion relationship between the coordinate system of the laser tracker at different positions within the blind spot and the coordinate system of the laser tracker within the field of view. The specific process of determining the second relative position relationship by using multiple movements of the optical tracking system within the blind spot can be referred to as follows: Figure 5 The embodiment shown.

[0046] Step S204 : completing the calibration of the blind spot based on the first relative position relationship and the second relative position relationship.

[0047] In some embodiments of the present application, the first relative position relationship represents a conversion relationship between the coordinate system of the optical tracking system and the coordinate system of the laser tracker, wherein the optical tracking system is within the field of view of the laser tracker. The second relative position relationship can be represented as a conversion relationship between the coordinate systems of the optical tracking system at different positions within the blind spot, and between the coordinate system of the optical tracking system within the blind spot and the coordinate system of the optical tracking system outside the blind spot. It can also be represented as a conversion relationship between the coordinate systems of the laser tracker at different positions within the blind spot, and between the coordinate system of the laser tracker within the blind spot and the coordinate system of the laser tracker outside the blind spot.

[0048] The blind spot can be calibrated using the first relative position relationship and the second relative position relationship. After the blind spot is calibrated, in subsequent scanning processes, the scanning data obtained by the optical tracking system from the scanner measuring the scanned object both inside and outside the blind spot can be unified into the same laser tracker coordinate system.

[0049] Through the above embodiment, a first relative positional relationship is determined between the coordinate system of the laser tracker and the coordinate system of the optical tracking system; wherein the optical tracking system is located within the field of view of the laser tracker. This first relative positional relationship can serve as a bridge for subsequent calibration of the device's blind spot. A blind spot outside the field of view of the laser tracker to be calibrated is determined. After determining the blind spot, since both the laser tracker and the optical tracking system are movable, the laser tracker and the optical tracking system can be used to calibrate the device's blind spot. Specifically, when the optical tracking system or the laser tracker moves into the blind spot, a second relative positional relationship is determined based on different positions of the optical tracking system within the blind spot, or a second relative positional relationship is determined based on different positions of the laser tracker within the blind spot. Based on the first and second relative positional relationships, the device's blind spot calibration is completed. The above embodiment can reduce the cost of blind spot calibration and improve its accuracy. This can also improve the accuracy of subsequent data scanning to a certain extent.

[0050] Figure 3 The second relative position relationship is determined by using the optical tracking system to move multiple times within the blind area, such as Figure 3 As shown, the following steps are included.

[0051] Step S301 : obtaining a plurality of positions where the optical tracking system moves within the blind spot, and obtaining a first coordinate set obtained after the optical tracking system measures a preset blind spot marker at each position.

[0052] In some embodiments of the present application, the blind spot markers may be high-precision reflective markers, such as hubbs markers. The present application does not limit the type of blind spot markers. The blind spot markers may be set on a fixed ground surface or on a calibration plate. The present application does not limit the manner in which the blind spot markers are set. The blind spot markers may include public markers, which may be set within a public field of view before and after the optical tracking system moves to the blind spot.

[0053] In some embodiments of the present application, the optical tracking system can move multiple times within the blind spot, recording the position reached each time. When the optical tracking system is at different positions, the blind spot marker is measured to obtain a first coordinate set. In one example, when the optical tracking system moves to a first position, the blind spot marker is measured to obtain a first coordinate set measured at the first position. When the optical tracking system moves to a second position, the blind spot marker is measured to obtain a first coordinate set measured at the second position.

[0054] Step S302: determining a first conversion relationship between coordinate systems of optical tracking systems located at different positions based on the first coordinate set.

[0055] In some embodiments of the present application, since the position of the blind spot marker does not change, the first transformation relationship between the coordinate systems of the optical tracking systems at different positions can be determined based on the first coordinate sets measured at different positions, and the first transformation relationship can be determined by the first transformation matrix. In one example, the optical tracking system at the first position measures the blind spot marker to obtain the first coordinate set measured at the first position; the optical tracking system at the second position measures the blind spot marker to obtain the first coordinate set measured at the second position; based on the first coordinate set measured at the first position and the first coordinate set measured at the second position, the first transformation matrix between the coordinate system of the optical tracking system at the first position and the coordinate system of the optical tracking system at the second position can be calculated, thereby determining the first transformation relationship based on the first transformation matrix.

[0056] Step S303: Acquire a second coordinate set obtained by measuring the common marker point with the optical tracking system within the field of view.

[0057] In some embodiments of the present application, before the optical tracking system moves to the blind spot, the optical tracking system is within the field of view of the laser tracker. The electronic device can obtain a second coordinate set obtained by measuring the common marker point by the optical tracking system within the field of view.

[0058] Step S304 : determining a second conversion relationship between the coordinate system of the optical tracking system within the field of view and the coordinate system of the optical tracking system within the blind spot based on the first coordinate set and the second coordinate set.

[0059] In some embodiments of the present application, the blind spot marker includes a public marker, and the first coordinate set includes the coordinates corresponding to the public marker measured by the optical tracking system. For the convenience of distinction, the coordinate system of the optical tracking system within the field of view is referred to as the pre-transfer coordinate system, and the coordinate system of the optical tracking system within the blind spot is referred to as the post-transfer coordinate system. In one example, the optical tracking system obtains a first coordinate set of the public marker measured before the transfer on the pre-transfer coordinate system, and the optical tracking system obtains a second coordinate set of the public marker measured after the transfer on the post-transfer coordinate system. Based on the first coordinate set and the second coordinate set, the second transformation matrix between the pre-transfer coordinate system and the post-transfer coordinate system can be calculated, thereby determining the second transformation relationship based on the second transformation matrix.

[0060] Step S305: Determine a second relative position relationship based on the first conversion relationship and the second conversion relationship.

[0061] In some embodiments of the present application, the first transformation relationship represents the transformation relationship between the coordinate systems of the optical tracking systems at different positions within the blind spot, and the second transformation relationship represents the transformation relationship between the coordinate systems of the optical tracking systems located outside and inside the blind spot. Therefore, by using the first transformation relationship and the second transformation relationship to construct a second relative position relationship, the position inside the blind spot of the optical tracking system can be associated with the position outside the blind spot, thereby achieving the purpose of blind spot calibration. Figure 4 The present invention describes a process of converting a position within a blind area of ​​an optical tracking system to a position outside the blind area by using a first conversion relationship and a second conversion relationship.

[0062] like Figure 4 As shown, the area outside the field of view of the laser tracker 20 is called the blind zone. A common marker point can be set at the boundary between the blind zone and the field of view. This common marker point can also be called a blind zone marker point (hereinafter simply referred to as a common marker point for the sake of distinction). Multiple marker points are also set within the blind zone. These marker points can be directly attached to the ground or set on the target base of the calibration plate. When the optical tracking system 30 is in position A, it is within the field of view of the laser tracker 20. When the optical tracking system 30 is in positions B and C, it is within the blind zone.

[0063] When the optical tracking system 30 is at position B, the blind spot mark points are measured to obtain a coordinate set B1; when the optical tracking system is at position C, the blind spot mark points are measured to obtain a coordinate set C; based on the coordinate set B1 and the coordinate set C, the first transformation relationship between the coordinate system of the optical tracking system 30 at position B and the coordinate system of the optical tracking system at position C can be calculated.

[0064] When the optical tracking system 30 is at position B, the common marker points are measured to obtain the coordinate set B2; when the optical tracking system is at position A, the common marker points are measured to obtain the coordinate set A; based on the coordinate set B2 and the coordinate set A, the second transformation relationship between the coordinate system of the optical tracking system 30 at position B and the coordinate system of the optical tracking system at position A can be calculated.

[0065] According to the first conversion relationship and the second conversion relationship, the coordinate set C measured by the optical tracking system at position C and the coordinate sets B1 and B2 measured by the optical tracking system at position B can be unified into the coordinate system of the optical tracking system at position A.

[0066] Through the above embodiment, the conversion between the coordinate systems of the optical tracking system inside and outside the blind area can be completed without the help of other auxiliary equipment, thereby reducing the cost of blind area calibration and improving the accuracy of subsequent scanning.

[0067] In other embodiments of the present application, after the blind spot is calibrated, the optical tracking system needs to track the position of the scanner in real time during the scanning phase. During the scanning process, the position of the laser tracker relative to the ground is fixed. Due to the limited field of view of the optical tracking system, the position of the optical tracking system needs to be moved when the optical tracking system is outside of its field of view. When the optical tracking system is within the blind spot of the laser tracker, first target data obtained by the scanner measuring the scanned object is obtained. The scanned object can be any device, a part within the device, a human model, a vehicle, etc. When the optical tracking system is outside the blind spot of the laser tracker, second target data obtained by the scanner measuring the scanned object is obtained. Using the first transformation relationship and the second transformation relationship, the first target data and the second target data are spliced ​​based on the position of the scanner under the same optical tracking system, and the first target data and the second target data are unified into the same optical tracking system coordinate system, which is recorded as the first reference coordinate system. Based on the first relative position relationship, the first target data and the second target data in the first reference coordinate system are unified into the same laser tracker coordinate system.

[0068] Figure 5 Another embodiment of the present application provides a flow chart for determining the second relative position relationship. During the process of calibrating the blind area, the laser tracker can be moved into the blind area, and the target point on the optical tracking system can be moved and measured multiple times in the blind area to achieve the calibration of the blind area. Figure 5 As shown, the following steps are included.

[0069] Step S501 : determining a common field of view of the laser tracker before entering the blind spot and the laser tracker after entering the blind spot, and determining a target position within the common field of view.

[0070] In some embodiments of the present application, after determining the blind spot corresponding to the laser tracker, the laser tracker is moved so that it is within its corresponding blind spot. When the laser tracker enters the blind spot, it is located at a critical position between inside and outside the blind spot. The shared field of view of the laser tracker before and after entering the blind spot can be obtained. The target position within the shared field of view is marked; this gaze position can be anywhere within the shared field of view.

[0071] Step S502 : When the optical tracking system is at the target position, a third coordinate set obtained by measuring the target point with the laser tracker before entering the blind spot is obtained.

[0072] In some embodiments of the present application, the optical tracking system includes a target point, and the optical tracking system is moved to the target position. A third coordinate set is obtained by measuring the target point using a laser tracker before entering the blind spot. The electronic device obtains the third coordinate set transmitted by the laser tracker before entering the blind spot.

[0073] Step S503: obtaining a fourth coordinate set obtained by measuring the target point with the laser tracker after entering the blind spot.

[0074] In some embodiments of the present application, the fourth coordinate set obtained by measuring the target point by the laser tracker after entering the blind spot is used, and the electronic device obtains the fourth coordinate set sent by the laser tracker after entering the blind spot. Figure 6 Describe the positional relationship between the laser tracker before entering the blind spot, the laser tracker after entering the blind spot, and the optical tracking system.

[0075] like Figure 6 As shown, before blind zone calibration, laser tracker 20 is located at position A. A blind zone is determined that is outside the field of view of laser tracker 20 at position A. Laser tracker 20 is moved to position B within the blind zone. Laser tracker 20 at position B and laser tracker 20 at position A share a common field of view. Optical tracking system 30 is moved to a target position within the common field of view. Laser tracker 20 at position A measures the target point of optical tracking system 30, obtaining a third coordinate set. Laser tracker 20 at position B measures the target point of optical tracking system 30, obtaining a fourth coordinate set.

[0076] Step S504 : determining a third conversion relationship between the coordinate system of the laser tracker before entering the blind spot and the coordinate system of the laser tracker after entering the blind spot based on the third coordinate set and the fourth coordinate set.

[0077] In some embodiments of the present application, based on the third coordinate set and the fourth coordinate set, a third transformation matrix between the coordinate system of the laser tracker before entering the blind spot and the coordinate system of the laser tracker after entering the blind spot can be calculated, so that the third transformation relationship can be determined based on the third transformation matrix to realize the transfer station calibration of the laser tracker at the corresponding positions inside and outside the blind spot.

[0078] Step S505 : obtaining a plurality of positions where the laser tracker moves within the blind area, and obtaining a fifth coordinate set obtained by measuring the target point of the optical tracking system by the laser tracker at each position.

[0079] In some embodiments of the present application, the optical tracking system may be fixed at the target position, the laser tracker may be moved multiple times within the blind spot, and then a fifth coordinate set of the target point measured by the laser tracker after each movement may be recorded.

[0080] In another embodiment of the present application, the optical tracking system can be moved from the target position to the blind spot and fixed at a preset position. The laser tracker is moved multiple times, and then the fifth coordinate set of the target point measured by the laser tracker after each movement is recorded.

[0081] Step S506 : determining a fourth transformation relationship between the coordinate systems of the laser trackers at different positions based on the fifth coordinate set.

[0082] In some embodiments of the present application, a fourth transformation matrix between the coordinate systems of laser trackers at different positions can be calculated based on the fifth coordinate set, thereby determining a fourth transformation relationship based on the fourth transformation matrix. In one example, within a blind spot, a laser tracker at position E measures a target point and obtains a fifth coordinate set, denoted as coordinate set E. A laser tracker at position F measures a target point and obtains a fifth coordinate set, denoted as coordinate set F. Based on coordinate sets E and F, a fourth transformation relationship between the coordinate systems of the laser trackers at position E and at position F can be calculated. Positions E and F are the positions of the laser trackers after continuous movement, and positions E and F are adjacent to each other.

[0083] Step S507: Determine a second relative position relationship based on the third conversion relationship and the fourth conversion relationship.

[0084] In some embodiments of the present application, the third transformation relationship represents the transformation relationship between the coordinate system of the laser tracker before entering the blind spot and the coordinate system of the laser tracker after entering the blind spot, and the fourth transformation relationship represents the transformation relationship between the coordinate systems of the laser tracker at different positions within the blind spot. Therefore, the third and fourth transformation relationships can be used to implement transformation relationships between multiple positions of the laser tracker within the blind spot and outside the blind spot, thereby obtaining a second relative position relationship.

[0085] Through the above embodiment, the conversion between the coordinate systems of the laser tracker inside and outside the blind area can be completed without the aid of other auxiliary equipment, thereby reducing the cost of blind area calibration and improving the accuracy of subsequent scanning.

[0086] In other embodiments of the present application, after the calibration of the blind spot is completed, the optical tracking system needs to track the position of the scanner in real time during the scanning phase. During the scanning process, the position of the laser tracker relative to the ground is fixed. Since the field of view of the optical tracking system is limited, the position of the optical tracking system needs to be moved when it exceeds the field of view of the optical tracking system. When the optical tracking system is in the blind spot of the laser tracker, the third target data obtained by the scanner from measuring the scanned object is obtained. The scanned object can be any device, parts in the device, human models, vehicles, etc. When the optical tracking system is outside the blind spot of the laser tracker, the fourth target data obtained by the scanner from measuring the scanned object is obtained.

[0087] Using the first relative position relationship, the third target data is converted to the laser tracker coordinate system within the blind spot, and this laser tracker coordinate system is recorded as the second reference coordinate system. Since the laser tracker is fixed and does not move into the blind spot during the scanning process, the position of the laser tracker corresponding to the second reference coordinate system can be a virtual position. After determining the third target data in the second reference coordinate system, the third target data in the second reference coordinate system is converted to the same laser tracker coordinate system within the blind spot using the third transformation relationship, which is recorded as the third reference coordinate system. Using the fourth transformation relationship, the third target data in the third reference coordinate system is converted to the coordinate system of the laser tracker outside the blind spot. Using the first relative position relationship, the fourth target data is converted to the coordinate system of the laser tracker outside the blind spot. In this way, the third and fourth target data can be converted to the same laser tracker coordinate system, and the laser tracker does not need to be moved during the scanning process.

[0088] Figure 7 This is a flow chart for determining the first relative position relationship provided by the embodiment of the present application. Figure 7 As shown in the figure, before calibrating the equipment's blind spot transfer station, the conversion relationship between the optical tracking system and the laser tracker can be calibrated. To reduce subsequent transfer errors, the equipment can be calibrated with the help of a calibration plate, which includes the following steps.

[0089] Step S701: Acquire a sixth coordinate set obtained by measuring calibration plates at different positions using a laser tracker.

[0090] In some embodiments of the present application, the laser tracker can be pre-fixed in position, meaning that its position relative to the ground remains unchanged during device calibration. A calibration plate is placed within the laser tracker's measurement range. The plate can be equipped with a target holder, on which markers can be placed. These markers can be high-precision reflective markers, such as hubbs.

[0091] In some embodiments of the present application, the calibration plate can be moved manually by the user, and can also be assisted by other self-moving devices to move the calibration plate, and this application is not limited to this. Move the calibration plate according to a pre-set moving step length, and record the multiple positions reached by the calibration plate. In one example, assuming the moving step length is 5m, the calibration plate is moved to position A according to a length of 5m. At the position of 5m, move another 5m to position B, then position A is at a position 5m away from the starting point of movement, and position B is at a position 10m away from the starting point of movement. The above are just examples, the moving step length can be set according to actual needs, and there can be multiple different moving step lengths, and this application is not limited to this. In addition, there is no limit on the number of movements of the calibration plate, and there can be more movements than in the above example. In another example, multiple calibration plates can also be set within the measurement range of the laser tracker, and this application does not limit the number of calibration plates.

[0092] The laser tracker can detect calibration points on the calibration plate at different positions, thereby obtaining the coordinates of the calibration points measured at each position in the coordinate system of the laser tracker. The set of coordinates corresponding to multiple positions obtained by the laser tracker is recorded as the sixth coordinate set. Continuing with the above example, the electronic device obtains the coordinate P11 of the marker point in the sixth coordinate system when the calibration plate is in position A, and obtains the coordinate P12 of the marker point in the sixth coordinate system when the calibration plate is in position B. The electronic device records the coordinates P11 and P12 as two coordinates in the sixth coordinate set. The above is just an example. If the calibration plate is in multiple positions, the coordinates corresponding to each position are recorded as the sixth coordinate set.

[0093] Step S702: Acquire a seventh coordinate set obtained by measuring the calibration plates at different positions using the optical tracking system.

[0094] In some embodiments of the present application, the optical tracking system can be pre-fixed in position, i.e., the position of the optical tracking system relative to the ground does not change during the device calibration process. The position of the optical tracking system is different from the position of the laser tracker. The measurement ranges of the optical tracking system and the laser tracker at least partially overlap, and the calibration plate moves within this overlapping range, i.e., the optical tracking system and the laser tracker can simultaneously detect the same calibration plate.

[0095] The optical tracking system can detect the marker points on the calibration plate at different positions, thereby obtaining the coordinates of the calibration points measured at each position in the coordinate system of the optical tracking system. The set of coordinates corresponding to multiple positions obtained by the optical tracking system is recorded as the seventh coordinate set. Continuing with the above example, the electronic device obtains the coordinate P21 of the marker point on the seventh coordinate system when the calibration plate is at position A, and obtains the coordinate P22 of the marker point on the coordinate system of the optical tracking system when the calibration plate is at position B. The electronic device records the coordinates P21 and P22 as two coordinates in the seventh coordinate set. The above is just an example. If the calibration plate is in multiple positions, the coordinates corresponding to each position are recorded as the seventh coordinate set.

[0096] Step S703: Determine a first relative position relationship based on the sixth coordinate set and the seventh coordinate set.

[0097] In some embodiments of the present application, in order to determine the transformation relationship between the coordinate system of the laser tracker and the coordinate system of the optical tracking system, multiple consecutive first adjacent coordinate pairs are obtained from the sixth coordinate set, and multiple consecutive second adjacent coordinate pairs are obtained from the seventh coordinate set.

[0098] The first adjacent coordinate pair is determined based on any two adjacent positions of the calibration plate during the movement. In one example, it is determined that there are continuous positions A, B, and C in the calibration plate during the movement, then position A is adjacent to position B, and position B is adjacent to position C. The coordinates P11 corresponding to position A, the coordinates P12 corresponding to position B, and the coordinates P13 corresponding to position C are obtained from the sixth coordinate set. The coordinates P11 corresponding to position A and the coordinates P12 corresponding to position B can constitute the first first adjacent coordinate pair. The coordinates P12 corresponding to position B and the coordinates P13 corresponding to position C can constitute the second first adjacent coordinate pair. The first first adjacent coordinate pair and the second first adjacent coordinate pair include the same coordinates P12.

[0099] Similarly, the second adjacent coordinate pair is also determined based on the above-mentioned continuous positions A, B, and C. That is, the two adjacent positions for determining the first adjacent coordinates are the same as the two positions for determining the second adjacent coordinates, ensuring that the first adjacent coordinate pair and the second adjacent coordinate pair are determined based on the same two adjacent positions. In one example, coordinates P21 corresponding to position A, coordinates P22 corresponding to position B, and coordinates P23 corresponding to position C are obtained from the seventh coordinate set. If positions A and B are adjacent, coordinates P21 and P22 are used as the first second adjacent coordinate pair. If positions B and C are adjacent, coordinates P22 and P23 are used as the second second adjacent coordinate pair.

[0100] In some embodiments of the present application, after determining multiple first adjacent coordinate pairs, a first transformation relationship is determined for each of the multiple first adjacent coordinate pairs. The first transformation relationship for each first adjacent coordinate pair represents the transformation relationship between the coordinates of the adjacent first position when transforming to the coordinates of the second position in the coordinate system of the laser tracker. Continuing with the above example, the first transformation relationship S11 is calculated based on the first first adjacent coordinate pair, and the first transformation relationship S12 is calculated based on the second first adjacent coordinate pair.

[0101] After determining the plurality of second adjacent coordinate pairs, a second conversion relationship is determined for each of the plurality of second adjacent coordinate pairs. Continuing with the above example, the second conversion relationship S21 is calculated based on the first second adjacent coordinate pair, and the second conversion relationship S22 is calculated based on the second second adjacent coordinate pair.

[0102] A first relative position relationship is calculated based on the first transformation relationship S11 of each first adjacent coordinate pair and the second transformation relationship S22 of each second adjacent coordinate pair. Continuing with the above example, the first relative position relationship is calculated based on the hand-eye calibration relationship, for example, S11X = S21X and S12X = S22X, where X represents the first relative position relationship.

[0103] Through the above embodiments, a coordinate system within the field of view can be realized, and large cumulative errors occurring during station transfer can be avoided, thereby improving the accuracy of blind spot calibration and subsequent scanning accuracy to a certain extent.

[0104] Figure 8 The device blind spot calibration method provided in the embodiment of the present application is applied to an electronic device 10, which can be a computer device with a camera function, such as a mobile phone, tablet computer, laptop computer, or facial scanner.

[0105] The electronic device 10 includes a communication module 101, a memory 102, a processor 103, an input / output (I / O) interface 104, and a bus 105. The processor 103 is coupled to the communication interface 101, the memory 102, and the I / O interface 104 via the bus 105.

[0106] The communication module 101 may include a wired communication module and / or a wireless communication module. The wired communication module may provide one or more wired communication solutions such as Universal Serial Bus (USB) and Controller Area Network (CAN). The wireless communication module may provide one or more wireless communication solutions such as Wireless Fidelity (Wi-Fi), Bluetooth (BT), mobile communication networks, Frequency Modulation (FM), Near Field Communication (NFC), and Infrared (IR).

[0107] Memory 102 may include one or more random access memories (RAMs) and one or more non-volatile memories (NVMs). RAM can be directly read and written by processor 103 and can be used to store executable programs (e.g., machine instructions) for the operating system or other running programs, as well as user and application data. RAM may include static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc.

[0108] The non-volatile memory can also store executable programs and user and application data, etc., and can be pre-loaded into the random access memory for direct reading and writing by the processor 110. The non-volatile memory can include disk storage devices and flash memory.

[0109] The memory 102 is configured to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 103. The one or more computer programs include multiple instructions. When the multiple instructions are executed by the processor 103, a device blind spot calibration method executed on the electronic device 10 can be implemented.

[0110] In other embodiments, the electronic device 10 further includes an external memory interface for connecting to an external memory to expand the storage capacity of the electronic device 10 .

[0111] The processor 103 may include one or more processing units. For example, the processor 103 may include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU). The different processing units may be independent devices or integrated into one or more processors.

[0112] The processor 103 provides computing and control capabilities. For example, the processor 103 is used to execute a computer program stored in the memory 102 to implement the above-mentioned device blind spot calibration method.

[0113] The I / O interface 104 is used to provide a channel for user input or output. For example, the I / O interface 104 can be used to connect various input and output devices, such as a mouse, keyboard, touch device, display screen, etc., so that the user can enter information or visualize information.

[0114] The bus 105 is at least used to provide a channel for mutual communication among the communication module 101 , the memory 102 , the processor 103 , and the I / O interface 104 in the electronic device 10 .

[0115] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions. The method implemented when the program instructions are executed can refer to the methods in the above-mentioned embodiments of the present application.

[0116] The computer-readable storage medium may be an internal memory of the electronic device described in the above embodiment, such as a hard disk or memory of the electronic device. The computer-readable storage medium may also be an external storage device of the electronic device, such as a plug-in hard disk, a smart memory card (SMC), a secure digital (SD) card, a flash memory card, etc. equipped on the electronic device.

[0117] In some embodiments, the computer-readable storage medium may include a program storage area and a data storage area, wherein the program storage area may store an operating system, applications required for at least one function, etc.; the data storage area may store data created according to the use of the electronic device, etc.

[0118] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0119] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0120] In the embodiments provided in this application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0121] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0122] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A method for calibrating a device blind area, characterized in that: The method comprises: determining a first relative positional relationship between a coordinate system of a laser tracker and a coordinate system of an optical tracking system, the optical tracking system being located within a field of view of the laser tracker; Determining a blind spot outside the field of view of the laser tracker; When the optical tracking system or the laser tracker moves to the blind spot, determining a second relative position relationship based on different positions of the optical tracking system moved within the blind spot, or determining a second relative position relationship based on different positions of the laser tracker moved within the blind spot; Based on the first relative position relationship and the second relative position relationship, the blind spot is calibrated.

2. The method for calibrating the blind area of ​​a device according to claim 1, characterized in that: The determining of the second relative position relationship based on different positions of the optical tracking system moving within the blind area includes: Acquiring multiple positions of the optical tracking system moving within the blind spot, and acquiring a first coordinate set obtained by the optical tracking system after measuring a preset blind spot marker at each position, wherein the blind spot marker includes a common marker; determining a first transformation relationship between coordinate systems of the optical tracking systems at different positions based on the first coordinate set; Acquire a second coordinate set obtained by measuring the common marker point by the optical tracking system within the field of view; determining, based on the first coordinate set and the second coordinate set, a second transformation relationship between a coordinate system of the optical tracking system within the field of view and a coordinate system of the optical tracking system within the blind spot; The second relative position relationship is determined based on the first conversion relationship and the second conversion relationship.

3. The method for calibrating the blind area of ​​a device according to claim 2, characterized in that: After completing the calibration of the blind area, the method further includes: When the optical tracking system is in the blind area, acquiring first target data obtained by measuring the scanned object by the scanner; When the optical tracking system is outside the blind zone, acquiring second target data obtained by the scanner from measuring the scanned object; Based on the first conversion relationship, the second conversion relationship, and the first relative position relationship, coordinates corresponding to the first target data and the second target data in the coordinate system of the laser tracker are determined.

4. The method for calibrating a device blind spot according to claim 1, wherein: The optical tracking system includes a target point. Before determining the second relative position relationship based on different positions of the laser tracker moved within the blind area, the method further includes: Determining a common field of view between the laser tracker before entering the blind spot and the laser tracker after entering the blind spot, and determining a target position within the common field of view; When the optical tracking system is at the target position, obtaining a third coordinate set obtained by the laser tracker measuring the target point before entering the blind area; Acquiring a fourth coordinate set obtained by measuring the target point by the laser tracker after entering the blind area; A third conversion relationship between the coordinate system of the laser tracker before entering the blind spot and the coordinate system of the laser tracker after entering the blind spot is determined based on the third coordinate set and the fourth coordinate set.

5. The method for calibrating the blind area of ​​a device according to claim 4, characterized in that: The determining of the second relative position relationship based on different positions of the laser tracker moving within the blind area includes: Acquire multiple positions of the laser tracker moving within the blind area, and acquire a fifth coordinate set obtained by measuring the target point of the optical tracking system by the laser tracker at each position; determining, based on the fifth coordinate set, a fourth transformation relationship between coordinate systems of the laser trackers located at different positions; The second relative position relationship is determined based on the third conversion relationship and the fourth conversion relationship.

6. The method for calibrating the blind area of ​​a device according to claim 5, characterized in that: After completing the calibration of the blind area, the method further includes: When the optical tracking system is in the blind area, obtaining third target data obtained by measuring the scanned object by the scanner; When the optical tracking system is outside the blind zone, acquiring fourth target data obtained by measuring the scanned object by the scanner; Based on the third conversion relationship, the fourth conversion relationship, and the first relative position relationship, coordinates corresponding to the third target data and the fourth target data in the coordinate system of the laser tracker are determined.

7. The method for calibrating a device blind spot according to claim 1, characterized in that: Determining a first relative position relationship between a coordinate system of the laser tracker and a coordinate system of the optical tracking system includes: Acquire a sixth coordinate set obtained by measuring the calibration plate at different positions using the laser tracker; Acquire a seventh coordinate set obtained by measuring the calibration plate at the different positions by the optical tracking system; The first relative position relationship is determined based on the sixth coordinate set and the seventh coordinate set.

8. A calibration system for equipment blind spots, characterized in that: The device blind area calibration system includes: an electronic device for determining a first relative positional relationship between a coordinate system of a laser tracker and a coordinate system of an optical tracking system, the optical tracking system being within a field of view of the laser tracker; The electronic device is further used to determine a blind spot outside the field of view of the laser tracker; The laser tracker is used to move a plurality of positions within a blind area outside the field of view of the laser tracker to determine a second relative position relationship; The optical tracking system is configured to move to a plurality of positions within the blind area to determine the second relative position relationship; The electronic device is further configured to determine a second relative position relationship based on different positions of the optical tracking system moved within the blind area, or to determine a second relative position relationship based on different positions of the laser tracker moved within the blind area; The electronic device is further used to complete the transfer station calibration of the blind spot based on the first relative position relationship and the second relative position relationship.

9. An electronic device, characterized in that: The electronic device includes a processor and a memory, the memory stores a computer program, and the processor implements the device blind area calibration method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores at least one instruction, and when the at least one instruction is executed by a processor, the device blind spot calibration method according to any one of claims 1 to 7 is implemented.

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