A three-dimensional scanning system and a three-dimensional scanning method

Abstract

The present invention discloses a three-dimensional scanning system and a three-dimensional scanning method. The present invention relates to the field of three-dimensional measurement technology. The three-dimensional scanning system comprises: a tracking scanning unit, a contact scanning unit and a control unit; the tracking scanning unit is communicatively connected with the control unit, and is used to collect the three-dimensional scanning coordinate data of the workpiece to be measured and transmit the three-dimensional scanning coordinate data to the control unit; the contact scanning unit is communicatively connected with the control unit, and is used to collect the reference feature data of the workpiece to be measured and transmit the reference feature data to the control unit; the control unit is used to determine the offset data of the workpiece to be measured according to the three-dimensional scanning coordinate data, the reference feature data and the standard three-dimensional coordinate data. The technical solution of the present invention realizes the linkage control of the system and improves the three-dimensional scanning efficiency; at the same time, the control unit determines the offset data of the workpiece to be measured according to the three-dimensional scanning coordinate data, the reference feature data and the standard three-dimensional coordinate data, and improves the accuracy of three-dimensional scanning detection.

Description

Technical Field

[0001] The present invention relates to the field of three-dimensional measurement technology, and in particular to a three-dimensional scanning system and a three-dimensional scanning method. Background Art

[0002] 3D laser scanning technology is an advanced, fully automatic, high-precision stereoscopic scanning technology. During the parts processing process, hole detection is a difficult point in 3D scanning technology. The scanning quality is not high, which affects the alignment between the scanning data and the digital model.

[0003] The 3D scanning technologies currently used are relatively simple, and some can achieve multi-mode 3D scanning to moderately improve the quality of 3D scanning digital-model alignment and solve the errors and uncertainties that may occur in a single mode. However, this method requires different scanning terminals, which have different connection interfaces with the scanning clamping equipment. When replacing the scanning terminal, the terminal needs to be disassembled and calibrated, so the scanning efficiency is low and the data acquisition and processing compatibility is poor.

[0004] In addition, there are also methods that use a three-dimensional coordinate measuring machine as a system platform, equipped with a laser scanning probe, to obtain three-dimensional point cloud data, and use contact measurement to measure the reference size. However, this method has high investment costs and is limited by the structure of the three-dimensional coordinate measuring machine, so it is not suitable for three-dimensional scanning measurement of large parts. Summary of the invention

[0005] The present invention provides a three-dimensional scanning system and a three-dimensional scanning method to solve the problems of low efficiency and poor accuracy of three-dimensional scanning in the prior art.

[0006] According to one aspect of the present invention, there is provided a three-dimensional scanning system, comprising:

[0007] A tracking scanning unit, a contact scanning unit and a control unit;

[0008] The tracking scanning unit is connected to the control unit for communication, and is used to collect the three-dimensional scanning coordinate data of the workpiece to be measured and transmit the three-dimensional scanning coordinate data to the control unit;

[0009] The contact scanning unit is in communication connection with the control unit, and is used for collecting the reference feature data of the workpiece to be measured and transmitting the reference feature data to the control unit;

[0010] The control unit is used to determine the offset data of the workpiece to be measured according to the three-dimensional scanning coordinate data, the reference feature data and the standard three-dimensional coordinate data.

[0011] Optionally, the tracking and scanning unit includes a tracker, a mobile unit, and a scanner;

[0012] The mobile unit is mechanically connected to the scanner and communicatively connected to the control unit;

[0013] The control unit is used to control the movement of the moving unit to control the scanner to scan the workpiece to be measured;

[0014] The tracker is in communication connection with the control unit, and is used for emitting detection light and receiving detection light reflected by the scanner, generating three-dimensional scanning coordinate data according to the detection light reflected by the scanner, and transmitting the three-dimensional scanning coordinate data to the control unit.

[0015] Optionally, the mobile unit comprises a robotic arm.

[0016] Optionally, the contact scanning unit includes a light pen measuring instrument; the tracking scanning unit includes a tracker;

[0017] The tracker is connected to the light pen measuring instrument and the control unit respectively, and is used for acquiring the reference feature data corresponding to the reference position of the measured workpiece and transmitting the reference feature data to the control unit.

[0018] Optionally, the reference position of the workpiece to be measured includes the position of the hole.

[0019] Optionally, the control unit is also used to establish a workpiece coordinate system based on the three-dimensional scanning coordinate data, determine the reference feature coordinates based on the workpiece coordinate system and the reference feature data, and determine the offset data of the measured workpiece based on the three-dimensional scanning coordinate data, the reference feature coordinates and the standard three-dimensional coordinate data.

[0020] According to another aspect of the present invention, there is provided a three-dimensional scanning method, which is applied in a three-dimensional scanning system;

[0021] 3D scanning methods include:

[0022] Acquire three-dimensional scanning coordinate data and reference feature data;

[0023] The offset data of the workpiece to be measured is determined according to the three-dimensional scanning coordinate data, the reference feature data and the standard three-dimensional coordinate data.

[0024] Optionally, determining the offset data of the workpiece to be measured according to the three-dimensional scanning coordinate data, the reference feature data and the standard three-dimensional coordinate data includes:

[0025] Establish a workpiece coordinate system based on the three-dimensional scanning coordinate data;

[0026] Determine the datum feature coordinates according to the workpiece coordinate system and the datum feature data;

[0027] The offset data of the workpiece to be measured is determined according to the three-dimensional scanning coordinate data, the reference feature coordinates and the standard three-dimensional coordinate data.

[0028] Optionally, determining the offset data of the workpiece to be measured according to the three-dimensional scanning coordinate data, the reference feature coordinates and the standard three-dimensional coordinate data includes:

[0029] Determine the coordinates of the point-selected features according to the three-dimensional scanning coordinate data;

[0030] Align the selected feature coordinates with the standard 3D coordinate data and determine the offset data of the workpiece being measured.

[0031] Optionally, the tracking and scanning unit includes a tracker, a mobile unit, and a scanner;

[0032] Get 3D scanning coordinate data, including:

[0033] Control the tracker to emit detection light;

[0034] Control the movement of the mobile unit to control the scanner to scan the workpiece to be measured;

[0035] Receive three-dimensional scanning coordinate data generated by the detection light reflected by the scanner.

[0036] The technical solution of the present invention combines a tracking scanning unit, a contact scanning unit and a control unit, and the scanning measurement terminal and the contact measurement terminal are integrated on the same control platform to realize the linkage control of the system and improve the three-dimensional scanning efficiency; at the same time, the control unit determines the offset data of the measured workpiece according to the three-dimensional scanning coordinate data, the reference feature data and the standard three-dimensional coordinate data, thereby improving the accuracy of three-dimensional scanning detection.

[0037] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 A connection diagram of a three-dimensional scanning system provided by an embodiment of the present invention;

[0040] Figure 2 A schematic diagram of the operation of a tracking and scanning unit provided by an embodiment of the present invention;

[0041] Figure 3 A connection diagram of a tracking and scanning unit provided by an embodiment of the present invention;

[0042] Figure 4 A flowchart of a first three-dimensional scanning method provided by an embodiment of the present invention;

[0043] Figure 5 A flowchart of a second three-dimensional scanning method provided by an embodiment of the present invention;

[0044] Figure 6 A flowchart of a third three-dimensional scanning method provided by an embodiment of the present invention;

[0045] Figure 7 This is a flow chart of a fourth three-dimensional scanning method provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0047] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0048] The three-dimensional scanning technologies used in the prior art are relatively simple, and some can realize multi-mode three-dimensional scanning. For example, the combination of CCD photography and structured light scanning technology can moderately improve the quality of three-dimensional scanning digital-analog alignment and solve the errors and uncertainties that may occur in a single mode. However, due to the different scanning terminals equipped and the different connection interfaces of the scanning clamping equipment, the terminal needs to be disassembled and assembled when replacing the scanning terminal, and the scanning terminal needs to be calibrated again, resulting in low scanning efficiency and poor data acquisition and processing compatibility. When scanning and measuring large workpieces, due to the different surface structures of the workpieces being measured, some scans need to use a point-sticking method for coordinate positioning to facilitate the splicing and reconstruction of large-area data. This positioning method is also not suitable for batch automated inspection of parts.

[0049] In addition, there are also methods that use a three-dimensional coordinate measuring machine as a system platform, equipped with a laser scanning probe based on the circular laser triangulation measurement principle, to achieve the acquisition of three-dimensional point cloud data, and use contact measurement to achieve the measurement of reference dimensions. However, this method has high investment costs and is limited by the structure of the three-dimensional coordinate measuring machine, so it is not suitable for three-dimensional scanning measurement of large parts. Therefore, an embodiment of the present invention provides a three-dimensional scanning system, Figure 1 A connection diagram of a three-dimensional scanning system provided by an embodiment of the present invention, Figure 2 A schematic diagram of the operation of a tracking and scanning unit provided in an embodiment of the present invention. Figure 1 and Figure 2 As shown, the three-dimensional scanning system includes:

[0050] Tracking scanning unit 1, contact scanning unit 2 and control unit 3;

[0051] The tracking scanning unit 1 is in communication connection with the control unit 3, and is used for collecting the three-dimensional scanning coordinate data of the workpiece 4 to be measured and transmitting the three-dimensional scanning coordinate data to the control unit 3;

[0052] The contact scanning unit 2 is in communication connection with the control unit 3, and is used for collecting the reference feature data of the workpiece 4 to be measured and transmitting the reference feature data to the control unit 3;

[0053] The control unit 3 is used to determine the offset data of the workpiece 4 to be measured according to the three-dimensional scanning coordinate data, the reference feature data and the standard three-dimensional coordinate data.

[0054] Among them, the tracking and scanning unit 1 can be used to measure the spatial coordinate value of the workpiece 4 to be measured and generate three-dimensional scanning coordinate data. The tracking and scanning unit 1 is connected to the control unit 3 in communication, and the three-dimensional scanning coordinate data can be input into the control unit 3. However, in the prior art, since the workpiece 4 to be measured usually uses an axis, a surface, a hole, etc. as a positioning reference, and the scanning quality of the hole by the tracking and scanning unit 1 is poor, which affects the alignment between the scanning data and the digital model, a contact scanning unit 2 is provided in the three-dimensional scanning system of the embodiment of the present invention. Among them, the contact scanning unit 2 can be an instrument that obtains the coordinates of the feature points on the workpiece 4 to be measured by contacting the workpiece 4 to be measured. The contact scanning unit 2 is connected to the control unit 3 in communication, and the reference feature data of the workpiece 4 to be measured can also be transmitted to the control unit 3.

[0055] Specifically, the tracking scanning unit 1 has the advantage of overall rapid scanning, and can obtain the spatial coordinate values ​​of the axes and surfaces of the workpiece 4 to be measured, obtain point cloud information on the surface of the object and convert it into a three-dimensional model. However, the scanning quality of the holes is poor. Since the contact scanning unit 2 measures the coordinates of the reference feature points on the workpiece 4 in a contact manner, it is difficult to quickly obtain the spatial coordinate values ​​of all points on the surface of the workpiece 4 to be measured. Therefore, the embodiment of the present invention adopts a combination of the two, combining the three-dimensional scanning coordinate data obtained by the tracking scanning unit 1 and the reference feature data obtained by the contact scanning unit 2, and using the contact scanning unit 2 to obtain points on the workpiece 4 to be measured that are difficult to accurately locate, such as the position of the hole, so that the control unit 3 can determine the offset data of the workpiece 4 to be measured by combining the three-dimensional scanning coordinate data, the reference feature data and the standard three-dimensional coordinate data.

[0056] The technical solution of the embodiment of the present invention combines the tracking scanning unit, the contact scanning unit and the control unit, and the scanning measurement terminal and the contact measurement terminal are integrated on the same control platform to realize the linkage control of the system and improve the three-dimensional scanning efficiency; at the same time, the control unit determines the offset data of the measured workpiece according to the three-dimensional scanning coordinate data, the reference feature data and the standard three-dimensional coordinate data, thereby improving the accuracy of three-dimensional scanning detection.

[0057] Figure 3 A connection diagram of a tracking scanning unit provided in an embodiment of the present invention, combined with Figure 1 , Figure 2 and Figure 3 As shown, the tracking and scanning unit 1 includes a tracker 11, a mobile unit 12, and a scanner 13;

[0058] The mobile unit 12 is mechanically connected to the scanner 13 and is communicatively connected to the control unit 3;

[0059] The control unit 3 is used to control the movement of the moving unit 12 to control the scanner 13 to scan the workpiece 4;

[0060] The tracker 11 is in communication connection with the control unit 3 , and is used for emitting detection light and receiving detection light reflected by the scanner 13 , generating three-dimensional scanning coordinate data according to the detection light reflected by the scanner 13 and transmitting the three-dimensional scanning coordinate data to the control unit 3 .

[0061] The tracker 11 is used to emit detection light to the scanner 13. The control unit 3 controls the moving unit 12 to move the scanner 13. The moving path of the scanner 13 is determined by the contour of the workpiece 4 to be measured. The scanner 13 reflects the detection light to the tracker 11, and then the tracker 11 can determine the position of the scanner 13 according to the reflected detection light, and then determine the spatial coordinates of the workpiece 4 to be measured.

[0062] It can be understood that the tracker 11 serves as a spatial reference, and the control unit 3 controls the scanner 13 to perform an overall scan of the workpiece 4 to determine the three-dimensional scanning coordinate data of the workpiece 4 according to the scanned data.

[0063] In some embodiments, the moving unit 12 includes a mechanical arm, which is fixedly connected to the scanner 13. When the control unit 3 controls the mechanical arm to move, the scanner 13 is driven to move.

[0064] Specifically, the tracker 11 emits detection light, the control unit 3 controls the robotic arm to drive the scanner 13 to move along the contour of the measured space and reflect the detection light to the tracker 11 in real time, and the tracker 11 receives the detection light and converts it into three-dimensional scanning coordinate data and inputs it into the control unit 3.

[0065] The technical solution of the embodiment of the present invention is to set a tracker, a moving unit and a scanner in the tracking and scanning unit, drive the scanner to move by the moving unit, and the tracker receives the detection light in real time, thereby achieving the purpose of quickly obtaining the spatial coordinate data of the workpiece being measured.

[0066] Optional, continue to refer to Figure 1 and Figure 2 As shown, the contact scanning unit 2 includes a light pen measuring instrument; the tracking scanning unit 1 includes a tracker 11;

[0067] The tracker 11 is connected to the light pen measuring instrument and the control unit 3 respectively, and is used to obtain reference feature data corresponding to the reference position of the workpiece 4 to be measured and transmit the reference feature data to the control unit 3 .

[0068] The optical pen measuring instrument can be based on photogrammetry technology and can measure spatial coordinates through positioning and tracking elements. It is understandable that the operator can hold the optical pen measuring instrument to detect the spatial coordinates of the reference feature points of the workpiece 4 to be measured.

[0069] Specifically, the detection principle is that the tracker 11 can emit detection light, the operator brings the light pen measuring instrument into contact with the reference position of the workpiece 4 to be measured, the positioning tracking element on the light pen measuring instrument reflects the detection light to the tracker 11, the tracker 11 generates reference feature data based on the detection light, and transmits the reference feature data to the control unit 3.

[0070] It can be understood that the light pen measurement instrument in the contact scanning unit 2 is connected to the tracker 11 of the tracking scanning unit 1. Before the light pen measurement instrument of the contact scanning unit 2 and the tracker 11 of the tracking scanning unit 1 are connected, the tracker 11 can be disconnected from the scanner 13 first, and after the antenna of the light pen measurement instrument is connected to the tracker 11, the tracker 11 can be restarted, so that the tracker 11 is automatically connected to the light pen measurement instrument.

[0071] In some embodiments, the reference position of the workpiece 4 includes the position of the hole. Since the tracking scanning unit 1 has poor detection quality for the hole position, a contact scanning unit 2 is provided to perform a three-dimensional scan of the workpiece 4 in combination.

[0072] The technical solution of the embodiment of the present invention is to set a light pen measuring instrument in the contact scanning unit. Since the light pen measuring instrument is a contact measurement, the operator can freely move the light pen measuring instrument to obtain the reference feature data of the measured workpiece, and thus there is no size requirement for the measured workpiece, which expands the application scope of the three-dimensional scanning system. At the same time, the light pen measuring instrument can share a tracker with the scanner to realize the integration of multiple measurement terminals, and can realize the splicing and processing of different types of data, reducing the overall investment by more than 40%.

[0073] Optionally, the control unit is also used to establish a workpiece coordinate system based on the three-dimensional scanning coordinate data, determine the reference feature coordinates based on the workpiece coordinate system and the reference feature data, and determine the offset data of the measured workpiece based on the three-dimensional scanning coordinate data, the reference feature coordinates and the standard three-dimensional coordinate data.

[0074] Among them, the control unit can also establish a workpiece coordinate system based on the three-dimensional scanning coordinate data, which is a spatial coordinate system, determine the reference feature coordinates of the reference feature data in the same workpiece coordinate system, and perform deviation analysis by comparing the three-dimensional scanning coordinate data with the standard three-dimensional coordinate data, and compare the reference feature coordinates with the standard three-dimensional coordinate data.

[0075] It can be understood that the purpose of establishing a workpiece coordinate system based on the three-dimensional scanning coordinate data is to unify the reference feature data into a spatial coordinate system so as to perform accurate deviation analysis.

[0076] According to the technical solution of the embodiment of the present invention, the control unit establishes a workpiece coordinate system according to the three-dimensional scanning coordinate data, and determines the reference feature coordinates according to the workpiece coordinate system and the reference feature data, thereby realizing the unification of the spatial coordinate system, ensuring that the three-dimensional scanning coordinate data and the reference feature data can be fitted into an overall three-dimensional scanning data, and improving the accuracy of three-dimensional scanning.

[0077] Based on the same inventive concept, Figure 4 A flowchart of a first three-dimensional scanning method provided by an embodiment of the present invention, combined with Figure 1 , Figure 2 and Figure 4 As shown, an embodiment of the present invention further provides a three-dimensional scanning method, which is applied to a three-dimensional scanning system;

[0078] 3D scanning methods include:

[0079] S10, acquiring three-dimensional scanning coordinate data and reference feature data.

[0080] Among them, the three-dimensional scanning coordinate data is obtained by the tracking scanning unit 1, and the reference feature data is obtained by the contact scanning unit 2. The tracking scanning unit 1 has the advantage of overall fast scanning, and can obtain the axis and surface space coordinate values ​​of the workpiece 4 to be measured, obtain the point cloud information of the object surface and convert it into a three-dimensional model; the contact scanning unit 2 is a contact measurement, which is used to collect the coordinates of the reference feature points on the workpiece 4 to be measured. Since the tracking scanning unit 1 has poor scanning quality for the hole, the reference feature data continues to be obtained, and the reference feature number is combined with the three-dimensional scanning coordinate data to ensure the accuracy of the three-dimensional scanning.

[0081] S11, determining the offset data of the workpiece to be measured according to the three-dimensional scanning coordinate data, the reference feature data and the standard three-dimensional coordinate data.

[0082] The combination of the three-dimensional scanning coordinate data and the reference feature data can not only ensure the complete scanning of the workpiece 4, but also accurately obtain the position of the hole on the workpiece 4, and realize the acquisition of the accurate spatial coordinates of the workpiece 4. The acquisition of offset data is realized by aligning the features with the standard three-dimensional coordinate data.

[0083] The technical solution of the embodiment of the present invention improves the three-dimensional scanning efficiency and the accuracy of three-dimensional scanning detection by acquiring three-dimensional scanning coordinate data and reference feature data, and determining the offset data of the measured workpiece based on the three-dimensional scanning coordinate data, the reference feature data and the standard three-dimensional coordinate data.

[0084] Based on the above embodiments, Figure 5 A flowchart of a second three-dimensional scanning method provided in an embodiment of the present invention, combined with Figure 5 , Figure 1 and Figure 2 As shown, the three-dimensional scanning method includes:

[0085] S20, acquiring three-dimensional scanning coordinate data and reference feature data.

[0086] S21. Establish a workpiece coordinate system according to the three-dimensional scanning coordinate data.

[0087] The control unit 3 can also establish a workpiece coordinate system according to the three-dimensional scanning coordinate data. The coordinate system is a spatial coordinate system, and its purpose is to combine the coordinate systems of the three-dimensional scanning coordinate data and the reference feature data for data integration.

[0088] S22. Determine the reference feature coordinates according to the workpiece coordinate system and the reference feature data.

[0089] The reference feature coordinates of the reference feature data in the same workpiece coordinate system are determined in order to perform accurate deviation analysis.

[0090] S23, determining the offset data of the workpiece to be measured according to the three-dimensional scanning coordinate data, the reference feature coordinates and the standard three-dimensional coordinate data.

[0091] The technical solution of the embodiment of the present invention achieves the unification of the spatial coordinate system by establishing a workpiece coordinate system based on the three-dimensional scanning coordinate data and determining the reference feature coordinates based on the workpiece coordinate system and the reference feature data, thereby ensuring that the three-dimensional scanning coordinate data and the reference feature data can be fitted into an overall three-dimensional scanning data, thereby improving the accuracy of three-dimensional scanning.

[0092] Based on the above embodiments, Figure 6 A flowchart of a third three-dimensional scanning method provided in an embodiment of the present invention, combined with Figure 6 , Figure 1 and Figure 2 As shown, the three-dimensional scanning method includes:

[0093] S30, acquiring three-dimensional scanning coordinate data and reference feature data.

[0094] S31. Establish a workpiece coordinate system according to the three-dimensional scanning coordinate data.

[0095] S32. Determine the reference feature coordinates according to the workpiece coordinate system and the reference feature data.

[0096] S33, determining the point selection feature coordinates according to the three-dimensional scanning coordinate data.

[0097] The point-selected feature coordinates may be manually set alignment coordinates, and specific point coordinates of the three-dimensional scanning coordinate data may be selected as the point-selected feature coordinates.

[0098] S34, aligning the point-selected feature coordinates with the standard three-dimensional coordinate data and determining the offset data of the workpiece being measured.

[0099] Among them, the point feature coordinates are aligned with the corresponding coordinates in the standard three-dimensional coordinate data. Theoretically, when the specific points are aligned, the remaining three-dimensional scanning coordinate data are aligned with the standard three-dimensional coordinate data. However, in reality, due to the processing differences of the workpiece 4 being measured, there will be deviations from the standard three-dimensional coordinate data. Based on this, the deviation data between the workpiece 4 being measured and the standard three-dimensional coordinate data can be determined.

[0100] Based on the embodiment of the present invention, the accuracy of three-dimensional scanning detection is improved by determining the point-selected feature coordinates according to the three-dimensional scanning coordinate data and aligning the point-selected feature coordinates with the standard three-dimensional coordinate data and determining the offset data of the measured workpiece.

[0101] Based on the above embodiments, Figure 7 A flowchart of a fourth three-dimensional scanning method provided in an embodiment of the present invention, combined with Figure 7 , Figure 1 , Figure 2 and Figure 3 As shown, the tracking and scanning unit 1 includes a tracker 11, a moving unit 12, and a scanner 13. The three-dimensional scanning method includes:

[0102] S40, controlling the tracker to emit detection light.

[0103] The detection light is used to enter the scanner 13, and the scanner 13 reflects the detection light to the tracker 11. The control unit 3 can control the tracker 11 to be turned on or off. When the tracker 11 is turned on, the tracker 11 emits the detection light.

[0104] S41, controlling the movement of the moving unit to control the scanner to scan the workpiece to be measured.

[0105] The control unit 3 controls the movement of the moving unit 12, thereby driving the scanner 13 to move along the workpiece 4, and the tracker 11 receives in real time the detection light reflected back by the scanner 13. It is understandable that the parameters of the detection light reflected back at different positions of the scanner 13 are different.

[0106] S42, receiving three-dimensional scanning coordinate data generated by the detection light reflected by the scanner.

[0107] The scanner 13 reflects the detection light to the tracker 11 , and the tracker 11 can determine the position of the scanner 13 according to the reflected detection light, and further determine the spatial coordinates of the workpiece 4 to be measured.

[0108] S43, obtaining reference feature data.

[0109] S44, determining the offset data of the workpiece to be measured according to the three-dimensional scanning coordinate data, the reference feature data and the standard three-dimensional coordinate data.

[0110] The technical solution of the embodiment of the present invention controls the tracker to emit detection light and simultaneously controls the movement of the mobile unit to control the scanner to scan the workpiece to be measured, thereby acquiring three-dimensional scanning coordinate data in real time, thereby achieving the purpose of quickly acquiring the spatial coordinate data of the workpiece to be measured.

[0111] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0112] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A three-dimensional scanning system, characterized in that: include: A tracking scanning unit, a contact scanning unit and a control unit; The tracking scanning unit is in communication connection with the control unit, and is used for collecting three-dimensional scanning coordinate data of the workpiece to be measured and transmitting the three-dimensional scanning coordinate data to the control unit; The contact scanning unit is in communication connection with the control unit, and is used for collecting the reference feature data of the workpiece to be measured and transmitting the reference feature data to the control unit; The control unit is used to determine the offset data of the measured workpiece according to the three-dimensional scanning coordinate data, the reference feature data and the standard three-dimensional coordinate data; The contact scanning unit includes a light pen measuring instrument; the tracking scanning unit includes a tracker; The tracker is connected to the light pen measuring instrument and the control unit respectively, and is used to obtain the reference feature data corresponding to the reference position of the measured workpiece and transmit the reference feature data to the control unit; The reference position of the workpiece to be measured includes the position of the hole; The tracking and scanning unit includes a mobile unit and a scanner; The mobile unit is mechanically connected to the scanner and is communicatively connected to the control unit; The control unit is used to control the movement of the moving unit to control the scanner to scan the workpiece to be measured; The tracker is in communication with the control unit, and is used to emit detection light and receive the detection light reflected by the scanner, generate the three-dimensional scanning coordinate data according to the detection light reflected by the scanner, and transmit the three-dimensional scanning coordinate data to the control unit; The light pen measuring instrument and the scanner share the same tracker; before the light pen measuring instrument and the tracker are connected, the tracker is first disconnected from the scanner, the antenna of the light pen measuring instrument is connected to the tracker, and then the tracker is restarted, so that the tracker is automatically connected to the light pen measuring instrument.

2. The three-dimensional scanning system according to claim 1, characterized in that: The moving unit includes a robotic arm.

3. The three-dimensional scanning system according to claim 1, characterized in that: The control unit is also used to establish a workpiece coordinate system based on the three-dimensional scanning coordinate data, determine the reference feature coordinates based on the workpiece coordinate system and the reference feature data, and determine the offset data of the measured workpiece based on the three-dimensional scanning coordinate data, the reference feature coordinates and the standard three-dimensional coordinate data.

4. A three-dimensional scanning method, characterized in that: Applicable to the three-dimensional scanning system described in any one of claims 1 to 3; The three-dimensional scanning method comprises: Acquire three-dimensional scanning coordinate data and reference feature data; Determining the offset data of the workpiece to be measured according to the three-dimensional scanning coordinate data, the reference feature data and the standard three-dimensional coordinate data; Determining the offset data of the workpiece to be measured according to the three-dimensional scanning coordinate data, the reference feature data and the standard three-dimensional coordinate data includes: Establishing a workpiece coordinate system according to the three-dimensional scanning coordinate data; Determine the reference feature coordinates according to the workpiece coordinate system and the reference feature data; Determining the offset data of the workpiece to be measured according to the three-dimensional scanning coordinate data, the reference feature coordinates and the standard three-dimensional coordinate data; Determining the offset data of the workpiece to be measured according to the three-dimensional scanning coordinate data, the reference feature coordinates and the standard three-dimensional coordinate data includes: Determine the point selection feature coordinates according to the three-dimensional scanning coordinate data; Aligning the point-selected feature coordinates with the standard three-dimensional coordinate data and determining the offset data of the workpiece being measured; The tracking and scanning unit includes a tracker, a mobile unit, and a scanner; Get 3D scanning coordinate data, including: Controlling the tracker to emit detection light; Controlling the movement of the mobile unit to control the scanner to scan the workpiece to be measured; Receive three-dimensional scanning coordinate data generated by the detection light reflected by the scanner.

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