Data processing method and apparatus, scanning method and apparatus, device, storage medium, and system

Abstract

Embodiments of the present disclosure relate to a data processing method and apparatus, a scanning method and apparatus, a device, a storage medium, and a system. The method comprises: acquiring scan data, wherein the scan data comprises first scan data and second scan data, the first scan data comprises three-dimensional coordinates of a scanned object in a first tracker coordinate system, the first tracker coordinate system is the tracker coordinate system when a tracking head of an optical tracker is located at a first position, the second scan data comprises three-dimensional coordinates of the scanned object in a second tracker coordinate system, and the second tracker coordinate system is the tracker coordinate system when the tracking head of the optical tracker is located at a second position; acquiring a position change of the second position with respect to the first position; and on the basis of the position change, splicing the first scan data and the second scan data to a unified tracker coordinate system. According to the embodiments of the present disclosure, the station transfer extension of the optical tracker can be achieved without the help of a mark point, facilitating the reduction of labor costs and the improvement of station transfer extension precision.

Description

Data processing method, scanning method, device, equipment, storage medium and system

[0001] This disclosure claims priority to a Chinese patent application filed with the Patent Office of China on March 19, 2024, with application number 202410311129.8, entitled “Data processing method, scanning method, device, equipment, storage medium and system,” the entire contents of which are incorporated herein by reference. Technical Field

[0002] The embodiments of the present disclosure relate to the field of computer technology, and in particular to a data processing method, a scanning method, an apparatus, a device, a storage medium, and a system. Background Art

[0003] Optical trackers can accurately track and position scanners in three dimensions in real time, and are primarily used for large-scale 3D scanning in industries such as aerospace, automotive, shipbuilding, and energy. Due to their principle limitations, optical trackers have a fixed field of view (generally less than 90 degrees). If tracking and positioning the scanner outside of this field of view is required, it must be expanded using fixed public landmarks.

[0004] When using tracking scanning technology to scan a large part under test, if the part under test is larger than the field of view of the optical tracker, the optical tracker will lose tracking and positioning when the scanner exceeds the field of view of the optical tracker during the scanning process, which directly affects the scanning integrity of the part under test. Therefore, a small number of markers are usually arranged on the surface or around the part under test. The optical tracker first obtains the spatial coordinate information of these markers, and then moves the optical tracker to cover the remaining area of ​​the part under test. After the movement, all or part of the markers arranged in the previous step need to be visible at the same time. The coordinate information of these common markers is used to unify the coordinate system before and after the movement of the optical tracker position to achieve station expansion. However, when the markers are not arranged reasonably (such as being distributed in a small area of ​​the field of view), resulting in weak constraints on the spatial position, even small marker recognition errors will cause a significant decrease in station transfer accuracy. In addition, the layout of markers is usually complex and cumbersome, requiring a large amount of manpower, resulting in high labor costs. Currently, there is no effective solution to the above problems. Summary of the Invention

[0005] In order to solve the above technical problems or at least partially solve the above technical problems, the embodiments of the present disclosure provide a data processing method, a scanning method, an apparatus, a device, a storage medium and a system.

[0006] A first aspect of an embodiment of the present disclosure provides a data processing method, the method comprising: acquiring scan data, wherein the scan data comprises first scan data and second scan data, the first scan data comprising three-dimensional coordinates of a scanned object in a first tracker coordinate system, the first tracker coordinate system being a tracker coordinate system when a tracking head of an optical tracker is located at a first position; the second scan data comprising three-dimensional coordinates of the scanned object in a second tracker coordinate system, the second tracker coordinate system being a tracker coordinate system when the tracking head of the optical tracker is located at a second position; acquiring a position change of the second position relative to the first position, wherein the position change is measured by a position measurement device on the optical tracker, or the first position and the second position are measured by a position measurement device; and based on the position change, splicing the first scan data and the second scan data into the same tracker coordinate system.

[0007] A second aspect of an embodiment of the present disclosure provides a scanning method, comprising: when a tracking head of an optical tracker is located at a first position, performing image acquisition on a scanned object by a scanner to obtain a first scanned image, and measuring a first mark point on the scanner by the tracking head to obtain coordinates of a first scanning standard mark point corresponding to the first scanned image; when the position of the tracking head is adjusted from the first position to the second position, obtaining a position change of the second position relative to the first position, or obtaining a second position by a position measuring device of the optical tracker, wherein if the second position is obtained by the position measuring device, then after the position of the tracking head is adjusted to the first position, the first position is obtained by the position measuring device; when the tracking head is located at the second position, performing image acquisition on the scanned object by a scanner to obtain a second scanned image, and measuring the first mark point by the tracking head to obtain coordinates of a second scanning standard mark point corresponding to the second scanned image.

[0008] A third aspect of an embodiment of the present disclosure provides a data processing device, which includes: a first acquisition module, configured to acquire scan data, wherein the scan data includes first scan data and second scan data, the first scan data being the three-dimensional coordinates of the scanned object in a first tracker coordinate system, the first tracker coordinate system being the tracker coordinate system when the tracking head of the optical tracker is located at a first position, the second scan data being the three-dimensional coordinates of the scanned object in a second tracker coordinate system, the second tracker coordinate system being the tracker coordinate system when the tracking head of the optical tracker is located at a second position, a second acquisition module, configured to acquire a position change of the second position relative to the first position, wherein the position change is measured by a position measurement device on the optical tracker, or the first position and the second position are measured by a position measurement device, and a splicing module, configured to splice the first scan data and the second scan data into the same tracker coordinate system based on the position change.

[0009] A fourth aspect of an embodiment of the present disclosure provides a scanning device, which includes: a third acquisition module, configured to, when a tracking head of an optical tracker is located at a first position, perform image capture on a scanned object through a scanner to obtain a first scanned image, and measure a first mark point on the scanner through the tracking head to obtain coordinates of a first scanning standard mark point corresponding to the first scanned image; a fourth acquisition module, configured to, when the position of the tracking head is adjusted from the first position to the second position, obtain a position change of the second position relative to the first position, or obtain the second position through a position measurement device of the optical tracker, wherein if the second position is obtained through the position measurement device, then after the position of the tracking head is adjusted to the first position, the first position is obtained through the position measurement device; a fifth acquisition module, configured to, when the tracking head is located at the second position, perform image capture on the scanned object through a scanner to obtain a second scanned image, and measure the first mark point through the tracking head to obtain coordinates of a second scanning standard mark point corresponding to the second scanned image.

[0010] The fifth aspect of an embodiment of the present disclosure provides an electronic device, which includes: a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the electronic device implements the method of the first aspect above, or implements the method of the second aspect above.

[0011] A sixth aspect of an embodiment of the present disclosure provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it can implement the method of the first aspect above, or implement the method of the second aspect above.

[0012] The technical solution provided by the embodiments of the present disclosure has the following advantages over the prior art: The embodiments of the present disclosure can acquire scan data, wherein the scan data includes first scan data and second scan data, wherein the first scan data includes the three-dimensional coordinates of the scanned object in a first tracker coordinate system, which is the tracker coordinate system when the tracking head of the optical tracker is in a first position, and the second scan data includes the three-dimensional coordinates of the scanned object in a second tracker coordinate system, which is the tracker coordinate system when the tracking head of the optical tracker is in a second position; determine a position change of the second position relative to the first position, wherein the position change is measured by a position measurement device on the optical tracker, or the first position and the second position are measured by a position measurement device; and based on the position change, splice the first scan data and the second scan data into the same tracker coordinate system. It can be seen that the above technical solution, because the optical tracker is provided with a position measurement device capable of measuring the position of the tracking head, can acquire the position change of the tracking head when it is in the second position relative to the first position, and then, based on the position change, unify the first scan data corresponding to the first position and the second scan data corresponding to the second position into the same coordinate system, thereby achieving transfer station expansion. In this way, the transfer station expansion of the optical tracker can be achieved without the help of marker points. Since there is no need to arrange marker points, labor costs can be saved. In addition, the influence of marker point factors (such as unreasonable layout of marker points, or movement of marker points relative to the scanned object during the scanning process) on the transfer station expansion accuracy can be avoided, which is conducive to improving the transfer station expansion accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0014] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0015] FIG1 is a flow chart of a data processing method provided by an embodiment of the present disclosure;

[0016] FIG2 is a schematic structural diagram of an optical tracker provided by an embodiment of the present disclosure;

[0017] FIG3 is a schematic diagram of a three-dimensional scanning scene provided by an embodiment of the present disclosure;

[0018] FIG4 is a schematic diagram of a calibration scenario provided by an embodiment of the present disclosure;

[0019] FIG5 is a flow chart of a scanning method provided by an embodiment of the present disclosure;

[0020] FIG6 is a schematic structural diagram of a data processing device provided by an embodiment of the present disclosure;

[0021] FIG7 is a schematic structural diagram of a scanning device provided by an embodiment of the present disclosure;

[0022] FIG8 is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0023] In order to more clearly understand the above-mentioned objectives, features and advantages of the present disclosure, the scheme of the present disclosure will be further described below. It should be noted that the embodiments of the present disclosure and the features therein can be combined with each other in the absence of conflict.

[0024] In the following description, many specific details are set forth to facilitate a full understanding of the present disclosure, but the present disclosure may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present disclosure, rather than all of the embodiments.

[0025] FIG1 is a flow chart of a data processing method provided by an embodiment of the present disclosure, which can be performed by an electronic device. The electronic device can be exemplarily understood as a device such as a mobile phone, tablet computer, laptop computer, desktop computer, smart TV, etc. As shown in FIG1 , the method provided by this embodiment includes the following steps:

[0026] S110. Acquire scanning data, where the scanning data includes first scanning data and second scanning data. The first scanning data includes three-dimensional coordinates of the scanned object in a first tracker coordinate system, which is a tracker coordinate system when the tracking head of the optical tracker is located at a first position. The second scanning data includes three-dimensional coordinates of the scanned object in a second tracker coordinate system, which is a tracker coordinate system when the tracking head of the optical tracker is located at a second position.

[0027] Specifically, the scanned object can be any object to be scanned, which is not limited here. For example, the scanned object can include large-scale test objects such as airplanes, vehicles, and ships, but is not limited thereto.

[0028] Specifically, the optical tracker includes a tracking head and a position measurement device, wherein the position measurement device is configured to measure the position of the tracking head or measure a position change of the tracking head.

[0029] Specifically, the tracking head includes a built-in motion device configured to move the tracking head, thereby changing its position. The position measurement device can be configured based on the tracking head's degrees of freedom, enabling position measurement for each degree of freedom. For example, the tracking head's degrees of freedom may include two-dimensional degrees of freedom (i.e., lateral and pitch rotation), three-dimensional degrees of freedom (i.e., translation in the X, Y, and Z directions), or six-dimensional degrees of freedom (i.e., translation in the X, Y, and Z directions, and rotation about the X, Y, and Z axes), but is not limited thereto.

[0030] The following describes in detail typical examples of the degrees of freedom of movement of the tracking head and the position measurement device, but is not limited thereto.

[0031] In some embodiments, the position measuring device comprises a transverse encoding device and / or a longitudinal encoding device.

[0032] Specifically, the motion device may include a rotating device configured to rotate the tracking head, and any rotating device known to those skilled in the art, such as manual or electric, may be used, without limitation.

[0033] When the rotation device includes a transverse rotation device, the position measurement device may include a transverse measurement device configured to measure a transverse angle of the tracking head, or measure a change in the transverse angle. In this case, the first position includes a first transverse angle, the second position includes a second transverse angle, and the position change includes the change in the transverse angle.

[0034] When the rotation device includes a pitch rotation device, the position measurement device may include a pitch measurement device configured to measure the pitch angle of the tracking head, or measure a change in the pitch angle. In this case, the first position includes a first pitch angle, the second position includes a second pitch angle, and the position change includes the change in the pitch angle.

[0035] For example, Figure 2 is a schematic diagram of the structure of an optical tracker provided in an embodiment of the present disclosure. Referring to Figure 2 , the optical tracker includes a tracking head 110 and a position measurement device 120 . Position measurement device 120 includes a transverse encoding device and a longitudinal encoding device. Of course, the optical tracker may also include a bracket 130 .

[0036] It can be understood that the transverse encoding device and the longitudinal encoding device are high-precision angle measurement devices. By setting the transverse encoding device and / or longitudinal encoding device included in the position measurement device, high-precision tracking of the position or position change of the tracking head can be achieved, thereby making the accuracy of the position change of the second position relative to the first position higher, which is conducive to improving the accuracy of the transfer station expansion.

[0037] In other embodiments, the position measurement device includes: an X-direction measurement device, a Y-direction measurement device and / or a Z-direction measurement device, wherein the X-direction, the Y-direction and the Z-direction are perpendicular to each other.

[0038] Specifically, the motion device may include a translation device configured to translate the tracking head, and any translation device known to those skilled in the art, such as manual or electric, may be used, without limitation.

[0039] When the translation device includes an X-axis translation device, the position measurement device may include an X-axis measurement device configured to measure the X-axis coordinate of the tracking head, or an X-axis coordinate change value. In this case, the first position includes the first X-axis coordinate, the second position includes the lateral angle, and the position change includes the X-axis coordinate change value.

[0040] When the translation device includes a Y-axis translation device, the position measurement device may include a Y-axis measurement device configured to measure the Y-axis coordinate of the tracking head, or a Y-axis coordinate change value. In this case, the first position includes the first Y-axis coordinate, the second position includes the lateral angle, and the position change includes the Y-axis coordinate change value.

[0041] When the translation device includes a Z-direction translation device, the position measurement device may include a Z-direction measurement device configured to measure the Z-direction coordinate of the tracking head, or a Z-coordinate change value. In this case, the first position includes the first Z-direction coordinate, the second position includes the lateral angle, and the position change includes the Z-coordinate change value.

[0042] It can be understood that by providing the position measurement device including an X-axis measurement device, a Y-axis measurement device and / or a Z-axis measurement device, the position and position changes of the tracking head can be presented in the form of three-dimensional coordinates, which is conducive to quickly calculating the transformation matrix between the first tracker coordinate system and the second tracker coordinate system, thereby reducing the amount of calculation.

[0043] Specifically, the scan data includes first scan data and second scan data. The first scan data are the three-dimensional coordinates of the scanned object (a first local area of ​​the scanned object) in a first tracker coordinate system. The first tracker coordinate system refers to the three-dimensional coordinates of the scanned object (the first local area) observed with the tracking head in a first position as a reference, i.e., the origin of the first tracker coordinate system is the tracking head in the first position. The second scan data are the three-dimensional coordinates of the scanned object (the second local area of ​​the scanned object) in a second tracker coordinate system. The second tracker coordinate system refers to the three-dimensional coordinates of the scanned object (the second local area of ​​the scanned object) observed with the tracking head in a second position as a reference, i.e., the origin of the second tracker coordinate system is the tracking head in the second position. Thus, the first scan data and the second scan data are the three-dimensional coordinates of different local areas of the scanned object in different tracker coordinate systems. Subsequently, the first scan data and the second scan data need to be unified into the same tracker coordinate system. It should be noted that the first local area and the second local area may partially overlap or may not overlap at all, and this is not a limitation. It should also be noted that the first position and the second position are two different positions of the tracking head during the three-dimensional scanning process under the coordinates corresponding to the position measurement device. For example, the first position is the initial position of the entire three-dimensional scanning process, and the second position is the next position of the initial position or the next position after the initial position, but the present invention is not limited to this.

[0044] Specifically, there are many ways to obtain scan data, and typical examples are described below, but are not limited to these.

[0045] In some embodiments, obtaining scanning data includes: S111, obtaining multiple scanning images and their corresponding scanning mark point coordinates, wherein the scanning image is an image obtained by the scanner capturing an image of the scanned object, and the scanning mark point coordinates are three-dimensional coordinates obtained by the optical tracker measuring the first mark point on the scanner.

[0046] In the three-dimensional scanning scenario of the embodiment of the present disclosure, the optical tracker includes a tracking head and a position measuring device. A first marker point is set on the scanner. The tracking head can track and locate the first marker point to obtain the coordinates of the scanning marker point. The position measuring device can measure the position or position change of the tracking head. The scanner can capture an image of the scanned object to obtain a scanned image. Scanning data can be obtained based on the scanned image and the coordinates of the scanning marker point.

[0047] The correspondence between a scanned image and a scanned marking point coordinate means that when the scanner acquires the scanned image, the scanner is located at a position corresponding to the scanned marking point coordinate.

[0048] If the scan data is first scan data, the scan image is the first scan image, and the scan marker coordinates are the first scan marker coordinates. If the scan data is second scan data, the scan image is the second scan image, and the scan marker coordinates are the second scan marker coordinates.

[0049] For example, Figure 3 is a schematic diagram of a three-dimensional scanning scene provided by an embodiment of the present disclosure, wherein, in order to conveniently distinguish the tracking head 110 located at the first position and the second position, the tracking head 110 located at the first position is drawn with thin lines, and the tracking head 110 located at the second position is drawn with thick lines. Similarly, in order to conveniently distinguish the scanner 200 located within the first field of view (the field of view corresponding to the first position) and the second field of view (the field of view corresponding to the second position), the scanner 200 located within the first field of view is drawn with thin lines, and the scanner 200 located within the second field of view is drawn with thick lines. For the convenience of drawing, only the tracking head 110 is shown, and the position measuring device is not shown. 3 , when the tracking head 110 is in a first position, the scanner 200 can capture an image of the scanned object 300 within the first field of view to obtain a first scanned image, and the tracking head 110 can track and locate the first marker point A on the scanner 200 to obtain the coordinates of the first scanned marker point, so that first scan data can be subsequently obtained based on the first scanned image and the first scanned marker point coordinates. When the scanner 200 needs to capture an image of the scanned object 300 outside the first field of view, the tracking head 110 can be in a second position (corresponding to a second field of view) to capture an image of the scanned object 300 within the second field of view to obtain a second scanned image, and the tracking head 110 can track and locate the first marker point A on the scanner 200 to obtain the coordinates of the second scanned marker point, and second scan data can be obtained based on the second scanned image and the second scanned marker point coordinates.

[0050] S112 , performing three-dimensional reconstruction on the scanned image corresponding to the same scanning mark point coordinates to obtain the three-dimensional coordinates of the scanned object in the scanner coordinate system corresponding to the corresponding scanning mark point coordinates.

[0051] Specifically, for scanned images corresponding to the same scanned marker point coordinates, any three-dimensional reconstruction algorithm known to those skilled in the art may be used to perform three-dimensional reconstruction on multiple scanned images, which is not limited here.

[0052] For example, if the scanner is a binocular laser scanner, each scanned image includes a left image and a right image. For the left and right images corresponding to the coordinates of the same scanned marker point, the two-dimensional coordinates of the laser line are extracted from them. Combined with the laser emission surface parameters obtained by pre-calibration and the binocular stereoscopic epipolar geometric constraints, the three-dimensional coordinates of the laser line can be reconstructed (i.e., the three-dimensional coordinates of the scanned object in the scanner coordinate system corresponding to the scanned marker point coordinates). In this way, the three-dimensional coordinates of the scanned object in the scanner coordinate system corresponding to each scanned marker point coordinate can be obtained.

[0053] S113 : Based on the conversion matrix between the scanner coordinate system and the first tracker coordinate system, and the target scanning marker point coordinates, convert the three-dimensional coordinates of the scanned object in the scanner coordinate system corresponding to the target scanning marker point coordinates into the tracker coordinate system to obtain scan data.

[0054] If the scan data is first scan data, it is converted to the first tracker coordinate system. If the scan data is second scan data, it is converted to the second tracker coordinate system.

[0055] Specifically, the conversion matrix between the scanner coordinate system and the first tracker coordinate system is calibrated in advance. There are many specific calibration methods, and a typical example is described below, but it is not limited to this.

[0056] Optionally, the process of determining the transformation matrix of the scanner coordinate system and the first tracker coordinate system includes: obtaining the coordinates of a first calibration marker point, a second calibration marker point, and a third calibration marker point, wherein the coordinates of the first calibration marker point and the second calibration marker point are obtained by measuring the first marker point on the scanner and the second marker point on the system calibrator when the tracking head is located at the first position, and the coordinates of the third calibration marker point are obtained by measuring the third marker point on the system calibrator when the tracking head is located at the first position; based on the coordinates of the first calibration marker point, the coordinates of the second calibration marker point, the coordinates of the third calibration marker point, and the relative position between the second marker point and the third marker point, determining the transformation matrix of the scanner coordinate system and the first tracker coordinate system.

[0057] Specifically, with the tracking head of the optical tracker at a first position, the coordinates of a first calibration marker point obtained by measuring a first marker point on the scanner and a second calibration marker point obtained by measuring a second marker point on the system calibrator are obtained. Furthermore, the coordinates of a third calibration marker point obtained by measuring a third marker point on the system calibrator are obtained. Then, based on the coordinates of the first calibration marker point, the coordinates of the second calibration marker point, the coordinates of the third calibration marker point, and the relative position between the second and third marker points, a transformation matrix between the scanner coordinate system and the first tracker coordinate system is determined.

[0058] Specifically, the number and location of the first, second, and third calibration marker coordinates can be determined by those skilled in the art based on practical circumstances and are not limited herein. For example, the first marker can be located on the scanner frame, the second marker can be located on the side of the system calibrator, and the third marker can be located on the top surface of the system calibrator. At least one of each of the first, second, and third markers is provided.

[0059] Specifically, the phrase "when the tracking head of the optical tracker is located at the first position" here means that the position measurement result of the tracking head by the position measuring device is the first position. When the optical tracker as a whole moves relative to the ground, but the position measurement result of the tracking head by the position measuring device remains at the first position, the tracking head of the optical tracker is also considered to be located at the first position. When the optical tracker as a whole is located at a position relative to the ground, a set of first calibration marker point coordinates and second calibration marker point coordinates can be collected. It should be noted that the transformation matrix between the scanner coordinate system and the first tracker coordinate system can be determined based on a set of first calibration marker point coordinates and a set of second calibration marker point coordinates. Of course, in order to make the transformation matrix more accurate, multiple sets of first calibration marker point coordinates and second calibration marker point coordinates can also be used. The following example uses two sets of first calibration marker point coordinates and second calibration marker point coordinates to determine the transformation matrix, but this does not constitute a limitation of the present disclosure.

[0060] For example, FIG4 is a schematic diagram of a calibration scenario provided by an embodiment of the present disclosure. To distinguish between optical trackers at different positions, FIG4 uses thin lines to represent the optical tracker before overall movement, and thick lines to represent the optical tracker after overall movement. Before and after the overall movement of the optical tracker, the position measurement results of the tracking head 110 by the position measurement device 120 are both the first position. Referring to FIG4 , before the overall movement of the optical tracker, when the tracking head 110 is at the first position, the optical tracker obtains the coordinates of a first calibration marker point A measured by the optical tracker on the scanner 200, and obtains the coordinates of a second calibration marker point B measured by the tracking head 110 on the system calibrator. The scanner 200 obtains the coordinates of a third calibration marker point C measured by the tracking head 110 on the system calibrator. After the overall movement of the optical tracker, when the tracking head 110 is at the first position, the optical tracker again obtains the coordinates of the first calibration marker point A measured by the tracking head 110 on the scanner 200, and obtains the coordinates of the second calibration marker point B measured by the tracking head 110 on the system calibrator. Based on the first calibration marker point coordinates acquired twice, the second calibration marker point coordinates acquired twice, the third calibration marker point coordinates, and the relative position between the second marker point B and the third marker point C, the transformation matrix between the scanner 200 coordinate system and the first tracker coordinate system is determined.

[0061] Specifically, during the scanning process, if the tracking head is in the first position, the tracker measures the first marker point on the scanner and obtains the coordinates of the first scanning marker point in the first tracker coordinate system. For each first scanning marker point, based on the pre-calibrated transformation matrix between the scanner coordinate system and the first tracker coordinate system and the first scanning marker point coordinates, the transformation matrix between the scanner coordinate system and the first tracker coordinate system corresponding to the first scanning marker point coordinates is obtained. The three-dimensional coordinates of the scanned object in the scanner coordinate system corresponding to the first scanning marker point coordinates are then transformed into the first tracker coordinate system.

[0062] Specifically, during the scanning process, if the tracking head is in the second position, the tracker measures the coordinates of the second scanning marker points on the scanner and obtains the coordinates in the second tracker coordinate system. For each second scanning marker point, based on the pre-calibrated transformation matrix between the scanner coordinate system and the first tracker coordinate system and the coordinates of the second scanning marker point, the transformation matrix between the scanner coordinate system and the second tracker coordinate system corresponding to the second scanning marker point coordinate is obtained. The three-dimensional coordinates of the scanned object in the scanner coordinate system corresponding to the second scanning marker point coordinate are then transformed into the second tracker coordinate system.

[0063] In other embodiments, S110 may include: acquiring multiple scanned images and their corresponding scanned marker coordinates; inputting the multiple scanned images and their corresponding scanned marker coordinates into a trained reconstruction model to obtain scanned data output by the reconstruction model.

[0064] S120: Acquire a position change of the second position relative to the first position, wherein the position change is measured by a position measuring device on the optical tracker, or the first position and the second position are measured by a position measuring device.

[0065] In the disclosed embodiment, since the first scan data and the second scan data correspond to different tracker coordinate systems, it is necessary to determine the position change of the second position relative to the first position so as to stitch the first scan data and the second scan data into the same coordinate system based on the position change.

[0066] In some embodiments, the position measurement device includes a transverse encoding device and / or a longitudinal encoding device; accordingly, S120 may include: obtaining a first transverse angle and a second transverse angle sent by the transverse encoding device, and determining a transverse angle change of the second transverse angle relative to the first transverse angle; and / or obtaining a first pitch angle and a second pitch angle sent by the longitudinal encoding device, and determining a pitch angle change of the second pitch angle relative to the first pitch angle. Of course, S120 may also include: obtaining a transverse angle change sent by the transverse encoding device; and / or obtaining a pitch angle change sent by the longitudinal encoding device.

[0067] In other embodiments, the position measurement device includes: an X-axis measurement device, a Y-axis measurement device, and / or a Z-axis measurement device. Accordingly, S120 may include: obtaining a first X coordinate and a second X coordinate sent by the X-axis measurement device, and determining an X-coordinate change value of the second X coordinate relative to the first X coordinate; obtaining a first Y coordinate and a second Y coordinate sent by the Y-axis measurement device, and determining a Y-coordinate change value of the second Y coordinate relative to the first Y coordinate; and / or obtaining a first Z coordinate and a second Z coordinate sent by the Z-axis measurement device, and determining a Z-coordinate change value of the second Z coordinate relative to the first Z coordinate. S120 may also include: obtaining an X-coordinate change value sent by the X-axis measurement device; obtaining a Y-coordinate change value sent by the Y-axis measurement device; and / or obtaining a Z-coordinate change value sent by the Z-axis measurement device.

[0068] S130 : Based on the position change, stitch the first scan data and the second scan data into the same tracker coordinate system.

[0069] Specifically, the second scan data can be converted to the first tracker coordinate system, or the first scan data can be converted to the second tracker coordinate system, without limitation. In this way, the first scan data and the second scan data can be spliced ​​into the same coordinate system, thereby achieving tracker transfer and expansion.

[0070] In some embodiments, a transformation matrix for converting the second tracker coordinate system to the first tracker coordinate system can be determined based on the position change, and the second scan data can be converted to the first tracker coordinate system based on the transformation matrix. Of course, a transformation matrix for converting the first tracker coordinate system to the second tracker coordinate system can also be determined based on the position change, and the first scan data can be converted to the second tracker coordinate system based on the transformation matrix.

[0071] Of course, in other embodiments, the position change, the first scan data, and the second scan data can also be input into a trained stitching model, and the stitching model outputs the scan data after stitching the first scan data and the second scan data into the same tracker coordinate system.

[0072] In the disclosed embodiments, the optical tracker includes a position measurement device capable of measuring the position of the tracking head. This allows the tracking head to obtain a first position and a second position at different locations. Based on the first and second positions, a position change is determined. Furthermore, based on the position change, the first scan data corresponding to the first position and the second scan data corresponding to the second position are unified into the same coordinate system, thereby achieving station expansion. This allows the optical tracker to achieve station expansion without the need for markers. This eliminates the need for marker placement, saving labor costs. Furthermore, the accuracy of station expansion can be improved by avoiding the impact of marker factors (e.g., improper marker placement or movement of markers relative to the scanned object during scanning) on ​​station expansion accuracy.

[0073] In another embodiment of the present disclosure, the method further includes: performing point cloud fusion processing on all scanning data spliced ​​into the first tracker coordinate system to obtain a point cloud of the scanned object; and performing optimization processing on the point cloud of the scanned object, wherein the optimization processing includes: point cloud denoising processing and / or point cloud simplification processing.

[0074] In the disclosed embodiments, after the scan data obtained from different tracking head positions are stitched together in the first tracker coordinate system, point cloud fusion processing can be performed on all the scan data stitched together in the first tracker coordinate system using any point cloud fusion processing algorithm known to those skilled in the art, without limitation herein. Subsequently, any point cloud denoising and / or point cloud reduction processing algorithm known to those skilled in the art can be used to optimize the point cloud of the scanned object.

[0075] For example, the scanner is a binocular laser scanner, which can obtain a uniformly sampled point cloud of the scanned object through laser line fusion. The basic principle of laser line fusion is to divide the three-dimensional space into a number of squares along the X, Y, and Z directions of the first tracker coordinate system. For each square, if a laser point falls into that square, a register is created for that square, and the coordinates and tangential values ​​of the laser point are accumulated to the register of that square. After processing all laser points on the laser line, the coordinate values ​​stored in the registers of all hit squares are output to obtain a uniformly sampled point cloud.

[0076] It's understandable that simply superimposing all scan data in the first tracker coordinate system would produce a disorganized, sparse, and disordered point cloud, which is not conducive to describing the detailed topography of the scanned object's surface. However, in the disclosed embodiments, by performing point cloud fusion processing on all scan data spliced ​​into the first tracker coordinate system, a point cloud that evenly samples the scanned object can be obtained.

[0077] It is also understood that point cloud denoising can eliminate random noise within the point cloud and smooth the overall point cloud, while point cloud streamlining can reduce data volume and eliminate redundant information within the point cloud while preserving detail. Therefore, by performing point cloud denoising and / or point cloud streamlining on the point cloud of the scanned object obtained through point cloud fusion, a high-quality point cloud of the scanned object can be obtained.

[0078] FIG5 is a flowchart of a scanning method provided by an embodiment of the present disclosure, which can be performed by an electronic device. The electronic device can be exemplarily understood as a device such as a three-dimensional scanning system. As shown in FIG5 , the method provided by this embodiment includes the following steps:

[0079] S510. When the tracking head of the optical tracker is located at a first position, the scanner is used to capture an image of the scanned object to obtain a first scanned image, and the tracking head is used to measure a first marker point on the scanner to obtain coordinates of a first scanning standard marker point corresponding to the first scanned image.

[0080] Specifically, for understanding S510, please refer to the above description of S110, which will not be repeated here.

[0081] S520. When the position of the tracking head is adjusted from the first position to the second position, obtain a position change of the second position relative to the first position or obtain the second position through a position measuring device of the optical tracker. If the second position is obtained through the position measuring device, then after the position of the tracking head is adjusted to the first position, obtain the first position through the position measuring device.

[0082] Specifically, for understanding S520, please refer to the above description of S120, which will not be repeated here.

[0083] S530: When the tracking head is located at the second position, the scanner is used to capture an image of the scanned object to obtain a second scanned image, and the tracking head is used to measure the first marker point to obtain coordinates of a second scanning standard marker point corresponding to the second scanned image.

[0084] Specifically, for understanding S530, please refer to the above description of S110, which will not be repeated here.

[0085] For example, in actual use, the tracker coordinate system at the tracking head's first tracking position (position 1) can be defined as the initial coordinate system. When the tracking head is at the first tracking position, the scanner can capture an image of the scanned object to obtain a scanned image corresponding to the first tracking position. The tracking head can measure a first marker on the scanner to obtain the coordinates of a standard scanning marker corresponding to the scanned image. Based on the scanned image and its corresponding standard scanning marker coordinates, the three-dimensional coordinates of the scanned object in the initial coordinate system can be obtained. When the tracking range of the tracking head needs to be expanded, the tracking head is controlled to rotate in lateral and / or elevation directions via a manual or electric motion device. During the rotation, the lateral encoder and / or pitch encoder outputs an angular change. When the angular change stabilizes within a preset threshold, the tracking head is considered stable. At this point, the scanner can capture an image of the scanned object to obtain a scanned image corresponding to the transformed tracking position. The tracking head can measure a first marker on the scanner to obtain the coordinates of a standard scanning marker corresponding to the scanned image. Based on the scanned image and its corresponding standard scanning marker coordinates, the three-dimensional coordinates of the scanned object in the tracker coordinate system after the position change can be obtained. In this way, the conversion relationship between the tracker coordinate system after the position change and the initial coordinate system can be obtained according to the angle change, and then the scanning data before and after the position change can be unified into the same coordinate system, thereby realizing the station transfer function.

[0086] The disclosed embodiments can implement station expansion using a high-precision position measurement device, allowing the optical tracker to transfer stations without the aid of markers and with high accuracy. Furthermore, when the range of motion of the motion device in the tracking head is large, the optical tracker can meet the needs of continuous multiple station expansions, thereby achieving large-scale three-dimensional scanning.

[0087] FIG6 is a schematic diagram of the structure of a data processing device provided by an embodiment of the present disclosure, which can be understood as the above-mentioned electronic device or a part of the functional modules in the above-mentioned electronic device. As shown in FIG6 , the data processing device 600 includes:

[0088] The first acquisition module 610 is configured to acquire scanning data, wherein the scanning data includes first scanning data and second scanning data, the first scanning data being the three-dimensional coordinates of the scanned object in a first tracker coordinate system, which is the tracker coordinate system when the tracking head of the optical tracker is located at a first position, and the second scanning data being the three-dimensional coordinates of the scanned object in a second tracker coordinate system, which is the tracker coordinate system when the tracking head of the optical tracker is located at a second position.

[0089] The second acquisition module 620 is configured to acquire a position change of the second position relative to the first position, wherein the position change is measured by a position measurement device on the optical tracker, or the first position and the second position are measured by a position measurement device.

[0090] The stitching module 630 is configured to stitch the first scan data and the second scan data into the same tracker coordinate system based on the position change.

[0091] In some other embodiments of the present disclosure, the position measurement device includes a transverse encoding device and / or a longitudinal encoding device.

[0092] Accordingly, the second acquisition module 620 is specifically configured to acquire the horizontal angle change sent by the horizontal encoding device, and / or acquire the pitch angle change sent by the vertical encoding device.

[0093] In some further embodiments of the present disclosure, the position measurement device includes: an X-direction measurement device, a Y-direction measurement device and / or a Z-direction measurement device.

[0094] Accordingly, the second acquisition module 620 is specifically configured to acquire the first X coordinate and the second X coordinate sent by the X-axis measurement device, and determine the X-coordinate change value of the second X coordinate relative to the first X coordinate; acquire the first Y coordinate and the second Y coordinate sent by the Y-axis measurement device, and determine the Y-coordinate change value of the second Y coordinate relative to the first Y coordinate; and / or acquire the first Z coordinate and the second Z coordinate sent by the Z-axis measurement device, and determine the Z-coordinate change value of the second Z coordinate relative to the first Z coordinate.

[0095] In some further embodiments of the present disclosure, the first acquisition module 610 is specifically configured to acquire multiple scanned images and their corresponding scanned marker point coordinates, wherein the scanned image is an image obtained by the scanner capturing an image of the scanned object, and the scanned marker point coordinates are three-dimensional coordinates obtained by the tracking head measuring the first marker point on the scanner.

[0096] The scanned image corresponding to the same scanning mark point coordinates is reconstructed in three dimensions to obtain the three-dimensional coordinates of the scanned object in the scanner coordinate system corresponding to the corresponding scanning mark point coordinates.

[0097] Based on the conversion matrix between the scanner coordinate system and the first tracker coordinate system, and the scanning marker coordinates, the three-dimensional coordinates of the scanned object in the scanner coordinate system corresponding to each scanning marker coordinate are converted to the tracker coordinate system to obtain scanning data.

[0098] If the scan data is the first scan data, the scan image is the first scan image, the scan mark point coordinates are the first scan mark point coordinates, and the data are converted to the first tracker coordinate system.

[0099] If the scan data is the second scan data, the scan image is the second scan image, the scan mark point coordinates are the second scan mark point coordinates, and the data are converted to the second tracker coordinate system.

[0100] In some further embodiments of the present disclosure, the apparatus further includes a first determination module configured to determine a transformation matrix between the scanner coordinate system and the first tracker coordinate system, the first determination module including:

[0101] The first acquisition submodule is configured to acquire the coordinates of a first calibration marker point, a second calibration marker point, and a third calibration marker point, wherein the coordinates of the first calibration marker point and the second calibration marker point are obtained by measuring the first marker point on the scanner and the second marker point on the system calibrator when the tracking head is located at the first position, and the coordinates of the third calibration marker point are obtained by measuring the third marker point on the system calibrator when the tracking head is located at the first position.

[0102] The first determination submodule is configured to determine a transformation matrix between the scanner coordinate system and the first tracker coordinate system based on the first calibration marker point coordinates, the second calibration marker point coordinates, the third calibration marker point coordinates, and the relative position between the second marker point and the third marker point.

[0103] In some further embodiments of the present disclosure, the device further comprises:

[0104] The first fusion module is configured to perform point cloud fusion processing on all scan data spliced ​​into the first tracker coordinate system to obtain a point cloud of the scanned object.

[0105] The first optimization module is configured to perform optimization processing on the point cloud of the scanned object, wherein the optimization processing includes: point cloud denoising processing and / or point cloud simplification processing.

[0106] The device provided in this embodiment can execute the method of any of the above embodiments, and its execution method and beneficial effects are similar, which will not be repeated here.

[0107] FIG7 is a schematic diagram of the structure of a scanning device provided by an embodiment of the present disclosure, which can be understood as the above-mentioned electronic device or a part of the functional modules in the above-mentioned electronic device. As shown in FIG7 , the scanning device 700 includes:

[0108] The third acquisition module 710 is configured to, when the tracking head of the optical tracker is located at the first position, capture an image of the scanned object through a scanner to obtain a first scanned image, and measure a first marker point on the scanner through the tracking head to obtain the coordinates of a first scanning standard marker point corresponding to the first scanned image.

[0109] The fourth acquisition module 720 is configured to acquire, by means of a position measurement device of the optical tracker, a position change of the second position relative to the first position, or acquire the second position when the position of the tracking head is adjusted from the first position to the second position. If the second position is acquired by means of the position measurement device, the first position is acquired by means of the position measurement device after the position of the tracking head is adjusted to the first position.

[0110] The fifth acquisition module 730 is configured to, when the tracking head is located at the second position, acquire an image of the scanned object through the scanner to obtain a second scanned image, and measure the first marker point through the tracking head to obtain the coordinates of the second scanning standard marker point corresponding to the second scanned image.

[0111] The device provided in this embodiment can execute the method of any of the above embodiments, and its execution method and beneficial effects are similar, which will not be repeated here.

[0112] An embodiment of the present disclosure further provides an electronic device, comprising: a memory storing a computer program; and a processor for executing the computer program. When the computer program is executed by the processor, the method of any of the above embodiments can be implemented.

[0113] For example, FIG8 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure. Specific reference will be made to FIG8 below, which shows a schematic diagram of the structure of an electronic device 800 suitable for implementing the embodiment of the present disclosure. The electronic device 800 in the embodiment of the present disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. The electronic device shown in FIG8 is merely an example and should not impose any limitations on the functions and scope of use of the embodiments of the present disclosure.

[0114] As shown in Figure 8, the electronic device 800 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 801, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage device 808 into a random access memory (RAM) 803. Various programs and data required for the operation of the electronic device 800 are also stored in the RAM 803. The processing device 801, the ROM 802, and the RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0115] Typically, the following devices may be connected to the I / O interface 805: an input device 806 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 807 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 808 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 809. The communication device 809 may allow the electronic device 800 to communicate with other devices wirelessly or by wire to exchange data. Although FIG8 shows the electronic device 800 with various devices, it should be understood that it is not required to implement or have all of the devices shown. More or fewer devices may be implemented or have alternatively.

[0116] In particular, according to an embodiment of the present disclosure, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present disclosure includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device 809, or installed from the storage device 808, or installed from the ROM 802. When the computer program is executed by the processing device 801, the above-mentioned functions defined in the method of the embodiment of the present disclosure are performed.

[0117] It should be noted that the computer-readable medium mentioned above in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or component. In the present disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to wires, optical cables, RF (radio frequency), etc., or any suitable combination thereof.

[0118] In some embodiments, the client and server can communicate using any currently known or later developed network protocol, such as HTTP (Hypertext Transfer Protocol), and can be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or later developed network.

[0119] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0120] The computer-readable medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device is caused to: acquire scan data, wherein the scan data includes first scan data and second scan data, the first scan data including three-dimensional coordinates of the scanned object in a first tracker coordinate system, which is a tracker coordinate system when the tracking head of the optical tracker is located at a first position, and the second scan data including three-dimensional coordinates of the scanned object in a second tracker coordinate system, which is a tracker coordinate system when the tracking head of the optical tracker is located at a second position; acquire a position change of the second position relative to the first position, wherein the position change is measured by a position measurement device on the optical tracker, or the first position and the second position are measured by a position measurement device; and splice the first scan data and the second scan data into the same tracker coordinate system based on the position change.

[0121] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages, or a combination thereof, including, but not limited to, object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0122] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0123] The units involved in the embodiments described in this disclosure may be implemented in software or hardware, wherein the name of a unit does not necessarily limit the unit itself.

[0124] The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, and without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chip (SOCs), complex programmable logic devices (CPLDs), and the like.

[0125] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in conjunction with an instruction execution system, device or equipment. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0126] The embodiments of the present disclosure further provide a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method of any of the above embodiments can be implemented. The execution method and beneficial effects are similar and will not be repeated here.

[0127] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0128] The foregoing description is intended only to provide specific embodiments of the present disclosure, intended to enable those skilled in the art to understand and implement the present disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the embodiments described herein, but rather to be construed in the broadest manner consistent with the principles and novel features disclosed herein. Industrial Applicability

[0129] In the data processing method provided by the present disclosure, since the optical tracker is provided with a position measurement device capable of measuring the position of the tracking head, it is possible to obtain the position change of the tracking head when it is in the second position relative to the first position, and then based on the position change, the first scanning data corresponding to the first position and the second scanning data corresponding to the second position are unified into the same coordinate system to achieve station expansion. In this way, the station expansion of the optical tracker can be achieved without the help of markers. Since there is no need to arrange markers, labor costs can be saved. Moreover, since the influence of marker factors (such as unreasonable marker arrangement or movement of markers relative to the scanned object during the scanning process) on the station expansion accuracy can be avoided, it is beneficial to improve the station expansion accuracy and has strong industrial applicability. In the scanning method provided by the present disclosure, a high-precision position measurement device can be used to achieve station expansion, so that the optical tracker station expansion does not require the help of markers and has high accuracy. Moreover, when the range of motion of the motion device in the tracking head is large, it can meet the needs of the optical tracker for multiple consecutive station expansions, thereby achieving large-scale three-dimensional scanning, and has strong industrial applicability.

Claims

1. A data processing method, wherein: include: Acquire scanning data, wherein the scanning data includes first scanning data and second scanning data, the first scanning data including three-dimensional coordinates of a scanned object in a first tracker coordinate system, the first tracker coordinate system being a tracker coordinate system when a tracking head of an optical tracker is located at a first position, and the second scanning data including three-dimensional coordinates of the scanned object in a second tracker coordinate system, the second tracker coordinate system being a tracker coordinate system when the tracking head is located at a second position; Acquiring a position change of the second position relative to the first position, wherein the position change is measured by a position measuring device on the optical tracker, or the first position and the second position are measured by the position measuring device; Based on the position change, the first scan data and the second scan data are stitched into a same tracker coordinate system.

2. The method according to claim 1, wherein The position measuring device includes a transverse encoding device and / or a longitudinal encoding device; Accordingly, obtaining a position change of the second position relative to the first position includes: Obtaining a transverse angle variation sent by the transverse encoding device; and / or; Obtain the pitch angle change sent by the longitudinal encoding device.

3. The method according to claim 1, wherein The position measuring device includes: an X-direction measuring device, a Y-direction measuring device and / or a Z-direction measuring device; Accordingly, obtaining a position change of the second position relative to the first position includes: Obtaining a first X coordinate and a second X coordinate sent by the X-axis measuring device, and determining an X coordinate change value of the second X coordinate relative to the first X coordinate; Obtaining a first Y coordinate and a second Y coordinate sent by the Y-direction measuring device, and determining a Y coordinate change value of the second Y coordinate relative to the first Y coordinate; and / or; Acquire a first Z coordinate and a second Z coordinate sent by the Z-direction measuring device, and determine a Z coordinate change value of the second Z coordinate relative to the first Z coordinate.

4. The method according to claim 1, wherein The acquiring of scan data includes: Acquire multiple scanned images and their corresponding scanned marker point coordinates, wherein the scanned images are images acquired by a scanner through image acquisition of the scanned object, and the scanned marker point coordinates are three-dimensional coordinates obtained by the tracking head measuring a first marker point on the scanner; For the scanned image corresponding to the same scanning mark point coordinates, three-dimensional reconstruction is performed to obtain the three-dimensional coordinates of the scanned object in the scanner coordinate system corresponding to the corresponding scanning mark point coordinates; Based on a conversion matrix between the scanner coordinate system and the first tracker coordinate system and the scanned marker point coordinates, converting the three-dimensional coordinates of the scanned object in the scanner coordinate system corresponding to each of the scanned marker point coordinates into the tracker coordinate system to obtain the scan data; Wherein, if the scan data is the first scan data, the scan image is the first scan image, the scan marker point coordinates are the first scan marker point coordinates, and the coordinates are converted to the first tracker coordinate system; If the scan data is the second scan data, the scan image is the second scan image, the scan marker point coordinates are the second scan marker point coordinates, and the coordinates are converted to the second tracker coordinate system.

5. The method according to claim 4, wherein The process of determining the transformation matrix of the scanner coordinate system and the first tracker coordinate system includes: Obtaining coordinates of a first calibration marker point, a second calibration marker point, and a third calibration marker point, wherein the coordinates of the first calibration marker point and the second calibration marker point are obtained by measuring a first marker point on the scanner and a second marker point on the system calibrator, respectively, when the tracking head is located at the first position, and the coordinates of the third calibration marker point are obtained by measuring a third marker point on the system calibrator by the scanner when the tracking head is located at the first position; A transformation matrix between the scanner coordinate system and the first tracker coordinate system is determined based on the first calibration marker point coordinates, the second calibration marker point coordinates, the third calibration marker point coordinates, and the relative position between the second marker point and the third marker point.

6. The method according to claim 1, wherein Also includes: Performing point cloud fusion processing on all scan data spliced ​​into the first tracker coordinate system to obtain a point cloud of the scanned object; The point cloud of the scanned object is optimized, wherein the optimization includes: point cloud denoising and / or point cloud simplification.

7. A scanning method, wherein: include: When the tracking head of the optical tracker is located at a first position, the scanner is used to capture an image of the scanned object to obtain a first scanned image, and the tracking head is used to measure a first marker point on the scanner to obtain coordinates of a first scanning standard marker point corresponding to the first scanned image; When the position of the tracking head is adjusted from the first position to the second position, obtaining a position change of the second position relative to the first position or obtaining the second position by a position measuring device of the optical tracker, wherein if the second position is obtained by the position measuring device, the first position is obtained by the position measuring device after the position of the tracking head is adjusted to the first position; When the tracking head is located at the second position, the scanner is used to capture an image of the scanned object to obtain a second scanned image, and the tracking head is used to measure the first mark point to obtain the coordinates of the second scanning standard mark point corresponding to the second scanned image.

8. A data processing device, wherein: include: a first acquisition module configured to acquire scan data, wherein the scan data includes first scan data and second scan data, the first scan data being three-dimensional coordinates of a scanned object in a first tracker coordinate system, which is a tracker coordinate system when a tracking head of an optical tracker is located at a first position; and the second scan data being three-dimensional coordinates of the scanned object in a second tracker coordinate system, which is a tracker coordinate system when the tracking head of the optical tracker is located at a second position; a second acquisition module configured to acquire a position change of the second position relative to the first position, wherein the position change is measured by a position measurement device on the optical tracker, or the first position and the second position are measured by the position measurement device; The stitching module is configured to stitch the first scan data and the second scan data into a unified tracker coordinate system based on the position change.

9. The data processing apparatus according to claim 8, wherein: The position measuring device includes a transverse encoding device and / or a longitudinal encoding device; Accordingly, the second acquisition module is configured to acquire a position change of the second position relative to the first position, including: Obtaining a lateral angle variation sent by the lateral encoding device; and / or; Obtain the pitch angle change sent by the longitudinal encoding device.

10. The data processing apparatus according to claim 8, wherein: The position measuring device includes: an X-direction measuring device, a Y-direction measuring device and / or a Z-direction measuring device; Accordingly, the second acquisition module is configured to acquire a position change of the second position relative to the first position, including: Obtaining a first X coordinate and a second X coordinate sent by the X-direction measuring device, and determining an X coordinate change value of the second X coordinate relative to the first X coordinate; Obtaining a first Y coordinate and a second Y coordinate sent by the Y-direction measuring device, and determining a Y coordinate change value of the second Y coordinate relative to the first Y coordinate; and / or; Acquire a first Z coordinate and a second Z coordinate sent by the Z-direction measuring device, and determine a Z coordinate change value of the second Z coordinate relative to the first Z coordinate.

11. The data processing apparatus according to claim 8, wherein: The first acquisition module is configured to acquire scan data, including: Acquire multiple scanned images and their corresponding scanned marker point coordinates, wherein the scanned images are images acquired by a scanner through image acquisition of the scanned object, and the scanned marker point coordinates are three-dimensional coordinates obtained by the tracking head measuring a first marker point on the scanner; Reconstructing the scanned image corresponding to the same scanning mark point coordinates in three dimensions to obtain the three-dimensional coordinates of the scanned object in the scanner coordinate system corresponding to the corresponding scanning mark point coordinates; Based on a conversion matrix between the scanner coordinate system and the first tracker coordinate system and the scanned marker point coordinates, converting the three-dimensional coordinates of the scanned object in the scanner coordinate system corresponding to each of the scanned marker point coordinates into the tracker coordinate system to obtain the scan data; Wherein, if the scan data is the first scan data, the scan image is the first scan image, the scan marker point coordinates are the first scan marker point coordinates, and the coordinates are converted to the first tracker coordinate system; If the scan data is the second scan data, the scan image is the second scan image, the scan marker point coordinates are the second scan marker point coordinates, and the coordinates are converted to the second tracker coordinate system.

12. The data processing apparatus according to claim 11, wherein: The data processing device further includes a first determining module, configured to determine a transformation matrix between the scanner coordinate system and the first tracker coordinate system, the first determining module including: a first acquisition submodule configured to acquire coordinates of a first calibration marker point, coordinates of a second calibration marker point, and coordinates of a third calibration marker point, wherein the coordinates of the first calibration marker point and the coordinates of the second calibration marker point are obtained by measuring a first marker point on the scanner and a second marker point on the system calibrator, respectively, when the tracking head is located at the first position; and the coordinates of the third calibration marker point are obtained by measuring a third marker point on the system calibrator by the scanner when the tracking head is located at the first position; The first determination submodule is configured to determine a transformation matrix between the scanner coordinate system and the first tracker coordinate system based on the first calibration marker point coordinates, the second calibration marker point coordinates, the third calibration marker point coordinates, and the relative position between the second marker point and the third marker point.

13. The data processing apparatus according to claim 8, wherein: The data processing device further includes: The first fusion module is configured to perform point cloud fusion processing on all scan data spliced ​​into the first tracker coordinate system to obtain a point cloud of the scanned object.

14. The data processing apparatus according to claim 8, wherein: The data processing device further includes: The first optimization module is configured to perform optimization processing on the point cloud of the scanned object, wherein the optimization processing includes: point cloud denoising processing and / or point cloud simplification processing.

15. A scanning device, wherein: include: a third acquisition module configured to, when the tracking head of the optical tracker is located at a first position, acquire an image of the scanned object using a scanner to obtain a first scanned image, and measure a first marker point on the scanner using the tracking head to obtain coordinates of a first scanning standard marker point corresponding to the first scanned image; a fourth acquisition module, configured to acquire, by means of a position measurement device of the optical tracker, a position change of the second position relative to the first position, or acquire the second position, when the position of the tracking head is adjusted from the first position to the second position; wherein, if the second position is acquired by means of the position measurement device, then after the position of the tracking head is adjusted to the first position, the first position is acquired by means of the position measurement device; The fifth acquisition module is configured to, when the tracking head is located at the second position, acquire an image of the scanned object through the scanner to obtain a second scanned image, and measure the first mark point through the tracking head to obtain the coordinates of the second scanning standard mark point corresponding to the second scanned image.

16. An electronic device, wherein: include: A processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the electronic device implements the method according to any one of claims 1 to 6, or implements the method according to any one of claim 7.

17. A computer-readable storage medium, wherein: The storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented, or the method according to any one of claim 7 is implemented.

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