Scanning System, Method, Device, Electronic Device, and Storage Medium

Abstract

The present application relates to a scanning system, method, device, electronic device, and storage medium. The scanning system includes a scanning device and a control device. The scanning device includes an imaging device and at least two sets of projection devices. The scanning device is provided with a first scanning mode. The first scanning mode includes at least two sets of projection switching sub-modes, with each set of projection switching sub-modes corresponding to a set of the projection devices and the depth of field of the imaging device. The control device is configured to select a set of projection switching sub-modes from the first scanning mode as the target scanning mode, and switch the scanning device to work in the target scanning mode under different current scanning scenarios, where the target scanning mode is used to match the current scanning scenario. Through the present application, the problem of low scanning efficiency for different scanning scenarios is solved, and automated scanning applicable to multiple scenarios based on switching of multiple sets of depths of field is achieved.

Description

Technical Field

[0001] This application relates to the field of scanning technology, and in particular, to a scanning system, method, device, electronic device, and storage medium. Background Art

[0002] Three-dimensional scanning refers to a high-tech that integrates light, machinery, electricity, and computer technology, and is mainly used to scan the spatial shape, structure, and color of an object to obtain the spatial coordinates of the object surface. In related technologies, users need to replace different scanning devices when facing different three-dimensional scanning scenarios. For example, if a user wants to perform more detailed scanning, they need to replace the scanning device with higher accuracy and closer distance before scanning; if a user wants to perform faster scanning, they need to replace the scanning device with a higher frame rate and farther distance, resulting in low scanning efficiency for different scanning scenarios.

[0003] Currently, for the problem of low scanning efficiency for different scanning scenarios in related technologies, no effective solution has been proposed. Summary of the Invention

[0004] Embodiments of this application provide a scanning system, method, device, electronic device, and storage medium to at least solve the problem of low scanning efficiency for different scanning scenarios in related technologies.

[0005] In a first aspect, embodiments of this application provide a scanning system, where the system includes a scanning device and a control device; the scanning device includes an imaging device and at least two groups of projection devices;

[0006] The scanning device is set with a first scanning mode; wherein, the first scanning mode includes at least two groups of projection switching sub-modes, each group of the projection switching sub-modes corresponds to a group of the projection devices, and the depth of field of the imaging device;

[0007] The control device is configured to select a group of projection switching sub-modes from the first scanning mode as a target scanning mode, and switch the scanning device to work in the target scanning mode under different current scanning scenarios; wherein, the target scanning mode is used to match the current scanning scenario.

[0008] In some of these embodiments, the control device is further configured to determine a group of target projection devices from the at least two groups of projection devices according to the target scanning mode, determine a group of target depths of field from the depths of field, and determine a scanning range according to the target depth of field and the focal length of the imaging device;

[0009] The control device controls the scanning device to scan the current scanning scenario according to the determined target projection device, target depth of field, and scanning range to obtain a scanning result of the current scanning scenario.

[0010] In some of these embodiments, the scanning mode is further provided with a second scanning mode; wherein, the second scanning mode includes at least two groups of depth-of-field switching sub-modes, and each group of the depth-of-field switching sub-modes corresponds to a group of the depth of field;

[0011] The control device is further configured to select a group of projection switching sub-modes from the first scanning mode, select a group of depth-of-field switching sub-modes from the second scanning mode, and combine the selected projection switching sub-modes and the depth-of-field switching sub-modes to obtain the target scanning mode.

[0012] In some of these embodiments, the system further includes an input device; wherein, the input device is connected to the control device;

[0013] The input device is configured to obtain a first scanning instruction and a second scanning instruction input by the user;

[0014] The control device is further configured to select a target projection switching sub-mode from the projection switching sub-modes of the first scanning mode according to the received first scanning instruction, and select a target depth-of-field switching sub-mode from the depth-of-field switching sub-modes of the second scanning mode according to the second scanning instruction;

[0015] The control device combines the target projection switching sub-mode and the target depth-of-field switching sub-mode, and then determines the target scanning mode according to the combination result.

[0016] In some of these embodiments, the input device is further configured to obtain the resolution input by the user;

[0017] The control device is further configured to obtain the target projection switching sub-mode and the target depth-of-field switching sub-mode according to the resolution, and then determine the target scanning mode.

[0018] In a second aspect, an embodiment of the present application provides a scanning method, which is applied to the scanning system as described in the first aspect above. The method includes:

[0019] Select a group of projection switching sub-modes from the first scanning mode as the target scanning mode; wherein, the target scanning mode is used to match the current scanning scene;

[0020] Switch the scanning device to work in the target scanning mode under different current scanning scenes.

[0021] In some of these embodiments, the step of switching the scanning device to work in the target scanning mode under different current scanning scenes includes:

[0022] Determine a set of target projection devices from the at least two sets of projection devices according to the target scanning mode, determine a set of target depth of field from the depth of field, and determine the scanning range according to the target depth of field and the focal length of the imaging device;

[0023] Control the scanning device to scan the current scanning scene according to the determined target projection device, the target depth of field, and the scanning range, so as to obtain the scanning result of the current scanning scene.

[0024] In a third aspect, an embodiment of the present application provides a scanning method, which is applied to the scanning system described in the first aspect above. The method includes:

[0025] Select a set of projection switching sub-modes from the first scanning mode, select a set of depth-of-field switching sub-modes from the second scanning mode, and combine the selected projection switching sub-modes and the depth-of-field switching sub-modes to obtain the target scanning mode; wherein, the second scanning mode includes at least two sets of depth-of-field switching sub-modes;

[0026] Under different current scanning scenes, switch the scanning device to work in the target scanning mode.

[0027] In a fourth aspect, an embodiment of the present application provides a scanning device, which is applied to the scanning system described in the first aspect above. The device includes a selection module and a working module;

[0028] The selection module is configured to select a set of projection switching sub-modes from the first scanning mode as the target scanning mode; wherein, the target scanning mode is used to match the current scanning scene;

[0029] The working module is configured to switch the scanning device to work in the target scanning mode under different current scanning scenes.

[0030] In a fifth aspect, an embodiment of the present application provides an electronic device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the scanning methods described in the second aspect and the third aspect above are implemented.

[0031] In a sixth aspect, an embodiment of the present application provides a storage medium, on which a computer program is stored. When the program is executed by a processor, the scanning methods described in the second aspect and the third aspect above are implemented.

[0032] Compared with the related art, the scanning system, method, device, electronic device and storage medium provided by the embodiments of the present application. The system includes a scanning device and a control device; the scanning device includes an imaging device and at least two groups of projection devices; the scanning device is provided with a first scanning mode; wherein, the first scanning mode includes at least two groups of projection switching sub-modes, each group of the projection switching sub-modes corresponds to a group of the projection devices, and the depth of field of the imaging device; the control device is configured to select a group of projection switching sub-modes from the first scanning mode as the target scanning mode, and switch the scanning device to work in the target scanning mode under different current scanning scenarios; wherein, the target scanning mode is used to match the current scanning scenario, solves the problem of low scanning efficiency for different scanning scenarios, and realizes automatic scanning applicable to multiple scenarios based on switching of multiple groups of depths of field.

[0033] Details of one or more embodiments of the present application are set forth in the following drawings and description, so that other features, objects, and advantages of the present application will become more concise and understandable. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments and descriptions thereof of the present application are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:

[0035] Figure 1 is an application scenario diagram of a scanning system according to an embodiment of the present application;

[0036] Figure 2 is a structural block diagram of a scanning system according to an embodiment of the present application;

[0037] Figure 3 is a structural block diagram of another scanning system according to an embodiment of the present application;

[0038] Figure 4 is a flowchart of a scanning method according to an embodiment of the present application;

[0039] Figure 5 is a flowchart of another scanning method according to an embodiment of the present application;

[0040] Figure 6 is a structural block diagram of a scanning device according to an embodiment of the present application;

[0041] Figure 7 is a structural diagram inside a computer device according to an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] In order to make the objectives, technical solutions and advantages of the present application more clear and understandable, the present application will be described and explained below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments provided in the present application without creative efforts belong to the scope of protection of the present application. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for those of ordinary skill in the art related to the content disclosed in the present application, some design, manufacturing or production changes based on the technical content disclosed in the present application are only conventional technical means and should not be understood as the content disclosed in the present application being insufficient.

[0043] In the present application, the mention of "embodiment" means that the specific features, structures or characteristics described in connection with the embodiment may be included in at least one embodiment of the present application. The phrase appears in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those of ordinary skill in the art explicitly and implicitly understand that the embodiments described in the present application may be combined with other embodiments without conflict.

[0044] Unless otherwise defined, the technical terms or scientific terms involved in the present application shall have the ordinary meaning understood by those of ordinary skill in the technical field to which the present application belongs. The terms "a", "one", "kind", "the" and other similar words involved in the present application do not indicate a quantity limitation and may represent a single or plural number. The terms "including", "comprising", "having" and any variations thereof involved in the present application are intended to cover non-exclusive inclusion; for example, a process, method, system, product or device including a series of steps or modules (units) is not limited to the listed steps or units, but may further include unlisted steps or units, or may further include other steps or units inherent to these processes, methods, products or devices. The terms "connected", "coupled" and other similar words involved in the present application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The term "plurality" involved in the present application means greater than or equal to two. "And / or" describes the association relationship of associated objects and indicates that three relationships may exist. For example, "A and / or B" may represent: A exists alone, A and B exist simultaneously, and B exists alone. The terms "first", "second", "third" and other terms involved in the present application are only used to distinguish similar objects and do not represent a specific order of the objects.

[0045] Figure 1It is an application scenario diagram of a scanning system according to an embodiment of the present application. The system embodiment provided in this embodiment can be applied in Figure 1 the application scenario shown. As Figure 1 shown, the server 104 and the scanning device 102 can communicate through a network. The scanning device 102 is provided with a first scanning mode, which includes at least two groups of projection switching sub-modes. Each group of projection switching sub-modes corresponds to a group of projection devices, and the depth of field of the imaging device; the server 104 selects a group of projection switching sub-modes from the first scanning mode as the target scanning mode that matches the current scanning scenario, and switches the scanning device to work in the target scanning mode under different current scanning scenarios. Among them, the server 104 can be implemented by an independent server or a server cluster composed of multiple servers.

[0046] This embodiment provides a scanning system. Figure 2 It is a structural block diagram of a scanning system according to an embodiment of the present application. As Figure 2 shown, the system includes a scanning device 102 and a control device 26.

[0047] The above-mentioned scanning device 102 includes an imaging device 22 and at least two groups of projection devices 24; among them, the projection device 24 can be installed on the scanning device 102, and the projection device 24 is used to project light onto the object to be scanned, so that the scanning device 102 scans the light projected by the projection device 24 and obtains scanning data. In this embodiment, multiple groups of projection devices 24 are deployed on the scanning device 102, and the projection distances between the projection devices 24 are different from each other, so that it is possible to determine the corresponding scanning mode based on selecting projection devices 24 with different projection distances, and each scanning mode can be applied to each application scenario that requires different projection distances. The projection device 24 can be, but is not limited to, various lasers, projectors or other devices for projecting light onto the current scanning scenario.

[0048] The above-mentioned scanning device 102 is provided with a first scanning mode; among them, the first scanning mode includes at least two groups of projection switching sub-modes. Each group of the projection switching sub-modes corresponds to a group of the projection devices 24, and the depth of field of the imaging device 22. Specifically, the scanning device 102 stores a first scanning mode preset by the user. The first scanning mode refers to the scanning mode corresponding to different projection devices 24. The first scanning mode includes multiple groups of the above-mentioned projection switching sub-modes. Each group of different projection switching sub-modes can be determined by a corresponding group of projection devices 24 and a corresponding depth of field of the above-mentioned imaging device 22. The imaging device 22 can be, but is not limited to, various analog cameras, digital cameras and other devices for scanning and imaging.

[0049] For example, if the projection switching sub-mode is the close-range scanning mode, the above-mentioned projection device 24 corresponding to the close-range scanning mode is a close-range projection device. At the same time, the scanning device 102 reads the focal length and the depth of field of the above-mentioned imaging device 22 corresponding to the close-range scanning mode. The focal length can be the focal length uniformly used in each mode or set by the user for the device. The scanning device 102 determines the scanned range in the close-range scanning mode according to the focal length and the depth of field, and thus determines a set of projection switching sub-modes applicable to the close-range scanning scenario based on the above-mentioned depth of field and the close-range projection device 24. It should be noted that the scanning in the close-range scanning mode can make the scanning accuracy higher and the details better. The close-range scanning mode is applicable to occasions where the object is small and has high requirements for accuracy and details.

[0050] If the projection switching sub-mode is the standard-distance scanning mode, the above-mentioned projection device 24 corresponding to the standard-distance scanning mode is a standard-distance projection device 24. At the same time, the scanning device 102 reads the above-mentioned focal length and the depth of field of the imaging device 22 corresponding to the standard-distance scanning mode, and the scanned range in the standard-distance scanning mode can be determined according to the focal length and the depth of field. Thus, a set of projection switching sub-modes applicable to the standard-distance scanning scenario is determined based on the depth of field and the standard-distance projection device 24. It should be noted that all parameters such as the scanning speed, accuracy, and details of the standard-distance scanning mode are between the close-range scanning mode and the long-range scanning mode. The standard-distance scanning mode is applicable to all occasions.

[0051] If the projection switching sub-mode is the long-range scanning mode, the above-mentioned projection device 24 corresponding to the long-range scanning mode is a long-range projection device. At the same time, the scanning device 102 reads the above-mentioned focal length and the depth of field of the imaging device 22 corresponding to the long-range scanning mode, and the scanned range in the long-range scanning mode can be determined according to the focal length and the depth of field. Thus, a set of projection switching sub-modes applicable to the long-range scanning scenario is determined based on the depth of field and the long-range projection device. It should be noted that the scanning in the long-range scanning mode can make the scanning area wider and the scanning speed faster. The long-range scanning mode is applicable to occasions where the object is large and has low requirements for accuracy and details.

[0052] If the projection switching sub-mode is the single-line scanning mode, the above-mentioned projection device 24 corresponding to the single-line scanning mode is a single-line projection device. At the same time, the scanning device 102 reads the above-mentioned focal length and the depth of field of the imaging device 22 corresponding to the single-line scanning mode, and based on the focal length and the depth of field, the scanned range in the single-line scanning mode can be determined. Thus, based on the depth of field and the single-line projection device, a set of projection switching sub-modes applied in the single-line scanning scenario is determined. It should be noted that the scanning in the single-line scanning mode can make the scanning more fluent and the penetration of the laser line stronger. The single-line scanning mode is applicable to occasions where the object surface is complex or the object depth is relatively deep. It can be understood that the above-mentioned projection switching sub-mode can also be other groups of scanning modes, corresponding to different projection devices 24 and depth-of-field ranges, that is, each group of projection devices 24 combined with the depth of field and the focal length forms a scanning mode, which will not be elaborated here.

[0053] The above control device 26 is used to select a set of projection switching sub - modes from the first scanning mode as the target scanning mode, and switch the scanning device 102 to work in the target scanning mode under different current scanning scenarios; wherein, the target scanning mode is used to match the current scanning scenario. Specifically, taking the above - mentioned first scanning mode which includes four groups of projection switching sub - modes: close - range scanning mode, standard - distance scanning mode, long - distance scanning mode, and single - line scanning mode as an example, if the current scanning scenario is a situation where the object is small, such as the fine structure of automotive parts or the details of handicrafts, and has high requirements for accuracy and details, considering that the scanning in the close - range scanning mode can achieve higher scanning accuracy and better details, the user can select the close - range scanning mode, one of the projection switching sub - modes, from all the first scanning modes as the target scanning mode, so as to automatically switch the above - mentioned scanning device 102 to work in the close - range scanning mode, making the scanning for objects that are small and have high requirements for accuracy and details more accurate. Or, if the current scanning scenario changes to a situation where the object is large, such as the outer shell of an aircraft, an automobile, or large industrial components, and has low requirements for accuracy and details, since the long - distance scanning mode can provide a wider scanning area and faster scanning speed, the user can select the long - distance scanning mode, one of the projection switching sub - modes, from all the first scanning modes as the target scanning mode, so as to automatically switch the scanning device 102 to work in the long - distance scanning mode. Or, if the current scanning scenario changes to a situation where the object has a complex surface or a relatively deep surface depth, such as industrial complex castings, since the single - line scanning mode can achieve higher scanning smoothness and stronger penetration of the laser line, the user can select the single - line scanning mode as the target scanning mode at this time, so as to automatically switch the scanning device 102 to work in the single - line scanning mode. It can be understood that the parameters such as scanning speed, accuracy, and details of the standard - distance scanning mode are between those of the close - range scanning mode and the long - distance scanning mode. Therefore, the standard - distance scanning mode can also be selected in the above - mentioned scenarios and combined with any of the following second scanning modes as the target scanning mode for use. Further, taking the overall scanning and detection of an automobile as an example, during the actual scanning of the whole automobile, when scanning the outer shell of the automobile, the user can set the long - distance scanning mode as the target scanning mode through button settings, etc. Then, during this scanning period, the scanning device 102 will automatically switch to the long - distance scanning mode for scanning. When scanning the internal components of the automobile, the user can quickly select the close - range scanning mode, and at this time, the scanning device 102 can efficiently and automatically switch to the close - range scanning mode for scanning.

[0054] It should be noted that the control device 26 can be a server, a single-chip microcomputer, or other devices used to control the above-mentioned scanning device 102; the control device 26 can be communicatively connected to the scanning device 102, or the control device 26 can be installed and deployed on the scanning device 102. Specifically, during the scanning process for the current scanning scenario, first, the control device 26 obtains a set of projection switching sub-modes required during the scanning process by parsing user instructions or analyzing relevant data, and uses the determined projection switching sub-mode as the above-mentioned target scanning mode. Then, based on the target scanning mode, the control device 26 switches the scanning device 102 to the corresponding projection device 24 and depth of field, so that the scanning device 102 can automatically switch to the corresponding target scanning mode. It can be understood that the user instructions can be input by the user to the scanning device 102 or the control device 26 in combination with the application scenario and the characteristics of each projection switching sub-mode in the above different application scenarios, so that the control device 26 can obtain and parse them.

[0055] In the related art, different scanning devices 102 need to be replaced in different scanning scenarios, resulting in low scanning efficiency; while in this application, through the above-mentioned embodiments, the control device 26 obtains the target scanning mode in the first scanning mode of the scanning device 102 to determine the corresponding projection device 24 and depth of field of the target scanning mode, thereby realizing the adaptive switching of the scanning mode in the same scanning device 102 under different application scenarios, avoiding the phenomenon of needing to replace different scanning devices 102 in different scenarios, solving the problem of low scanning efficiency for different scanning scenarios, and realizing an automated scanning system that can adapt to multiple scenarios based on multiple groups of depth-of-field switching.

[0056] In some of the embodiments, the control device 26 is further configured to determine a set of target projection devices from the at least two sets of projection devices 24 according to the target scanning mode, determine a set of target depths of field from the depths of field, and determine the scanning range according to the target depth of field and the focal length of the imaging device 22; the control device 26 controls the scanning device 102 to scan the current scanning scenario according to the determined target projection device, the target depth of field, and the scanning range, so as to obtain the scanning result of the current scanning scenario.

[0057] Specifically, after determining the above-mentioned target scanning mode, the control device 26 switches the scanning device 102 to the projection device 24 and the target depth of field corresponding to the target scanning mode based on the target scanning mode, so that the scanning device 102 can automatically switch to the corresponding target scanning mode. Taking the target scanning mode determined by the control device 26 as the above-mentioned close-range scanning mode as an example, the control device 26 turns on the close-range projection device corresponding to the close-range scanning mode on the scanning device 102, obtains the focal length of the imaging device 22, and the depth of field corresponding to the close-range scanning mode, determines the scanning range according to the focal length and the depth of field, and finally instructs the close-range projection device to project according to the determined scanning range, so that the scanning device 102 can complete the scanning. It can be understood that if the target scanning mode is determined to be other scanning modes, the control device 26 controls the scanning device 102 to switch modes in the same way as the above-mentioned switching of the close-range projection mode, that is, determines the target depth of field corresponding to the target scanning mode, and then calculates the scanning range according to the target depth of field and the focal length of the above-mentioned imaging device 22, and at the same time determines a set of projection devices 24 corresponding to the target scanning mode, so as to control the scanning device 102 to complete the scanning based on the determined projection device 24 and scanning range.

[0058] Among them, the above-mentioned focal length can be a unified focal length obtained by focusing when the imaging device 22 leaves the factory; or, the user can also set the best focal length in advance for each target scanning mode respectively, or directly configure a best focal length for each target scanning mode when leaving the factory. Then, when the scanning device 102 switches to the target scanning mode in the current scanning scenario, the focal length will also switch to the corresponding best focal length. Specifically, taking the above-mentioned first scanning mode including the close-range scanning mode and the long-range scanning mode as an example, a first focal length is configured for the close-range scanning mode when leaving the factory, and a second focal length is configured for the long-range scanning mode. The first focal length and the second focal length are the best focal lengths corresponding to the close-range scanning mode and the long-range scanning mode respectively, and the first focal length is less than the second focal length; if the current scanning scenario is an automotive part, the user selects the close-range scanning mode as the target scanning mode, and the focal length used at this time corresponds to the above-mentioned first focal length; if the current scanning scenario is an aircraft shell, the user switches the target scanning mode to the long-range scanning mode, and the focal length also switches to the above-mentioned second focal length at this time. It should be added that the above-mentioned best focal length can be set with different evaluation criteria according to different types or models of the scanning device 102. For example, when focusing on the scanning device 102, the image clarity can be displayed on the host computer, and when the clarity reaches the preset standard threshold, the focal length at this time can be set as the best focal length.

[0059] Through the above embodiments, according to the determined target scanning mode, the target projection device, target depth of field, and focal length required in the current scanning scenario are determined, and the scanning range is determined based on the target depth of field and focal length, so that the scanning device uses the target projection device to perform scanning according to the scanning range, thereby effectively improving the scanning accuracy for different scanning scenarios.

[0060] In some of the embodiments, the above scanning mode is further provided with a second scanning mode; wherein, the second scanning mode includes at least two groups of depth-of-field switching sub-modes, and each group of the depth-of-field switching sub-modes corresponds to a group of the depth of field. The second scanning mode refers to the scanning mode corresponding to different depths of field. The second scanning mode includes multiple groups of depth-of-field switching sub-modes, and each group of different depth-of-field switching sub-modes can be determined by the depth of field of a corresponding group of imaging devices 22.

[0061] For example, if the depth-of-field switching sub-mode is the fine depth-of-field mode, the above scanning device 102 reads the focal length uniformly used in each mode preset by the user, and the fine depth of field of the above imaging device 22 corresponding to the fine depth-of-field mode, and determines the scanned range in the fine depth-of-field mode based on the focal length and the fine depth of field, so as to determine a group of depth-of-field switching sub-modes applied to the fine depth-of-field scanning scenario based on the above fine depth of field and the currently used projection device 24. It should be noted that the scanning in the fine depth-of-field mode can make the scanning accuracy higher and the details better. The fine depth-of-field mode is suitable for occasions where the object is small and has high requirements for accuracy and details.

[0062] If the depth-of-field switching sub-mode is the standard depth-of-field mode, the above scanning device 102 reads the focal length, and the standard depth of field of the above imaging device 22 corresponding to the standard depth-of-field mode, and determines the scanned range in the standard depth-of-field mode based on the focal length and the standard depth of field, so as to determine a group of depth-of-field switching sub-modes applied to the standard depth-of-field scanning scenario based on the above standard depth of field and the currently used projection device 24. It should be noted that the parameters such as the scanning speed, accuracy, and details of the standard depth-of-field mode are between the fine depth-of-field mode and the large-range depth-of-field mode.

[0063] If the depth-of-field switching sub-mode is the large-range depth-of-field mode, the above scanning device 102 reads the focal length, and the large-range depth of field of the above imaging device 22 corresponding to the standard depth-of-field mode, and determines the scanned range in the large-range depth-of-field mode based on the focal length and the large-range depth of field, so as to determine a group of depth-of-field switching sub-modes applied to the large-range depth-of-field scanning scenario based on the above large-range depth of field and the currently used projection device 24. It should be noted that the scanning area in the large-range depth-of-field mode is wider and the scanning speed is faster. The large-range depth-of-field mode is suitable for occasions where the object is large and has low requirements for accuracy and details.

[0064] The above control device 26 is also used to select a set of projection switching sub - modes from the first scanning mode, select a set of depth - of - field switching sub - modes from the second scanning mode, and combine the selected projection switching sub - mode and the depth - of - field switching sub - mode to obtain the target scanning mode. Specifically, taking the first scanning mode including four sets of projection switching sub - modes: close - range scanning mode, standard - distance scanning mode, long - range scanning mode, and single - line scanning mode, and the second scanning mode including fine depth - of - field mode, standard depth - of - field mode, and large - range depth - of - field mode as an example. If the current scanning scenario is for scanning fine structures of automotive parts or details of handicrafts, etc., where the object is small and has high requirements for precision and details. Considering that scanning in the close - range scanning mode and the fine depth - of - field mode can achieve higher scanning precision and better details, the user can select the close - range scanning mode, a projection switching sub - mode, from all the first scanning modes, and select the fine depth - of - field mode, a depth - of - field switching sub - mode, from all the second scanning modes, so as to combine the close - range scanning mode and the fine depth - of - field mode to obtain the target scanning mode. Or, if the current scanning scenario changes to a situation where the object is large, such as the outer shell of an aircraft, an automobile, or a large industrial component, and has low requirements for precision and details. Since the long - range scanning mode and the large - range depth - of - field mode can provide a wider scanning area and faster scanning speed, the user can select the long - range scanning mode, a projection switching sub - mode, from all the first scanning modes, and select the large - range depth - of - field mode, a depth - of - field switching sub - mode, from all the second scanning modes, so as to combine the long - range scanning mode and the large - range depth - of - field mode to obtain the target scanning mode. Or, if the current scanning scenario changes to a situation where the object has a complex surface or a relatively deep surface depth, such as an industrial complex casting. Since the single - line scanning mode can provide higher scanning smoothness and stronger penetration of the laser line, the user can select the single - line scanning mode from the first scanning mode at this time. At the same time, since the scanning speed, precision, details, and other parameters of the standard depth - of - field mode are between those of the fine depth - of - field mode and the large - range depth - of - field mode, the standard depth - of - field mode that can be applied to all occasions can be selected from the second scanning mode, and the single - line scanning mode and the standard depth - of - field mode are combined into the target scanning mode.

[0065] Among them, the control device 26 determines the selected projection switching sub-mode from all the first scanning modes and the depth-of-field switching sub-mode selected from all the second scanning modes based on the user instruction parsing result or the relevant data analysis result in the current scanning scenario, and combines the selected projection switching sub-mode and the depth-of-field switching sub-mode to obtain the above-mentioned target scanning mode. It can be understood that there is no sequential execution order for selecting the first scanning mode and the second scanning mode. Then, based on the above-mentioned selected target scanning mode, the control device 26 reads the specific scanning strategy in this type of target scanning mode. For example, the scanning strategy used in the current scanning scenario can be specifically selected according to the projection device 24, depth-of-field mode, size of the object to be scanned, distance between the object to be scanned and the scanning device 102, scanning accuracy, scanning speed, etc. corresponding to the target scanning mode, and finally determines the scanning method of the scanning device 102. The above-mentioned scanning device 102 can perform scanning according to the corresponding scanning strategy.

[0066] Through the above embodiments, the refinement of the depth of field is realized by setting the second scanning mode in the scanning device 102, so that there are multiple depth-of-field modes under each scanning mode, thereby improving the freedom of mode switching of the scanning device 102, further refining the granularity of the scanning mode switching of the scanning system, and effectively improving the accuracy of scanning different scanning scenarios using the same scanning device 102.

[0067] In some of these embodiments, a scanning system is provided. Figure 3 It is a structural block diagram of another scanning system according to an embodiment of the present application, as Figure 3 shown. The system further includes an input device 32. Among them, the input device 32 is connected to the control device 26. The input device 32 is used to obtain the first scanning instruction and the second scanning instruction input by the user. It should be noted that the input device 32 can be a display screen, a touch screen, a sound and light device, a terminal or other devices that can receive user instructions. The input device 32 can be communicatively connected to the scanning device 102 or can be installed and deployed on the scanning device 102. The first scanning instruction refers to an instruction that matches the above-mentioned first scanning mode, and the second scanning instruction is an instruction that matches the above-mentioned second scanning mode.

[0068] The above-mentioned control device 26 is further configured to select a target projection switching sub-mode from the projection switching sub-modes of the first scanning mode according to the received first scanning instruction, and select a target depth-of-field switching sub-mode from the depth-of-field switching sub-modes of the second scanning mode according to the second scanning instruction. The control device 26 combines the target projection switching sub-mode and the target depth-of-field switching sub-mode, and then determines the target scanning mode according to the combination result.

[0069] Specifically, the user can select the first scanning mode or the second scanning mode through button click operations or touch operations on the input device 32. When the first scanning mode is selected, the user can select each group of projection switching sub-modes included in the first scanning mode in the drop-down box corresponding to the first scanning mode displayed on the input device 32. When the second scanning mode is selected, the user can select each group of projection switching sub-modes included in the second scanning mode in the drop-down box corresponding to the second scanning mode displayed on the input device 32. The selection order of the first scanning mode and the second scanning mode by the user can be unrestricted. Then, based on the above selection operation of the user, the input device 32 sends a first scanning instruction corresponding to the first scanning mode and a second scanning instruction corresponding to the second scanning mode to the control device 26. The control device 26 can respectively parse the first scanning instruction and the second scanning instruction to correspondingly obtain the above-mentioned target projection switching sub-mode and the above-mentioned target depth-of-field switching sub-mode. Among them, the target projection switching sub-mode includes the projection device 24 and the depth of field selected in the current application scenario, and the target depth-of-field switching sub-mode includes a further refined selection of the depth of field. Then, by combining the target projection switching sub-mode and the target depth-of-field switching sub-mode, a target scanning mode including the determined projection device 24 and the depth-of-field mode can be obtained. Finally, the control device 26 instructs the scanning device 102 to read the corresponding scanning strategy according to the target scanning mode selected by the user for scanning.

[0070] In some embodiments, the input device 32 is further configured to obtain the resolution input by the user. The control device 26 is further configured to obtain the target projection switching sub-mode and the target depth-of-field switching sub-mode according to the resolution, and then determine the target scanning mode. It should be noted that the resolution can be a resolution preset by the user to limit the data density of point clouds or meshes in the current scanning scenario. In the related art, the resolution is only a necessary condition for processing scanning data, so that the scanning device 102 can generate a scanning image based on the resolution. In the embodiments of the present application, the resolution is used to be analyzed by the control device 26 to realize the automatic selection of the target scanning mode in combination with the resolution. For example, if it is detected that the resolution is greater than a certain preset threshold, it indicates that the current scanning scenario has a high requirement for precision details. At this time, the control device 26 can determine the above-mentioned target projection switching sub-mode as the close-range scanning mode based on the detection result, and determine the above-mentioned target depth-of-field switching sub-mode as the fine depth-of-field mode. The preset threshold can be preset by the user. For example, the preset threshold can be set to 0.05 mm, that is, the average distance between every two adjacent points in the point cloud is 0.05 mm.

[0071] Through the above embodiments, the control device 26 determines the target scanning mode based on the resolution of the input device 32, thereby realizing the automatic selection of the target scanning mode without the need for additional manual selection by the user, further improving the automation degree of the scanning mode switching of the scanning system, and improving the scanning efficiency for different scanning scenarios.

[0072] This embodiment also provides a scanning method, which is applied to the above scanning system. Figure 4 It is a flowchart of a scanning method according to an embodiment of the present application, as Figure 4 shown, and this process includes the following steps:

[0073] Step S410, select a set of projection switching sub-modes from the first scanning mode as the target scanning mode; wherein, the target scanning mode is used to match the current scanning scenario.

[0074] Step S420, in different current scanning scenarios, switch the scanning device to work in the target scanning mode.

[0075] Through the above steps S410 to S420, by obtaining the target scanning mode in the first scanning mode of the scanning device to determine the corresponding projection device and depth of field of the target scanning mode, the adaptive switching of the scanning mode in the same scanning device under different application scenarios is realized, avoiding the phenomenon of needing to replace different scanning devices in different scenarios, solving the problem of low scanning efficiency for different scanning scenarios, and realizing an automated scanning method based on switching of multiple groups of depths of field to adapt to multiple scenarios.

[0076] In some of these embodiments, the above step S420 further includes the following steps:

[0077] Step S421, according to the target scanning mode, determine a set of target projection devices from the at least two sets of projection devices, determine a set of target depths of field from the depths of field, and determine the scanning range according to the target depth of field and the focal length of the imaging device.

[0078] Step S422, according to the determined target projection device, the target depth of field, and the scanning range, control the scanning device to scan the current scanning scenario to obtain the scanning result of the current scanning scenario.

[0079] This embodiment also provides a scanning method, which is applied to the above scanning system. Figure 5 It is a flowchart of another scanning method according to an embodiment of the present application, as Figure 5 shown, and this process includes the following steps:

[0080] Step S510: Select a set of projection switching sub - modes from the first scanning mode, select a set of depth - of - field switching sub - modes from the second scanning mode, and combine the selected projection switching sub - mode and the depth - of - field switching sub - mode to obtain the target scanning mode; wherein, the second scanning mode includes at least two sets of depth - of - field switching sub - modes.

[0081] Step S520: Under different current scanning scenarios, switch the scanning device to work in the target scanning mode.

[0082] In some embodiments, the above - mentioned step S510 further includes the following steps:

[0083] Step S511: Obtain a first scanning instruction and a second scanning instruction input by the user through an input device; wherein, the input device is connected to the control device.

[0084] Step S512: The control device is further configured to select a target projection switching sub - mode from the projection switching sub - modes of the first scanning mode according to the received first scanning instruction, and select a target depth - of - field switching sub - mode from the depth - of - field switching sub - modes of the second scanning mode according to the second scanning instruction;

[0085] Step S513: The control device combines the target projection switching sub - mode and the target depth - of - field switching sub - mode, and then determines the target scanning mode according to the combination result.

[0086] In some embodiments, the above - mentioned scanning method further includes the following steps: Obtain the resolution input by the user through the above - mentioned input device; obtain the target projection switching sub - mode and the target depth - of - field switching sub - mode according to the resolution, and then determine the target scanning mode.

[0087] It should be noted that the steps shown in the above process or the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer - executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0088] This embodiment also provides a scanning device applied to the above - mentioned scanning system; this device is used to implement the above - mentioned embodiments and preferred implementation manners, and those that have been described will not be repeated. As used hereinafter, terms such as "module", "unit", "sub - unit", etc. can be a combination of software and / or hardware that can achieve a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware is also possible and contemplated.

[0089] Figure 6 is a structural block diagram of a scanning device according to an embodiment of the present application, asFigure 6 As shown, the device includes a selection module 62 and an operation module 64; the selection module 62 is configured to select a set of projection switching sub-modes from the first scanning mode as the target scanning mode; wherein, the target scanning mode is used to match the current scanning scene; the operation module 64 is configured to switch the scanning device to work in the target scanning mode under different current scanning scenes.

[0090] Through the above embodiments, the target scanning mode in the first scanning mode of the scanning device is obtained through the selection module 62 to determine the corresponding projection device and depth of field of the target scanning mode, and the scanning device is switched to the target scanning mode through the operation module 64, thereby realizing the adaptive switching of the scanning mode in the same scanning device under different application scenarios, avoiding the phenomenon of needing to replace different scanning devices under different scenarios, solving the problem of low scanning efficiency for different scanning scenes, and realizing an automatic scanning device based on multi-group depth-of-field switching to adapt to multiple scenarios.

[0091] In some embodiments, the above operation module 64 is further configured to determine a set of target projection devices from the at least two sets of projection devices according to the target scanning mode, determine a set of target depths of field from the depths of field, and determine the scanning range according to the target depth of field and the focal length of the imaging device; the operation module 64 controls the scanning device to scan the current scanning scene according to the determined target projection device, target depth of field, and scanning range to obtain the scanning result of the current scanning scene.

[0092] In some embodiments, the above selection module 62 is further configured to select a set of projection switching sub-modes from the first scanning mode, select a set of depth-of-field switching sub-modes from the second scanning mode, and combine the selected projection switching sub-modes and depth-of-field switching sub-modes to obtain the target scanning mode; wherein, the second scanning mode includes at least two sets of depth-of-field switching sub-modes; the above operation module 64 is further configured to switch the scanning device to work in the target scanning mode under different current scanning scenes.

[0093] In some embodiments, the above scanning device further includes an acquisition module; the acquisition module is configured to acquire a first scanning instruction and a second scanning instruction input by the user through an input device; the above selection module 62 is further configured to select a target projection switching sub-mode from the projection switching sub-modes of the first scanning mode according to the received first scanning instruction, and select a target depth-of-field switching sub-mode from the depth-of-field switching sub-modes of the second scanning mode according to the second scanning instruction; the selection module 62 combines the target projection switching sub-mode and the target depth-of-field switching sub-mode, and then determines the target scanning mode according to the combination result.

[0094] In some of these embodiments, the above-mentioned acquisition module is further configured to acquire the resolution input by the user through the above-mentioned input device; the above-mentioned selection module 62 is further configured to acquire the target projection switching sub-mode and the target depth-of-field switching sub-mode according to the resolution, and further determine the target scanning mode.

[0095] It should be noted that the above-mentioned each module can be a functional module or a program module, and can be implemented by software or by hardware. For the modules implemented by hardware, the above-mentioned each module can be located in the same processor; or the above-mentioned each module can also be located in different processors in any combined form.

[0096] In some of these embodiments, a computer device is provided, and the computer device can be a server. Figure 7 is a structural diagram inside a computer device according to an embodiment of the present application, as Figure 7 shown. The computer device includes a processor, a memory, a network interface, and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the target scanning mode. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements a scanning method.

[0097] Those skilled in the art can understand that Figure 7 the structure shown in

[0098] is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine some components, or have different component arrangements.

[0099] Optionally, the above-mentioned electronic device may further include a transmission device and an input / output device. Among them, the transmission device is connected to the above-mentioned processor, and the input / output device is connected to the above-mentioned processor.

[0100] Optionally, in this embodiment, the above-mentioned processor may be configured to execute the following steps through a computer program:

[0101] S1. Select a set of projection switching sub - modes from the first scanning mode as the target scanning mode, where the target scanning mode is used to match the current scanning scenario.

[0102] S2. Under different current scanning scenarios, switch the scanning device to work in the target scanning mode.

[0103] It should be noted that the specific examples in this embodiment can refer to the examples described in the above - mentioned embodiments and optional implementation manners, and will not be elaborated here.

[0104] In addition, in combination with the scanning method in the above - mentioned embodiments, an embodiment of the present application can be implemented by providing a storage medium. A computer program is stored on the storage medium; when the computer program is executed by a processor, any one of the scanning methods in the above - mentioned embodiments is implemented.

[0105] Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above - mentioned embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non - volatile computer - readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above - mentioned methods. Among them, any reference to a memory, storage, database, or other medium used in the embodiments provided in the present application can include non - volatile and / or volatile memories. Non - volatile memories can include read - only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memories can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double - data - rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM), etc.

[0106] Those skilled in the art should understand that the technical features of the above - mentioned embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above - mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0107] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A scanning system, characterized in that, The system includes a scanning device and a control device; the scanning device includes an imaging device and at least two groups of projection devices; The scanning device is provided with a first scanning mode; wherein, the first scanning mode includes at least two groups of projection switching sub-modes, each group of the projection switching sub-modes corresponds to a group of the projection devices, and the depth of field of the imaging device; The control device is used to select a group of projection switching sub-modes from the first scanning mode as the target scanning mode, and switch the scanning device to work in the target scanning mode under different current scanning scenarios; wherein, the system further includes an input device; the input device is used to obtain the resolution input by the user; the target scanning mode is determined by the control device according to the resolution; The target scanning mode is used to match the current scanning scenario; the current scanning scenario includes: a close-range scanning scenario, a standard-distance scanning scenario, a long-distance scanning scenario, and a single-line scanning scenario; The control device is further used to determine a group of target projection devices from the at least two groups of projection devices according to the target scanning mode, determine a group of target depths of field from the depths of field, and determine the scanning range according to the target depth of field and the focal length of the imaging device; The control device controls the scanning device to scan the current scanning scenario according to the determined target projection device, the target depth of field, and the scanning range, so as to obtain the scanning result of the current scanning scenario.

2. The scanning system according to claim 1, wherein The scanning mode is further provided with a second scanning mode; wherein, the second scanning mode includes at least two groups of depth-of-field switching sub-modes, and each group of the depth-of-field switching sub-modes corresponds to a group of the depths of field; The control device is further used to select a group of projection switching sub-modes from the first scanning mode, select a group of depth-of-field switching sub-modes from the second scanning mode, and combine the selected projection switching sub-mode and the depth-of-field switching sub-mode to obtain the target scanning mode.

3. The scanning system according to claim 2, characterized in that, The system further includes an input device; wherein, the input device is connected to the control device; The input device is used to obtain the first scanning instruction and the second scanning instruction input by the user; The control device is further used to select a target projection switching sub-mode from the projection switching sub-modes of the first scanning mode according to the received first scanning instruction, and select a target depth-of-field switching sub-mode from the depth-of-field switching sub-modes of the second scanning mode according to the second scanning instruction; The control device combines the target projection switching sub-mode and the target depth-of-field switching sub-mode, and then determines the target scanning mode according to the combination result.

4. The scanning system according to claim 3, characterized in that, The input device is further used to obtain the resolution input by the user; The control device is further used to obtain the target projection switching sub-mode and the target depth-of-field switching sub-mode according to the resolution, and then determine the target scanning mode.

5. A scanning method, characterized in that, Applied to the scanning system according to any one of claims 1 to 4, the method includes: Select a set of projection switching sub - modes from the first scanning mode as the target scanning mode; wherein, the target scanning mode is used to match the current scanning scene; the target scanning mode is determined according to the resolution of the user input obtained by the input device in the scanning system; Under different current scanning scenes, switching the scanning device to work in the target scanning mode includes: According to the target scanning mode, determine a set of target projection devices from the at least two sets of projection devices, determine a set of target depths of field from the depths of field, and determine the scanning range according to the target depth of field and the focal length of the imaging device; According to the determined target projection devices, the target depth of field, and the scanning range, control the scanning device to scan the current scanning scene to obtain the scanning result of the current scanning scene.

6. A scanning method, characterized in that, Applied to the scanning system according to any one of claims 1 to 4, the method includes: Select a set of projection switching sub - modes from the first scanning mode, select a set of depth - of - field switching sub - modes from the second scanning mode, and combine the selected projection switching sub - modes and the depth - of - field switching sub - modes to obtain the target scanning mode; wherein, the second scanning mode includes at least two sets of depth - of - field switching sub - modes; the target scanning mode is determined according to the resolution of the user input obtained by the input device in the scanning system; Under different current scanning scenes, switching the scanning device to work in the target scanning mode includes: According to the target scanning mode, determine a set of target projection devices from the at least two sets of projection devices, determine a set of target depths of field from the depths of field, and determine the scanning range according to the target depth of field and the focal length of the imaging device; According to the determined target projection devices, the target depth of field, and the scanning range, control the scanning device to scan the current scanning scene to obtain the scanning result of the current scanning scene; The current scanning scene includes; close - range scanning scene, standard - distance scanning scene, long - distance scanning scene, and single - line scanning scene.

7. A scanning device, characterized in that, Applied to the scanning system according to any one of claims 1 to 4, the device includes a selection module and a working module; The selection module is used to select a set of projection switching sub - modes from the first scanning mode as the target scanning mode; wherein, the target scanning mode is used to match the current scanning scene; The working module is used to switch the scanning device to work in the target scanning mode under different current scanning scenes; the target scanning mode is determined according to the resolution of the user input obtained by the input device in the scanning system; the current scanning scene includes; close - range scanning scene, standard - distance scanning scene, long - distance scanning scene, and single - line scanning scene; The working module is further used to determine a set of target projection devices from the at least two sets of projection devices, determine a set of target depths of field from the depths of field, and determine the scanning range according to the target depth of field and the focal length of the imaging device; The working module controls the scanning device to scan the current scanning scene according to the determined target projection device, the target depth of field, and the scanning range, so as to obtain the scanning result of the current scanning scene; the control device controls the scanning device to scan the current scanning scene according to the determined target projection device, the target depth of field, and the scanning range, so as to obtain the scanning result of the current scanning scene.

8. An electronic device, comprising a memory and a processor, characterized in that, A computer program is stored in the memory, and the processor is configured to run the computer program to execute the scanning method according to claim 5 or 6.

9. A storage medium, characterized in that, A computer program is stored in the storage medium, wherein the computer program is configured to execute the scanning method according to claim 5 or 6 when running.

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