Ceramic cultural relic three-dimensional splicing positioning device and calibration method

Abstract

The invention relates to the technical field of cultural relic repair, in particular to a ceramic cultural relic three-dimensional splicing and positioning device and a calibration method.The ceramic cultural relic three-dimensional splicing and positioning device comprises a supporting seat, the supporting seat is in a U-shaped seat shape, bearing seats are installed at the top ends of extending parts of the two ends of the U-shaped seat of the supporting seat, a driver is installed on one side of each bearing seat, and one end of each bearing seat is rotationally connected with a bottom plate; the motor is mounted in the middle of the bottom surface of the mounting frame, the turntable is mounted at the top end of the motor, the three-dimensional scanner and the laser tracker are oppositely mounted on two sides of the top surface of the bottom plate respectively, the clamping component is mounted on the outer side of the top surface of the bottom plate and comprises an electric push rod, and a sleeve is mounted at the top end of the electric push rod. Through symmetrical arrangement of the U-shaped supporting seat and the edge-shaped bottom plate, in cooperation with cross positioning calibration of the two three-dimensional scanners and the laser tracker, and through the working platform which is adjusted through multi-angle rotation, data collection of the whole surface of the ceramic cultural relic is achieved, scanning blind areas are eliminated, and complete data support is provided for accurate splicing.

Description

Technical Field

[0001] This invention relates to the field of cultural relic restoration technology, specifically to a three-dimensional splicing and positioning device and calibration method for ceramic cultural relics. Background Technology

[0002] As an important carrier of historical and cultural heritage, the restoration and protection of ceramic cultural relics are of great significance to the continuation of cultural heritage. With the expansion of the application of digital technology in the field of cultural relic protection, 3D modeling and splicing technology has provided a new path for the fine restoration, virtual display and digital archiving of ceramic cultural relics. Based on this, the research and development of a 3D splicing positioning device and calibration method for ceramic cultural relics aims to achieve precise splicing and efficient restoration of ceramic cultural relic fragments by integrating high-precision scanning, intelligent positioning and dynamic calibration technologies. This will meet the needs of cultural relic protection for restoration accuracy, operational safety and digital management, and promote the development of cultural relic restoration technology towards intelligence and refinement. Summary of the Invention

[0003] The purpose of this invention is to provide a three-dimensional splicing and positioning device and calibration method for ceramic cultural relics in order to solve the above-mentioned problems.

[0004] The present invention achieves the above objectives through the following technical solution: a three-dimensional splicing and positioning device for ceramic cultural relics, including a support base, the support base being in the shape of a "U" seat, bearing seats being installed at the top of the extensions at both ends of the "U"-shaped support base, a driver being installed on one side of the bearing seat, a base plate being rotatably connected to one end of the bearing seat, a mounting frame being welded to the middle of the base plate, a motor being installed in the middle of the bottom surface of the mounting frame, a turntable being installed at the top of the motor, and a three-dimensional scanner and a laser tracker being respectively installed opposite each other on both sides of the top surface of the base plate; The clamping assembly is installed on the outer side of the top surface of the base plate. The clamping assembly includes an electric push rod, a sleeve is installed at the top of the electric push rod, a connecting rod is slidably fitted inside the sleeve, a locking block is provided at the bottom of the connecting rod, a spring is sleeved on the connecting rod, one end of the connecting rod is threaded to a clamping plate, and a row of anti-slip strips is provided on one side of the clamping plate.

[0005] Preferably, the base plate is octagonal in shape, with a square opening running through the center of the base plate, and the mounting frame is a rectangular frame with an outer opening, which is welded through the center of the square opening.

[0006] Preferably, a mounting hole is provided through the center of the top surface of the mounting frame, the motor is vertically installed in the center of the bottom surface of the inner wall of the mounting frame, a drive shaft is provided at the top of the motor, the upper part of the drive shaft extends through the mounting hole and is provided outside the mounting frame, the motor is connected to the turntable through the drive shaft, the turntable is arranged in a disc shape, a circular baffle is provided on the outer edge of the top surface of the turntable, and the turntable is located above the mounting frame.

[0007] Preferably, there are two 3D scanners and two laser trackers. The two 3D scanners and two laser trackers are set up in pairs and opposite each other. The two 3D scanners and two laser trackers are installed alternately on the edge of the octagonal base plate.

[0008] Preferably, there are four clamping components, which are installed in a cross shape on the top surface of the base plate. The clamping components are located above the turntable and are staggered between the two 3D scanners and the laser tracker. The sleeve is a cylindrical shape with one end open. A circular stop is provided inside the opening end of the sleeve. The diameter of the connecting rod matches the diameter of the circular stop. The outer wall of the connecting rod abuts against the side wall of the circular stop. The diameter of the locking block matches the diameter of the inner opening of the sleeve. The diameter of the locking block is larger than the diameter of the circular stop and is located inside the opening of the sleeve.

[0009] Preferably, the spring is located between the locking block and the annular stop block, the end of the connecting rod away from the locking block is provided with an external thread, the clamping plate is in the shape of a semi-arc plate, a threaded hole is provided in the middle of the outer arc surface on one side of the clamping plate, one end of the connecting rod is threaded into the threaded hole, the anti-slip strip is located on one side of the inner arc surface of the clamping plate, the two ends of the clamping plates on the four clamping components are respectively abutted, and the four clamping plates are combined into an annular shape.

[0010] Preferably, the 3D scanner is connected to a scanning collaboration system. The scanning collaboration system is used to coordinate the acquisition of multi-view 3D data of ceramic artifact fragments by two 3D scanners, and can adjust the scanning parameters according to the feature points on the surface of the fragments. The scanning collaboration system includes a data integration module, which stitches and merges the data acquired by the two 3D scanners to eliminate scanning blind spots caused by differences in installation position.

[0011] Preferably, the laser tracker is connected to a tracking and positioning system. The tracking and positioning system can track the spatial position of the ceramic artifact fragments on the turntable in real time and generate a position change curve. The tracking and positioning system is equipped with a deviation analysis module to compare the measurement results of the two laser trackers and issue a prompt when the difference exceeds the preset range.

[0012] Preferably, both the 3D scanner and the laser tracker are communicatively connected to a calibration management system. The calibration management system synchronously collects multi-view data and corrects deviations through feature point matching, and captures the coordinates of the turntable and clamping components to establish a coordinate system transformation model.

[0013] The method of using the splicing and positioning device, including the calibration method, includes the following steps: The first step is to place the ceramic artifact in the center of the turntable, start the driver to adjust the angle of the base plate so that the fragments are in a horizontal position, and drive the turntable with the motor to rotate the ceramic artifact to the specified angle. The second step involves an electric push rod that moves the clamping plate to the designated position, with springs providing cushioning and anti-slip strips lightly touching the surface of the ceramic artifact to achieve flexible clamping. The third step involves two 3D scanners scanning the fragments simultaneously from different angles to obtain complete point cloud data. The position of the fragments is monitored in real time by a laser tracker to establish a global coordinate system benchmark. The multi-view scanning data is then integrated through a scanning collaboration system to generate a 3D model of the fragments. The fourth step involves the calibration management system synchronizing multi-view data from the 3D scanner, correcting scanning deviations through feature point matching, and comparing the measurement results of the two laser trackers using the tracking and positioning system. If the difference exceeds the preset range, a calibration prompt is given. The calibration management system captures the coordinates of the turntable and clamping components, establishes a global and local coordinate system transformation model, and ensures positioning accuracy. The fifth step involves comparing the fragment features to match the splicing object, adjusting the fragment posture with the driver and motor, and receiving feedback from the laser tracker to ensure accuracy. Then, the position of the clamping component is adjusted to make room, and the scanning and positioning steps are repeated to complete the splicing of multiple fragments. The sixth step is to use a 3D scanner to verify the accuracy after the splicing is completed, and the laser tracker outputs an error report. Finally, the clamps are released to release the ceramic artifacts from the grip.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. Through the cooperation of the driver, base plate, mounting bracket, motor and turntable, and the symmetrical arrangement of the U-shaped support base and the edge base plate, combined with the cross-positioning calibration of two 3D scanners and laser trackers, and through the multi-angle rotation adjustment work platform, data acquisition of the entire surface of ceramic cultural relics is realized, eliminating scanning blind spots and providing complete data support for accurate splicing.

[0015] 2. By incorporating a clamping assembly, the flexible clamping structure with spring buffer, combined with silicone anti-slip strips, can stably fix fragments of different shapes by fitting them with the arc-shaped clamping plate, while controlling the clamping force within a safe range to avoid damaging the surface and decoration of fragile cultural relics.

[0016] 3. By combining a 3D scanner and a laser tracker, along with a scanning collaboration system, a tracking and positioning system, and a calibration management system, the ICP algorithm integrates data and dynamically corrects deviations, automatically completing the matching, attitude adjustment, and accuracy verification of multiple fragments, reducing manual intervention and significantly improving splicing efficiency and accuracy. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the positioning device. Figure 2 This is a schematic diagram of the internal structure of the positioning device; Figure 3 A structural diagram of the bearing housing, driver, base plate, mounting bracket, motor, and turntable; Figure 4 This is a structural diagram of the base plate, clamping assembly, 3D scanner, and laser tracker. Figure 5 This is a schematic diagram of the internal structure of the clamping component; Figure 6 This is a schematic diagram of the exploded structure of the clamping component; Figure 7 This is a flowchart illustrating the calibration method.

[0018] In the diagram: 1. Support base; 2. Bearing housing; 3. Driver; 4. Base plate; 5. Mounting bracket; 6. Motor; 7. Turntable; 8. Clamping assembly; 801. Electric push rod; 802. Sleeve; 803. Connecting rod; 804. Locking block; 805. Spring; 806. Clamping plate; 807. Anti-slip strip; 9. 3D scanner; 10. Laser tracker. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Please see Figures 1 to 6 The present invention provides a technical solution: a three-dimensional splicing and positioning device for ceramic cultural relics, including a support base 1, which is U-shaped. Bearing seats 2 are installed at the top of the extensions at both ends of the U-shaped support base 1. A driver 3 is installed on one side of the bearing seat 2. A base plate 4 is rotatably connected to one end of the bearing seat 2. The U-shaped design provides stable support. The bearing seat 2, together with the driver 3, enables the base plate 4 to rotate at multiple angles, meeting the requirements for multi-directional scanning of fragments. A mounting bracket 5 is welded to the middle of the base plate 4. The base plate 4 is octagonal and provides symmetrical mounting positions for the 3D scanner 9 and laser tracker 10, reducing measurement blind spots. A square opening is formed through the middle of the base plate 4. The mounting bracket 5 is a rectangular frame with an outer opening. The mounting bracket 5 is welded through the middle of the square opening. A motor 6 is installed in the middle of the bottom surface of the mounting bracket 5 to ensure the stability of the motor 6 when driving the turntable 7. The turntable 7 is installed at the top of the motor 6. A mounting hole is formed through the middle of the top surface of the mounting bracket 5. The motor 6 is vertically set in the middle of the bottom surface of the inner wall of the mounting bracket 5. A drive shaft is set at the top of the motor 6. The upper part of the drive shaft extends through the mounting hole and is set outside the mounting bracket 5. The motor 6 is connected to the turntable 7 through the drive shaft. The turntable 7 is disc-shaped. A circular baffle is set on the outer edge of the top surface of the turntable 7. The turntable 7 is located above the mounting bracket 5. By constructing a high-precision motion platform, a stable foundation is provided for subsequent scanning and splicing. Multi-angle adjustment can cover all surfaces of the fragments. Specifically, two 3D scanners 9 and two laser trackers 10 are respectively installed on the top surfaces of the base plate 4. The two 3D scanners 9 and two laser trackers 10 are set up in pairs and opposite each other. The two 3D scanners 9 are set diagonally. With the help of the scanning collaboration system, the parameters are dynamically adjusted by matching feature points to adapt to the reflective characteristics of different materials such as glaze and ceramic body. The two 3D scanners 9 and two laser trackers 10 are installed alternately on the edge of the octagonal base plate 4. The two laser trackers 10 are cross-positioned to capture the spatial coordinates of the turntable 7 and the fragment in real time, providing feedback for attitude adjustment, improving reliability, and dynamically calibrating and compensating for mechanical errors. Specifically, the clamping assembly 8 is installed on the outer side of the top surface of the base plate 4. The clamping assembly 8 includes an electric push rod 801, which can be a DC electric push rod 801 of model ANT-52. A sleeve 802 is installed at the top of the electric push rod 801. A connecting rod 803 is slidably fitted inside the sleeve 802. A locking block 804 is provided at the bottom of the connecting rod 803. A spring 805 is sleeved on the connecting rod 803 to provide cushioning and avoid rigid contact that could damage the ceramic artifact. One end of the connecting rod 803 is threaded to a clamp. The plate 806 has a row of anti-slip strips 807 on one side. The anti-slip strips 807 are made of medical-grade silicone. The surface texture increases friction and prevents scratches on the surface of ceramic artifacts. There are four clamping components 8, which are installed in a cross shape on the top surface of the base plate 4. The clamping components 8 are located above the turntable 7. The four clamping components 8 are staggered between the two 3D scanners 9 and the laser tracker 10. The clamping components 8 achieve non-destructive clamping, adapt to fragments of different shapes, and meet the restoration needs of ceramic artifacts.

[0021] Specifically, the sleeve 802 is a cylindrical shape with one open end. An annular stop is provided inside the open end of the sleeve 802. The diameter of the connecting rod 803 matches the diameter of the annular stop. The outer wall of the connecting rod 803 abuts against the side wall of the annular stop. The diameter of the locking block 804 matches the diameter of the inner opening of the sleeve 802. The diameter of the locking block 804 is larger than the diameter of the annular stop. The annular stop restricts the sliding trajectory of the connecting rod 803, and the locking block 804 prevents the connecting rod 803 from falling off, avoiding affecting the position of the clamping plate 806 and ensuring structural stability. The locking block 804 is located at the open end of the sleeve 802. Inside the opening, spring 805 is located between the locking block 804 and the annular stop block. The end of the connecting rod 803 away from the locking block 804 has an external thread. The clamping plate 806 is a semi-arc plate. A threaded hole is opened in the middle of the outer arc surface on one side of the clamping plate 806. One end of the connecting rod 803 is threaded into the threaded hole. The anti-slip strip 807 is located on one side of the inner arc surface of the clamping plate 806. The two ends of the clamping plates 806 on the four clamping components 8 are respectively abutted. The four clamping plates 806 are combined into an annular shape, which fits the outline of the ceramic artifact, taking into account both clamping stability and the safety of the ceramic artifact, and providing a fixed reference for scanning and splicing.

[0022] Specifically, the 3D scanner 9 is connected to a scanning collaboration system. This system has a built-in data integration module that uses the ICP algorithm to automatically identify and remove false data from scanning blind spots. The system coordinates the acquisition of multi-view 3D data of ceramic artifact fragments by the two 3D scanners 9 and can adjust scanning parameters based on surface feature points. The data integration module stitches and merges the data acquired by the two scanners 9, eliminating scanning blind spots caused by differences in installation position. The laser tracker 10 is connected to a tracking and positioning system. This system tracks the spatial position of the ceramic artifact fragments on the turntable 7 in real time and generates position change curves. The tracking and positioning system has a deviation analysis module that compares the measurement results of the two laser trackers 10. When the difference exceeds a preset range, a prompt is issued. Both the 3D scanner 9 and the laser tracker 10 are connected to a calibration management system. This system synchronously acquires multi-view data and corrects deviations through feature point matching. It captures the coordinates of the turntable 7 and the clamping component 8 to establish a coordinate system transformation model, supports dynamic temperature compensation, and provides fully automated calibration, significantly reducing manual calibration time and improving stitching efficiency.

[0023] like Figure 7 As shown, the method of using the splicing and positioning device includes the following steps: The first step is to place the ceramic artifact in the center of the turntable 7, start the driver 3 to adjust the angle of the base plate 4 so that the fragments are in a horizontal position, and drive the turntable 7 through the motor 6 to rotate the ceramic artifact to the specified angle. In the second step, the electric push rod 801 drives the clamping plate 806 to move to the designated position, the spring 805 provides cushioning, and the anti-slip strip 807 lightly touches the surface of the ceramic artifact to achieve flexible clamping. The third step involves two 3D scanners 9 scanning the fragments simultaneously from different angles to obtain complete point cloud data. The laser tracker 10 monitors the fragment position in real time, establishes a global coordinate system benchmark, and integrates the multi-view scanning data through a scanning collaboration system to generate a 3D model of the fragments. The fourth step involves the calibration management system synchronizing the multi-view data of the 3D scanner 9, correcting scanning deviations through feature point matching, and comparing the measurement results of the two laser trackers 10 with the tracking and positioning system. If the difference exceeds the preset range, a calibration prompt is given. The calibration management system captures the coordinates of the turntable 7 and the clamping component 8, and establishes a global and local coordinate system transformation model to ensure positioning accuracy. The fifth step is to compare the fragment features to match the splicing object. The driver 3 and motor 6 adjust the fragment posture, and the laser tracker 10 provides feedback on the deviation to ensure accuracy. Then, the position of the clamping component 8 is adjusted to make room, and the scanning and positioning steps are repeated to complete the splicing of multiple fragments. Step 6: After the splicing is completed, the 3D scanner 9 verifies the accuracy, the laser tracker 10 outputs an error report, and finally the clamp 806 is released to release the ceramic artifact.

[0024] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of the equivalent elements of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0025] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A three-dimensional splicing and positioning device for ceramic cultural relics, including a support base (1), characterized in that: The support base (1) is U-shaped. Bearing seats (2) are installed at the top of the extensions at both ends of the U-shaped support base (1). A driver (3) is installed on one side of the bearing seat (2). A base plate (4) is rotatably connected to one end of the bearing seat (2). A mounting frame (5) is welded in the middle of the base plate (4). A motor (6) is installed in the middle of the bottom surface of the mounting frame (5). A turntable (7) is installed at the top of the motor (6). A three-dimensional scanner (9) and a laser tracker (10) are respectively installed opposite each other on the top surface of the base plate (4). It also includes a clamping assembly (8), which is installed on the outer side of the top surface of the base plate (4). The clamping assembly (8) includes an electric push rod (801), a sleeve (802) is installed at the top of the electric push rod (801), a connecting rod (803) is slidably fitted inside the sleeve (802), a locking block (804) is provided at the bottom end of the connecting rod (803), a spring (805) is sleeved on the connecting rod (803), a clamping plate (806) is threaded to one end of the connecting rod (803), and a row of anti-slip strips (807) is provided on one side of the clamping plate (806).

2. The three-dimensional splicing and positioning device for ceramic cultural relics according to claim 1, characterized in that: The base plate (4) is octagonal in shape, and a square opening is provided through the center of the base plate (4). The mounting frame (5) is a rectangular frame with an outer opening, and the mounting frame (5) is welded through the center of the square opening.

3. The three-dimensional splicing and positioning device for ceramic cultural relics according to claim 2, characterized in that: The mounting bracket (5) has a through-hole in the middle of its top surface. The motor (6) is vertically mounted in the middle of the bottom surface of the inner wall of the mounting bracket (5). The top of the motor (6) is provided with a drive shaft. The upper part of the drive shaft extends through the mounting hole and is located outside the mounting bracket (5). The motor (6) is connected to the turntable (7) through the drive shaft. The turntable (7) is in the shape of a disc. The outer edge of the top surface of the turntable (7) is provided with a circular baffle. The turntable (7) is located above the mounting bracket (5).

4. The three-dimensional splicing and positioning device for ceramic cultural relics according to claim 2, characterized in that: The number of the three-dimensional scanner (9) and the laser tracker (10) are two. The two three-dimensional scanners (9) and the laser tracker (10) are arranged in pairs and opposite to each other. The two three-dimensional scanners (9) and the laser tracker (10) are installed alternately on the edge of the octagonal base plate (4).

5. The three-dimensional splicing and positioning device for ceramic cultural relics according to claim 5, characterized in that: The number of clamping components (8) is four. The four clamping components (8) are installed in a cross shape on the top surface of the base plate (4). The clamping components (8) are located above the turntable (7). The four clamping components (8) are staggered between the two three-dimensional scanners (9) and the laser tracker (10). The sleeve (802) is a cylindrical shape with one end open. A circular stop is provided inside the opening end of the sleeve (802). The diameter of the connecting rod (803) matches the diameter of the circular stop. The outer wall of the connecting rod (803) abuts against the side wall of the circular stop. The diameter of the locking block (804) matches the diameter of the inner opening of the sleeve (802). The diameter of the locking block (804) is larger than the diameter of the circular stop. The locking block (804) is located inside the opening of the sleeve (802).

6. The three-dimensional splicing and positioning device for ceramic cultural relics according to claim 7, characterized in that: The spring (805) is located between the locking block (804) and the annular stop block. The connecting rod (803) has an external thread at one end away from the locking block (804). The clamping plate (806) is in the shape of a semi-arc plate. A threaded hole is opened in the middle of the outer arc surface on one side of the clamping plate (806). One end of the connecting rod (803) is threaded into the threaded hole. The anti-slip strip (807) is located on one side of the inner arc surface of the clamping plate (806). The two ends of the clamping plates (806) on the four clamping assemblies (8) are respectively abutted. The four clamping plates (806) are combined into an annular shape.

7. The three-dimensional splicing and positioning device for ceramic cultural relics according to claim 6, characterized in that: The three-dimensional scanner (9) is connected to a scanning collaboration system. The scanning collaboration system is used to coordinate the acquisition of multi-view three-dimensional data of ceramic artifact fragments by the two three-dimensional scanners (9) and can adjust the scanning parameters according to the feature points on the surface of the fragments. The scanning collaboration system includes a data integration module, which splices and merges the data acquired by the two three-dimensional scanners (9) to eliminate scanning blind spots caused by differences in installation position.

8. The three-dimensional splicing and positioning device for ceramic cultural relics according to claim 9, characterized in that: The laser tracker (10) is connected to a tracking and positioning system. The tracking and positioning system can track the spatial position of ceramic artifact fragments on the turntable (7) in real time and generate a position change curve. The tracking and positioning system is equipped with a deviation analysis module to compare the measurement results of the two laser trackers (10) and issue a prompt when the difference exceeds the preset range.

9. The three-dimensional splicing and positioning device for ceramic cultural relics according to claim 10, characterized in that: The three-dimensional scanner (9) and the laser tracker (10) are both connected to the calibration management system. The calibration management system synchronously collects multi-view data and corrects deviations by matching feature points, and captures the coordinates of the turntable (7) and the clamping component (8) to establish a coordinate system transformation model.

10. A calibration method for a three-dimensional splicing and positioning device for ceramic cultural relics, using the three-dimensional splicing and positioning device for ceramic cultural relics as described in any one of claims 1-9, characterized in that... include: The first step is to place the ceramic artifact in the center of the turntable (7), start the driver (3) to adjust the angle of the base plate (4) so ​​that the fragment is in a horizontal state, and drive the turntable (7) through the motor (6) to rotate the ceramic artifact to the specified angle; In the second step, the electric push rod (801) drives the clamping plate (806) to move to the designated position, the spring (805) provides cushioning, and the anti-slip strip (807) lightly touches the surface of the ceramic artifact to achieve flexible clamping; The third step involves two 3D scanners (9) scanning the fragments simultaneously from different angles to obtain complete point cloud data. The position of the fragments is monitored in real time by a laser tracker (10), a global coordinate system benchmark is established, and the multi-view scanning data is integrated through a scanning collaboration system to generate a 3D model of the fragments. The fourth step is to synchronize the multi-view data of the 3D scanner (9) with the calibration management system, correct the scanning deviation by matching feature points, and compare the measurement results of the two laser trackers (10) with the tracking and positioning system. When the difference exceeds the preset range, the calibration management system will prompt for calibration. The calibration management system will capture the coordinates of the turntable (7) and the clamping component (8) and establish a global and local coordinate system transformation model to ensure positioning accuracy. The fifth step is to compare the fragment features to match the splicing object, the driver (3) and motor (6) adjust the fragment posture, the laser tracker (10) provides feedback on the deviation, and then adjust the position of the clamping component (8) to make room. Repeat the scanning and positioning steps to complete the splicing of multiple fragments. Step 6: After the splicing is completed, the 3D scanner (9) verifies the accuracy, the laser tracker (10) outputs an error report, and finally the clamp (806) is released to release the ceramic artifact.

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