Three-dimensional reconstruction method based on kinematic calibration for monomerization of line-structured light point set

Abstract

Disclosed in the present invention is a three-dimensional reconstruction method based on kinematic calibration for the monomerization of a line-structured light point set. The method comprises: rigidly combining an area-array camera with a linear-line-structured light emitter, and mounting same on a motion platform; using a standard radius value of a standard sphere and line-structured light scanning data to calibrate structural parameters of the motion platform of a measurement apparatus; with the calibrated spherical center position of the standard sphere and the standard radius of the standard sphere as constraints, calibrating a spatial position relationship of a line-scanned point set; controlling the motion of the five-axis motion platform, and acquiring scanning data of a measured piece in different poses; and using the scanning data and a real-time point cloud calibration matrix to complete high-quality three-dimensional model reconstruction of the measured piece from its multi-pose scanning. The system comprises: an apparatus fixing module, a calibration module, a point cloud calibration module, a scanning module, and a point cloud reconstruction module. By means of using the present invention, the reconstruction accuracy of a line-structured light three-dimensional point cloud model can be improved. The present invention can be widely applied to the field of three-dimensional reconstruction.

Description

A three-dimensional reconstruction method based on line structured light point set individualization kinematic calibration TECHNICAL FIELD

[0001] The present application relates to the field of three-dimensional reconstruction, in particular to a three-dimensional reconstruction method based on line structured light point set individualization kinematic calibration. BACKGROUND

[0002] With the rapid development of China's manufacturing industry, the demand for high-precision detection of complex workpieces is increasing. The combination of line structured light and five-axis motion platform can realize multi-pose scanning and point cloud model reconstruction, thereby completing the detection task of complex workpieces. However, due to manufacturing and assembly errors, the actual structure of the five-axis motion platform often deviates from the theoretical structure, affecting its positioning accuracy. Since the line structured light reconstruction accuracy is related to the platform structure, first calibrate the platform to improve its accuracy, then scan the point cloud using line structured light, and calibrate the point cloud in real time to improve the three-dimensional reconstruction accuracy of the line structured light multi-pose scanning system.

[0003] Kinematic calibration is a method for compensating for platform geometric errors and improving its absolute accuracy. Existing kinematic calibration methods usually require expensive equipment such as laser trackers to collect multi-axis motion pose information, resulting in high calibration costs and insufficient observation data. In addition, the multi-pose three-dimensional reconstruction accuracy of line structured light is not only related to the positioning accuracy of the platform, but also affected by the position accuracy of the point cloud. Existing methods usually do not consider the real-time calibration of the point cloud measured by line structured light, resulting in insufficient three-dimensional reconstruction accuracy of the line structured light multi-pose scanning system. SUMMARY

[0004] Therefore, in order to solve the three-dimensional reconstruction problem of the existing line structured light multi-pose scanning system, the present application proposes a three-dimensional reconstruction method based on line structured light point set individualization kinematic calibration, which includes the following steps:

[0005] A planar array camera and a linear line structured light emitter are rigidly combined and installed on a five-axis motion platform to obtain a measurement device;

[0006] The standard ball radius standard value and the line structured light scanning data are used to calibrate the motion platform structure parameters of the measurement device to obtain a calibrated measurement device;

[0007] The calibrated standard ball center position and the standard ball standard radius are used as constraints to calibrate the spatial position relationship of the line scanning point set to obtain a real-time point cloud calibration matrix;

[0008] The five-axis motion platform is controlled to move and obtain scanning data at different poses of the standard ball;

[0009] Based on the calibrated measurement device, a high-quality three-dimensional model of the measured object is automatically reconstructed from the scanning data and the real-time point cloud calibration matrix.

[0010] The beneficial effects of the embodiment are: a line structure light emitter and a camera are combined to realize non-contact three-dimensional visual measurement, without the need for a laser tracker, thereby reducing the calibration cost; and since the line structure light three-dimensional scanning system can collect dense point clouds by controlling the platform motion, and all point clouds can directly participate in the motion platform structure parameter calibration, the amount of observation data required for calibration is greatly improved, and the identification accuracy of error parameters is improved.

[0011] In addition, if the measurement device has been calibrated, the calibration step is skipped.

[0012] In some embodiments, the step of calibrating the motion platform structure parameters of the measurement device using the standard ball radius standard value and the line structure light scanning data to obtain a calibrated measurement device specifically includes:

[0013] Fixing the standard ball at the center of the flange at the end of the five-axis motion platform;

[0014] Controlling the motion of the five-axis motion platform and obtaining scanning data at different poses of the standard ball;

[0015] Constructing a kinematic model and a kinematic error model according to the influence of each axis of the five-axis motion platform on the end, and determining error parameter terms;

[0016] Solving the spherical arc point cloud in the end coordinate system and taking multiple frames of point cloud to fit the ball center to obtain the initial ball center position;

[0017] Constructing a target function according to the three-dimensional information of the spherical arc point cloud, the initial ball center position, and the standard radius of the standard ball;

[0018] Based on the target function, all spherical arc point sets are directly involved in error identification after being individualized, the motion platform structure parameter calibration is completed, and a calibrated measurement device is obtained.

[0019] The beneficial effects of the embodiment are: the influence of the structure parameters of the translation axis and the rotation axis on the measurement of the ball center and the measurement of the radius of the standard ball is utilized to minimize the interference caused by the line structure light plane solving error, the calibration of the translation axis and the rotation axis can be considered, and all scanned spherical arc point sets can be directly involved in error identification, thereby ensuring the accuracy of the error parameter term identification result and improving the platform motion accuracy and the three-dimensional point cloud model reconstruction accuracy.

[0020] In some embodiments, the calibrated measurement device is used to complete the high-quality three-dimensional model reconstruction of the multi-pose scanning of the measured object based on the scanning data and the instant point cloud calibration matrix, which specifically includes:

[0021] Based on the calibrated measurement device, the three-dimensional information of the line structured light stripe center point in the camera coordinate system is calculated according to the camera intrinsic parameter matrix and the light plane equation in the camera coordinate system.

[0022] The scanning data at each pose is converted to the end coordinate system by combining the hand-eye transformation matrix, the calibrated kinematics inverse transformation matrix and the instant point cloud calibration matrix.

[0023] The beneficial effects of the embodiment are that the calibration of the spatial position relationship of the line scanning point set is realized by using the kinematically calibrated standard ball center position, so that the system detection accuracy is further improved. The line structured light system and the kinematically calibrated multi-axis motion platform are combined, the complex workpiece can be scanned in multiple directions, and each frame of point cloud is converted to the same coordinate system through the motion relationship, so that the high-quality complete appearance reconstruction of the multi-directional scanning point cloud model of the complex workpiece is automatically realized.

[0024] The application further provides a three-dimensional reconstruction system, which comprises:

[0025] The device fixing module is used for rigidly combining the area array camera with the linear line structured light emitter and installing the measurement device on the five-axis motion platform.

[0026] The calibration module is used for calibrating the motion platform structure parameters of the measurement device by using the standard ball radius standard value and the line structured light scanning data, so as to obtain the calibrated measurement device.

[0027] The point cloud calibration module is used for calibrating the spatial position relationship of the line scanning point set by taking the calibrated standard ball center position and the standard ball standard radius as constraints, so as to obtain the instant point cloud calibration matrix.

[0028] The scanning module is used for controlling the motion of the five-axis motion platform and acquiring the scanning data at different poses of the measured object.

[0029] The point cloud reconstruction module is used for automatically completing the high-quality three-dimensional model reconstruction of the multi-pose scanning of the measured object based on the calibrated measurement device and according to the scanning data and the instant point cloud calibration matrix.

[0030] Based on the above scheme, the application provides a three-dimensional reconstruction method based on line structured light point set individualization kinematic calibration, which combines line structured light with a five-axis platform, and uses the calibrated five-axis platform and three-dimensional point cloud to perform three-dimensional reconstruction of the overall appearance of the measured workpiece, thereby ensuring the motion accuracy of the platform and the absolute accuracy of the line scanning point set, and improving the reconstruction accuracy of the line structured light multi-pose three-dimensional point cloud model. BRIEF DESCRIPTION OF DRAWINGS

[0031] Fig. 1 is a step flowchart of a three-dimensional reconstruction method based on line structured light point set individualization kinematic calibration according to the application;

[0032] Fig. 2 is a schematic diagram of kinematic modeling of a five-axis motion platform according to an embodiment of the application;

[0033] Fig. 3 is a schematic diagram of light plane deviation solving according to an embodiment of the application;

[0034] Fig. 4 is a structural block diagram of a three-dimensional reconstruction system according to the application. DETAILED DESCRIPTION

[0035] In addition to the problem that the existing calibration methods in the background art usually need to rely on expensive equipment such as a laser tracker, resulting in high cost, the traditional standard ball calibration method uses the ball center solved by each piece of point cloud for registration to calibrate the kinematic parameters, and fewer parameters can be identified, and multiple motion platform structure parameters cannot be calibrated at the same time. In addition, the ball center solving of a single piece of point cloud is easily affected and disturbed by the stripe center point solving accuracy, and it is difficult to ensure the accuracy of the identification result, thereby affecting the platform positioning accuracy and the point cloud model reconstruction accuracy.

[0036] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the application.

[0037] It should be noted that, for the convenience of description, only the parts related to the application are shown in the drawings. The embodiments in the application and the features in the embodiments can be combined with each other without conflict.

[0038] It should be understood that the "system", "device" and / or "module" used in the application is a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the word can be replaced by other expressions.

[0039] As shown in the present application and claims, unless the context clearly indicates otherwise, the words "a," "an," "the," and / or "said" are not limited in scope to the singular, but include the plural. Generally, the terms "including," "has," and "having," and / or the like, are used inclusively, in a manner that such terms generally accept, and do not exclude additional, unrecited elements, steps, features, and so on. Elements specified in the statement "comprising a" are not excluded from the process, method, article, or apparatus that includes the element.

[0040] In the description of embodiments of the present application, "a plurality" means two or more than two. The following terms "first", "second", are only used for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features.

[0041] In addition, flowcharts are used in the present application to illustrate the operations performed by the system according to the embodiments of the present application. It should be understood that the preceding or subsequent operations are not necessarily performed in sequence. On the contrary, each step can be processed in reverse order or simultaneously. Meanwhile, other operations can be added to these processes, or one or more steps of operation can be removed from these processes.

[0042] Referring to FIG. 1, a flowchart of an optional example of a three-dimensional reconstruction method based on line structured light point set individualization kinematic calibration proposed by the present application is shown. The method can be applied to a computer device. The three-dimensional point cloud reconstruction method proposed in the present embodiment can include but is not limited to the following steps:

[0043] Step S1, rigidly combine a planar array camera with a linear structured light emitter, and install them on a five-axis motion platform to obtain a measurement device;

[0044] Wherein, the component combination is completed, and the line structured light stripe is within the field of view of the camera.

[0045] Step S2, calibrate the motion platform structure parameters of the measurement device using the standard ball radius standard value and the line structured light scanning data to obtain the calibrated measurement device;

[0046] S2.1, fix the standard ball at the center of the five-axis motion platform flange;

[0047] S2.2, control the motion of the five-axis motion platform and obtain scanning data at different poses of the standard ball;

[0048] Specifically, under the condition that the line structured light can irradiate the surface of the standard ball, the platform is arbitrarily moved to obtain scanning data at different poses of the standard ball.

[0049] S2.3, constructing a kinematic model and a kinematic error model according to the influence of each axis of the five-axis motion platform on the end, and determining error parameter terms;

[0050] S2.4, solving a spherical arc point cloud under an end coordinate system and taking multiple frames of fitted spherical centers to obtain an initial spherical center position;

[0051] S2.5, constructing a target function according to three-dimensional information of the spherical arc point cloud, the initial spherical center position, and a standard spherical standard radius;

[0052] S2.6, based on the target function, directly participating in error identification after individualizing all spherical arc point sets, completing motion platform structure parameter calibration, and obtaining a calibrated measurement device.

[0053] Step S3, calibrating a linear scanning space point set position relationship by taking the calibrated standard spherical center position and the standard spherical standard radius as constraints, and obtaining an instant point cloud calibration matrix;

[0054] Step S4, controlling the five-axis motion platform to move and acquiring scanning data of a measured object in different poses;

[0055] Step S5, based on the calibrated measurement device, automatically completing high-quality three-dimensional model reconstruction of a measured object in multiple poses according to the scanning data and the instant point cloud calibration matrix.

[0056] In some possible embodiments, in S2.3, it specifically includes:

[0057] Constructing a kinematic model, which refers to FIG. 2:

[0058] According to the influence on the end, the five-axis platform can be divided into translation axes and rotation axes. Since the translation motion of the machine tool does not affect the rotation motion, the following model is established for the translation axes first.

[0059] Wherein, a 11 , a 12 , a 13 , a 21 , a 22 , a 23 , a 31 , a 32 , a 33are nine parameters related to the yaw coefficients, which describe the yaw degree of each translation axis; k1, k2, k3 are three parameters related to the pulse motion ratio, which describes the proportional relationship between the encoder feedback unit pulse motion and the machine vision measurement value; X, Y, Z are the encoder feedback values, which describe the motion amount of the end along each axis direction; x, y, z are three parameters related to the initial deviation, which describes the deviation of the origin of the base coordinate system established by the hand-eye relationship and the actual selected machine tool origin in X, Y, Z directions. Taking the five-axis motion platform as an example, the intersection of A axis and C axis is selected as the machine tool origin.

[0060] Simplifying the above formula, we get:

[0061] The following model is established for the transmission relationship between the translation axis and the rotation axis:

[0062] Where A is the encoder feedback value of rotation around the X axis direction, a is the initial deviation of rotation around the X axis direction, and γ and θ are two rotation degrees of freedom required when transmitting the translation axis coordinate system and the rotation axis coordinate system.

[0063] The following model is established for the transmission relationship between the rotation axes:

[0064] Where C is the encoder feedback value of rotation around the Z axis direction, c is the initial deviation of rotation around the Z axis direction, and d4 is the connecting rod length between the rotation axes.

[0065] Finally, the kinematic model can be obtained by combining the above formulas:

[0066] The kinematic error model is constructed as follows:

[0067] All the motion platform structure parameters in the foregoing kinematic model except X, Y, Z, A, C are fixed values, which are the theoretical values determined by the three-dimensional model of the platform. Due to the inevitable errors introduced during the manufacturing and assembly of the platform, these theoretical values may have errors, which may cause the results calculated from the motion platform structure parameters to deviate from the actual motion results. Therefore, it is necessary to construct the kinematic error model of the five-axis motion platform to calibrate the motion platform structure parameters containing error terms. Thus, the error model is determined as follows: The error model is as follows:

[0068] As can be seen from the above formula, the error model contains 17 error terms.

[0069] In some possible embodiments, in S2.4 and S2.5:

[0070] First, the camera intrinsic matrix, the light plane equation in the camera coordinate system are used to solve the line structured light stripe center point P in the camera coordinate system camera Then, the hand-eye transformation matrix and the kinematic model are used to convert the three-dimensional point cloud to the end coordinate system of the platform to obtain the spherical surface arc point cloud P in the end coordinate system end The conversion formula is as follows:

[0071] The camera intrinsic matrix and the light plane equation in the camera coordinate system are obtained by camera calibration and light plane calibration, respectively, and there are mature calibration methods. Therefore, no further description is given. It is particularly emphasized that the hand-eye transformation matrix is obtained by fitting the motion direction of each axis and normalizing the hand-eye calibration method, without introducing kinematic parameter errors. In addition, since the actual structural parameter information of the motion platform is not combined during the light plane calibration, there is inevitably a light plane solving deviation, which will affect the single-frame line structured light point cloud solving accuracy. Therefore, the error introduced by the insufficient light plane solving accuracy needs to be compensated after the motion platform structural parameters are calibrated, so as to ensure the quality of the line structured light three-dimensional reconstruction model.

[0072] The spherical center Q is calculated by taking multiple frames of non-collinear point cloud data center The spherical center position is also described by the end coordinate system. The distance between the spherical surface arc point cloud P in the end coordinate system end and the initial spherical center Q center and the difference between the standard radius r of the standard sphere are used to construct the objective function as follows: Δr=‖P end -Q center ‖ 2 -r 2

[0073] In some feasible embodiments, in S2.6:

[0074] The physical meaning of error parameter identification is to minimize the error between the model output and the actual observation data by adjusting the error term. For the objective function proposed in this paper, first, the three-dimensional point cloud data obtained by the line structured light system scanning multiple frames of non-collinear points is converted to the end coordinate system of the platform by using the encoder feedback of each axis and the initial motion platform structural parameters to obtain the theoretical value of the spherical surface arc point cloud in the end coordinate system:

[0075] The spherical center Q is calculated by using the above theoretical value The spherical center position may contain error amounts Δx, Δy, and Δz in the XYZ directions.

[0076] Then rely on each axis encoder feedback amount and with error amount motion platform structure parameters, the line structure light system scanning all three-dimensional point cloud to the platform end coordinate system, get the end coordinate system under the spherical surface arc point cloud measurement value:

[0077] Because the spherical surface arc point cloud is distributed on the sphere, it is constrained by the standard sphere radius and the sphere center, so all observation data can be directly involved in identification after point set monomerization. Point set monomerization is expressed as:

[0078] Where p represents a single point, P represents a point set, q center represents the initial sphere center point determined by multiple frames of line scanning point cloud, so p end represents the point obtained by solving the line scanning data to the end coordinate system, represents the point set of all line structure light scanning measurement values, and ε is a small amount.

[0079] At the same time, due to the existence of the rotation axes A and C of the five-axis motion platform, the standard sphere center can be solved by using the scanning point cloud under multiple poses, which can minimize the interference of the line structure light three-dimensional point cloud solving accuracy and ensure the effectiveness of the identification. Avoid the deviation of each piece of point cloud sphere center caused by the insufficient three-dimensional point cloud solving accuracy of single frame line structure light point cloud, which leads to the problem that it is difficult to accurately identify each error parameter. After monomerization, the measurement point set is substituted into the objective function with the unique element of the initial sphere center point set :

[0080] Where N is the size of the point set, J k is the error matrix, which is calculated by all observation data, Δq is the error parameter vector to be solved, including 3 items carried by the initial sphere center and 17 items covered by the error amount motion platform structure parameters, a total of 20 error parameters. The influence of the initial sphere center error and the error of each motion platform structure parameter on the measured sphere center and the measured radius of the standard sphere can be identified by the identification algorithm, so as to complete the kinematic calibration.

[0081] In some possible embodiments, the step S3 specifically comprises:

[0082] Because the five-axis motion platform has two rotation axes A and C, the position of the standard sphere center obtained by fitting the spherical surface arc point cloud under each pose is not easily affected by the line structure light three-dimensional point cloud solving accuracy, so the position of the standard sphere center after kinematic calibration can be used as the ideal sphere center ​Meanwhile, since the line structured light three-dimensional point cloud solving accuracy is mainly affected by the light plane solving accuracy, when the light plane equation obtained through the light plane calibration does not completely coincide with the actual light plane, a position deviation of the line structured light three-dimensional point cloud solving in the XYZ direction is caused, which can be compensated by a diagonal matrix with an error term after calibration, and the position deviation is shown in Fig. 3. Therefore, the ideal sphere center position and the standard radius r of the standard sphere are used as constraints to realize the calibration of the spatial position relationship of the line scanning point set, so as to improve the reconstruction accuracy of the three-dimensional point cloud model. The objective function used in the calibration is as follows:

[0083] wherein is the standard sphere center position after the kinematic calibration, i.e. the ideal sphere center position, is the measurement value of the three-dimensional point cloud of the spherical surface arc line in the end coordinate system, which is composed of the point cloud coordinate initial value x, y, z and the position calibration diagonal matrix , the elements on the diagonal line of the diagonal matrix are the position error coefficient items s1, s2, s3, i.e. The error model of s can be constructed as follows:

[0084] The three error parameters are identified by using the identification algorithm, and the real-time point cloud position calibration matrix s is obtained , so as to further improve the absolute accuracy of the line scanning point set and the reconstruction accuracy of the three-dimensional point cloud model.

[0085] In some possible embodiments, the step S5 specifically comprises:

[0086] After the above kinematic calibration and point cloud position calibration, the motion accuracy of the platform and the absolute accuracy of the line scanning point set are guaranteed. Therefore, by controlling the motion of each axis of the five-axis platform, the scanning data of the measured object in different poses is obtained, the three-dimensional information of the line structured light stripe center point in the camera coordinate system is solved by using the camera intrinsic matrix and the light plane equation in the camera coordinate system, the motion kinematic inverse transformation matrix after the kinematic calibration, and the position calibration matrix after the point cloud position calibration are used to convert the scanning point cloud in each pose to the end coordinate system, so as to obtain a high-precision three-dimensional point cloud conforming to the appearance of the measured workpiece. The high-quality three-dimensional model reconstruction of the measured object in multiple poses is automatically completed.

[0087] As shown in Fig. 4, a three-dimensional reconstruction system comprises:

[0088] A device fixing module is configured to rigidly combine a planar array camera with a linear structured light emitter in a one-dimensional line structure, and to install the combination on a five-axis motion platform to obtain a measurement device.

[0089] A calibration module is configured to calibrate structural parameters of the motion platform of the measurement device by using a standard sphere radius standard value and linear structured light scanning data, to obtain a calibrated measurement device.

[0090] A point cloud calibration module is configured to calibrate spatial position relationships of a linear scanning point set by using a calibrated standard sphere center position and a standard sphere standard radius as constraints, to obtain an instant point cloud calibration matrix.

[0091] A scanning module is configured to control the five-axis motion platform to move and to obtain scanning data of a measured object in different poses.

[0092] A point cloud reconstruction module is configured to automatically complete high-quality three-dimensional model reconstruction of the measured object in multiple poses by using the scanning data and the instant point cloud calibration matrix based on the calibrated measurement device.

[0093] The contents in the above method embodiments are applicable to the system embodiments, the system embodiments specifically implement the same functions as the above method embodiments, and achieve the same beneficial effects as the above method embodiments.

[0094] A three-dimensional reconstruction device based on linear structured light point set individualization kinematic calibration:

[0095] At least one processor;

[0096] At least one memory configured to store at least one program;

[0097] When the at least one program is executed by the at least one processor, the at least one processor implements the three-dimensional reconstruction method based on linear structured light point set individualization kinematic calibration.

[0098] The contents in the above method embodiments are applicable to the device embodiments, the device embodiments specifically implement the same functions as the above method embodiments, and achieve the same beneficial effects as the above method embodiments.

[0099] A storage medium has processor-executable instructions stored therein, and the processor-executable instructions, when executed by a processor, are configured to implement the three-dimensional reconstruction method based on linear structured light point set individualization kinematic calibration.

[0100] The contents in the above method embodiments are applicable to the storage medium embodiments, the storage medium embodiments specifically implement the same functions as the above method embodiments, and achieve the same beneficial effects as the above method embodiments.

[0101] The above is a specific description of the preferred embodiments of the present application, but the present application is not limited to the described embodiments, and those skilled in the art can make various equivalent modifications or replacements without departing from the spirit of the present application, and these equivalent modifications or replacements are all included in the scope defined by the claims of the present application.

Claims

1. A three-dimensional reconstruction method based on monodisperse kinematic calibration of a line structured light point set, characterized in that, The method comprises the following steps: a planar array camera is rigidly combined with a linear structured light emitter, and is installed on a five-axis motion platform to obtain a measuring device; a standard ball is fixed on a center of a flange at an end of the five-axis motion platform; motion of the five-axis motion platform is controlled, and scanning data of different poses of the standard ball is obtained; a kinematic model and a kinematic error model are constructed according to influences of each axis of the five-axis motion platform on the end, and error parameter items are determined; a spherical arc point cloud under a coordinate system of the end is solved, and a ball center is fitted from multiple frames of point clouds to obtain an initial ball center position; 2.The three-dimensional reconstruction method based on single-point set kinematic calibration of line structured light according to claim 1, wherein, a target function is constructed according to three-dimensional information of the spherical arc point cloud, the initial ball center position and a standard radius of the standard ball; based on the target function, all spherical arc point sets are individualized and directly participate in error identification to complete calibration of structural parameters of the motion platform, and a calibrated measuring device is obtained. the three-dimensional model reconstruction is completed by using the scanning data and the instant point cloud calibration matrix based on the calibrated measuring device. The method for performing the three-dimensional reconstruction based on the kinematic calibration of the linear structured light point set individualization according to claim 1 comprises: a device fixing module for rigidly combining a planar array camera with a linear structured light emitter, and installing the planar array camera on a five-axis motion platform to obtain a measuring device; a calibration module for calibrating structural parameters of a motion platform of the measuring device by using a standard value of a standard radius of a standard ball and scanning data of the linear structured light to obtain a calibrated measuring device; an instant point cloud calibration module for calibrating spatial position relationships of linear scanning point sets by taking a calibrated ball center position of the standard ball and a standard radius of the standard ball as constraints to obtain an instant point cloud calibration matrix; 3.The three-dimensional reconstruction method based on single-point set kinematic calibration of line structured light according to claim 2, wherein, The kinematic model is represented as follows: wherein representing the overall kinematic model, represents a translation axis model, a transfer relationship model between a translation axis and a rotation axis, represents the transmission relationship model between the rotation axes, A is the encoder feedback quantity rotating around the X-axis direction, a is the initial deviation rotating around the X-axis direction, γ and θ are two rotation degrees of freedom required when transmitting the translation axis coordinate system and the rotation axis coordinate system, C is the encoder feedback quantity rotating around the Z-axis direction, c is the initial deviation rotating around the Z-axis direction, and d4 is the connecting rod length between the rotation axes; b 11 , b 12 , b 13 are three proportional coefficients related to the X-axis yaw coefficient and the pulse motion ratio, b 21 , b 22 , b 23 are three proportional coefficients related to the Y-axis yaw coefficient and the pulse motion ratio, b 31 , b 32 , and b 33 are three proportional coefficients related to the Z-axis yaw coefficient and the pulse motion ratio; d1, d2, and d3 are the origin deviations in the X-axis, Y-axis, and Z-axis directions, respectively; X, Y, and Z represent the encoder feedback quantities of the corresponding axes.

4. The three-dimensional reconstruction method based on single-point set kinematic calibration of linear structured light according to claim 2, wherein, The objective function is expressed as follows: Δr = ||P end - Q center || 2 - r 2 where Q center represents the initial sphere center of the fitting, P end represents the spherical arc point cloud under the end coordinate system, and r represents the standard sphere standard radius.

5. The three-dimensional reconstruction method based on single-point set kinematic calibration of linear structured light according to claim 4, characterized in that, The conversion formula of the spherical arc point cloud under the end coordinate system is as follows: wherein, denotes a hand-eye transformation matrix, P camera denotes a line structured light stripe center point in the camera coordinate system.

6. The three-dimensional reconstruction method based on single-point set kinematic calibration of linear structured light according to claim 2, wherein, a scanning module for controlling motion of the five-axis motion platform and obtaining scanning data of a measured object in different poses; 7. The three-dimensional reconstruction method based on single-point set kinematic calibration of linear structured light according to claim 2, wherein, ​ ​ ​ 8. A three-dimensional reconstruction system, characterized by ​ ​ ​ ​ ​ A point cloud remodeling module, based on the calibrated measuring device, completes high-quality three-dimensional model remodeling of the multi-pose scanning of the measured piece according to the scanning data and the instant point cloud calibration matrix.

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