Multi-mode tracker system
阅读说明：本技术 一种多模式跟踪器系统 (Multi-mode tracker system ) 是由 郑顺义 王晓南 李志权 成剑华 于 2021-01-08 设计创作，主要内容包括：本发明涉及一种多模式跟踪器系统,包括至少两个的跟踪器或球扫设备；跟踪器系统的工作模式包括：单跟踪器多球扫工作模式、多跟踪器单球扫工作模式和多跟踪器多球扫工作模式；通过不同数量的跟踪器及扫描设备相互配合,实现支持多种模式工作；单跟踪器多球扫工作模式下,可以在单位时间内提高扫描速率,这种工作模式针对那些多时间要求严格的场景,如自动化流水线场景；多跟踪器单球扫工作模式下,可以在拓展跟踪扫描的范围,这种工作模式针对大工件,大场景,如扫描整车或者重型机械的工件；多跟踪器多球扫跟踪模式下,既可以拓展跟踪区域,又可以提高扫描速率；可以根据具体场景要求选择合适的工作模式,跟踪式三维激光扫描具有更多的应用场景。(The present invention relates to a multi-mode tracker system comprising at least two trackers or ball-sweeping devices; the operating modes of the tracker system include: a single tracker multi-ball sweep mode, a multi-tracker single ball sweep mode, and a multi-tracker multi-ball sweep mode; the operation of supporting various modes is realized through the mutual cooperation of different numbers of trackers and scanning equipment; under the working mode of single tracker and multiple ball scans, the scanning speed can be increased in unit time, and the working mode aims at scenes with strict requirements on multiple times, such as automatic assembly line scenes; under the working mode of multi-tracker single-ball scanning, the range of tracking scanning can be expanded, and the working mode aims at large workpieces and large scenes, such as scanning workpieces of a whole vehicle or heavy machinery; under the multi-tracker and multi-ball-sweep tracking mode, the tracking area can be expanded, and the scanning speed can be improved; the appropriate working mode can be selected according to the specific scene requirements, and the tracking type three-dimensional laser scanning has more application scenes.)
1. A multi-mode tracker system, the tracker system comprising: a tracker and at least two ball-sweeping devices;
the working mode of the tracker system is a single tracker multi-ball scanning working mode;
under the single-tracker multi-ball-sweeping working mode: one of the trackers and at least two of the ball-sweeping devices in the tracking system are in operation, and the trackers can support tracking of at least two of the ball-sweeping devices.
2. A multi-mode tracker system, the tracker system comprising: at least two trackers and a ball-sweeping device; the trackers are communicated with each other;
the working mode of the tracker system is a multi-tracker single-ball scanning working mode;
under the mode of working is swept to many trackers list ball: at least two trackers of the tracking system and one of the ball-sweeping devices are in operation, and the at least two trackers support tracking of the ball-sweeping device.
3. The tracker system of claim 2, wherein when said tracker system comprises two trackers and a ball-sweeping device, the two trackers comprise a master tracker and a slave tracker; when the tracker system is in a double-tracker single-ball-sweep working mode, the calibration process comprises the following steps:
forming a calibration board by using common calibration points of the common tracking ranges of the two trackers;
the transformation relation of transforming the coordinates of the slave tracker to the coordinate system of the master tracker is as follows:
Pmaster_tracker(x,y,z)＝Inverse(RT|master_tracker_to_board)*RT|slave_tracker_to_board*Pslave_tracker(x,y,z)；
wherein RT-master_tracker_to_boardInverse (RT! y representing the transformation relationship for the master tracker to track the calibration platemaster_tracker_to_board) Performing inverse operation on the transformation relation from the main tracker coordinate system to the calibration board coordinate system; RT-slave_tracker_to_boardRepresenting a transformation relation, P, of said slave tracker to track said calibration plateslave_tracker(x, y, z) represents slave tracker coordinate system coordinates;
when the ball scanning device can only be tracked by the main tracker, the scanning data in the scanning process is calculated according to the transformation relation of the main tracker:
Pmaster_tracker(x,y,z)＝RT|scanner_to_master_tracker*Pscanner(x, y, z) wherein RT tintscanner_to_master_trackerTransforming the coordinates collected for the spherical scanning coordinate system to a transformation relation under the main tracker;
when the ball scanning device can only be tracked by the slave tracker, the scanning data in the scanning process is calculated according to the transformation relation of the slave tracker:
Pmaster_tracker(x,y,z)＝Inverse(RT|master_tracker_to_board)*RT|slave_tracker_to_board*RT|scanner_to_slave_tracker(x,y,z)*Pscanner(x, y, z) wherein RT tintscanner_to_slave_trackerTransforming the coordinates collected for the spherical scanning coordinate system to a transformation relation under the slave tracker coordinate system;
when the ball scanning device can be tracked by the master tracker and the slave tracker, the scanning data in the scanning process is calculated according to the transformation relation of the master tracker:
Pmaster_tracker(x,y,z)＝RT|scanner_to_master_tracker*Pscanner(x,y,z)。
4. a multi-mode tracker system, the tracker system comprising: the device comprises trackers and ball scanning devices, wherein the number of the trackers and the ball scanning devices is at least two; the trackers are communicated with each other;
the operating modes of the tracker system include: a single tracker multi-ball sweep mode, a multi-tracker single ball sweep mode, and a multi-tracker multi-ball sweep mode;
under the single-tracker multi-ball-sweeping working mode: one tracker in the tracking system and at least two ball-sweeping devices are in working state, and the tracker can support tracking at least two ball-sweeping devices;
under the mode of working is swept to many trackers list ball: at least two trackers of the tracking system and one ball scanning device are in a working state, and the at least two trackers support tracking of the ball scanning device;
under the multi-tracker multi-ball-sweeping working mode: the trackers of at least two of the tracking systems and the ball-sweeping devices are in operation, each tracker supporting tracking of one or more of the ball-sweeping devices.
5. The tracker system of claim 4, wherein when said tracker system is in said single tracker multi-sweep mode of operation, at least two of said ball-sweep apparatuses are within a tracking range of said tracker, and three-dimensional point data collected by at least two of said ball-sweep apparatuses is unified in a coordinate system of said tracker.
6. The tracker system of claim 4, wherein when the tracker system comprises two trackers and one or two ball-sweeping devices, the two trackers comprise a master tracker and a slave tracker; when the tracker system is in a double-tracker single-ball-sweeping working mode or a double-tracker double-ball-sweeping working mode, the calibration process comprises the following steps:
forming a calibration board by using common calibration points of the common tracking ranges of the two trackers;
the transformation relation of transforming the coordinates of the slave tracker to the coordinate system of the master tracker is as follows:
Pmaster_tracker(x,y,z)＝Inverse(RT|master_tracker_to_board)*RT|slave_tracker_to_board*Pslave_tracker(x,y,z)；
wherein RT-master_tracker_to_boardInverse (RTmaster_tracker_to_board) Performing inverse operation on the transformation relation from the main tracker coordinate system to the calibration board coordinate system; RT-slave_tracker_to_boardRepresenting the transformation from the tracker to the coordinate system of the calibration plate, Pslave_tracker(x, y, z) represents the slave tracker coordinate system coordinates.
7. The tracker system of claim 6, wherein said tracker system is in a dual tracker single ball sweep mode of operation, said ball sweep apparatus being trackable only by said master tracker;
the scanning data in the scanning process is calculated according to the transformation relation of the main tracker:
Pmaster_tracker(x,y,z)＝RT|scanner_to_master_tracker*Pscanner(x, y, z) wherein RT tintscanner_to_master_trackerAnd transforming the coordinates acquired by the spherical scanning coordinate system to a transformation relation under the main tracker.
8. The tracker system of claim 6, wherein said tracker system is in a dual tracker single ball sweep mode of operation, said ball sweep apparatus being trackable only to said slave tracker;
the scanning data in the scanning process is calculated according to the transformation relation of the slave tracker:
Pmaster_tracker(x,y,z)＝Inverse(RT|master_tracker_to_board)*RT|slave_tracker_to_board*RT|scanner_to_slave_tracker(x,y,z)*Pscanner(x, y, z) wherein RT tintscanner_to_slave_trackerThe coordinates acquired for the spherical sweep coordinate system are transformed into a transform relationship from the tracker coordinate system.
9. The tracker system of claim 6, wherein said tracker system is in a dual tracker single ball sweep mode of operation, said ball sweep apparatus being trackable by said master tracker and said slave tracker to time;
the scanning data in the scanning process is calculated according to the transformation relation of the main tracker:
Pmaster_tracker(x,y,z)＝RT|scanner_to_master_tracker*Pscanner(x, y, z), wherein RT-scanner_to_master_trackerAnd transforming the coordinates acquired by the spherical scanning coordinate system to a transformation relation under the main tracker.
10. The tracker system of claim 6, wherein said master tracker tracks said master ball-sweep apparatus and said slave tracker tracks said slave ball-sweep apparatus when said tracker system is in a dual tracker dual ball-sweep mode of operation; in the scanning process, the data scanned under the slave tracking is converted into a coordinate system which finishes scanning data under the master tracker through a calibration relation, and the method comprises the following steps:
the three-dimensional point coordinates collected under the coordinate system of the main tracker are as follows:
Pmaster_tracker(x,y,z)＝RT|scanner_to_master_tracker*Pmaster_scanner(x, y, z) wherein RT tintscanner_to_master_trackerTransforming the coordinates collected by the spherical scanning coordinate system to a transformation relation under the main tracker;
the three-dimensional point coordinates acquired from the tracker coordinate system are as follows:
Pslave_tracker(x,y,z)＝RT|scanner_to_slave_tracker*Pslave_scanner(x, y, z) wherein RT tintscanner_to_slave_trackerTransforming the coordinates collected by the spherical scanning coordinate system to a transformation relation under the slave tracker;
transforming three-dimensional points in the slave tracker coordinate system to be in the master tracker coordinate system:
Pmaster_tracker(x,y,z)＝Inverse(RT|master_tracker_to_board)*RT|slave_tracker_to_board*Pslave_tracker(x,y,z)。
Technical Field
The invention relates to the technical field of close-range three-dimensional laser scanning, in particular to a multi-mode tracker system.
Background
The binocular camera and the laser are basic components of laser scanning, are used for laser scanning of a large scene, and naturally need a long-baseline binocular tracker and a corresponding laser.
The binocular tracker system mainly comprises a tracker and a scanner, only supports a single tracker mode and a single scanner mode, is single in working mode, and cannot meet the requirements of large scanning scene, high scanning efficiency, high scanning precision and the like.
Disclosure of Invention
The invention provides a multi-mode tracker system aiming at the technical problems in the prior art, and solves the problems in the prior art.
The technical scheme for solving the technical problems is as follows: a multi-mode tracker system, the tracker system comprising: the device comprises trackers and ball scanning devices, wherein the number of the trackers and the ball scanning devices is at least two; the trackers are communicated with each other;
the operating modes of the tracker system include: a single tracker multi-ball sweep mode, a multi-tracker single ball sweep mode, and a multi-tracker multi-ball sweep mode;
under the single-tracker multi-ball-sweeping working mode: one tracker in the tracking system and at least two ball-sweeping devices are in working state, and the tracker can support tracking at least two ball-sweeping devices;
under the mode of working is swept to many trackers list ball: at least two trackers of the tracking system and one ball scanning device are in a working state, and the at least two trackers support tracking of the ball scanning device;
under the multi-tracker multi-ball-sweeping working mode: the trackers of at least two of the tracking systems and the ball-sweeping devices are in operation, each tracker supporting tracking of one or more of the ball-sweeping devices.
A multi-mode tracker system comprising: a tracker and at least two ball-sweeping devices;
the working mode of the tracker system is a single tracker multi-ball scanning working mode;
under the single-tracker multi-ball-sweeping working mode: one of the trackers and at least two of the ball-sweeping devices in the tracking system are in operation, and the trackers can support tracking of at least two of the ball-sweeping devices.
A multi-mode tracker system comprising: at least two trackers and a ball-sweeping device; the trackers are communicated with each other;
the working mode of the tracker system is a multi-tracker single-ball scanning working mode;
under the mode of working is swept to many trackers list ball: at least two trackers of the tracking system and one of the ball-sweeping devices are in operation, and the at least two trackers support tracking of the ball-sweeping device.
The invention has the beneficial effects that: the operation of supporting various modes is realized through the mutual cooperation of different numbers of trackers and scanning equipment; under the working mode of single tracker and multiple ball scans, the scanning speed can be increased in unit time, and the working mode aims at scenes with strict requirements on multiple times, such as automatic assembly line scenes; under the working mode of multi-tracker single-ball scanning, the range of tracking scanning can be expanded, and the working mode aims at large workpieces and large scenes, such as scanning workpieces of a whole vehicle or heavy machinery; under the multi-tracker and multi-ball-sweep tracking mode, the tracking area can be expanded, and the scanning speed can be improved; the method has the advantages that the proper working mode can be selected according to the specific scene requirements, the adaptability is strong, and the tracking type three-dimensional laser scanning has more application scenes, such as larger scenes, higher scanning efficiency, different precision scanning requirements and the like.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, when the tracker system is in the single-tracker multi-ball-scanning operating mode, at least two ball-scanning devices are all in the tracking range of the tracker, and the three-dimensional point data collected by the at least two ball-scanning devices is unified under the coordinate system of the tracker.
Further, when the tracker system includes two trackers and one ball-sweeping device or two trackers and two ball-sweeping devices, the two trackers include a master tracker and a slave tracker; when the tracker system is in a double-tracker single-ball-sweeping working mode or a double-tracker double-ball-sweeping working mode, the calibration process comprises the following steps:
forming a calibration board by using common calibration points of the common tracking ranges of the two trackers;
the transformation relation of transforming the coordinates of the slave tracker to the coordinate system of the master tracker is as follows:
Pmaster_tracker(x,y,z)＝Inverse(RT|master_tracker_to_board)*RT|slave_tracker_to_board*Pslave_trac ker(x,y,z)；
wherein RT-master_tracker_to_boardInverse (RT! y representing the transformation relationship for the master tracker to track the calibration platemaster_tracker_to_board) Performing inverse operation on the transformation relation from the main tracker coordinate system to the calibration board coordinate system; RT-slave_tracker_to_boardRepresenting a transformation relation, P, of said slave tracker to track said calibration plateslave_tracker(x, y, z) represents tracker coordinate system coordinates.
Further, the tracker system is in a dual tracker single ball sweep mode of operation, the ball sweep apparatus being only able to be tracked by the master tracker;
the scanning data in the scanning process is calculated according to the transformation relation of the main tracker:
Pmaster_tracker(x,y,z)＝RT|scanner_to_master_tracker*Pscanner(x, y, z) wherein
RT|scanner_to_master_trackerAnd transforming the coordinates acquired by the spherical scanning coordinate system to a transformation relation under the coordinate system of the main tracker.
Further, the tracker system is in a dual tracker single sweep mode of operation, the ball sweep apparatus being only trackable by the slave tracker to time;
the scanning data in the scanning process is calculated according to the transformation relation of the slave tracker:
Pmaster_tracker(x,y,z)＝Inverse(RT|master_tracker_to_board)*RT|slave_tracker_to_board*
RT|scanner_to_slave_tracker(x,y,z)*Pscanner(x, y, z) wherein RT tintscanner_to_slave_trackerThe coordinates acquired for the spherical sweep coordinate system are transformed into a transform relationship from under the tracker.
Further, the tracker system is in a dual tracker single ball sweep mode of operation, the ball sweep apparatus being trackable by the master tracker and the slave tracker to time;
the scanning data in the scanning process is calculated according to the transformation relation of the main tracker:
Pmaster_tracker(x,y,z)＝RT|scanner_to_master_tracker*Pscanner(x, y, z) wherein RT tintscanner_to_master_trackerAnd transforming the coordinates acquired by the spherical scanning coordinate system to a transformation relation under the main tracker.
Further, when the tracker system is in a dual-tracker dual-ball-sweep operating mode, the master tracker tracks the master ball-sweep apparatus, and the slave tracker tracks the slave ball-sweep apparatus; in the scanning process, the data scanned under the slave tracking is converted into a coordinate system which finishes scanning data under the master tracker through a calibration relation, and the method comprises the following steps:
the three-dimensional point coordinates collected under the coordinate system of the main tracker are as follows:
Pmaster_tracker(x,y,z)＝RT|scanner_to_master_tracker*Pmaster_scanner(x, y, z) wherein RT tintscanner_to_master_trackerTransforming the coordinates collected by the spherical scanning coordinate system to a transformation relation under the main tracker;
the three-dimensional point coordinates acquired from the tracker coordinate system are as follows:
Pslave_tracker(x,y,z)＝RT|scanner_to_slave_tracker*Pslave_scanner(x, y, z) wherein RT tintscanner_to_slave_trackerTransforming the coordinates collected by the spherical scanning coordinate system to a transformation relation under the slave tracker;
transforming three-dimensional points in the slave tracker coordinate system to be in the master tracker coordinate system:
Pmaster_tracker(x,y,z)＝Inverse(RT|master_tracker_to_board)*RT|slave_tracker_to_board*Pslave_tracker(x,y,z)。
drawings
FIG. 1 is a schematic diagram of a single tracker dual ball sweep in accordance with an embodiment of the present invention;
FIG. 2 is a schematic diagram of a dual tracker single ball sweep in accordance with an embodiment of the present invention;
fig. 3 is a schematic diagram of a dual-tracker dual-ball sweep according to an embodiment of the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
The invention provides a multi-mode tracker system, comprising: the device comprises trackers and ball scanning devices, wherein the number of the trackers and the number of the ball scanning devices are at least two.
The spherical scanner (ball sweep for short) comprises a target ball, a camera and a scanner, the target ball is provided with a plurality of mark reflecting points, coordinates of the mark reflecting points in a tracker coordinate system (a three-dimensional coordinate system established by taking the tracker as a center) are obtained through the tracker, the target object is scanned through the ball sweep, and the scanning points on the surface of the target object and the coordinates of the mark reflecting points in the ball sweep coordinate system (the three-dimensional coordinate system established by taking the ball sweep as the center) are respectively obtained, so that the surface of the target object is established according to the three coordinates, and a three-dimensional model of the target object is generated.
The trackers communicate with each other, and data communication between the trackers can adopt a wired communication mode or a wireless communication mode, but no matter which mode is adopted, the network needs to be configured in the same network segment.
The operating modes of the tracker system include: a single tracker multi-ball sweep mode of operation, a multi-tracker single ball sweep mode of operation, and a multi-tracker multi-ball sweep mode of operation.
Under the single tracker multi-ball sweep mode of operation: a tracker and at least two ball-sweeping devices in the tracking system are in operation, the tracker being capable of supporting tracking of the at least two ball-sweeping devices.
The working mode can improve the scanning speed in unit time, can adopt different laser color scanning devices, and can acquire scanning data with better quality aiming at workpieces made of different materials.
Under the mode of multi-tracker single-ball sweep: at least two trackers of the tracking system and a ball-sweeping device are in operation, the at least two trackers each supporting tracking of the ball-sweeping device.
The working mode expands a tracking and scanning area, and various trackers can be matched with trackers with different tracking distances and tracking precision, so that the measuring requirements of different scenes can be met.
Under the mode of multi-tracker multi-ball sweep: at least two trackers of the tracking system, each of which supports tracking of one or more of the ball-sweeping devices, and the ball-sweeping devices are in operation.
The working mode can not only expand the tracking area, but also improve the scanning speed; different laser color scanning devices can be adopted, trackers with different tracking distances and tracking accuracy can be matched for use, and the measurement requirements of different scenes can be met.
The tracker system provided by the invention supports various modes of work by the mutual cooperation of different numbers of trackers and scanning equipment; under the working mode of single tracker and multiple ball scans, the scanning speed can be increased in unit time, and the working mode aims at scenes with strict requirements on multiple times, such as automatic assembly line scenes; under the working mode of multi-tracker single-ball scanning, the range of tracking scanning can be expanded, and the working mode aims at large workpieces and large scenes, such as scanning workpieces of a whole vehicle or heavy machinery; under the multi-tracker and multi-ball-sweep tracking mode, the tracking area can be expanded, and the scanning speed can be improved; the method has the advantages that the proper working mode can be selected according to the specific scene requirements, the adaptability is strong, and the tracking type three-dimensional laser scanning has more application scenes, such as larger scenes, higher scanning efficiency, different precision scanning requirements and the like.
Example 1
Embodiment 2 of the present invention provides a second embodiment of a multi-mode tracker system that includes a tracker and at least two ball-sweeping devices.
The operating mode of the tracker system is a single tracker multi-ball sweep operating mode.
Under the single tracker multi-ball sweep mode of operation: a tracker and at least two ball-sweeping devices in the tracking system are in operation, the tracker being capable of supporting tracking of the at least two ball-sweeping devices.
Preferably, when the tracker system is in a single-tracker multi-ball-scan mode of operation, at least two ball-scan devices are within the tracking range of the tracker, and the three-dimensional point data collected by the at least two ball-scan devices is unified in the coordinate system of the tracker.
Specifically, when the tracker system is in the single-tracker double-ball-sweep operating mode, two ball sweeps involved in the single-tracker double-ball-sweep operating mode are both within the tracking range of the main tracker, so that naturally, both of their sweep data are in a coordinate system, and the tracking system calibration process is not involved. In the scanning process, when the system works, the three-dimensional point data acquired by the two ball scans are unified under the coordinate system of the main tracker.
The working mode can improve the scanning speed in unit time, can adopt different laser color scanning devices, and can acquire scanning data with better quality aiming at workpieces made of different materials.
The scanning speed can be increased in unit time under the single-tracker multi-ball-scanning working mode, and the working mode aims at scenes with strict multi-time requirements, such as an automatic pipeline scene.
Example 2
Embodiment 3 provided by the present invention is a third embodiment of a multi-mode tracker system provided by the present invention, comprising at least two trackers and a ball-sweeping device; the various trackers communicate with each other.
Data communication between the trackers can be realized in a wired communication mode or a wireless communication mode, but no matter which mode is adopted, the network needs to be configured in the same network segment.
The working mode of the tracker system is a multi-tracker single-ball-sweep working mode.
Under the mode of multi-tracker single-ball sweep: at least two trackers of the tracking system and a ball-sweeping device are in operation, the at least two trackers each supporting tracking of the ball-sweeping device.
The working mode expands a tracking and scanning area, and various trackers can be matched with trackers with different tracking distances and tracking precision, so that the measuring requirements of different scenes can be met.
Under the working mode of multi-tracker single-ball scanning, the range of tracking scanning can be expanded, and the working mode aims at large workpieces and large scenes, such as scanning workpieces of a whole vehicle or heavy machinery.
Preferably, when the tracker system comprises two trackers and a ball-sweeping device, the two trackers comprise a master tracker and a slave tracker; when the tracker system is in a double-tracker single-ball-sweep operating mode, the calibration process comprises the following steps:
and 101, forming a calibration board by using common calibration points of common tracking ranges of the two trackers.
102, calibrating the coordinate P in the coordinate system of the plateboard(x, y, z) to the master tracker coordinate system Pmaster_trackerThe relationship of (x, y, z) is:
Pmaster_tracker(x,y,z)＝Inverse(RT|master_tracker_to_board)*Pboard(x,y,z)。
wherein RT-master_tracker_to_boardInverse (RTmaster_tracker_to_board) The inverse of the transformation relationship for the main tracker coordinate system to the calibration plate coordinate system.
103, the coordinates P of the slave tracker coordinate systemslave_tracker(x, y, z) to coordinates P in the calibration plate coordinate systemboardThe relationship of (x, y, z) is:
Pboard(x,y,z)＝RT|slave_tracker_to_board*Pslave_tracker(x,y,z)。
wherein RT-slave_tracker_to_boardRepresenting the transformation relationship for tracking the calibration plate from the tracker.
Step 104, transforming the coordinates of the slave tracker to the coordinate system of the master tracker, wherein the transformation relation is as follows:
Pmaster_tracker(x,y,z)＝Inverse(RT|master_tracker_to_board)*RT|slave_tracker_to_board*Pslave_trac ker(x,y,z)。
this equation is also the calibration process for the dual tracker single ball sweep operating mode.
The scanning process of the tracker system in the dual tracker single ball scanning mode can be considered as the following process can be divided into three cases:
case 1: the ball sweep can only be tracked by the master tracker.
Case 2: the ball sweep can only be tracked from the tracker.
Case 3: the ball sweep can be tracked by both the master tracker and the slave tracker.
When the ball scanning device can only be tracked by the main tracker, the scanning data in the scanning process is calculated according to the transformation relation of the main tracker, namely:
Pmaster_tracker(x,y,z)＝RT|scanner_to_master_tracker*Pscanner(x, y, z) wherein RT tintscanner_to_master_trackerAnd transforming the coordinates acquired by the spherical scanning coordinate system to a transformation relation under the main tracker.
The ball-sweeping device can only be tracked by the slave tracker, and the scanning data in the scanning process is calculated according to the transformation relation of the slave tracker, namely:
Pmaster_tracker(x,y,z)＝Inverse(RT|master_tracker_to_board)*RT|slave_tracker_to_board*RT|scanner_to_slave_tracker(x,y,z)*Pscanner(x, y, z) wherein RT tintscanner_to_slave_trackerThe coordinates acquired for the spherical sweep coordinate system are transformed into a transform relationship from under the tracker.
When the ball scanning device can be tracked by the master tracker and the slave tracker, scanning data in the scanning process is calculated according to the transformation relation of the master tracker, namely:
Pmaster_tracker(x,y,z)＝RT|scanner_to_master_tracker*Pscanner(x, y, z) wherein RT tintscanner_to_master_trackerAnd transforming the coordinates acquired by the spherical scanning coordinate system to a transformation relation under the main tracker.
Example 3
Embodiment 1 provided by the present invention is a first embodiment of a multimode tracker system provided by the present invention, the first embodiment of the multimode tracker system comprising: the device comprises trackers and ball scanning devices, wherein the number of the trackers and the ball scanning devices is at least two; the various trackers communicate with each other.
The operating modes of the tracker system include: a single tracker multi-ball sweep mode of operation, a multi-tracker single ball sweep mode of operation, and a multi-tracker multi-ball sweep mode of operation.
Under the single tracker multi-ball sweep mode of operation: a tracker and at least two ball-sweeping devices in the tracking system are in operation, the tracker being capable of supporting tracking of the at least two ball-sweeping devices.
Preferably, when the tracker system is in a single-tracker multi-ball-scan mode of operation, at least two ball-scan devices are within the tracking range of the tracker, and the three-dimensional point data collected by the at least two ball-scan devices is unified in the coordinate system of the tracker.
Fig. 1 is a schematic diagram of a single tracker dual ball scan provided by an embodiment of the present invention, where two ball scans involved in a single tracker dual ball scan operation mode are both within the tracking range of the main tracker, so that naturally, both of their scan data are in a coordinate system, and no tracking system calibration process is involved. In the scanning process, when the system works, the three-dimensional point data acquired by the two ball scans are unified under the coordinate system of the main tracker.
Under the mode of multi-tracker single-ball sweep: at least two trackers of the tracking system and a ball-sweeping device are in operation, the at least two trackers each supporting tracking of the ball-sweeping device.
Under the mode of multi-tracker multi-ball sweep: at least two trackers of the tracking system, each of which supports tracking of one or more of the ball-sweeping devices, and the ball-sweeping devices are in operation.
As shown in fig. 2 and fig. 3, which are schematic diagrams of a dual-tracker single-ball sweep and a dual-tracker dual-ball sweep respectively provided by an embodiment of the present invention, when a tracker system includes two trackers and one ball-sweep apparatus or two trackers and two ball-sweep apparatuses, the two trackers include a master tracker and a slave tracker, and the two ball-sweep apparatuses include a master ball-sweep apparatus and a slave ball-sweep apparatus; when the tracker system is in a double-tracker single-ball-sweeping working mode or a double-tracker double-ball-sweeping working mode, the calibration process comprises the following steps:
and 101, forming a calibration board by using common calibration points of common tracking ranges of the two trackers.
102, calibrating the coordinate P in the coordinate system of the plateboard(x, y, z) to the master tracker coordinate system Pmaster_trackerThe relationship of (x, y, z) is:
Pmaster_tracker(x,y,z)＝Inverse(RT|master_tracker_to_board)*Pboard(x,y,z)。
wherein RT-master_tracker_to_boardRepresenting the transformation relationship of the main tracker coordinate system to the calibration board coordinate system, Inverse (RTmaster_tracker_to_board) The inverse of the transformation relationship for the main tracker coordinate system to the calibration plate coordinate system.
103, the coordinates P of the slave tracker coordinate systemslave_tracker(x, y, z) to coordinates P in the calibration plate coordinate systemboardThe relationship of (x, y, z) is:
Pboard(x,y,z)＝RT|slave_tracker_to_board*Pslave_tracker(x,y,z)。
wherein RT-slave_tracker_to_boardRepresenting the transformation relationship for tracking the calibration plate from the tracker.
Step 104, converting the coordinate system of the slave tracker into the coordinate system of the master tracker, wherein the conversion relation is as follows:
Pmaster_tracker(x,y,z)＝Inverse(RT|master_tracker_to_board)*RT|slave_tracker_to_board*Pslave_trac ker(x,y,z)。
the method also relates to a calibration process of a double-tracker single-ball-sweeping working mode and a double-tracker double-ball-sweeping working mode.
Specifically, the scanning process of the tracker system in the dual-tracker single-ball-sweep operation mode can be considered as the following process can be divided into three cases:
case 1: the ball sweep can only be tracked by the master tracker.
Case 2: the ball sweep can only be tracked from the tracker.
Case 3: the ball sweep can be tracked by both the master tracker and the slave tracker.
For case 1, when the ball-sweeping device can only be tracked by the master tracker, the scan data during the scanning process is calculated according to the transformation relationship of the master tracker, that is:
Pmaster_tracker(x,y,z)＝RT|scanner_to_master_tracker*Pscanner(x, y, z) wherein RT tintscanner_to_master_trackerAnd transforming the coordinates acquired by the spherical scanning coordinate system to a transformation relation under the main tracker.
For case 2, the ball-sweeping device can only be tracked while from the tracker, and the scan data during the scan is calculated according to the transform relationship from the tracker, i.e.:
Pmaster_tracker(x,y,z)＝Inverse(RT|master_tracker_to_board)*RT|slave_tracker_to_board*RT|scanner_to_slave_tracker(x,y,z)*Pscanner(x, y, z) wherein RT tintscanner_to_slave_trackerThe coordinates acquired for the spherical sweep coordinate system are transformed into a transform relationship from under the tracker.
For case 3, when the ball-sweeping device can be tracked by the master tracker and the slave tracker, the scanning data during the scanning process is preferably calculated according to the transformation relationship of the master tracker, that is:
Pmaster_tracker(x,y,z)＝RT|scanner_to_master_tracker*Pscanner(x, y, z) wherein RT tintscanner_to_master_trackerAnd transforming the coordinates acquired by the spherical scanning coordinate system to a transformation relation under the coordinate system of the main tracker.
Specifically, when the tracker system is in a double-tracker double-ball-sweeping working mode, the master tracker tracks master ball-sweeping equipment, and the slave tracker tracks slave ball-sweeping equipment; in the scanning process, the data scanned under the tracking is converted into a coordinate system which finishes scanning data under a main tracker through a calibration relation, and the coordinate system comprises the following steps:
the three-dimensional point coordinates collected under the coordinate system of the main tracker are as follows:
Pmaster_tracker(x,y,z)＝RT|scanner_to_master_tracker*Pmaster_scanner(x, y, z) wherein RT tintscanner_to_master_trackerTransforming the coordinates collected by the spherical scanning coordinate system to a transformation relation under a coordinate system of the main tracker;
the three-dimensional point coordinates acquired from the tracker coordinate system are:
Pslave_tracker(x,y,z)＝RT|scanner_to_slave_tracker*Pslave_scanner(x, y, z) wherein RT tintscanner_to_slave_trackerTransforming the coordinates collected by the spherical scanning coordinate system to a transformation relation under a slave tracker coordinate system;
and transforming the three-dimensional points under the slave tracker coordinate system to the master tracker coordinate system:
Pmaster_tracker(x,y,z)＝Inverse(RT|master_tracker_to_board)*RT|slave_tracker_to_board*Pslave_tracker(x,y,z)。
the scanning process under the double-tracker double-ball-scanning working mode is also finished after the three processes are finished.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
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