CN-115984371-B - Scanning head pose detection method, device, equipment and medium

CN115984371BCN 115984371 BCN115984371 BCN 115984371BCN-115984371-B

Abstract

The embodiment of the disclosure relates to a scanning head pose detection method, a device, equipment and a medium, wherein the method comprises the steps of carrying out tracking scanning processing on marking points on an external frame of a scanning head based on N tracking cameras to obtain three effective marking point three-dimensional coordinates, wherein N is a positive integer greater than 2, and calculating based on the three effective marking point three-dimensional coordinates and reference coordinates of each effective marking point under a frame coordinate system to obtain a rotation matrix and a translation vector which are converted from the scanner coordinate system to the tracker coordinate system. By adopting the technical scheme, the position relation between the scanning head coordinate system and the tracker coordinate system is calculated based on the mark point data acquired by more than two tracking cameras, so that the positioning precision and stability of the tracker to the scanning head pose and the overall measurement precision of the tracker scanning measurement system are improved.

Inventors

LI ZHOUQIANG
LI RENJU
LIANG BAOQIU
LI ZHONGPING

Assignees

杭州天远三维检测技术有限公司

Dates

Publication Date: 20260508
Application Date: 20221125

Claims (6)

1. The scanning head pose detection method is characterized by comprising the following steps of: The method comprises the steps of carrying out tracking scanning treatment on marking points on an external frame of a scanning head based on N tracking cameras to obtain three-dimensional coordinates of at least three effective marking points, wherein N is a positive integer larger than 2, acquiring pixel coordinates of the marking points, a long and short half shafts and included angles between a marking point plane and a camera imaging plane based on images acquired by each tracking camera, determining M pixel coordinate pairs from the N pixel coordinates based on the long and short half shafts or the included angles, and respectively reconstructing the M pixel coordinate pairs based on a preset triangular ranging principle to obtain the three-dimensional coordinates of the at least three effective marking points, wherein M is a positive integer larger than 3, and selecting a camera combination with the smaller included angle or a camera combination with the long and short half shaft ratio close to 1 or smaller to reconstruct; And calculating based on the three-dimensional coordinates of the at least three effective marker points and the reference coordinates of each effective marker point in the frame coordinate system to obtain a rotation matrix and a translation vector which are converted from the scanner coordinate system to the tracker coordinate system, wherein the reference coordinates of each effective marker point in the frame coordinate system refer to the coordinate information of the effective marker point in the frame coordinate system.
2. The scanning head pose detection method according to claim 1, further comprising: Acquiring scanning data based on a scanning head; and calculating based on the rotation matrix and the translation vector converted from the scanner coordinate system to the tracker coordinate system and the scanning data to obtain tracking scanning measurement data.
3. The scanning head pose detection method according to claim 1, further comprising: Shooting a calibrator containing mark points or coding points at a plurality of positions and a plurality of postures through the N tracking cameras to obtain a plurality of groups of first images, and selecting corresponding N camera calibration methods and the plurality of groups of first images to calculate internal parameters and external parameters of the N tracking cameras; shooting a plurality of positions of a calibrator containing mark points or coding points through a scanning head camera to obtain a plurality of groups of second images, and selecting a corresponding camera calibration method and the plurality of groups of second images to calculate internal parameters and external parameters of the scanning head camera; Calculating mathematical expressions of a plurality of laser line emitting surfaces under a scanning head coordinate system; and calculating a rigid body conversion relation between the scanning head external frame coordinate system and the scanning head coordinate system.
4. The utility model provides a scanning head position appearance detection device which characterized in that includes: the scanning processing module is used for carrying out tracking scanning processing on the marking points on the external frame of the scanning head based on N tracking cameras to obtain at least three effective marking point three-dimensional coordinates, wherein N is a positive integer greater than 2, wherein based on the image acquired by each tracking camera, the pixel coordinates of the marking points, a long and short half axes and the included angles between the marking point plane and a camera imaging plane are obtained, M pixel coordinate pairs are determined from the N pixel coordinates based on the long and short half axes or the included angles, the M pixel coordinate pairs are respectively reconstructed based on a preset triangular ranging principle to obtain the at least three effective marking point three-dimensional coordinates, M is a positive integer greater than 3, and a camera combination with the smaller included angle or a camera combination with the short and short half axis ratio close to 1 or smaller is selected for reconstruction; the calculation module is used for calculating based on the three-dimensional coordinates of the at least three effective marker points and the reference coordinates of each effective marker point in the frame coordinate system to obtain a rotation matrix and a translation vector which are converted from the scanner coordinate system to the tracker coordinate system, wherein the reference coordinates of each effective marker point in the frame coordinate system refer to the coordinate information of the effective marker point in the frame coordinate system.
5. An electronic device, the electronic device comprising: A processor; a memory for storing the processor-executable instructions; the processor is configured to read the executable instructions from the memory and execute the instructions to implement the scanning head pose detection method according to any of the preceding claims 1-3.
6. A computer-readable storage medium, characterized in that the storage medium stores a computer program for executing the scanning head pose detection method according to any of the preceding claims 1-3.

Description

Scanning head pose detection method, device, equipment and medium Technical Field The disclosure relates to the technical field of scanning processing, and in particular relates to a scanning head pose detection method, a scanning head pose detection device, scanning head pose detection equipment and a scanning head pose detection medium. Background Generally, the tracking scanning measurement method mainly comprises real-time tracking positioning of the scanning head by the tracker, scanning measurement of the scanning head, a scanning measurement data coordinate system and the like, the scanning measurement precision of the scanning head can be kept at a higher level, and the unification of the coordinate system of the scanning data mainly depends on the real-time positioning precision of the scanning head by the tracker, so that the tracking positioning precision of the scanning head by the tracker directly determines the final scanning measurement precision. Because the tracker scanning measurement system is generally applied to the three-dimensional morphology measurement work of a large-size workpiece, the baseline distance of the binocular camera forming the tracker is relatively longer in general, when the pose detection is carried out on the scanning head, the difference of the shooting angles of the binocular camera of the tracker to the scanning head is obvious, and mark points stuck on the outer side frame of the scanning head cannot simultaneously have good imaging quality on the two cameras, so that the positioning precision and stability of the pose of the scanning head are difficult to ensure, and finally the measurement precision of the tracking scanning measurement system is influenced. Disclosure of Invention In order to solve the above technical problems or at least partially solve the above technical problems, the present disclosure provides a method, an apparatus, a device, and a medium for detecting a pose of a scanning head. The embodiment of the disclosure provides a scanning head pose detection method, which comprises the following steps: Tracking and scanning the marking points on the external frame of the scanning head based on N tracking cameras to obtain three-dimensional coordinates of at least three effective marking points, wherein N is a positive integer greater than 2; And calculating based on the three-dimensional coordinates of the at least three effective marker points and the reference coordinates of each effective marker point under the frame coordinate system to obtain a rotation matrix and a translation vector of the scanner coordinate system converted into the tracker coordinate system. The embodiment of the disclosure also provides a scanning head pose detection device, which comprises: the scanning processing module is used for carrying out tracking scanning processing on the marking points on the external frame of the scanning head based on N tracking cameras to obtain three-dimensional coordinates of at least three effective marking points, wherein N is a positive integer greater than 2; And the calculation module is used for calculating based on the three-dimensional coordinates of the at least three effective marker points and the reference coordinates of each effective marker point under the frame coordinate system to obtain a rotation matrix and a translation vector which are converted from the scanner coordinate system to the tracker coordinate system. The embodiment of the disclosure also provides electronic equipment, which comprises a processor, a memory for storing executable instructions of the processor, and the processor for reading the executable instructions from the memory and executing the instructions to realize the scanning head pose detection method provided by the embodiment of the disclosure. The present disclosure also provides a computer-readable storage medium storing a computer program for executing the scanning head pose detection method as provided by the embodiments of the present disclosure. Compared with the prior art, the technical scheme provided by the embodiment of the disclosure has the advantages that the scanning head pose detection scheme provided by the embodiment of the disclosure is used for carrying out tracking scanning processing on the marking points on the external frame of the scanning head based on N tracking cameras to obtain at least three effective marking point three-dimensional coordinates, wherein N is a positive integer greater than 2, and calculation is carried out based on the at least three effective marking point three-dimensional coordinates and the reference coordinates of each effective marking point under the frame coordinate system to obtain a rotation matrix and a translation vector which are converted from the scanner coordinate system to the tracker coordinate system. By adopting the technical scheme, the position relation between the scanning head coordinate system and the tracker coordinate sy