Three-dimensional scanning method, three-dimensional scanning system, and electronic device

Abstract

The application relates to a three-dimensional scanning method, a three-dimensional scanning system and an electronic device, wherein the three-dimensional scanning method comprises the following steps: acquiring three-dimensional scanning data of a scanned object, and placing target feature information on a placing surface of the scanned object; the target feature carries preset feature information; whether the scanning device acquires the target feature information is detected based on the preset feature information, and in the case that it is detected that the scanning device acquires the target feature information, a scanning background plane of the scanned object is determined according to a surface where the target feature is located; and a three-dimensional scanning result is generated according to the three-dimensional scanning data and the scanning background plane. Through the application, the problem of low three-dimensional scanning efficiency is solved, and an efficient and accurate three-dimensional scanning method is realized.

Description

Technical Field

[0001] This application relates to the field of 3D scanning technology, and in particular to 3D scanning methods, 3D scanning systems and electronic devices. Background Technology

[0002] 3D scanning is a high-tech field integrating optics, mechanics, electronics, and computer technology. It is primarily used to scan the spatial shape, structure, and color of objects to obtain their spatial coordinates. In related technologies, when scanning an object, marker points are typically pasted onto the background plane where the object is placed for positioning. During the actual scanning process, both the object being scanned and the surface data of the marked points are collected simultaneously. However, when generating a 3D scan model, only the 3D point cloud data of the scanned object is needed; the scan data of the background plane is unnecessary. This results in the inclusion of invalid data in the 3D point cloud data of the scanned object. Furthermore, the collection of planar scan data can lead to a large data volume, slowing down the scanning process and ultimately resulting in low efficiency for 3D scanning.

[0003] Currently, no effective solution has been proposed to address the low efficiency of 3D scanning in related technologies. Summary of the Invention

[0004] This application provides a three-dimensional scanning method, a three-dimensional scanning system, and an electronic device to at least solve the problem of low efficiency in three-dimensional scanning in related technologies.

[0005] In a first aspect, embodiments of this application provide a three-dimensional scanning method, the method comprising:

[0006] Acquire three-dimensional scan data of the object being scanned, as well as target feature information on the surface on which the object being scanned is placed; wherein the target feature carries preset feature information;

[0007] Based on the preset feature information, detect whether the scanning device has acquired the target feature information, and if it is detected that the scanning device has acquired the target feature information, determine the scanning background plane of the scanned object according to the surface where the target feature is located;

[0008] A three-dimensional scan result is generated based on the three-dimensional scan data and the scan background plane.

[0009] In some embodiments, the target feature includes at least one of the following: a badge, an adapter, and a target type marker carrying the preset feature information.

[0010] In some embodiments, the step of detecting whether the scanning device has acquired the target feature information based on the preset feature information, and determining the scanning background plane of the scanned object based on the surface where the target feature is located when the scanning device has acquired the target feature information, includes the following steps:

[0011] During the pre-scanning process, the scanning device is detected to obtain the target feature information based on the preset feature information, and if the target feature information is obtained, the scanning background plane is determined.

[0012] In some embodiments, the step of detecting whether the scanning device has acquired the target feature information based on the preset feature information, and determining the scanning background plane of the scanned object based on the surface where the target feature is located when the scanning device has acquired the target feature information, includes the following steps:

[0013] During real-time scanning, based on the preset feature information, the first feature data corresponding to the target feature information is determined from the point cloud data obtained by the scanning device in real time, and the scanning background plane is determined according to the first feature data.

[0014] In some embodiments, generating the three-dimensional scan result based on the three-dimensional scan data and the scan background plane includes:

[0015] The relative positions of the three-dimensional scan data and the scanned background plane are compared, and the three-dimensional scan result is determined based on the relative positions.

[0016] In some embodiments, determining the three-dimensional scan result based on the relative position includes:

[0017] When the relative position is such that the three-dimensional scan data is below the scan background plane, delete the three-dimensional scan data located below the scan background plane and determine the three-dimensional scan result.

[0018] In some embodiments, determining the three-dimensional scan result based on the relative position includes:

[0019] When the relative position is such that the three-dimensional scan data is above or coincides with the scan background plane, the three-dimensional scan data located on the scan background plane is retained, and the three-dimensional scan result is determined.

[0020] In some embodiments, the method further includes:

[0021] The scanning control interface displays the 3D scanning results and detects the planar adjustment commands input by the user based on the 3D scanning results for the scanned background plane.

[0022] In response to the plane adjustment command, the corresponding plane adjustment offset is obtained, and an adjustment scanning plane is generated based on the plane adjustment offset and the scanning background plane;

[0023] A new three-dimensional scan result is generated based on the three-dimensional scan data and the adjusted scan plane.

[0024] Secondly, embodiments of this application provide a three-dimensional scanning system, the system comprising: a main control device and a scanning device;

[0025] The main control device is used to acquire three-dimensional scanning data of the scanned object and target feature information on the surface on which the scanned object is placed.

[0026] The main control device is also used to detect whether the scanning device has acquired the target feature information based on the preset feature information, and when it is detected that the scanning device has acquired the target feature information, to determine the scanning background plane of the scanned object based on the surface where the target feature is located;

[0027] The main control device is also used to generate three-dimensional scanning results based on the three-dimensional scanning data and the scanning background plane.

[0028] Thirdly, embodiments of this application provide an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the three-dimensional scanning method as described in the first aspect above.

[0029] Compared to related technologies, the three-dimensional scanning method, three-dimensional scanning system, and electronic device provided in this application acquire three-dimensional scanning data of the object being scanned, as well as target feature information on the surface on which the object is placed. The target feature carries preset feature information. Based on this preset feature information, the system detects whether the scanning device has acquired the target feature information. If the system detects that the scanning device has acquired the target feature information, it determines the scanning background plane of the object being scanned based on the surface where the target feature is located. A three-dimensional scanning result is generated based on the three-dimensional scanning data and the scanning background plane. This solves the problem of low efficiency in three-dimensional scanning and achieves a highly efficient and accurate three-dimensional scanning method.

[0030] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0031] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0032] Figure 1 This is an application environment diagram of a three-dimensional scanning method according to an embodiment of this application;

[0033] Figure 2 This is a flowchart of a three-dimensional scanning method according to an embodiment of this application;

[0034] Figure 3A This is a schematic diagram illustrating an application scenario of a three-dimensional scanning method according to an embodiment of this application;

[0035] Figure 3B This is a schematic diagram illustrating an application scenario of another three-dimensional scanning method according to an embodiment of this application;

[0036] Figure 4 This is a flowchart of another three-dimensional scanning method according to an embodiment of this application;

[0037] Figure 5 This is a flowchart of another three-dimensional scanning method according to an embodiment of this application;

[0038] Figure 6 This is a structural block diagram of a three-dimensional scanning system according to an embodiment of this application;

[0039] Figure 7 This is a structural diagram of the internal structure of a computer device according to an embodiment of this application. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application. Furthermore, it is understood that although the efforts made in such a development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, modifications to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0041] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0042] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. “Multiple” used in this application means greater than or equal to two. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can represent: A alone, A and B simultaneously, and B alone. The terms “first,” “second,” “third,” etc., used in this application are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0043] The 3D scanning method provided in this application can be applied to, for example... Figure 1The application environment shown includes a scanning device 102 and a server 104. The server 104 can communicate with the scanning device 102 via a network. A data storage system can store the data that the server 104 needs to process. The data storage system can be integrated onto the server 104 or placed in the cloud or on another network server. The server 104 uses the scanning device 102 to acquire 3D scan data of the scanned object and target feature information on the surface where the scanned object is placed; wherein the target feature carries preset feature information; the server 104 detects whether the scanning device has acquired the target feature information based on the preset feature information, and if it detects that the scanning device has acquired the target feature information, it determines the scanning background plane of the scanned object based on the surface where the target feature is located, and finally generates a 3D scan result based on the 3D scan data and the scanning background plane.

[0044] Furthermore, the aforementioned application environment may also include a user terminal 106; both the scanning device 102 and the server 104 can communicate with the user terminal 106 via a network, and the server 104 can send the generated 3D scanning results to the user terminal 106 for display. The user terminal 106 may be, but is not limited to, various personal computers, laptops, and tablets; the server 104 may be a standalone server or a server cluster consisting of multiple servers.

[0045] This embodiment provides a three-dimensional scanning method. Figure 2 This is a flowchart of a three-dimensional scanning method according to an embodiment of this application, such as... Figure 2 As shown, the process includes the following steps:

[0046] Step S210: Obtain the three-dimensional scanning data of the scanned object and the target feature information on the surface on which the scanned object is placed; wherein the target feature carries preset feature information.

[0047] The aforementioned "placement surface" refers to the background plane used to place the object being scanned. The aforementioned 3D scan data refers to the data obtained by the scanning device from the surface information of the object being scanned; since the object being scanned is placed on the placement surface, the surface data of both the object and the placement surface are usually collected simultaneously during the actual scanning process. The aforementioned preset feature information refers to information such as the unique arrangement, size, or type of the target object. For example, if the target feature currently placed on the placement surface is a circular marker with a diameter of 60mm, the user can pre-input the preset feature information corresponding to this target feature, i.e., a diameter of 60mm, into the aforementioned user terminal.

[0048] Step S220: Based on the preset feature information, detect whether the scanning device has acquired the target feature information, and if it is detected that the scanning device has acquired the target feature information, determine the scanning background plane of the scanned object according to the surface where the target feature is located.

[0049] Specifically, after acquiring the aforementioned preset feature information, the scanning device checks whether it has scanned the target feature and obtained its information. If the scanning device has not acquired the target feature information, it continues scanning the surface until it scans the target feature on the surface and obtains its information. If the scanning device has acquired the target feature information, it can automatically fit a background plane based on all target feature information. Furthermore, the method of automatically fitting the background plane can be determined by the number and placement of the target features. For example, the number of target features placed on the surface can be three or more, and any three points are not collinear. In this case, the plane equation can be determined based on the information of each target feature, and then a high-precision scanning background plane can be generated by fitting. Alternatively, if there are two target features, the user can pre-arrange each target feature at the diagonal point of the surface and generate a scanning background plane based on the target feature information. In this case, even if the fitted background plane deviates from the surface, the plane offset will occur at the edge position, thereby minimizing the impact on the generation of the final 3D scanning result. By placing multiple target features, the fitted background plane is made closer to the actual surface, thus eliminating fitting deviation. Alternatively, if there is only one target feature, the user should pre-place the target feature near the object being scanned to improve the accuracy of automatically fitting the background plane when the number of target features is small.

[0050] Step S230: Generate a three-dimensional scanning result based on the three-dimensional scanning data and the scanning background plane.

[0051] In this process, after automatically fitting and generating the scanning background plane through the above steps, the three-dimensional data of the object surface scanned when scanning the object is automatically cleared based on the generated scanning background plane, so as to avoid the inclusion of invalid data in the three-dimensional point cloud data of the object being scanned, and finally generate the above three-dimensional scanning result.

[0052] Through steps S210 to S230, by setting target features on the surface where the object to be scanned is placed, the scanning background plane is automatically fitted based on the target features. During the process of fitting the scanning background plane, the user does not need to manually select feature points. In the end, the point cloud data of the object to be scanned can be automatically separated from the background plane, avoiding the phenomenon of reduced scanning efficiency caused by merging and processing the background plane data. This effectively solves the problem of low efficiency in 3D scanning and realizes an efficient and accurate 3D scanning method.

[0053] In some embodiments, the target feature includes at least one of the following: a marker carrying the preset feature information, an adapter, and a target type marker. The marker refers to a marker with a specific arrangement, such as markers arranged in a cross shape. The adapter refers to various devices that have markers carrying the preset feature information. The target type marker refers to a marker of a different type than ordinary markers. Furthermore, the target feature may also use markers with different dimensions or other information than ordinary markers, which will not be elaborated further here.

[0054] For example, Figure 3A This is a schematic diagram illustrating an application scenario of a three-dimensional scanning method according to an embodiment of this application, such as... Figure 3A As shown, the object 32 to be scanned is pre-placed on the placement surface 34 by the operator. This surface 34 is equipped with ordinary positioning markers 36, as well as corner markers 38 arranged in a cross shape. During application, the scanning device begins scanning the placement surface 34 and the object 32. When the target feature information corresponding to the corner marker 38 is detected, the plane under the corner marker 36 is automatically fitted as the background plane, thus achieving the function of automatically setting the background plane. In another embodiment, Figure 3B This is a schematic diagram illustrating an application scenario of another three-dimensional scanning method according to an embodiment of this application, such as... Figure 3B As shown, at this time, positioning markers 36 and target type markers 42 are arranged on the placement surface 34, and the size of the target type markers 42 is different from that of the positioning markers 36.

[0055] In some embodiments, the above-mentioned detection of whether the scanning device has acquired the target feature information based on the preset feature information, and determination of the scanning background plane of the scanned object based on the surface where the target feature is located when the detection of the acquisition of the target feature information by the scanning device includes the following steps: during the pre-scanning process, detecting whether the scanning device has acquired the target feature information based on the preset feature information, and determining the scanning background plane when the target feature information is acquired.

[0056] In this process, after placing ordinary positioning markers on the surface where the object to be scanned is placed, the target feature is arranged on the surface, and then a pre-scan of the markers on the surface begins. After the marker scanning is completed, all target feature information is fitted to a plane to obtain the aforementioned scanning background plane. When the scanning device switches to laser point scanning or grid scanning mode, the point cloud data on the scanning background plane will not be saved. Specifically, Figure 4 This is a flowchart of another three-dimensional scanning method according to an embodiment of this application, such as... Figure 4 As shown, the process includes the following steps:

[0057] In step S401, the user sets the preset feature information corresponding to the target feature object by operating the 3D scanning software deployed on the user terminal.

[0058] Step S402: The scanning device pre-scans the marked points on the object surface.

[0059] Step S403: Detect whether the scanning device has recognized the target feature information based on the preset feature information.

[0060] Step S404: If the judgment result of step S403 is negative, then the pre-scanning of the points is completed, and laser point or network scanning begins. After the scan is completed, the scan data of the scanned object and the background plane are saved; the process ends. It can be understood that if no target feature information is identified after the pre-scan of the object surface, it means that no target feature is placed on the object surface. In this case, after the laser scan of the scanned object, the obtained data is point cloud data of the unremoved background plane.

[0061] Step S405: If the judgment result of step S403 is yes, then after the marker point scanning is completed, the user clicks the stop button displayed by the 3D scanning software to end the pre-scan.

[0062] Step S406: Fit the background plane based on the target feature information to complete the background plane setting.

[0063] Step S407: Begin laser point or grid scanning. After scanning is complete, delete the data of the background plane and save only the scanned data of the object being scanned; end the process. Specifically, when scanning with laser points or grids, the aforementioned 3D scanning software will only display the scanned data of the object being scanned, and will only save the scanned data of the object being scanned after scanning is complete.

[0064] In some embodiments, the above-mentioned detection of whether the scanning device has acquired the target feature information based on the preset feature information, and determination of the scanning background plane of the scanned object based on the surface where the target feature is located when the scanning device has acquired the target feature information, includes the following steps: during real-time scanning, based on the preset feature information, determining the first feature data corresponding to the target feature information from the data obtained by the scanning device in real time, and determining the scanning background plane based on the first feature data.

[0065] The aforementioned first feature data includes the three-dimensional coordinate data corresponding to the target feature. After placing the object to be scanned with positioning markers and the target feature, real-time scanning in laser point or grid mode begins directly. When the scanning device detects the target feature, it automatically fits a background plane based on the target feature's location. The three-dimensional data below this plane will no longer be displayed. Planar data scanned before the target feature is detected will also be automatically deleted when the target feature is scanned again. Specifically, Figure 5 This is a flowchart of another three-dimensional scanning method according to an embodiment of this application, the process including the following steps:

[0066] In step S501, the user sets the preset feature information corresponding to the target feature object by operating the 3D scanning software deployed on the user terminal.

[0067] Step S502: Start scanning; determine in real time whether the target feature has been scanned.

[0068] Step S503: If the judgment result of step S502 is negative, continue normal scanning. After the scan is completed, save the scan data of the scanned object and the background plane; end the process.

[0069] Step S504: If the judgment result of step S502 is yes, then fit the background plane based on the target feature information.

[0070] Step S505: Determine in real time whether each frame of scan data is above the background plane.

[0071] Step S506: If the judgment result of step S505 is yes, then the merging calculation is performed directly and the result is displayed.

[0072] Step S507: If the judgment result of step S505 is negative, delete the frame data and do not participate in the merging calculation; after the scan is completed, only the scan data of the scanned object is saved; end the process.

[0073] In the above embodiments, the background plane is automatically fitted according to the location of the detected target feature during real-time scanning, thereby avoiding the simultaneous display of background plane data and scanned object data by the 3D scanning software when the user scans, effectively improving the efficiency and accuracy of 3D scanning.

[0074] In some embodiments, the above-mentioned generation of three-dimensional scanning results based on the three-dimensional scanning data and the scanning background plane further includes the following steps:

[0075] Step S231: Compare the relative positions of the three-dimensional scan data and the scan background plane, and determine the three-dimensional scan result based on the relative positions.

[0076] In the process of automatically fitting the scanning background plane based on the aforementioned target features, the scanning background plane can be determined based on the location of the target features. Once the scanning background plane is fitted, the real-time scanned data can be compared with the background plane during the scanning process to obtain the relative position between the 3D scanned data and the scanning background plane. Ultimately, only the scanned data above this plane is retained, while the plane data scanned before the plane was fitted will be automatically deleted when the scanning is completed.

[0077] In some embodiments, determining the 3D scan result based on the relative position further includes the following steps: when the relative position is that the 3D scan data is below the scan background plane, the 3D scan data located below the scan background plane is deleted, and the 3D scan result is determined. Specifically, after determining the scan background plane, it is determined whether the 3D scan data needs to be retained based on the scan background plane; when it is detected that the 3D scan data is below the fitted scan background plane, the data of the current frame is deleted, and only the data on the scanned object is saved, thereby avoiding the 3D scanning software from displaying data below the plane. In another embodiment, determining the 3D scan result based on the relative position further includes the following steps: when the relative position is that the 3D scan data is above the scan background plane or coincides with the scan background plane, the 3D scan data located on the scan background plane is retained, and the 3D scan result is determined. In this case, it is not necessary to delete the scan data of the frame, and a 3D scan model corresponding to the scanned object is generated based on the current 3D scan data.

[0078] In the above embodiments, by automatically fitting the scanning background plane and then detecting the relative position between the three-dimensional scanning data and the scanning background plane in real time, the three-dimensional data below the background plane can be accurately deleted, and only the three-dimensional data above the background plane can be retained, thereby further improving the accuracy of the three-dimensional scanning method.

[0079] In some embodiments, the above-described three-dimensional scanning method further includes the following steps:

[0080] Step S241: Instruct the scanning control interface to display the 3D scan result and detect the planar adjustment command input by the user for the scan background plane based on the 3D scan result.

[0081] The aforementioned scanning control interface can be displayed on a user terminal. This user terminal can directly communicate with the scanning device, or it can be deployed on the same local area network as the scanning device. Alternatively, the user terminal can wirelessly connect to the scanning device, enabling data interaction and processing between them. It should be noted that the user terminal is equipped with 3D scanning software for automatic scanning. Specifically, the 3D scanning software displays the scanning control interface on the user terminal, showing the 3D scanning results generated through the above embodiments. It is understood that if there is a deviation between the automatically fitted scanning background plane and the actual object surface, the 3D data corresponding to the scanned object located below the scanning background plane may be mistakenly deleted, resulting in an incomplete 3D scanning model generated and displayed by the scanning control interface. In this case, the user can interact with the 3D scanning results by inputting parameters in the parameter setting input boxes on the scanning control interface, and the scanning control interface will detect the aforementioned plane adjustment command indicating the adjustment of the scanning background plane to a specified position.

[0082] Step S242: In response to the plane adjustment command, obtain the corresponding plane adjustment offset, and generate an adjustment scanning plane based on the plane adjustment offset and the scanning background plane.

[0083] In response to the detected plane adjustment command, the difference between the currently fitted scan background plane and the specified position corresponding to the plane adjustment command is calculated to determine the plane adjustment offset. The current scan background plane is then updated and adjusted according to the plane adjustment offset to obtain the adjusted scan plane.

[0084] Step S243: Generate a new three-dimensional scan result based on the three-dimensional scan data and the adjusted scan plane.

[0085] In this process, after the user manually adjusts and updates the aforementioned adjusted scanning plane, the positional relationship between each frame of 3D scan data and the adjusted scanning plane is re-compared. 3D data below the adjusted scanning plane is deleted, retaining only the 3D data on the adjusted scanning plane, ultimately generating a new, more accurate 3D scan result. For example, in this embodiment, if the user observes a missing corner in the lower left corner of the corresponding 3D scan model based on the 3D scan result displayed on the scan control interface, indicating a deviation in the currently fitted background scanning plane, the user can interact with the scan control interface by inputting parameter adjustment information. The scan control interface will then generate the aforementioned plane adjustment command to determine the plane adjustment offset. After the user finishes the manual adjustment and clicks the "Complete" button displayed on the scan control interface, the scan data can be calculated based on the adjusted new background scanning plane. Data below the plane is deleted, retaining only the scan data above the plane, ultimately generating a new 3D scan model. It is understood that the user can make multiple minor adjustments to the model displayed on the scan control interface until the scan control interface displays a complete 3D scan model.

[0086] Through steps S241 to S243, the obtained plane adjustment command for the scanned background plane is used to further adjust the scanned background plane, thereby effectively improving the accuracy of automatic background plane fitting and avoiding the phenomenon of accidental deletion of the three-dimensional data of the scanned object when there is a deviation in the background plane fitting, thus further improving the accuracy of the three-dimensional scanning method.

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

[0088] This embodiment also provides a three-dimensional scanning system. Figure 6 This is a structural block diagram of a three-dimensional scanning system according to an embodiment of this application, such as... Figure 6 As shown, the system includes a main control device 62 and a scanning device 102. The main control device 62 is used to acquire three-dimensional scanning data of the object being scanned, as well as target feature information on the surface on which the object being scanned is placed. The main control device 62 is also used to detect whether the scanning device 102 has acquired the target feature information based on the preset feature information, and when it is detected that the scanning device 102 has acquired the target feature information, to determine the scanning background plane of the object being scanned based on the surface where the target feature is located. The main control device 62 is also used to generate a three-dimensional scanning result based on the three-dimensional scanning data and the scanning background plane.

[0089] Through the above embodiments, by setting target features on the surface where the object to be scanned is placed, and by using the main control device 62 to automatically fit the background plane based on the target features, the user does not need to manually select feature points during the process of fitting the background plane. Ultimately, the point cloud data of the object to be scanned can be automatically separated from the background plane, avoiding the phenomenon of reduced scanning efficiency caused by merging and processing the background plane data. This effectively solves the problem of low efficiency in 3D scanning and realizes a high-efficiency and accurate 3D scanning system.

[0090] In some embodiments, the target feature includes at least one of the following: a badge, an adapter, and a target type marker carrying the preset feature information.

[0091] In some embodiments, the main control device 62 is further configured to detect whether the scanning device 102 has acquired the target feature information based on the preset feature information during the pre-scanning process, and determine the scanning background plane if the target feature information is acquired.

[0092] In some embodiments, the main control device 62 is further configured to, during real-time scanning, determine the first feature data corresponding to the target feature information from the point cloud data obtained by the scanning device 102 in real-time based on the preset feature information, and determine the scanning background plane based on the first feature data.

[0093] In some embodiments, the main control device 62 is further used to compare the relative position of the three-dimensional scan data and the scan background plane, and determine the three-dimensional scan result based on the relative position.

[0094] In some embodiments, the main control device 62 is further configured to delete the three-dimensional scan data located below the scan background plane when the relative position is below the scan background plane, and determine the three-dimensional scan result.

[0095] In some embodiments, the main control device 62 is further configured to retain the three-dimensional scanning data located on the scanning background plane and determine the three-dimensional scanning result when the relative position is that the three-dimensional scanning data is above or coincides with the scanning background plane.

[0096] In some embodiments, the main control device 62 is further configured to instruct the scanning control interface to display the three-dimensional scanning result and detect the planar adjustment command input by the user for the scanning background plane based on the three-dimensional scanning result; in response to the planar adjustment command, the main control device 62 obtains the corresponding planar adjustment offset and generates an adjusted scanning plane based on the planar adjustment offset and the scanning background plane; the main control device 62 generates a new three-dimensional scanning result based on the three-dimensional scanning data and the adjusted scanning plane.

[0097] This embodiment also provides a computer device, which may be a server. Figure 7 This is a structural diagram of the internal structure of a computer device according to an embodiment of this application, such as... Figure 7 As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores 3D scanning results. The network interface communicates with external terminals via a network connection. When the processor executes the computer program, it implements a 3D scanning method.

[0098] Those skilled in the art will understand that Figure 7 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0099] This embodiment also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0100] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0101] Optionally, in this embodiment, the processor can be configured to perform the following steps via a computer program:

[0102] S1, acquire the three-dimensional scanning data of the object being scanned, and the target feature information on the surface on which the object being scanned is placed; wherein, the target feature carries preset feature information.

[0103] S2, based on the preset feature information, detect whether the scanning device has acquired the target feature information, and if it is detected that the scanning device has acquired the target feature information, determine the scanning background plane of the scanned object according to the surface where the target feature is located.

[0104] S3, Generate a 3D scanning result based on the 3D scanning data and the scanning background plane.

[0105] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0106] Furthermore, in conjunction with the three-dimensional scanning methods in the above embodiments, this application embodiment can provide a storage medium for implementation. This storage medium stores a computer program; when executed by a processor, the computer program implements any of the three-dimensional scanning methods in the above embodiments.

[0107] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0108] Those skilled in the art should understand that the technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments have been described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0109] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A three-dimensional scanning method, characterized in that, The method includes: Acquire 3D scan data of the object being scanned, and target feature information on the surface on which the object is placed; wherein, the target feature carries preset feature information; the surface is the background plane on which the object is placed. Based on the preset feature information, detect whether the scanning device has acquired the target feature information, and if it is detected that the scanning device has acquired the target feature information, determine the scanning background plane of the scanned object according to the surface where the target feature is located; Generating a three-dimensional scan result based on the three-dimensional scan data and the scan background plane includes: comparing the relative positions of the three-dimensional scan data and the scan background plane, and determining the three-dimensional scan result based on the relative positions.

2. The three-dimensional scanning method according to claim 1, characterized in that, The target feature includes at least one of the following: a badge, an adapter, and a target type marker carrying the preset feature information.

3. The three-dimensional scanning method according to claim 1, characterized in that, The step of detecting whether the scanning device has acquired the target feature information based on the preset feature information, and determining the scanning background plane of the scanned object based on the surface where the target feature is located when the scanning device has acquired the target feature information, includes the following steps: During the pre-scanning process, the scanning device is detected to obtain the target feature information based on the preset feature information, and if the target feature information is obtained, the scanning background plane is determined.

4. The three-dimensional scanning method according to claim 1, characterized in that, The step of detecting whether the scanning device has acquired the target feature information based on the preset feature information, and determining the scanning background plane of the scanned object based on the surface where the target feature is located when the scanning device has acquired the target feature information, includes the following steps: During real-time scanning, based on the preset feature information, the first feature data corresponding to the target feature information is determined from the point cloud data obtained by the scanning device in real time, and the scanning background plane is determined according to the first feature data.

5. The three-dimensional scanning method according to claim 1, characterized in that, Determining the three-dimensional scan result based on the relative position includes: When the relative position is such that the three-dimensional scan data is below the scan background plane, delete the three-dimensional scan data located below the scan background plane and determine the three-dimensional scan result.

6. The three-dimensional scanning method according to claim 1, characterized in that, Determining the three-dimensional scan result based on the relative position includes: When the relative position is such that the three-dimensional scan data is above or coincides with the scan background plane, the three-dimensional scan data located on the scan background plane is retained, and the three-dimensional scan result is determined.

7. The three-dimensional scanning method according to any one of claims 1 to 6, characterized in that, The method further includes: The scanning control interface displays the 3D scanning results and detects the planar adjustment commands input by the user based on the 3D scanning results for the scanned background plane. In response to the plane adjustment command, the corresponding plane adjustment offset is obtained, and an adjustment scanning plane is generated based on the plane adjustment offset and the scanning background plane; A new three-dimensional scan result is generated based on the three-dimensional scan data and the adjusted scan plane.

8. A three-dimensional scanning system, characterized in that, The system includes: a main control device and a scanning device; The main control device is used to acquire three-dimensional scanning data of the scanned object and target feature information on the placement surface on which the scanned object is placed; wherein, the target feature carries preset feature information; the placement surface is the background plane on which the scanned object is placed; The main control device is also used to detect whether the scanning device has acquired the target feature information based on the preset feature information, and when it is detected that the scanning device has acquired the target feature information, to determine the scanning background plane of the scanned object based on the surface where the target feature is located; The main control device is also used to generate a three-dimensional scanning result based on the three-dimensional scanning data and the scanning background plane, including: comparing the relative positions of the three-dimensional scanning data and the scanning background plane, and determining the three-dimensional scanning result based on the relative positions.

9. An electronic device comprising a memory and a processor, characterized in that, The memory stores a computer program, and the processor is configured to run the computer program to perform the three-dimensional scanning method according to any one of claims 1 to 7.

Images