CN112729114A - Optical positioning method and system with multiple communication modes - Google Patents
Optical positioning method and system with multiple communication modes Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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Abstract
The invention discloses an optical positioning method and system with multiple communication modes, wherein the method comprises the following steps: acquiring image data by adopting a left camera and a right camera; acquiring real-time scene image data by adopting an intermediate camera; respectively calculating three-dimensional coordinate data corresponding to the measured object according to the image data acquired by the left camera and the right camera; and transmitting the three-dimensional coordinate data and/or the real-time scene image data to an upper computer in a communication mode, wherein one or more communication modes are adopted for communication, and the communication modes comprise USB communication, Ethernet communication, serial port communication and wifi communication. The invention adopts one or more communication modes for transmission, ensures the transmission of image data and does not influence the transmission speed of coordinate data.
Description
Technical Field
The present invention relates to the field of data communication technologies, and in particular, to an optical positioning method and system with multiple communication modes.
Background
The optical positioning system is composed of two cameras with known pose relations and corresponding light sources, and coordinate data and image video data are often uploaded together to achieve more convenient operation experience. After the coordinate data are measured by the existing optical positioning system, the coordinate data are generally transmitted to an upper computer through a single communication channel, for example, a serial port, a network port or a USB port is used for communication. However, the data volume of the image video is much larger than that of the coordinate information. The image video data of two to three cameras (a color camera is added in the middle of some positioning systems), the transmission of full frame rate and full pixels is difficult to realize only by using a serial port or a network port. Even due to the transmission of image data, the frame rate of outputting coordinate information is slowed, and the compatibility of the transmitted data cannot be ensured when the network port is adopted for simultaneous transmission. The existing optical positioning system has a single interface, only supports point-to-point communication, cannot provide one-to-many service, and cannot meet the problem that a plurality of users use a plurality of hosts to perform different processing on the same data.
Disclosure of Invention
The invention aims to provide an optical positioning method and system with multiple communication modes, which solve the problem of single communication interface in the prior art, simultaneously adopt a plurality of communication interfaces for transmission, ensure the transmission of image data without influencing the transmission speed of coordinate data, simultaneously transmit the coordinate data to different upper computers through a plurality of communication ports, and solve the problem that a plurality of users use a plurality of hosts to perform non-processing on the same data.
To achieve the above object, an embodiment of the present invention provides an optical positioning method with multiple communication modes, including:
acquiring image data by adopting a left camera and a right camera;
acquiring real-time scene image data by adopting an intermediate camera;
respectively calculating three-dimensional coordinate data corresponding to the measured object according to the image data acquired by the left camera and the right camera;
and transmitting the three-dimensional coordinate data and/or the real-time scene image data to an upper computer in a communication mode, wherein one or more communication modes are adopted for communication, and the communication modes comprise USB communication, Ethernet communication, serial port communication and wifi communication.
Preferably, will three-dimensional coordinate data and/or real-time scene image data adopts communication mode to transmit to the host computer, wherein, adopt one or more of them communication mode carries out the communication and includes that USB communication, ethernet communication, serial communication and wifi communication include:
and the upper computer selects the one or more communication modes, sends a command for acquiring data, and sends the corresponding data back to the upper computer according to the one or more communication modes selected by the upper computer.
Preferably, will three-dimensional coordinate data and/or real-time scene image data adopts the communication mode to transmit to the host computer, wherein, adopts one or more of them the communication mode carries out the communication and includes that USB communication, ethernet communication, serial communication and wifi communication still include:
and corresponding data are transmitted to different upper computers by adopting one or more communication modes, wherein a plurality of communication interfaces are mutually independent, and multi-user cooperation is completed.
Preferably, will three-dimensional coordinate data and/or real-time scene image data adopts the communication mode to transmit to the host computer, wherein, adopts one or more of them the communication mode carries out the communication and includes that USB communication, ethernet communication, serial communication and wifi communication still include:
the USB communication and the Ethernet communication comprise the step of transmitting the three-dimensional coordinate data, the image data acquired by the left camera and the right camera, the real-time scene image data and the state data of the system to an upper computer;
and the serial port communication and the wifi communication comprise the step of transmitting the three-dimensional coordinate data and the state data of the system to an upper computer.
An embodiment of the present invention further provides an optical positioning system with multiple communication modes, including:
the first acquisition module acquires image data by adopting a left camera and a right camera;
the second acquisition module acquires real-time scene image data by adopting an intermediate camera;
the control module is used for respectively calculating three-dimensional coordinate data corresponding to the measured object according to the image data acquired by the left camera and the right camera;
the communication module is used for transmitting the three-dimensional coordinate data and/or the real-time scene image data to the upper computer by adopting the communication module, wherein one or more communication modules are adopted for communication, and the communication module comprises a USB communication module, an Ethernet communication module, a serial port communication module and a wifi communication module.
Preferably, the communication module includes:
and the upper computer selects the one or more communication modes, sends a command for acquiring data, and sends the corresponding data back to the upper computer according to the one or more communication modules selected by the upper computer.
Preferably, the communication module further includes:
and one or more communication modules are adopted to transmit corresponding data to different upper computers, wherein a plurality of communication interfaces are mutually independent, and multi-user cooperation is completed.
Preferably, the communication module further includes:
the USB communication module and the Ethernet communication module transmit the three-dimensional coordinate data, the image data acquired by the left camera and the right camera, the real-time scene image data and the state data of the system to an upper computer;
the serial port communication module and the wifi communication module transmit the three-dimensional coordinate data and the state data of the system to an upper computer.
The embodiment of the invention also provides computer terminal equipment which comprises one or more processors and a memory. A memory coupled to the processor for storing one or more programs; when the one or more programs are executed by the one or more processors, the one or more processors implement the optical positioning method with multiple communication modes according to any one of the embodiments.
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the optical positioning method with multiple communication modes according to any of the above embodiments.
The embodiment of the invention adopts the left camera and the right camera to obtain image data, adopts the middle camera to obtain real-time scene image data, calculates three-dimensional coordinate data according to the image data obtained by the left camera and the right camera, and sends the three-dimensional coordinate data and the real-time scene image data to the upper computer, wherein one or more communication modes are adopted for transmission so as to meet the requirement that different data are transmitted to different upper computers through different transmission ports, and the transmission speed of the coordinate data is not influenced while the transmission of the image data is ensured.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flowchart illustrating an optical positioning method with multiple communication modes according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a USB communication method according to another embodiment of the present invention;
fig. 3 is a flowchart illustrating an ethernet communication method according to another embodiment of the present invention;
fig. 4 is a schematic flow chart of a serial port communication method according to an embodiment of the present invention;
fig. 5 is a schematic flowchart of a wifi communication method according to another embodiment of the present invention;
FIG. 6 is a flowchart illustrating an optical positioning method with multiple communication modes according to another embodiment of the present invention;
FIG. 7 is a schematic diagram of an optical positioning system with multiple communication modes according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an optical positioning system with multiple communication modes according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be understood that the step numbers used herein are for convenience of description only and are not intended as limitations on the order in which the steps are performed.
It is to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
The terms "comprises" and "comprising" indicate the presence of the described features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
The term "and/or" refers to and includes any and all possible combinations of one or more of the associated listed items.
Referring to fig. 1, an embodiment of the invention provides an optical positioning method with multiple communication modes, including:
s101, acquiring image data by adopting a left camera and a right camera;
the invention adopts a left camera and a right camera to acquire image data, a detected marker autonomously emits light or reflects light emitted by the positioning system into the cameras to obtain two-dimensional coordinates of the detected marker in the two cameras through calculation, then the three-dimensional coordinates of the detected marker are restored by using the relative pose relationship of the two cameras, the three-dimensional coordinate data are sent to an upper computer to be processed, and the upper computer acquires the data and then carries out subsequent processing.
S102, acquiring real-time scene image data by adopting an intermediate camera;
the optical positioning system not only needs to acquire coordinate data of an image, but also needs to acquire scene image data in real time, the scene image data are acquired by adopting an intermediate camera with a known pose relation, and one communication mode is selected to transmit the image data to an upper computer.
S103, respectively calculating three-dimensional coordinate data corresponding to the measured object according to the image data acquired by the left camera and the right camera;
specifically, the left camera and the right camera are used for acquiring image data, a detected marker is automatically emitted or reflected to the cameras from a positioning system, two-dimensional coordinates of the detected marker in the two cameras are obtained through calculation, then the three-dimensional coordinates of the detected marker are restored by using the relative pose relationship of the two cameras, the three-dimensional coordinate data are sent to an upper computer for processing, and the upper computer performs subsequent processing after acquiring the data.
And S104, transmitting the three-dimensional coordinate data and/or the real-time scene image data to an upper computer in a communication mode, wherein one or more communication modes are adopted for communication, and the communication modes comprise USB communication, Ethernet communication, serial port communication and wifi communication.
Specifically, the USB communication and the Ethernet communication comprise the steps of transmitting three-dimensional coordinate data, image data acquired by a left camera and a right camera, real-time scene image data and system state data to an upper computer, and the serial communication and the wifi communication comprise the steps of transmitting the three-dimensional coordinate data and the system state data to the upper computer.
Referring to fig. 2, fig. 3, fig. 4 and fig. 5, the USB communication mode employs USB3320C as a core of the module, and combines with related peripheral circuits to form a corresponding USB communication module, where the peripheral circuits include a filter circuit, a communication protection circuit, a USB interface, and some necessary decoupling capacitors and configuration resistors; the Ethernet communication mode adopts RTL8211E as the core of the module, and combines with related peripheral circuits to form a corresponding Ethernet communication module, wherein the peripheral circuits comprise network interfaces with transformers, and some necessary decoupling capacitors, configuration resistors and the like; the serial port communication mode consists of MAX3232ID and its related peripheral circuit, and converts TTL level serial port signal from the control module into standard RS232 serial port signal; the wifi communication mode adopts the existing serial port to wifi module USR-C216, and the module has an AP hot spot function, supports a data pass-through function, can directly send serial port data to an upper computer connected with the AP hot spot through the AP hot spot of the wifi module, and does not need to make a protocol additionally.
The communication flow by adopting the communication mode is as follows: the upper computer sends an instruction of data to be acquired to the optical positioning system through a certain port, the optical positioning system acquires image data through a camera, then acquires three-dimensional coordinate data through calculation, and finally transmits the three-dimensional coordinate data and real-time scene image data to the upper computer, and the optical positioning system sends the corresponding required data back to the upper computer through the port, which is further illustrated below:
four ports are used simultaneously to acquire various types of data:
the upper computer is connected with the positioning instrument through a serial port line, a USB line and a network cable and is connected to the AP hot spot of the positioning instrument through wifi. The upper computer continuously and circularly sends an instruction for acquiring images of the left camera and the right camera to the optical positioning system through the Ethernet port, and the optical positioning system continuously and circularly returns image data of the left camera and the right camera to the upper computer through the Ethernet port; meanwhile, the upper computer continuously and circularly sends an image acquisition command of the middle camera to the optical positioning system through the USB port, and the optical positioning system continuously and circularly returns image data of the middle camera to the upper computer through the USB port; meanwhile, the upper computer continuously and circularly sends a coordinate information acquisition instruction to the optical positioning system through the serial port, and the optical positioning system continuously and circularly returns coordinate information data to the upper computer through the serial port; meanwhile, the upper computer continuously and circularly sends a system state information acquisition instruction to the optical positioning system through wifi connection, and then the optical positioning system continuously and circularly returns system state information data to the upper computer through wifi.
Acquiring coordinate information data and system state information data by using a single wifi interface:
the upper computer is connected with the wifi and circularly sends a coordinate information acquisition instruction and a system state acquisition instruction to the optical positioning system in sequence, and then the optical positioning system continuously and circularly returns coordinate information data and system state information data to the upper computer through the wifi in sequence.
Referring to fig. 6, a multi-user connected optical positioning system is adopted:
and the upper computer is connected with the optical positioning system in a USB communication mode, and sends a corresponding instruction to the optical positioning system according to the data required to be acquired so as to acquire the corresponding data. And the second upper computer is connected with the optical positioning system through the Ethernet communication module, and sends a corresponding instruction to the optical positioning system according to the data required to be acquired so as to acquire the corresponding data. And the third upper computer is connected with the optical positioning system through the serial port communication module, and sends a corresponding instruction to the optical positioning system according to the data required to be acquired so as to acquire corresponding data. And the fourth upper computer is connected with the optical positioning system through the wifi module, and sends a corresponding instruction to the optical positioning system according to the data required to be acquired so as to acquire corresponding data.
According to the embodiment of the invention, the left camera and the right camera are adopted to obtain image data, the middle camera is adopted to obtain real-time scene image data, three-dimensional coordinate data are calculated according to the image data obtained by the left camera and the right camera, and the three-dimensional coordinate data and the real-time scene image data are sent to the upper computer, wherein one or more communication modes are adopted for transmission so as to meet the requirement that different data are transmitted to different upper computers through different transmission ports, and the transmission speed of the coordinate data is not influenced while the image data are transmitted.
Referring to fig. 7 and 8, an embodiment of the invention provides an optical positioning system with multiple communication modes, including:
the first acquisition module 11 acquires image data by adopting a left camera and a right camera;
the invention adopts a left camera and a right camera to acquire image data, a detected marker autonomously emits light or reflects light emitted by the positioning system into the cameras to obtain two-dimensional coordinates of the detected marker in the two cameras through calculation, then the three-dimensional coordinates of the detected marker are restored by using the relative pose relationship of the two cameras, the three-dimensional coordinate data are sent to an upper computer to be processed, and the upper computer acquires the data and then carries out subsequent processing.
The second acquisition module 12 acquires real-time scene image data by using an intermediate camera;
the optical positioning system not only needs to acquire coordinate data of an image, but also needs to acquire scene image data in real time, the scene image data are acquired by adopting an intermediate camera with a known pose relation, and one communication mode is selected to transmit the image data to an upper computer.
The control module 13 is used for respectively calculating three-dimensional coordinate data corresponding to the measured object according to the image data acquired by the left camera and the right camera;
specifically, the left camera and the right camera are used for acquiring image data, a detected marker is automatically emitted or reflected to the cameras from a positioning system, two-dimensional coordinates of the detected marker in the two cameras are obtained through calculation, then the three-dimensional coordinates of the detected marker are restored by using the relative pose relationship of the two cameras, the three-dimensional coordinate data are sent to an upper computer for processing, and the upper computer performs subsequent processing after acquiring the data.
The communication module 14 is used for transmitting the three-dimensional coordinate data and/or the real-time scene image data to an upper computer through a communication module, wherein one or more communication modules are used for communication, and the communication module comprises a USB communication module 141, an Ethernet communication module 142, a serial port communication module 143 and a wifi communication module 144.
Specifically, the USB communication module 141 and the ethernet communication module 142 transmit the three-dimensional coordinate data, the image data acquired by the left and right cameras, the real-time scene image data, and the system status data to the host computer, and the serial communication module 143 and the wifi communication module 144 transmit the three-dimensional coordinate data and the system status data to the host computer.
Referring to fig. 2, fig. 3, fig. 4 and fig. 5, the USB communication module 141 uses USB3320C as a core of the module, and combines with related peripheral circuits to form a corresponding USB communication module 141, where the peripheral circuits include a filter circuit, a communication protection circuit, a USB interface, and some necessary decoupling capacitors and configuration resistors; the ethernet communication module 142 adopts RTL8211E as the core of the module, and combines with the relevant peripheral circuits to form the corresponding ethernet communication module 142, and the peripheral circuits include a network interface with a transformer, and some necessary decoupling capacitors and configuration resistors; the serial port communication module 143 is composed of a MAX3232ID and its related peripheral circuits, and converts the TTL serial port signal from the control module into a standard RS232 serial port signal; the wifi communication module 144 adopts an existing serial port-to-wifi module USR-C216, the module has an AP hot spot function, supports a data transparent transmission function, can directly transmit serial port data to an upper computer connected with the AP hot spot through the AP hot spot of the wifi module, and does not need to additionally establish a protocol.
The communication flow by adopting the communication mode is as follows: the upper computer sends an instruction of data to be acquired to the optical positioning system through a certain port, the optical positioning system acquires image data through a camera, then acquires three-dimensional coordinate data through calculation, and finally transmits the three-dimensional coordinate data and real-time scene image data to the upper computer, and the optical positioning system sends the corresponding required data back to the upper computer through the port, which is further illustrated below:
four ports are used simultaneously to acquire various types of data:
the upper computer is connected with the positioning instrument through a serial port line, a USB line and a network cable and is connected to the AP hot spot of the positioning instrument through wifi. The upper computer continuously and circularly sends an instruction for acquiring images of the left camera and the right camera to the optical positioning system through the Ethernet port, and the optical positioning system continuously and circularly returns image data of the left camera and the right camera to the upper computer through the Ethernet port; meanwhile, the upper computer continuously and circularly sends an image acquisition command of the middle camera to the optical positioning system through the USB port, and the optical positioning system continuously and circularly returns image data of the middle camera to the upper computer through the USB port; meanwhile, the upper computer continuously and circularly sends a coordinate information acquisition instruction to the optical positioning system through the serial port, and the optical positioning system continuously and circularly returns coordinate information data to the upper computer through the serial port; meanwhile, the upper computer continuously and circularly sends a system state information acquisition instruction to the optical positioning system through wifi connection, and then the optical positioning system continuously and circularly returns system state information data to the upper computer through wifi.
Acquiring coordinate information data and system state information data by using a single wifi interface:
the upper computer is connected with the wifi and circularly sends a coordinate information acquisition instruction and a system state acquisition instruction to the optical positioning system in sequence, and then the optical positioning system continuously and circularly returns coordinate information data and system state information data to the upper computer through the wifi in sequence.
Referring to fig. 6, a multi-user connected optical positioning system is adopted:
and the upper computer is connected with the optical positioning system through the USB communication module 141, and sends a corresponding instruction to the optical positioning system according to the data required to be acquired so as to acquire the corresponding data. The second upper computer is connected with the optical positioning system through the ethernet communication module 142, and sends a corresponding instruction to the optical positioning system according to the data to be acquired so as to acquire the corresponding data. And the third upper computer is connected with the optical positioning system through the serial port communication module 143, and sends a corresponding instruction to the optical positioning system according to the data required to be obtained so as to obtain corresponding data. And the fourth upper computer is connected with the optical positioning system through the wifi module 144, and sends a corresponding instruction to the optical positioning system according to the data required to be acquired so as to acquire corresponding data.
According to the embodiment of the invention, the left camera and the right camera are adopted to obtain image data, the middle camera is adopted to obtain real-time scene image data, three-dimensional coordinate data are calculated according to the image data obtained by the left camera and the right camera, and the three-dimensional coordinate data and the real-time scene image data are sent to the upper computer, wherein one or more communication modes are adopted for transmission so as to meet the requirement that different data are transmitted to different upper computers through different transmission ports, and the transmission speed of the coordinate data is not influenced while the image data are transmitted.
An embodiment of the present invention provides a computer terminal device, including one or more processors and a memory. The memory is coupled to the processor and configured to store one or more programs, which when executed by the one or more processors, cause the one or more processors to implement an optical positioning method with multiple communication modes as in any one of the above embodiments.
The processor is used for controlling the overall operation of the computer terminal equipment so as to complete all or part of the steps of the optical positioning method with multiple communication modes. The memory is used to store various types of data to support the operation at the computer terminal device, which data may include, for example, instructions for any application or method operating on the computer terminal device, as well as application-related data. The Memory may be implemented by any type of volatile or non-volatile Memory device or combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic Memory, flash Memory, magnetic disk, or optical disk.
In an exemplary embodiment, the computer terminal Device may be implemented by one or more Application Specific 1 integrated circuits (AS 1C), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a controller, a microcontroller, a microprocessor or other electronic components, and is configured to perform one of the above-mentioned optical positioning methods with multiple communication modes and achieve technical effects consistent with the above-mentioned methods.
In another exemplary embodiment, a computer-readable storage medium is also provided, which comprises program instructions, which when executed by a processor, implement the steps of an optical positioning method with multiple communication modes in any of the above-mentioned embodiments. For example, the computer readable storage medium may be the memory including program instructions executable by the processor of the computer terminal device to perform the optical positioning method with multiple communication modes, and achieve the technical effects consistent with the above method.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. An optical positioning method with multiple communication modes is characterized by comprising the following steps:
acquiring image data by adopting a left camera and a right camera;
acquiring real-time scene image data by adopting an intermediate camera;
respectively calculating three-dimensional coordinate data corresponding to the measured object according to the image data acquired by the left camera and the right camera;
and transmitting the three-dimensional coordinate data and/or the real-time scene image data to an upper computer in a communication mode, wherein one or more communication modes are adopted for communication, and the communication modes comprise USB communication, Ethernet communication, serial port communication and wifi communication.
2. The optical positioning method with multiple communication modes according to claim 1, wherein the three-dimensional coordinate data and/or the real-time scene image data are transmitted to an upper computer in a communication mode, wherein the communication in one or more of the communication modes comprises USB communication, ethernet communication, serial communication and wifi communication, and the communication comprises:
and the upper computer selects the one or more communication modes, sends a command for acquiring data, and sends the corresponding data back to the upper computer according to the one or more communication modes selected by the upper computer.
3. The optical positioning method with multiple communication modes according to claim 2, wherein the three-dimensional coordinate data and/or the real-time scene image data are transmitted to an upper computer in a communication mode, wherein the communication in one or more of the communication modes includes USB communication, ethernet communication, serial communication and wifi communication, and further comprising:
and corresponding data are transmitted to different upper computers by adopting one or more communication modes, wherein a plurality of communication interfaces are mutually independent, and multi-user cooperation is completed.
4. The optical positioning method with multiple communication modes according to claim 3, wherein the three-dimensional coordinate data and/or the real-time scene image data are transmitted to an upper computer in a communication mode, wherein the communication in one or more of the communication modes includes USB communication, Ethernet communication, serial communication and wifi communication, and further comprising:
the USB communication and the Ethernet communication comprise the step of transmitting the three-dimensional coordinate data, the image data acquired by the left camera and the right camera, the real-time scene image data and the state data of the system to an upper computer;
and the serial port communication and the wifi communication comprise the step of transmitting the three-dimensional coordinate data and the state data of the system to an upper computer.
5. An optical positioning system with multiple communication modes, comprising:
the first acquisition module acquires image data by adopting a left camera and a right camera;
the second acquisition module acquires real-time scene image data by adopting an intermediate camera;
the control module is used for respectively calculating three-dimensional coordinate data corresponding to the measured object according to the image data acquired by the left camera and the right camera;
the communication module is used for transmitting the three-dimensional coordinate data and/or the real-time scene image data to the upper computer by adopting the communication module, wherein one or more communication modules are adopted for communication, and the communication module comprises a USB communication module, an Ethernet communication module, a serial port communication module and a wifi communication module.
6. The optical positioning system with multiple communication modes according to claim 5, wherein the communication module comprises:
the upper computer selects the one or more communication modules, sends a command for acquiring data, and sends the corresponding data back to the upper computer according to the one or more communication modules selected by the upper computer.
7. The optical positioning system with multiple communication modes according to claim 6, wherein the communication module further comprises:
and one or more communication modules are adopted to transmit corresponding data to different upper computers, wherein a plurality of communication interfaces are mutually independent, and multi-user cooperation is completed.
8. The optical positioning system with multiple communication modes according to claim 7, wherein the communication module further comprises:
the USB communication module and the Ethernet communication module transmit the three-dimensional coordinate data, the image data acquired by the left camera and the right camera, the real-time scene image data and the state data of the system to an upper computer;
the serial port communication module and the wifi communication module transmit the three-dimensional coordinate data and the state data of the system to an upper computer.
9. A computer terminal device, comprising:
one or more processors;
a memory coupled to the processor for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the optical positioning method with multiple communication modes according to any one of claims 1 to 4.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the optical positioning method with multiple communication modes according to any one of claims 1 to 4.
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| CN113701719A (en) * | 2021-07-20 | 2021-11-26 | 上海卓昕医疗科技有限公司 | Compatible method and system for multiple optical positioners |
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