Station transfer method, station transfer system, electronic device, and storage medium

Abstract

The application provides a station transfer method, a station transfer system, an electronic device and a storage medium. The method comprises the following steps: when the station is transferred, after a optical tracking device is moved, first tracking data obtained by tracking and measuring the scanning device by the optical tracking device is acquired; based on the first tracking data, first target seat coordinates of a target seat on the scanning device in a coordinate system of the optical tracking device are determined; second tracking data obtained by tracking and measuring the scanning device by a laser tracking device is acquired, and second target seat coordinates of the target seat in a coordinate system of the laser tracking device are determined according to the second tracking data; and a conversion relationship between the coordinate system of the optical tracking device and the coordinate system of the laser tracking device is determined according to the first target seat coordinates and the second target seat coordinates, and the station transfer is completed. By using the above method, the conversion relationship between the coordinate system of the optical tracking device and the coordinate system of the laser tracking device can be flexibly, quickly and accurately determined after each station adjustment of the optical tracking device, and the station transfer is realized.

Description

Technical Field

[0001] This application relates to the field of 3D scanning technology, and in particular to a transfer station method, transfer station system, electronic device and storage medium. Background Technology

[0002] Optical tracking devices can precisely track and position scanning equipment, and this tracking scanning method is widely used in large-scale 3D scanning tasks in industries such as aerospace, automotive manufacturing, shipbuilding, and energy. However, the measurement range of optical tracking devices is limited, requiring multiple stations to cover large areas.

[0003] In related technologies, laser tracking equipment is typically used to achieve station relocation through pre-defined hand-eye relationships. However, this method has certain limitations: the optical tracking equipment needs to be recalibrated for hand-eye relationships after each movement, which is cumbersome and time-consuming. Summary of the Invention

[0004] This application discloses a transfer method, transfer system, electronic device, and storage medium, which can solve the technical problem of poor transfer efficiency.

[0005] On one hand, embodiments of this application provide a relocation method, the method comprising: during relocation, after moving an optical tracking device, acquiring first tracking data obtained by the optical tracking device tracking and measuring a scanning device; based on the first tracking data, determining first target coordinates of a target on the scanning device in the coordinate system of the optical tracking device; acquiring second tracking data obtained by the laser tracking device tracking and measuring the scanning device; determining second target coordinates of the target in the coordinate system of the laser tracking device according to the second tracking data; determining the transformation relationship between the coordinate system of the optical tracking device and the coordinate system of the laser tracking device according to the first target coordinates and the second target coordinates, thereby completing the relocation.

[0006] In some embodiments of this application, the scanning device is provided with frame points that can be identified by the optical tracking device. The first tracking data includes the frame point coordinates in the coordinate system of the optical tracking device. Determining the first target coordinates of the target on the scanning device in the coordinate system of the optical tracking device based on the first tracking data includes: determining the transformation matrix between the coordinate system of the scanning device and the coordinate system of the optical tracking device according to the frame point coordinates in the coordinate system of the optical tracking device and the coordinate system of the scanning device; and determining the first target coordinates according to the transformation matrix, the frame point coordinates in the coordinate system of the scanning device, and the relative positional relationship between the frame point and the target.

[0007] In some embodiments of this application, determining the first target coordinates based on the transformation matrix, the frame point coordinates in the coordinate system of the scanning device, and the relative positional relationship between the frame point and the target includes: determining the initial target coordinates in the coordinate system of the scanning device based on the frame point coordinates in the coordinate system of the scanning device and the relative positional relationship between the frame point and the target; and using the transformation matrix to transform the initial target coordinates to the coordinate system of the optical tracking device to obtain the first target coordinates.

[0008] In some embodiments of this application, the target mount is provided with a marker point that can be identified by the optical tracking device. The first tracking data includes the marker point coordinates in the coordinate system of the optical tracking device. Determining the first target mount coordinates in the coordinate system of the optical tracking device based on the first tracking data includes: determining the first target mount coordinates according to the marker point coordinates.

[0009] In some embodiments of this application, the target is provided with a detection unit that can be identified by the laser tracking device, and the second tracking data includes the detection coordinates of the detection unit in the coordinate system of the laser tracking device. Determining the second target coordinates of the target in the coordinate system of the laser tracking device based on the second tracking data includes: determining the second target coordinates based on the detection coordinates.

[0010] In some embodiments of this application, the method further includes: acquiring scanning data obtained by the scanning device scanning the target object when the optical tracking device is in its current position, and registering the scanning data to a global coordinate system using the transformation relationship.

[0011] In some embodiments of this application, registering the scan data to the global coordinate system using the transformation relationship includes: setting the global coordinate system to the coordinate system when the optical tracking device is at the starting position; determining the relative pose of the optical tracking device from the current position to the starting position according to the transformation relationship; and using the relative pose to transform the scan data to the global coordinate system to complete the registration; or, setting the global coordinate system to the coordinate system of the laser tracking device; and using the transformation relationship to transform the scan data to the global coordinate system to complete the registration.

[0012] On the other hand, embodiments of this application provide a transfer station system, which includes a tracking scanning device, a laser tracking device, and an electronic device. The tracking scanning device includes a scanning device and an optical tracking device. The electronic device is communicatively connected to the tracking scanning device and the laser tracking device to implement the transfer station method.

[0013] On the other hand, an embodiment of this application provides an electronic device, which includes a processor and a memory, wherein the processor is used to execute a computer program stored in the memory to implement the transfer method described above.

[0014] On the other hand, embodiments of this application provide a computer-readable storage medium storing at least one instruction that, when executed by a processor, implements the transfer method described above. In the station-shifting scheme provided in this application embodiment, since a target mount is provided on the scanning device, after each repositioning of the optical tracking device, the coordinates of the first target mount in the coordinate system of the optical tracking device can be quickly and accurately determined based on the first tracking data of the optical tracking device on the scanning device, and the coordinates of the second target mount in the coordinate system of the laser tracking device can be quickly and accurately determined based on the second tracking data of the laser tracking device on the scanning device. Based on the first and second target mount coordinates, the transformation relationship between the optical tracking device and the laser tracking device can be quickly and accurately determined, facilitating the unification of the coordinate system of the scanning data based on this transformation relationship. Thus, after each repositioning of the optical tracking device, the coordinate system transformation relationship between the optical tracking device and the laser tracking device can be flexibly and accurately determined, enabling station-shifting without prior hand-eye calibration of the optical tracking device and the laser tracking device. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the architecture of a transfer station system provided in an embodiment of this application.

[0016] Figure 2 This is a flowchart of a transfer method provided in an embodiment of this application.

[0017] Figure 3 This is a functional block diagram of a transfer station device provided in one embodiment of this application.

[0018] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0019] It should be noted that in this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and drawings of this application are used to distinguish similar objects, not to describe a specific order or sequence.

[0020] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner. Unless otherwise specified, the following embodiments and features described herein can be combined with each other.

[0021] Optical tracking devices can precisely track and position scanning equipment, and this tracking scanning method is widely used in large-scale 3D scanning tasks in industries such as aerospace, automotive manufacturing, shipbuilding, and energy. However, the measurement range of optical tracking devices is limited, requiring multiple stations to cover large areas.

[0022] In related technologies, laser tracking equipment is typically used to achieve station relocation through pre-defined hand-eye relationships. However, this method has certain limitations: the optical tracking equipment needs to be recalibrated for hand-eye relationships after each movement, which is cumbersome and time-consuming.

[0023] To address the aforementioned technical problems, embodiments of this application provide a relocation system and method, electronic device, and storage medium that can flexibly, quickly, and accurately determine the coordinate system transformation relationship between the optical tracking device and the laser tracking device after each relocation adjustment, thereby enabling relocation.

[0024] like Figure 1 The diagram shown is a schematic representation of the architecture of a transfer system provided in an embodiment of this application. The transfer system 100 includes an electronic device 10, a tracking scanning device 20, and a laser tracking device 30. The electronic device 10 is communicatively connected to the tracking scanning device 20 and the laser tracking device 30. The tracking scanning device 20 may include a scanning device 210 and an optical tracking device 220. In the transfer system, the electronic device 10 can determine the coordinate system transformation relationship between the optical tracking device 220 and the laser tracking device 30 based on the first tracking data of the optical tracking device 220 on the scanning device 210 after the device has moved to a new position, and the second tracking data of the laser tracking device 30 on the scanning device 210. This facilitates the determination of the pose of the optical tracking device 220 and the coordinate system of the scanning data of the unified scanning device 210 based on the coordinate system transformation relationship, thereby realizing the transfer. Electronic device 10 may include desktop computers, servers, laptops, tablets, programmable logic controllers (PLCs), and human machine interfaces (HMIs) with touch input capabilities, as well as devices with communication functions, and may also include devices simulated by virtual machines or simulators. This application embodiment does not limit the specific type of electronic device 10.

[0025] Electronic device 10 can be used to receive data sent by tracking scanning device 20 and laser tracking device 30, and perform calculations on the data to implement the transfer method provided in the embodiments of this application.

[0026] The scanning device 210 and the optical tracking device 220 can be two independently operating devices that can communicate with each other, or they can be two sub-devices belonging to the same system. They can be assembled and operated collaboratively, or they can be disassembled and operated independently. This application does not limit the device form or operation mode of the optical tracking device 220 and the scanning device 210.

[0027] The scanning device 210 can scan a target object or target scene, obtain scanning data, and send the scanning data to the electronic device 10 and the optical tracking device 220. The optical tracking device 220 can track and measure the scanning device 210, obtain first tracking data, and send the first tracking data to the electronic device 10.

[0028] The scanning device 210 can acquire scanning data in various ways. For example, the scanning device 210 can emit laser lines or structured light towards the target object or target scene, capture the deformation of the laser lines or the distortion of the grating pattern through a camera, and use triangulation to calculate the three-dimensional coordinates of the target object or target scene as scanning data.

[0029] Optical tracking devices 220 can be of various types. For example, an optical tracking device 220 can be one or more infrared cameras.

[0030] The laser tracking device 30 is a high-precision, large-size measuring instrument capable of performing precise point measurements in large scenes. The laser tracking device 30 can track and measure the scanning device 210 in the tracking scanning device 20, obtain second tracking data, and send the second tracking data to the electronic device 10. The scanning device 210 may be equipped with an identifier that can be recognized by both the optical tracking device 220 and the laser tracking device 30.

[0031] exist Figure 1In the application scenario shown, the scanning device 210 can be moved multiple times and the position of the optical tracking device 220 can be adjusted accordingly, so that the measurement range of the optical tracking device 220 can effectively cover the scanning device 210, thereby realizing the station transfer method provided in the embodiments of this application.

[0032] The illustration Figure 1 This is merely an example of the transfer system 100 and does not constitute a limitation on the transfer system 100. The transfer system 100 may include more or fewer components than shown, or combine certain components, or use different components.

[0033] For example, in one embodiment, the transfer system 100 may include only the tracking scanning device 20 and the laser tracking device 30, which can be communicatively connected. The transfer method provided in this application embodiment can be applied to either the tracking scanning device 20 or the laser tracking device 30.

[0034] To more clearly illustrate the transfer method provided in the embodiments of this application, the following will combine... Figure 1 The transfer system 100 shown is described in detail.

[0035] For example, such as Figure 2 The diagram shown is a flowchart of a transfer method provided in one embodiment of this application. Depending on different needs, the order of the steps in this flowchart can be adjusted according to actual requirements, and some steps can be omitted. The transfer method is applied to electronic devices (e.g.,...) Figure 1 and Figure 4 The electronic device 10 shown is communicatively connected to a tracking scanning device and a laser tracking device. The tracking scanning device includes a scanning device and an optical tracking device. The transfer method includes the following steps: S11, during the transfer, after moving the optical tracking device, acquire the first tracking data obtained by the optical tracking device tracking and measuring the scanning device.

[0036] In some embodiments of this application, the scanning device can be moved multiple times and the position of the optical tracking device can be adjusted accordingly, so that the measurement range of the optical tracking device can effectively cover the scanning device, thereby enabling the optical tracking device to maintain continuous tracking of the scanning device.

[0037] For example, the optical tracking device can track and measure the scanning device located at position M at station A. If the scanning device moves to position N for scanning, the optical tracking device can move to station B and track and measure the scanning device located at position N at station B.

[0038] In some embodiments of this application, the scanning device may be provided with a marker that can be recognized by the optical tracking device. The optical tracking device emits light (e.g., laser or structured light) to the scanning device, and based on the reflected light from the marker on the scanning device, first tracking data is reconstructed using the principle of stereo vision. The first tracking data may include the three-dimensional coordinates of the marker in the coordinate system of the optical tracking device.

[0039] In some embodiments, the scanning device may be configured with frame points that can be identified by the optical tracking device, and the first tracking data may include the frame point coordinates in the coordinate system of the optical tracking device.

[0040] Among them, frame points can be reflective or optical markers on the frame of the scanning device.

[0041] In some embodiments, the frame points may be existing markers on the frame of the scanning head of the scanning device, which are required for the optical tracking device to track and position the scanning device.

[0042] In this embodiment, by using the first tracking data of the scanning device through the optical tracking device, the coordinates of the frame point in the coordinate system of the optical tracking device can be accurately and quickly determined.

[0043] In other embodiments, the scanning device may be provided with a target base, on which a marker point that can be identified by the optical tracking device is provided, and the first tracking data includes the coordinates of the marker point in the coordinate system of the optical tracking device.

[0044] The center of the marker point can coincide with the center of the target mount. This application does not limit the installation relationship between the target mount and the scanning device. For example, the target mount can be detachably mounted on the scanning device, or the target mount can be fixedly mounted on the scanning device.

[0045] This application does not limit the type of marker. For example, it can be a Hubbs marker, etc. The marker can be detachably placed on the target base, or the marker can be fixedly connected to the target base; this application does not limit this.

[0046] In this embodiment, by setting a target on the scanning device and setting marker points that can be recognized by the optical tracking device on the target, the flexibility and maintainability of marker point deployment can be improved, providing a scalable solution for tracking and positioning in different application scenarios. Using the first tracking data from the scanning device, the coordinates of the marker points in the coordinate system of the optical tracking device can be accurately and quickly determined.

[0047] S12, based on the first tracking data, determine the first target coordinates of the target on the scanning device in the coordinate system of the optical tracking device.

[0048] In some embodiments of this application, when the identifiers available for recognition by the optical tracking device on the scanning device are different, the first tracking data acquired by the optical tracking device will also vary depending on the identifiers. The electronic device can determine the coordinates of the first target based on the characteristics of each type of first tracking data.

[0049] In some embodiments, if the scanning device can be provided with frame points that can be identified by the optical tracking device, the electronic device determines the first target coordinates of the target on the scanning device in the coordinate system of the optical tracking device based on the first tracking data. This includes: determining the transformation matrix between the coordinate system of the scanning device and the coordinate system of the optical tracking device according to the frame point coordinates in the coordinate system of the optical tracking device and the coordinate system of the scanning device; and determining the first target coordinates according to the transformation matrix, the frame point coordinates in the coordinate system of the scanning device, and the relative positional relationship between the frame point and the target.

[0050] The frame point coordinates in the coordinate system of the scanning device can be preset three-dimensional coordinates, which can be obtained through pre-measurement. The coordinate system of the scanning device can be a coordinate system constructed based on the pose of the scanning device, and the coordinate system of the optical tracking device can be a coordinate system constructed based on the pose of the optical tracking device.

[0051] For example, the electronic device can determine the transformation matrix between the coordinate systems of the scanning device and the optical tracking device based on the coordinates of the frame point in the coordinate system of the optical tracking device and the coordinates of the frame point in the coordinate system of the scanning device, using coordinate system registration or rigid body transformation methods. The transformation matrix can be a 4×4 matrix, including a rotation matrix and a translation vector.

[0052] For example, the electronic device determines the coordinates of the first target base based on the transformation matrix, the coordinates of the frame point in the coordinate system of the scanning device, and the relative positional relationship between the frame point and the target base. This includes: determining the initial target base coordinates in the coordinate system of the scanning device based on the coordinates of the frame point in the coordinate system of the scanning device and the relative positional relationship between the frame point and the target base; and using the transformation matrix to transform the initial target base coordinates to the coordinate system of the optical tracking device to obtain the first target base coordinates.

[0053] The relative positional relationship between the frame point and the target can be preset and obtained through prior measurement. This relative positional relationship can be used to indicate the position of the target relative to the frame point.

[0054] The product of the homogeneous coordinates of the initial target coordinates and the transformation matrix can be used to determine the first target coordinates.

[0055] In this embodiment, if the frame point is an existing marker point on the scanning device designed for tracking, the coordinates of the marker point in the coordinate system of the optical tracking device and the coordinate system of the scanning device, and the relative positional relationship between the frame point and the target, can quickly and accurately determine the first target coordinate of the target on the scanning device in the coordinate system of the optical tracking device. This allows for effective tracking of the scanning device without changing its original structure.

[0056] In other embodiments, if a target is provided on the scanning device and a marker point that can be identified by the optical tracking device is provided on the target, the electronic device determines the first target coordinates of the target on the scanning device in the coordinate system of the optical tracking device based on the first tracking data, including: determining the first target coordinates of the target in the coordinate system of the optical tracking device according to the marker point coordinates.

[0057] For example, the electronic device can directly determine the coordinates of the marker point as the first target coordinates in the coordinate system of the optical tracking device.

[0058] In this embodiment, since the center of the marker point can coincide with the center of the target, the coordinates of the marker point can accurately represent the coordinates of the target. Determining the coordinates of the marker point as the first target coordinates in the coordinate system of the optical tracking device can ensure the accuracy of the first target coordinates.

[0059] S13, acquire the second tracking data obtained by the laser tracking device tracking and measuring the scanning device, and determine the second target coordinates of the target in the coordinate system of the laser tracking device based on the second tracking data.

[0060] In some embodiments of this application, the coordinate system of the laser tracking device may be a coordinate system constructed based on the pose of the laser tracking device.

[0061] In some embodiments, the target mount of the scanning device may be provided with a detection unit that can be identified by the laser tracking device, and the second tracking data includes the detection coordinates of the detection unit in the coordinate system of the laser tracking device.

[0062] The detection unit can be any object that can be identified by the laser tracking device. For example, the detection unit can be a cornerstone prism, an optical retroreflector, or a photoelectric target. The detection unit can be detachably placed on the target holder, or it can be fixedly connected to the target holder; this embodiment does not limit this. The center of the detection unit can coincide with the center of the target holder.

[0063] In some embodiments, determining the second target coordinates in the coordinate system of the laser tracking device based on the second tracking data by the electronic device includes: determining the second target coordinates based on the detection coordinates.

[0064] For example, the electronic device can directly determine the detection coordinates as the coordinates of the second target.

[0065] In this embodiment, since the center of the detection unit can coincide with the center of the target, the detection coordinates of the detection unit can accurately represent the coordinates of the target. Determining the detection coordinates as the coordinates of the second target can ensure the accuracy of the coordinates of the second target.

[0066] S14. Based on the coordinates of the first target and the second target, determine the transformation relationship between the coordinate system of the optical tracking device and the coordinate system of the laser tracking device, and complete the station transfer.

[0067] In some embodiments of this application, if the optical tracking device adjusts its position to follow the movement of the scanning device, the electronic device can determine the corresponding first target coordinates based on the first tracking data of the optical tracking device at each position, and obtain the second target coordinates corresponding to each first target coordinate through the second tracking data of the laser tracking device. The electronic device can determine the transformation relationship between the coordinate system of the optical tracking device and the coordinate system of the laser tracking device based on multiple first target coordinates and the corresponding second target coordinates, using coordinate system registration or rigid body transformation methods.

[0068] The transformation relationship can be a 4×4 matrix, including rotation matrix and translation vector.

[0069] For example, an electronic device can determine the transformation relationship between the coordinate system of an optical tracking device and the coordinate system of a laser tracking device based on multiple first target coordinates and the corresponding second target coordinates for each first target coordinate, using the following formula: ; in, Indicates the coordinates of the first target. This represents the coordinates of the second target corresponding to the coordinates of the first target. This indicates the transformation relationship between the coordinate system of the optical tracking device and the coordinate system of the laser tracking device.

[0070] In other embodiments of this application, the electronic device can acquire the pose of the laser tracking device and determine the pose of the optical tracking device based on the pose of the laser tracking device and the transformation relationship between the coordinate systems of the optical tracking device and the laser tracking device, thereby realizing station relocation. Specifically, after each movement, the optical tracking device can obtain the transformation relationship between the coordinate systems of the optical tracking device and the laser tracking device at the new station, and thus determine the pose of the optical tracking device based on the transformation relationship corresponding to that station and the pose of the laser tracking device.

[0071] In other embodiments of this application, the electronic device can acquire scanning data obtained by the scanning device scanning the target object or target scene when the optical tracking device is in its current position, and register the scanning data to the global coordinate system using the transformation relationship between the coordinate system of the optical tracking device and the coordinate system of the laser tracking device.

[0072] The scan data can be 3D data used to indicate the pose of a target object or scene. For example, the scan data can be 3D point cloud data. For instance, in a large-scale scanning scene that requires multiple movements of the scanning device, each frame of scan data can be a local 3D point cloud.

[0073] For example, the electronic device can set the global coordinate system to the coordinate system when the optical tracking device is at the starting position. The electronic device uses the transformation relationship between the coordinate system of the optical tracking device and the coordinate system of the laser tracking device to register the scanning data to the global coordinate system. This includes: determining the relative pose of the optical tracking device from the current position to the starting position according to the transformation relationship between the coordinate system of the optical tracking device and the coordinate system of the laser tracking device; using the relative pose, converting the scanning data to the global coordinate system to complete the registration.

[0074] The relative pose can be the transformation relationship between the pose of the optical tracking device at the current position and the pose at the starting position.

[0075] For example, the electronic device can set the global coordinate system to the coordinate system of the laser tracking device. Registering the scanning data to the global coordinate system by utilizing the transformation relationship between the coordinate system of the optical tracking device and the coordinate system of the laser tracking device includes: using the transformation relationship between the coordinate system of the optical tracking device and the coordinate system of the laser tracking device to convert the scanning data to the global coordinate system and complete the registration.

[0076] In other embodiments of this application, the electronic device can stitch together registered multi-frame scan data to obtain complete three-dimensional data of the scanned target object or target scene.

[0077] In the station-shifting scheme provided in this application embodiment, since a target mount is provided on the scanning device, after each repositioning of the optical tracking device, the coordinates of the first target mount in the coordinate system of the optical tracking device can be quickly and accurately determined based on the first tracking data of the optical tracking device on the scanning device, and the coordinates of the second target mount in the coordinate system of the laser tracking device can be quickly and accurately determined based on the second tracking data of the laser tracking device on the scanning device. Based on the first and second target mount coordinates, the transformation relationship between the optical tracking device and the laser tracking device can be quickly and accurately determined, facilitating the unification of the coordinate system of the scanning data based on this transformation relationship. Thus, after each repositioning of the optical tracking device, the coordinate system transformation relationship between the optical tracking device and the laser tracking device can be flexibly and accurately determined, enabling station-shifting without prior hand-eye calibration of the optical tracking device and the laser tracking device. like Figure 3 The diagram shown is a functional block diagram of a transfer station device provided in an embodiment of this application. The transfer station device 11 includes an acquisition module 111 and a determination module 112. The module / unit referred to in this application refers to a type of module / unit capable of being... Figure 4 The processor 103 in the middle acquires a series of computer-readable instruction segments that are capable of performing a fixed function, and these segments are stored in Figure 4 The memory 102 is used for this purpose. In this embodiment, the functions of each module / unit will be described in detail in subsequent embodiments.

[0078] The acquisition module 111 is used to acquire the first tracking data obtained by the optical tracking device tracking and measuring the scanning device after the optical tracking device is moved during the transfer station.

[0079] The determination module 112 is used to determine the first target coordinates of the target on the scanning device in the coordinate system of the optical tracking device based on the first tracking data.

[0080] In some embodiments of this application, the scanning device is provided with frame points that can be identified by the optical tracking device. The first tracking data includes the frame point coordinates in the coordinate system of the optical tracking device. The determination module 112 is used to determine the first target coordinates of the target on the scanning device in the coordinate system of the optical tracking device based on the first tracking data. This includes: determining the transformation matrix between the coordinate system of the scanning device and the coordinate system of the optical tracking device according to the frame point coordinates in the coordinate system of the optical tracking device and the coordinate system of the scanning device; and determining the first target coordinates according to the transformation matrix, the frame point coordinates in the coordinate system of the scanning device, and the relative positional relationship between the frame point and the target.

[0081] In some embodiments of this application, the determining module 112 is used to determine the first target coordinates based on the transformation matrix, the frame point coordinates in the coordinate system of the scanning device, and the relative positional relationship between the frame point and the target. This includes: determining the initial target coordinates in the coordinate system of the scanning device based on the frame point coordinates in the coordinate system of the scanning device and the relative positional relationship between the frame point and the target; and using the transformation matrix to transform the initial target coordinates to the coordinate system of the optical tracking device to obtain the first target coordinates.

[0082] In some embodiments of this application, the target mount is provided with a marker point that can be identified by the optical tracking device. The first tracking data includes the marker point coordinates in the coordinate system of the optical tracking device. The determination module 112 is used to determine the first target mount coordinates in the coordinate system of the optical tracking device based on the first tracking data, including: determining the first target mount coordinates according to the marker point coordinates.

[0083] The acquisition module 111 is also used to acquire second tracking data obtained by the laser tracking device tracking and measuring the scanning device.

[0084] The determining module 112 is also used to determine the second target coordinates in the coordinate system of the laser tracking device based on the second tracking data.

[0085] In some embodiments of this application, a detection unit identifiable by a laser tracking device is provided on the target base. The second tracking data includes the detection coordinates of the detection unit in the coordinate system of the laser tracking device. The determination module 112 is further used to determine the second target base coordinates in the coordinate system of the laser tracking device based on the second tracking data, including: determining the second target base coordinates based on the detection coordinates.

[0086] The determination module 112 is also used to determine the transformation relationship between the coordinate system of the optical tracking device and the coordinate system of the laser tracking device based on the coordinates of the first target and the second target, and to complete the station transfer.

[0087] In other embodiments of this application, the transfer station device 11 further includes a registration module 113 ( Figure 3 (Not shown), the acquisition module 111 is also used to acquire the scanning data obtained by the scanning device scanning the target object when the optical tracking device is in the current position, and the registration module 113 is used to register the scanning data to the global coordinate system using the transformation relationship.

[0088] In some embodiments of this application, the registration module 113 is used to register the scanning data to the global coordinate system using a transformation relationship, including: setting the global coordinate system to the coordinate system when the optical tracking device is at the starting position; determining the relative pose of the optical tracking device from the current position to the starting position according to the transformation relationship; using the relative pose to transform the scanning data to the global coordinate system to complete the registration; or, setting the global coordinate system to the coordinate system of the laser tracking device; using the transformation relationship to transform the scanning data to the global coordinate system to complete the registration.

[0089] like Figure 4 The diagram shown is a structural schematic of an electronic device provided in an embodiment of this application. The electronic device 10 can be a computer, mobile phone, tablet computer, laptop computer, server, or other similar device. This application embodiment does not impose any restrictions on the specific type of the electronic device 10.

[0090] exist Figure 4 The electronic device 10 may include 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 module 101, the memory 102, and the input / output interface 104 via the bus 105.

[0091] 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).

[0092] Memory 102 may include one or more random access memory (RAM) and one or more non-volatile memory (NVM). The RAM can be directly read and written by the processor 103, and can be used to store executable programs (e.g., machine instructions) of other running programs, as well as user and application data. The 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.

[0093] Non-volatile memory can also store executable programs and user and application data, and can be pre-loaded into random access memory for direct reading and writing by the processor 103. Non-volatile memory can include disk storage devices and flash memory.

[0094] Memory 102 is used to store one or more computer programs. The one or more computer programs are configured to be executed by processor 103. The one or more computer programs include multiple instructions that, when executed by processor 103, enable a transfer method to be executed on electronic device 10.

[0095] In other embodiments, such as Figure 4 The electronic device 10 shown also includes an external memory interface for connecting to an external memory to expand the storage capacity of the electronic device 10.

[0096] Processor 103 may include one or more processing units, such as application processors (APs), modem processors, graphics processing units (GPUs), image signal processors (ISPs), controllers, video codecs, digital signal processors (DSPs), and / or neural network processing units (NPUs). These different processing units may be independent devices or integrated into one or more processors.

[0097] The processor 103 provides computing and control capabilities; for example, the processor 103 is used to execute computer programs stored in the memory 102 to implement the transfer method described above.

[0098] The input / output interface 104 is used to provide a channel for user input or output. For example, the input / output interface 104 can be used to connect various input / output devices, such as a mouse, keyboard, touch device, display screen, etc., so that users can enter information or visualize information.

[0099] Bus 105 is used at least to provide a channel for communication between communication modules 101, memory 102, processor 103, and input / output interface 104 in electronic device 10.

[0100] It is understood that the structures illustrated in the embodiments of this application do not constitute a specific limitation on the electronic device 10. In other embodiments of this application, the electronic device 10 may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0101] This application also provides a computer-readable storage medium storing a computer program, which includes program instructions. When the program instructions are executed, the method implemented can refer to the methods in the above embodiments of this application.

[0102] The computer-readable storage medium can be the internal memory of the electronic device described in the above embodiments, such as the hard disk or memory of the electronic device. Alternatively, the computer-readable storage medium can be an external storage device of the electronic device, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc., installed on the electronic device.

[0103] In some embodiments, a computer-readable storage medium may include a stored program area and a stored data area, wherein the stored program area may store an operating system, an application program required for at least one function, etc.; and the stored data area may store data created based on the use of the electronic device, etc.

[0104] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and other division methods may be used in actual implementation.

[0105] The modules described as separate components may or may not be physically separate. The components shown as modules 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 the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0106] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional modules.

[0107] Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within this application. No appended diagram markings in the claims should be construed as limiting the scope of the claims.

[0108] Furthermore, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices described in this application may also be implemented by a single unit or device through software or hardware. The terms "first," "second," etc., are used to indicate names and do not indicate any specific order.

[0109] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application.

Claims

1. A transfer method, characterized in that, The method includes: During a transfer, after moving the optical tracking device, first tracking data is acquired by the optical tracking device tracking and measuring the scanning device. The scanning device is equipped with a target and frame points identifiable by the optical tracking device. The target is equipped with a detection unit identifiable by the laser tracking device. The first tracking data includes the frame point coordinates in the coordinate system of the optical tracking device. Alternatively, the scanning device is equipped with the target, and the target is equipped with a marker point identifiable by the optical tracking device and the detection unit. The first tracking data includes the marker point coordinates in the coordinate system of the optical tracking device. Based on the first tracking data, determining the first target coordinates of the target in the coordinate system of the optical tracking device includes: determining the first target coordinates according to the coordinates of the frame point and the relative positional relationship between the frame point and the target, or determining the first target coordinates according to the coordinates of the marker point; The second tracking data obtained by the laser tracking device tracking and measuring the scanning device is acquired, and the second target coordinates of the target in the coordinate system of the laser tracking device are determined based on the second tracking data. Based on the coordinates of the first target and the second target, the transformation relationship between the coordinate system of the optical tracking device and the coordinate system of the laser tracking device is determined, and the station transfer is completed.

2. The transfer method according to claim 1, characterized in that, Determining the coordinates of the first target base based on the coordinates of the frame points and the relative positional relationship between the frame points and the target base includes: Based on the coordinates of the frame points in the coordinate systems of the optical tracking device and the scanning device, determine the transformation matrix between the coordinate system of the scanning device and the coordinate system of the optical tracking device; The coordinates of the first target are determined based on the transformation matrix, the coordinates of the frame point in the coordinate system of the scanning device, and the relative positional relationship between the frame point and the target.

3. The transfer method according to claim 2, characterized in that, Determining the coordinates of the first target base based on the transformation matrix, the coordinates of the frame point in the coordinate system of the scanning device, and the relative positional relationship between the frame point and the target base includes: Based on the frame point coordinates in the coordinate system of the scanning device and the relative positional relationship between the frame point and the target, the initial target coordinates in the coordinate system of the scanning device are determined. Using the transformation matrix, the initial target coordinates are transformed to the coordinate system of the optical tracking device to obtain the first target coordinates.

4. The transfer method according to claim 1, characterized in that, The second tracking data includes the detection coordinates of the detection unit in the coordinate system of the laser tracking device. Determining the second target coordinates of the target in the coordinate system of the laser tracking device based on the second tracking data includes: The coordinates of the second target are determined based on the detection coordinates.

5. The transfer method according to any one of claims 1 to 4, characterized in that, The method further includes: Acquire the scan data obtained by the scanning device scanning the target object when the optical tracking device is in its current position; Using the aforementioned transformation relationship, the scan data is registered to the global coordinate system.

6. The transfer method according to claim 5, characterized in that, The step of registering the scan data to the global coordinate system using the transformation relationship includes: The global coordinate system is set to the coordinate system when the optical tracking device is at the starting position. Based on the transformation relationship, the relative pose of the optical tracking device from the current position to the starting position is determined. Using the relative pose, the scanning data is transformed to the global coordinate system to complete registration; or The global coordinate system is set as the coordinate system of the laser tracking device. The scanning data is then converted to the global coordinate system using the transformation relationship to complete the registration.

7. A transfer station system, characterized in that, The transfer system includes a tracking scanning device, a laser tracking device, and an electronic device. The tracking scanning device includes a scanning device and an optical tracking device. The electronic device is communicatively connected to the tracking scanning device and the laser tracking device to implement the transfer method as described in any one of claims 1 to 6.

8. An electronic device, characterized in that, The electronic device includes a processor and a memory, the processor being configured to execute a computer program stored in the memory to implement the transfer method as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one instruction that, when executed by a processor, implements the transfer method as described in any one of claims 1 to 6.

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