Three-dimensional scanning method, device and system, computer equipment and storage medium

Abstract

The invention relates to a three-dimensional scanning method, device and system, computer equipment and a storage medium. The method comprises the following steps: acquiring parameter information of a to-be-scanned object; planning a scanning path for the unmanned aerial vehicle scanner according to the parameter information; the object to be scanned comprises a plurality of scanning areas; controlling the unmanned aerial vehicle scanner, scanning the to-be-scanned object according to the scanning path, and generating area point cloud data corresponding to each scanning area; and generating a three-dimensional image of the to-be-scanned object according to the plurality of regional point cloud data. The large to-be-scanned object is scanned based on the unmanned aerial vehicle scanner, so that the scanning difficulty can be reduced, the scanning efficiency is improved, and the scanning duration is further shortened.

Description

Technical Field

[0001] The present application relates to the field of three-dimensional scanning technology, and in particular to a three-dimensional scanning method, device, system, computer equipment and storage medium. Background Art

[0002] 3D scanners are mainly used to detect and analyze the shape data (geometric structure) and appearance data (such as color, surface albedo and other properties) of objects or environments in the real world. 3D scanners obtain point cloud data of the corresponding object surface by scanning the object, and then perform 3D reconstruction calculations on the point cloud data to create a digital model of the actual object in the virtual world. During scanning, the denser the collected point cloud data, the more accurate the reconstructed 3D data model will be. The corresponding 3D data models are widely used in various fields.

[0003] In traditional technology, when scanning large objects with a 3D scanner, due to the large size of the object, the operator needs to use a ladder or a lifting platform to scan the large object. However, after completing the scanning of an area, the position of the ladder or lifting platform needs to be moved to continue the subsequent scanning of the next area of ​​the large object. This increases the difficulty of scanning, and the scanning efficiency is low and the scanning time is long. Summary of the invention

[0004] Based on this, it is necessary to provide a three-dimensional scanning method, device, system, computer equipment and storage medium to reduce the scanning difficulty, improve the scanning efficiency and shorten the scanning time for large objects to be scanned in order to solve the above technical problems.

[0005] In a first aspect, the present application provides a three-dimensional scanning method, the method comprising: obtaining parameter information of an object to be scanned; planning a scanning path for a drone scanner based on the parameter information; the object to be scanned includes multiple scanning areas; controlling the drone scanner to scan the object to be scanned according to the scanning path, and generating regional point cloud data corresponding to each scanning area; generating a three-dimensional image of the object to be scanned based on the multiple regional point cloud data.

[0006] In one of the embodiments, planning a scanning path for the drone scanner based on the parameter information includes: determining a plurality of scanning areas corresponding to the object to be scanned based on the parameter information; and generating a scanning path for the drone scanner based on the plurality of scanning areas.

[0007] In one of the embodiments, generating a scanning path of the drone scanner based on the multiple scanning areas includes: providing a tracking device corresponding to each scanning area; controlling the tracking device to pre-scan the corresponding scanning area to generate pre-scan data corresponding to the multiple scanning areas; and generating the scanning path of the drone scanner based on the multiple pre-scan data.

[0008] In one of the embodiments, controlling the drone scanner to scan the object to be scanned according to the scanning path to generate regional point cloud data corresponding to each scanning area includes: acquiring in real time movement instructions based on the scanning path input by the user; controlling the drone scanner to move according to the movement instructions and scanning the object to be scanned at the same time; and acquiring regional point cloud data corresponding to each scanning area collected by the drone scanner.

[0009] In one of the embodiments, the controlling of the drone scanner to scan the object to be scanned according to the scanning path to generate regional point cloud data corresponding to each scanning area includes: each scanning area is provided with a tracking device; the drone scanner is controlled to scan each scanning area in turn according to the scanning path to generate regional point cloud data corresponding to each scanning area; the tracking device is controlled to collect the posture data of the drone scanner during the scanning process in real time; and the regional point cloud data is synchronized with the posture data.

[0010] In one of the embodiments, controlling the drone scanner to scan each of the scanning areas in sequence according to the scanning path includes: controlling the drone scanner to scan the first scanning area in the scanning path; determining whether the scanning of the first scanning area is completed, and if the scanning is completed, scanning the subsequent scanning areas in sequence according to the scanning path and determining whether the scanning is completed, until the scanning of the object to be scanned is completed.

[0011] In one of the embodiments, controlling the tracking device to collect the posture data of the drone scanner during the scanning process in real time includes: controlling the tracking device to collect the marker point data of the drone scanner during the scanning process in real time; and generating posture data synchronized with the point cloud data of the area at the current moment based on the marker point data.

[0012] In one of the embodiments, controlling the tracking head to collect the marking point data of the drone scanner in real time during the scanning process includes: if the drone scanner scans at the junction of two scanning areas; obtaining the marking point data of the drone scanner collected by two tracking devices corresponding to the two scanning areas respectively; and determining the final marking point data based on the marking point data of the drone scanner collected by the two tracking devices.

[0013] In one embodiment, generating a three-dimensional image of the object to be scanned based on the multiple regional point cloud data includes: converting the regional point cloud data to the coordinate system of the tracking device based on the posture data; and reconstructing and generating a three-dimensional image of the object to be scanned based on the regional point cloud data after the coordinate conversion.

[0014] In the second aspect, the present application also provides a three-dimensional scanning device, which includes: an acquisition module for acquiring parameter information of an object to be scanned; a path planning module for planning a scanning path for a drone scanner based on the parameter information; the object to be scanned includes multiple scanning areas; a scanning module for controlling the drone scanner to scan the object to be scanned according to the scanning path, and generate regional point cloud data corresponding to each scanning area; and a reconstruction module for generating a three-dimensional image of the object to be scanned based on the multiple regional point cloud data.

[0015] In a third aspect, the present application further provides a computer device, wherein the computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the three-dimensional scanning method described in the first aspect is implemented.

[0016] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the three-dimensional scanning method described in the first aspect is implemented.

[0017] In a fifth aspect, the present application further provides a computer program product, wherein the computer program product comprises a computer program, and when the computer program is executed by a processor, the three-dimensional scanning method described in the first aspect is implemented.

[0018] In the sixth aspect, the present application also provides a three-dimensional scanning system, including a tracking device and a drone scanner, wherein the tracking device is used to collect the posture data of the drone scanner during the scanning process in real time; the drone scanner is used to scan the object to be scanned in different areas and generate regional point cloud data corresponding to each scanning area; the regional point cloud data is synchronized with the posture data.

[0019] In one embodiment, the drone scanner includes a drone, a plurality of first image acquisition mechanisms, a plurality of laser mechanisms and a marking mechanism; the first image acquisition mechanism, the laser mechanism and the marking mechanism are integrated with the drone; the drone is used to change its posture according to the scanning path; the plurality of laser mechanisms are used to generate laser lines and project the laser lines onto the object to be scanned; the plurality of first image acquisition mechanisms are used to capture images of the object to be scanned with the laser lines projected thereon; and the marking mechanism is provided with a plurality of marking points in a circumferential direction for being collected by the tracking device to generate posture data.

[0020] In one of the embodiments, the drone scanner includes: a drone and a scanning component; the scanning component is fixedly connected to the drone; the drone is used to change its posture according to the scanning path; the scanning component is used to scan the object to be scanned in different areas and generate regional point cloud data corresponding to each scanning area.

[0021] In one embodiment, the scanning component includes: a plurality of first image acquisition mechanisms, a plurality of laser mechanisms and a marking mechanism; the first image acquisition mechanism, the laser mechanism and the marking mechanism are all externally connected to the drone; the plurality of laser mechanisms are used to generate laser lines and project the laser lines onto the object to be scanned; the plurality of first image acquisition mechanisms are used to capture images of the object to be scanned with the laser lines projected thereon; and the marking mechanism is provided with a plurality of marking points in a circumferential direction for being captured by the tracking device to generate posture data.

[0022] In one of the embodiments, the three-dimensional scanning system further includes: a plurality of first fill-light mechanisms; the plurality of first fill-light mechanisms are disposed on the drone and are disposed around the first image acquisition mechanism.

[0023] In one embodiment, the tracking device includes: a plurality of second image acquisition mechanisms and a second fill-light mechanism; the second image acquisition mechanism is used to acquire the posture data of the drone scanner during the scanning process in real time; a plurality of the second fill-light mechanisms are arranged on the tracking device and around the second image acquisition mechanism.

[0024] Three-dimensional scanning method, device, system, computer equipment and storage medium. By acquiring parameter information of the object to be scanned, and then planning a scanning path for the drone scanner based on the parameter information, after the scanning path planning is completed, the drone scanner is controlled to move according to the corresponding scanning path, scan the object to be scanned, generate regional point cloud data corresponding to each scanning area, and finally generate a three-dimensional image of the object to be scanned based on all regional point cloud data. The drone scanner moves according to the planned scanning path, scans the object to be scanned, obtains regional point cloud data, and finally generates a three-dimensional image based on the regional point cloud data. Scanning large objects to be scanned based on drone scanners can reduce the difficulty of scanning, improve scanning efficiency, and further reduce scanning time. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of a three-dimensional scanning method according to an embodiment;

[0026] Figure 2 is a structural block diagram of a three-dimensional scanning device in one embodiment;

[0027] Figure 3 is an internal structure diagram of a computer device in one embodiment;

[0028] Figure 4 is a schematic structural diagram of a three-dimensional scanning system in one embodiment;

[0029] Figure 5 A schematic diagram of the structure of a drone scanner in one embodiment;

[0030] Figure 6 is a schematic diagram of the movement of the pan / tilt platform in one embodiment;

[0031] Figure 7 Schematic diagram of the movement of the pan / tilt head in another embodiment. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail 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.

[0033] In the current related technologies, the 3D scanner is a handheld 3D scanner. When scanning large objects or objects at high altitudes, the handheld 3D scanner has high requirements for the scanning operator. The scanning operator needs to use a ladder or a lifting platform to scan the object to be scanned, and after scanning a local area of ​​the object to be scanned, the ladder or lifting platform needs to be moved to the next position for scanning. In this way, the handheld 3D scanner cannot reach many corners, the scanning efficiency is low, the scanning operation is difficult, and the safety of the scanning operator is not guaranteed.

[0034] The embodiment of the present application provides a drone scanner, which integrates a drone with a three-dimensional scanner. When it is necessary to scan a large object to be scanned or an object to be scanned at a high altitude, the drone can be controlled to move the drone and simultaneously drive the scanning device installed on the drone to move, thereby completing the scanning. In this way, there is no need for the scanning operator to use a ladder or a lifting platform to go to a high place for scanning. By directly driving the scanning device through the drone, any position of the object to be scanned can be scanned, which reduces the difficulty of scanning, improves the scanning efficiency, and further reduces the scanning time.

[0035] It can be understood that the drone and the three-dimensional scanner can directly combine the three-dimensional scanner as a whole with the drone through an adaptation structure to form a drone scanner; or the various mechanisms that constitute the three-dimensional scanner, such as the laser mechanism, the image acquisition mechanism, etc., can be integrated into the drone separately, so that the various mechanisms and the drone are integrated into a drone scanner, thereby saving costs and making the drone scanner structure more flexible and compact, making it more convenient to scan.

[0036] In one embodiment, the drone scanner can be set as a tracking drone scanner, that is, a corresponding tracking device is also configured for the drone scanner, and the tracking device is used to locate the posture data of the drone scanner; through the posture data, the multiple regional point cloud data scanned by the drone scanner are converted to the coordinate system of the tracking device, and then the image is reconstructed to obtain a three-dimensional image of the object to be scanned. Compared with a handheld three-dimensional scanner, there is no need to attach marking points on the object to be scanned. Directly using the tracking device to determine the posture of the drone scanner further improves the efficiency of the scan, reduces the difficulty of the scan, and reduces the scan time.

[0037] In one embodiment, Figure 1 As shown, a three-dimensional scanning method is provided, which is applied to a drone scanner and includes the following steps:

[0038] Step S102, obtaining parameter information of the object to be scanned.

[0039] The object to be scanned is any object that needs to be scanned. The object to be scanned can be any object. For example, it can be a vehicle, an airplane, or other large models. The parameter information can be the size, surface shape, and actual form of the object to be scanned. The embodiments of the present application are not specifically limited, and only need to be able to reflect the actual state of the object to be scanned.

[0040] Step S104, planning a scanning path for the drone scanner according to the parameter information.

[0041] For large objects to be scanned, the object to be scanned can be regarded as a whole, or the object to be scanned can be virtually divided into multiple scanning areas. First, the object to be scanned can be divided into multiple scanning areas according to the parameter information of the object to be scanned. In order to scan the object to be scanned as a whole without missing some details. The scanning path can be planned for the drone scanner according to the parameter information of the object to be scanned. Among them, the scanning path can ensure that all details of the object to be scanned are scanned. It can be understood that usually if the object to be scanned is a small object to be scanned, the whole of the small object to be scanned can be regarded as a scanning area to plan the scanning path. Of course, whether to divide the object to be scanned will depend on the actual scanning situation and there will be no special restrictions.

[0042] Step S106, controlling the drone scanner to scan the object to be scanned according to the scanning path, and generating regional point cloud data corresponding to each scanning area.

[0043] After the scanning path planning is completed, the drone scanner can be controlled to move along the planned path, and each scanning mechanism starts to run, scanning each scanning area of ​​the object to be scanned, and generating regional point cloud data of the corresponding scanning area. When scanning the object to be scanned, the drone scanner can set two automatic working modes. The first mode is the hovering scanning mode, which corresponds to the situation of high scanning accuracy requirements. At this time, the drone scanner moves according to the planned scanning path. In order to avoid the accuracy error and weak stability caused by the shaking and jitter of the drone during flight, the drone can hover at a certain point on the scanning path, and adjust the scanning direction by rotating the set pan / tilt to ensure that the scanning area is completely scanned. After the current scanning area is scanned, it moves to the next scanning area according to the scanning path, and continues to select a point to hover and scan until all areas are scanned. The second scanning mode is the mobile scanning mode, which corresponds to the situation where fast scanning is required. At this time, the drone scanner moves according to the planned scanning path. While the drone moves, each scanning mechanism scans synchronously. When the drone completes the movement according to the planned path, it also completes the scanning of each scanning area of ​​the object to be scanned, which can greatly improve the scanning efficiency. The above two automatic working modes can be specifically set according to the parameter information of the actual object to be scanned and the scanning requirements, and this embodiment does not make specific limitations. It is understandable that the drone scanner can also be set to a manual working mode. After the scanning path planning is completed, an operator can hold a remote control to control the drone scanner to move along the corresponding scanning path. It can hover and scan, or it can scan synchronously while moving, so as to complete the scanning of the object to be scanned.

[0044] Step S108: generating a three-dimensional image of the object to be scanned according to the point cloud data of the plurality of regions.

[0045] After the object to be scanned is scanned and regional point cloud data corresponding to each scanning area is obtained, image reconstruction is performed based on the regional point cloud data to finally generate a three-dimensional image corresponding to the object to be scanned.

[0046] The three-dimensional scanning method provided in this embodiment obtains parameter information of the object to be scanned, and then plans a scanning path for the drone scanner based on the parameter information. After the scanning path planning is completed, the drone scanner is controlled to move according to the corresponding scanning path to scan the object to be scanned, and regional point cloud data corresponding to each scanning area is generated. Finally, a three-dimensional image of the object to be scanned is generated based on all regional point cloud data. The drone scanner moves according to the planned scanning path, scans the object to be scanned, obtains regional point cloud data, and finally generates a three-dimensional image based on the regional point cloud data. Scanning large objects to be scanned based on drone scanners can reduce the difficulty of scanning, improve scanning efficiency, and further reduce scanning time.

[0047] In one embodiment, planning a scanning path for a drone scanner according to parameter information includes: determining multiple scanning areas corresponding to the object to be scanned according to the parameter information; generating a scanning path for the drone scanner according to the multiple scanning areas. For example, the parameter information may be the size, surface shape, and actual form of the object to be scanned. When the parameter information is the size, the corresponding object to be scanned may be divided into multiple scanning areas according to the size of the object to be scanned; when the parameter information is the surface shape or actual form, the object to be scanned may be divided into multiple scanning areas of different sizes according to the complexity of the surface of the object to be scanned, and correspondingly, smaller scanning areas may be appropriately divided for areas with complex surface structures, and larger scanning areas may be appropriately divided for areas with simple surface structures. It is understandable that the scanning area division may also be performed based on comprehensive consideration of parameters such as size, surface shape, and actual form. After completing the scanning area division, it is necessary to generate the scanning path of the drone scanner according to the multiple scanning areas. For example, based on the parameter information of the object to be scanned, at least one position point can be determined for each scanning area, and then the corresponding position points of all the scanning areas can be connected to generate a corresponding scanning path; the operator can also perform a pre-scan on the object to be scanned, and this scan only needs to ensure the integrity of the scan without considering the scanning accuracy, and record the scanning path of this pre-scan, and use this scanning path as the final scanning path; the model data of the object to be scanned can also be obtained, and the model data can be input into a pre-trained deep learning network, and the final scanning path can be determined by the deep learning network.

[0048] The parameter information of the object to be scanned can accurately reflect the structural characteristics of the object to be scanned. The division of regions based on the parameter information can make the overall scan more balanced and further improve the scanning efficiency. And the problem of missing some areas can be avoided by dividing the regions.

[0049] In one embodiment, the drone 3D scanner can be a tracking drone scanner, that is, a corresponding tracking device is also configured for the drone scanner. Since when the object to be scanned is a large object, the tracking range of a single tracking device for tracking the drone scanner is limited and cannot complete the entire scanning requirement, it is necessary to set a tracking device for each scanning area, and multiple tracking devices cooperate to track a drone scanner, so that it can be ensured that when the drone scanner scans at any position, there is at least one tracking device that can track it. For the tracking drone scanner, after determining multiple scanning areas, generating the scanning path of the drone scanner according to the multiple scanning areas may include: controlling the tracking device to pre-scan the corresponding scanning area to generate pre-scan data corresponding to the multiple scanning areas; generating the scanning path of the drone scanner according to the multiple pre-scan data. After setting the tracking device corresponding to each scanning area, the corresponding scanning area is scanned by the tracking device to obtain multiple pre-scan data, and the multiple pre-scan data are image reconstructed to obtain images of each scanning area, and then the scanning path of the drone scanner is generated according to the corresponding image.

[0050] By pre-scanning the object to be scanned by the tracking device, the structural information of the object to be scanned can be determined more accurately, thereby making the division of the scanning area more precise.

[0051] In one embodiment, the drone scanner can also be manually controlled by the operator holding a remote control device to complete the scan. A signal receiving module is set on the drone scanner, which can be a wireless transmission module such as a Bluetooth module, a wifi module, or a wired transmission module. The drone scanner receives the control instructions sent by the paired remote control device through the signal receiving module, and moves according to the control instructions to complete the scan. For example, the movement instructions based on the scanning path input by the user are obtained in real time; according to the movement instructions, the drone scanner is controlled to move, and the object to be scanned is scanned at the same time; and the regional point cloud data corresponding to each scanning area collected by the drone scanner is obtained. The user is the scanning operator, and the user transmits the control instructions to the drone scanner through the remote control device, wherein the control instructions include movement instructions. After the drone scanner obtains the movement instructions, it moves according to the movement instructions and scans the object to be scanned at the same time. It can be understood that the control instructions can also include movement instructions and scanning instructions, and the drone scanner is controlled to move by the movement instructions, and then the drone scanner is controlled by the scanning instructions to scan the object to be scanned at a specific position.

[0052] In the above embodiment, the drone scanner includes two modes, a manual working mode and an automatic working mode, wherein the automatic working mode includes a hovering scanning mode and a mobile scanning mode. The manual working mode is to complete the entire scanning work completely by manually manipulating the remote control device. The automatic working mode is that the drone scanner automatically plans the scanning path, and the drone scanner completes the entire scanning work according to the scanning path. Since many factories are standardized operations, many equipment and equipment are batch-produced, and the positions are relatively fixed, so after setting the scanning path, the scanning path can be used as a fixed scanning path. Every time a scan is required, the drone scanner can complete the entire scanning measurement task according to the established path and return to the established position, which greatly reduces the labor cost and a large number of uncertainties caused by manual operation. By setting a remote control device, the user can directly perform overall scanning or fixed-point scanning through the remote control device, which brings more operating space for three-dimensional scanning and makes the entire scanning process more convenient.

[0053] In one embodiment, when the drone scanner scans each scanning area, the drone scanner is controlled to scan each scanning area in turn according to the scanning path to generate regional point cloud data corresponding to each scanning area; the tracking device is controlled to collect the posture data of the drone scanner in real time during the scanning process; the regional point cloud data is synchronized with the posture data. The scanning path connects all the scanning areas in series in sequence, and the drone scanner moves according to the corresponding scanning path, so as to scan each scanning area in turn. While the drone scanner is scanning, the tracking device tracks the drone scanner in real time to obtain the posture data of the drone scanner. The drone scanner collects the regional point cloud data of the corresponding scanning area. Among them, the posture data is synchronized with the regional point cloud data, so that the regional point cloud data can be converted to the coordinate system of the tracking device according to the posture data, and then the image is reconstructed to obtain a three-dimensional image of the object to be scanned.

[0054] In one embodiment, when the drone scanner scans each scanning area in sequence according to the scanning path: control the drone scanner to scan the first scanning area in the scanning path; determine whether the scanning of the first scanning area is completed, if the scanning is completed, scan the subsequent scanning areas in sequence according to the scanning path and determine whether the scanning is completed, until the scanning of the object to be scanned is completed. For example, the scanning path connects all the scanning areas in series in sequence. When the drone scanner starts to scan according to the scanning path, it first reaches the first scanning area and scans the first scanning area. After determining that the scanning of the first scanning area is completed, it continues to scan the second scanning area and continues to determine whether the scanning of the second scanning area is completed. After the scanning is completed, each scanning area is scanned in sequence until all scanning areas are completed. Each scanning area needs to determine whether the current scanning area has been scanned. The operator can manually observe whether the current scanning area has been scanned. The drone scanner can also count the scanned areas in the current scanning area in real time, and compare the scanned areas with the current scanning area as a whole, so as to determine whether the current scanning area has been scanned. This embodiment does not make specific limitations.

[0055] In the above embodiment, because the object to be scanned is relatively large, such as an airplane, it will be divided into multiple scanning areas during scanning, and the corresponding scanning path will sequentially connect all the scanning areas in series and scan in a certain order. When scanning each scanning area, it is necessary to determine whether the scanning is completed in the scanning area. Thus, a complete scan of the object to be scanned is achieved. When scanning, the user can operate the remote control device corresponding to the drone scanner or control the drone scanner to scan along a certain path through the scanning software. The drone scanner and the tracking device can synchronize signals so that the regional point cloud data of the object to be scanned obtained in real time all correspond to the posture data of the current drone scanner. For example, the drone scanner is used to obtain the point cloud data of the surface of the object to be scanned, and the tracking device is used to synchronously obtain the marking point data of the surface of the drone scanner, that is, the posture data, so as to obtain the real-time posture relationship of the drone scanner during the scanning process. Finally, the point cloud data of the surface of the object to be scanned obtained by the drone scanner is unified to the coordinate system of the tracking device, and then the image reconstruction is completed to obtain the three-dimensional image corresponding to the object to be scanned.

[0056] In one embodiment, when the tracking device tracks the drone scanner in real time, the tracking device will collect the posture data of the drone scanner in the scanning process in real time. For example, a plurality of marking points can be set on the drone scanner, and the corresponding marking points can be directly set on the drone, or a marking mechanism can be set, and the marking mechanism is fixed on the drone, and a plurality of marking points are set on the marking mechanism. This embodiment does not specifically limit the setting position of the marking point, and it is only necessary to satisfy that the drone scanner is provided with a marking point. At this time, the tracking device is controlled to collect the marking point data of the drone scanner in real time during the scanning process; according to the marking point data, the posture data synchronized with the regional point cloud data at the current moment is generated. When the drone scanner scans the object to be scanned, the tracking device tracks the drone scanner in real time, that is, the tracking device collects the marking points on the drone scanner in real time to form the marking point data; and the posture data of the drone scanner at the current moment is determined according to the corresponding marking point data. The marking point data is reconstructed by binocular to obtain the corresponding posture data; similarly, the corresponding posture data can also be reconstructed by monocular, and this embodiment does not make specific restrictions, and it is only necessary to determine the posture data.

[0057] In the above embodiment, by completely synchronizing the posture data with the regional point cloud data, the regional point cloud data can be synchronized to the coordinate system of the tracking device according to the posture data, thereby performing image reconstruction. Coordinate conversion through posture data can make the generated three-dimensional image more accurate.

[0058] In one embodiment, when the drone scanner scans at the junction of two scanning areas, two tracking devices corresponding to the two scanning areas simultaneously track the drone scanner. At this time, the marking point data of the drone scanner collected by the two tracking devices corresponding to the two scanning areas are obtained. After the marking point data collected by the two tracking devices at the same time are obtained, the final marking point data is determined according to the marking point data of the drone scanner collected by the two tracking devices. For example, when the drone scanner scans at the junction of the two scanning areas, one or two tracking devices may not be able to simultaneously capture the marking points on the drone scanner due to the collection distance of the tracking device or the occlusion of obstacles. At this time, two tracking devices are required to track the drone scanner at the same time. After obtaining the marking point data corresponding to the two tracking devices, it can be determined first whether the two marking point data are complete; if both marking point data are complete, one of the marking point data can be arbitrarily selected as the final marking point data. If only one of the two marking point data is complete, the complete marking point data can be selected as the final marking point data; or the complete marking point data and the incomplete marking point data can be merged to determine the final marking point data. If both marker point data are incomplete, the two incomplete marker point data are fused to calculate the complete marker point data as the final marker point data. Thus, the real-time pose corresponding to the drone scanner, that is, the pose data, is calculated through the final marker point data.

[0059] In one embodiment, after obtaining the regional point cloud data of all scanning areas and the posture data of the drone scanner collected synchronously, the regional point cloud data is converted to the coordinate system of the tracking device according to the posture data; and the three-dimensional image of the object to be scanned is reconstructed based on the regional point cloud data after the coordinate conversion. For example, the setting positions of all tracking devices remain unchanged during the scanning process, and the positional relationship between all tracking devices is pre-calibrated. The same coordinate system based on all tracking devices is established. At this time, according to the posture data of the drone scanner collected synchronously, all regional point cloud data are converted to the unified coordinate system of the tracking device, and finally the image is reconstructed based on the regional point cloud data after the coordinate conversion to generate a three-dimensional image corresponding to the object to be scanned.

[0060] The three-dimensional scanning method described in the above embodiment obtains parameter information of the object to be scanned, and then plans a scanning path for the drone scanner based on the parameter information. After the scanning path planning is completed, the drone scanner is controlled to move according to the corresponding scanning path to scan the object to be scanned, generate regional point cloud data corresponding to each scanning area, and finally generate a three-dimensional image of the object to be scanned based on all regional point cloud data. The drone scanner moves according to the planned scanning path, scans the object to be scanned, obtains regional point cloud data, and finally generates a three-dimensional image based on the regional point cloud data. Scanning large objects to be scanned based on drone scanners can reduce the difficulty of scanning, improve scanning efficiency, and further reduce scanning time.

[0061] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0062] Based on the same inventive concept, the embodiment of the present application also provides a three-dimensional scanning device for implementing the three-dimensional scanning method involved above. The implementation solution provided by the device to solve the problem is similar to the implementation solution recorded in the above method, so the specific limitations in one or more three-dimensional scanning device embodiments provided below can refer to the limitations of the three-dimensional scanning method above, and will not be repeated here.

[0063] In one embodiment, Figure 2 As shown, a three-dimensional scanning device is provided, including: an acquisition module 100, a path planning module 200, a scanning module 300 and a reconstruction module 400, wherein:

[0064] The acquisition module 100 is used to acquire parameter information of the object to be scanned.

[0065] The path planning module 200 is used to plan a scanning path for the drone scanner according to the parameter information; the object to be scanned includes multiple scanning areas.

[0066] The scanning module 300 is used to control the drone scanner to scan the object to be scanned according to the scanning path and generate regional point cloud data corresponding to each scanning area.

[0067] The reconstruction module 400 is used to generate a three-dimensional image of the object to be scanned according to the plurality of regional point cloud data.

[0068] The path planning module 200 is also used to determine multiple scanning areas corresponding to the object to be scanned according to the parameter information; and generate a scanning path of the drone scanner according to the multiple scanning areas.

[0069] The path planning module 200 is also used to control the tracking device to pre-scan the corresponding scanning area and generate pre-scan data corresponding to multiple scanning areas; based on the multiple pre-scan data, a scanning path of the drone scanner is generated.

[0070] The scanning module 300 is also used to obtain in real time the movement instructions input by the user based on the scanning path; according to the movement instructions, control the drone scanner to move and scan the object to be scanned at the same time; obtain the regional point cloud data corresponding to each scanning area collected by the drone scanner.

[0071] The scanning module 300 is also used to control the drone scanner to scan each of the scanning areas in turn according to the scanning path to generate regional point cloud data corresponding to each scanning area; control the tracking device to collect the posture data of the drone scanner during the scanning process in real time; and synchronize the regional point cloud data with the posture data.

[0072] The scanning module 300 is also used to control the drone scanner to scan the first scanning area in the scanning path; determine whether the scanning of the first scanning area is completed, and if the scanning is completed, scan the subsequent scanning areas in sequence according to the scanning path and determine whether the scanning is completed until the scanning of the object to be scanned is completed.

[0073] The scanning module 300 is also used to control the tracking device to collect the mark point data of the drone scanner in real time during the scanning process; based on the mark point data, generate posture data synchronized with the point cloud data of the area at the current moment.

[0074] The scanning module 300 is also used to obtain the marking point data of the drone scanner collected by the two tracking devices corresponding to the two scanning areas if the drone scanner scans at the junction of the two scanning areas; and determine the final marking point data based on the marking point data of the drone scanner collected by the two tracking devices.

[0075] The reconstruction module 400 is further used to convert the regional point cloud data into the coordinate system of the tracking device according to the posture data; and reconstruct and generate a three-dimensional image of the object to be scanned according to the regional point cloud data after the coordinate conversion.

[0076] Each module in the above three-dimensional scanning device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0077] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 3 As shown. The computer device includes a processor, a memory and a network interface 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 all data corresponding to the execution of the three-dimensional scanning method. 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, a three-dimensional scanning method is implemented.

[0078] Those skilled in the art will understand that Figure 3 The structure shown in the figure is only a block diagram of a part of the structure 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 certain components, or have a different arrangement of components.

[0079] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps and the three-dimensional scanning method described in any of the above embodiments are implemented:

[0080] Obtain parameter information of the object to be scanned;

[0081] Planning a scanning path for the drone scanner according to the parameter information; the object to be scanned includes a plurality of scanning areas;

[0082] Controlling the drone scanner to scan the object to be scanned according to the scanning path, and generating regional point cloud data corresponding to each scanning area;

[0083] A three-dimensional image of the object to be scanned is generated according to the plurality of regional point cloud data.

[0084] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps and the three-dimensional scanning method described in any of the above embodiments are implemented:

[0085] Obtain parameter information of the object to be scanned;

[0086] Planning a scanning path for the drone scanner according to the parameter information; the object to be scanned includes a plurality of scanning areas;

[0087] Controlling the drone scanner to scan the object to be scanned according to the scanning path, and generating regional point cloud data corresponding to each scanning area;

[0088] A three-dimensional image of the object to be scanned is generated according to the plurality of regional point cloud data.

[0089] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0090] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and 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 the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0091] In one embodiment, Figure 4 As shown, a three-dimensional scanning system is provided, which is used in conjunction with the above-mentioned three-dimensional scanning method. Therefore, part of the description of the three-dimensional scanning method refers to the embodiment corresponding to the above-mentioned three-dimensional scanning method. The three-dimensional scanning system includes a tracking device 10 and a drone scanner 20: the tracking device 10 is used to collect the posture data of the drone scanner during the scanning process in real time; the drone scanner 20 is used to scan the object 30 to be scanned in different regions and generate regional point cloud data corresponding to each scanning region; the regional point cloud data is synchronized with the posture data.

[0092] When it is necessary to scan the object 30 to be scanned, the object 30 to be scanned is divided into a plurality of scanning areas, and a tracking device 10 is set corresponding to each scanning area. The function of the tracking device 10 is to synchronously collect the posture data of the drone scanner 20 during the scanning process while the drone scanner 20 is scanning the object 30 to be scanned. The drone scanner 20 scans the object to be scanned in different areas through a manual working mode or an automatic working mode, obtains the regional point cloud data corresponding to each scanning area, and finally converts all the regional point cloud data into a unified coordinate system corresponding to the tracking device through the posture data, and reconstructs and generates a three-dimensional image. Among them, the drone scanner 20 can directly combine the three-dimensional scanner as a whole with the drone through an adaptation structure to form a drone scanner; or the various mechanisms constituting the three-dimensional scanner, such as a laser mechanism, an image acquisition mechanism, etc., can be integrated into the drone respectively, so that the various mechanisms and the drone are integrated into a drone scanner, thereby saving costs and making the drone scanner structure more flexible and compact, so that it is more convenient to scan.

[0093] In one embodiment, the drone and various mechanisms required for scanning are formed in one piece to form a drone scanner. The drone scanner includes a drone, multiple first image acquisition mechanisms, multiple laser mechanisms and a marking mechanism; the first image acquisition mechanism, the laser mechanism and the marking mechanism are set in one piece with the drone; the drone is used to change the posture according to the scanning path; the multiple laser mechanisms are used to generate laser lines and project the laser lines to the object to be scanned; the multiple first image acquisition mechanisms are used to collect the image of the object to be scanned with the laser lines projected; the marking mechanism is provided with multiple marking points in the circumference for being collected by the tracking device to generate posture data. For example, multiple first image acquisition mechanisms, multiple laser mechanisms and the marking mechanism are directly installed on the drone, and the above mechanisms are uniformly wrapped with the shell of the drone, so that the drone scanner is formed in one piece. The laser mechanism can be a laser, and the laser can emit laser lines; multiple laser lines are emitted by multiple lasers, and the laser lines are projected onto the object to be scanned. The first image acquisition mechanism can be a binocular camera, and the two cameras synchronously collect the surface image of the object to be scanned with the laser lines projected, and the images acquired by the two cameras are in their respective coordinate systems. Since the positional relationship between the two cameras has been calibrated in advance, the images acquired by the two cameras can be converted to the same coordinate system to complete the image acquisition. The marking mechanism includes multiple marking points, and the multiple marking points are set around the drone; or a shell of the marking mechanism is set separately, the shell of the marking mechanism is integrated with the shell of the drone, and multiple marking points are set around the shell of the marking mechanism. The tracking device generates the final posture data of the drone scanner by collecting the marking point data.

[0094] In this embodiment, the various mechanisms required for scanning are integrated with the drone to save costs and make the overall structure of the drone scanner more compact, thereby being more flexible during flight scanning.

[0095] In one embodiment, all the required mechanisms are fixedly arranged on the drone, such as Figure 5As shown, a drone scanner 20 is provided. The drone scanner 20 includes: a drone 21 and a scanning component 22; the scanning component 22 is fixedly connected to the drone 21; the drone is used to change the posture according to the scanning path; the scanning component 22 is used to scan the object to be scanned in different regions and generate regional point cloud data corresponding to each scanning region. The scanning component includes: a plurality of first image acquisition mechanisms 221, a plurality of laser mechanisms 222 and a marking mechanism 223; the first image acquisition mechanism 221, the laser mechanism 222 and the marking mechanism 223 are all externally connected to the drone 21; the plurality of laser mechanisms 222 are used to generate laser lines and project the laser lines to the object to be scanned; the plurality of first image acquisition mechanisms 221 are used to collect the image of the object to be scanned with the laser lines projected; the marking mechanism 223 is provided with a plurality of marking points in the circumference for collection by the tracking device to generate posture data. For example, each mechanism required for scanning is set separately, and all the mechanisms are fixed on the drone 21. That is to say, the drone 21 and the three-dimensional scanner can be directly combined, and the three-dimensional scanner can be connected to the drone 21 through a connecting mechanism such as a pan-tilt 224, thereby forming a drone scanner. It is also possible to customize the corresponding scanning component according to the actual scanning situation, and then connect the scanning component to the drone through the pan-tilt. This embodiment is not specifically limited, and it is only necessary that the scanning component can realize the corresponding function. The laser mechanism 222 can be a laser, and the laser can emit a laser line; multiple laser lines are emitted by multiple lasers, and the laser lines are projected onto the object to be scanned. The first image acquisition mechanism 221 can be a binocular camera, and the two cameras synchronously acquire the surface image of the object to be scanned with the laser line projected, and the images acquired by the two cameras are in their respective coordinate systems. Since the positional relationship between the two cameras is pre-calibrated, the images acquired by the two cameras can be converted to the same coordinate system, thereby completing the image acquisition. The marking mechanism 223 includes a plurality of marking points, and a plurality of marking points are set on the marking bracket by setting a marking bracket, and the tracking device generates the final posture data of the drone scanner by collecting the marking point data. The drone scanner also includes a remote control device 23. The operator holds the remote control device 23 and can manually control the drone scanner to complete the scanning work. For example, a direction joystick is provided on the remote control device 23. By manipulating the direction joystick, the drone scanner can be controlled to move according to the instructions issued by the remote control device. A scan button is provided on the remote control device. By triggering the scan button, the drone scanner is controlled to start scanning. A camera can be configured separately on the drone scanner. The shooting range of the camera is the same as the scanning range of the first image acquisition mechanism. At the same time, a display screen can also be provided on the remote control device to display the picture taken by the camera.

[0096] In this embodiment, the drone is combined with the scanning component so that each component can be manufactured separately, thereby reducing the difficulty of manufacturing.

[0097] In one embodiment, the three-dimensional scanning system further includes: a plurality of first fill light mechanisms; the plurality of first fill light mechanisms are arranged on the drone and arranged around the first image acquisition mechanism. The first fill light mechanism includes a fill light, which is arranged around the first image acquisition mechanism and is used to fill light through the fill light in the case of poor light.

[0098] In one embodiment, the tracking device includes: a plurality of second image acquisition mechanisms and a second fill light mechanism; the second image acquisition mechanism is used to collect the posture data of the drone scanner in the scanning process in real time; a plurality of second fill light mechanisms are arranged on the tracking device and arranged around the second image acquisition mechanism. For example, the second image acquisition mechanism includes a camera, which obtains the marking point data on the drone scanner through the camera, and then generates posture data through the marking point data, and the posture data represents the posture information of the current drone scanner. In order for the tracking device to clearly collect the marking point data of the drone scanner in poor light conditions, a plurality of fill lights are also arranged around the second image acquisition mechanism to perform fill light operations when necessary.

[0099] In one embodiment, the tracking device further includes: a laser marking mechanism, which may be a laser for generating laser light, and the laser light is used to indicate that the drone scanner is at the boundary of the tracking range of the corresponding tracking device.

[0100] Based on the above embodiment, the drone scanner includes: the drone and various mechanisms required for scanning are integrally formed, and the drone and the scanning component are combined and connected through a connecting mechanism such as a gimbal to form a drone scanner.

[0101] The drone scanner includes a control module, wherein the control module includes a flight control module for controlling the drone and a scanning control module for controlling the scanning mechanism to scan, and is also provided with a battery pack for powering each module. The first image processing mechanism, namely the binocular scanning unit, is connected to the drone through a pan-tilt platform, and the pan-tilt platform controls various posture angles of the binocular scanning unit to ensure the maximum utilization of the scanning space. The data of the binocular scanning unit reaches the control module of the drone through the internal signal line and the internal structure of the pan-tilt platform. The drone scanner can also be equipped with a camera, the shooting range of which is the same as the scanning range of the binocular scanning unit, and the image of the current scanning area can be collected in real time while scanning, thereby improving the experience during the scanning process. The drone scanner is also equipped with a remote control device, which can control the flight direction of the drone scanner; a display screen can also be provided on the remote control device to display the scanning image collected by the camera in real time, so that the operator can observe the real situation of the object to be scanned in real time. At the same time, the operator can also judge whether the object to be scanned is scanned normally and whether it is scanned completely according to the image displayed on the display screen. A binocular camera can also be provided on the drone scanner, which is mainly used to determine the distance between the drone scanner and the object to be scanned and other obstacles during the scanning process, so as to avoid collision with obstacles during the scanning process, which may cause damage to the drone scanner. It can be understood that in this embodiment, a tracking device may not be required, but it is necessary to post marking points on the object to be scanned so as to align the multiple point cloud data collected by the drone scanner, thereby ensuring the scanning accuracy of large objects to be scanned. At the same time, the laser mechanism can be replaced with a speckle module, so that the scanning distance can be farther, and there is no need to post marking points on the object to be scanned, and the marking points can be directly projected onto the object to be scanned through the speckle module.

[0102] On the basis of the above scheme, a tracking device can be configured for the drone scanner. At the same time, a marking point is set on the drone scanner. The marking point on the drone scanner is collected by the tracking device to ensure the global accuracy of the large object to be scanned. For example, multiple marking points or tracking target balls are distributed around the binocular scanning unit. The marking point or tracking target ball is rigidly connected to the binocular scanning unit to ensure that the relative position relationship between the marking point and the binocular scanning unit is fixed, thereby ensuring the accuracy of the scanning. At the same time, the tracking device tracks the drone scanner in real time when the drone scanner scans the object to be scanned, so that even if the marking point is not attached to the object to be scanned, the scanning accuracy can be guaranteed, that is, the drone scanner can start scanning work as soon as it takes off. The drone scanner comes with a reflective marking point (or tracking target ball), and multiple tracking devices set on the ground will track the spatial position of the drone scanner in real time. Since each tracking device corresponds to a scanning area of ​​the object to be scanned, each tracking device only tracks the posture of the drone scanner when scanning in the corresponding scanning area. That is to say, the tracking device has a tracking range. On this basis, the tracking device can be configured with an indication laser, which indicates the boundary of the entire tracking range. The drone scanner is equipped with a real-time observation camera, and the operator can observe the scanning status in real time on the display screen of the remote control device to ensure that the scan does not exceed the boundary of the laser indication area. At the same time, the binocular camera also monitors the distance to the object to be scanned in real time, ensuring the effective scanning distance while preventing the drone scanner from hitting the surface of the object to be scanned during the scanning process.

[0103] In one embodiment, Figure 6 as well as Figure 7 As shown, the drone and the scanning component are combined and connected through a connecting mechanism such as a gimbal. In order to allow the binocular scanning unit to work at multiple angles, the gimbal can move in two directions. Figure 6 As shown in FIG, by rotating the pan / tilt, the binocular scanning unit can be rotated with the vertical axis as the rotation center. Figure 7 As shown in the figure, by flipping the gimbal up and down, the binocular scanning unit can be flipped up and down with a horizontal axis, thereby greatly increasing the scanning range of the drone scanner.

[0104] The three-dimensional scanning system provided in the above embodiment uses a drone to drive the movement of various mechanisms required for scanning, thereby completing the scanning of large objects to be scanned, which can reduce the scanning difficulty, improve the scanning efficiency, and further reduce the scanning time.

[0105] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are 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.

[0106] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A three-dimensional scanning method, characterized in that: The method comprises: Obtain parameter information of the object to be scanned; Planning a scanning path for the drone scanner according to the parameter information; the object to be scanned includes a plurality of scanning areas; Controlling the drone scanner to scan the object to be scanned according to the scanning path, and generating regional point cloud data corresponding to each scanning area; A three-dimensional image of the object to be scanned is generated according to the plurality of regional point cloud data.

2. The method according to claim 1, characterized in that Planning a scanning path for the drone scanner according to the parameter information includes: Determining, according to the parameter information, a plurality of scanning areas corresponding to the object to be scanned; A scanning path of the drone scanner is generated based on the multiple scanning areas.

3. The method according to claim 2, characterized in that Generating a scanning path of the drone scanner according to the plurality of scanning areas comprises: each scanning area is provided with a tracking device corresponding to the plurality of scanning areas; Controlling the tracking device to pre-scan the corresponding scanning area to generate pre-scan data corresponding to the plurality of scanning areas; A scanning path of the drone scanner is generated based on the multiple pre-scan data.

4. The method according to claim 1, characterized in that: The controlling the drone scanner to scan the object to be scanned according to the scanning path to generate regional point cloud data corresponding to each scanning area includes: Acquire in real time a movement instruction input by a user based on the scanning path; According to the movement instruction, the drone scanner is controlled to move and scan the object to be scanned at the same time; Acquire regional point cloud data corresponding to each scanning area collected by the drone scanner.

5. The method according to claim 2, characterized in that: The controlling the drone scanner to scan the object to be scanned according to the scanning path to generate regional point cloud data corresponding to each scanning area comprises: each scanning area is correspondingly provided with a tracking device; Controlling the drone scanner to scan each of the scanning areas in sequence according to the scanning path, and generating regional point cloud data corresponding to each scanning area; The tracking device is controlled to collect the posture data of the unmanned aerial vehicle scanner in real time during the scanning process; the regional point cloud data is synchronized with the posture data.

6. The method according to claim 5, characterized in that The controlling the drone scanner to sequentially scan each of the scanning areas according to the scanning path comprises: Controlling the drone scanner to scan a first scanning area in a scanning path; Determine whether the scanning of the first scanning area is completed. If the scanning is completed, scan the subsequent scanning areas in sequence according to the scanning path and determine whether the scanning is completed until the scanning of the object to be scanned is completed.

7. The method according to claim 5, characterized in that The controlling the tracking device to collect the posture data of the drone scanner in real time during the scanning process includes: Control the tracking device to collect the marking point data of the drone scanner in real time during the scanning process; Based on the marked point data, pose data synchronized with the point cloud data of the area at the current moment is generated.

8. The method according to claim 7, characterized in that The controlling the tracking head to collect the marking point data of the drone scanner in real time during the scanning process includes: If the drone scanner scans at the junction of the two scanning areas, then the marking point data of the drone scanner collected by the two tracking devices corresponding to the two scanning areas are obtained; The final marking point data is determined based on the marking point data of the drone scanner collected by the two tracking devices.

9. The method according to claim 5, characterized in that Generating the three-dimensional image of the object to be scanned according to the plurality of regional point cloud data comprises: According to the posture data, converting the regional point cloud data into the coordinate system of the tracking device; A three-dimensional image of the object to be scanned is reconstructed and generated based on the regional point cloud data after coordinate conversion.

10. A three-dimensional scanning device, characterized in that: The device comprises: An acquisition module, used to acquire parameter information of the object to be scanned; A path planning module, used to plan a scanning path for the drone scanner according to the parameter information; the object to be scanned includes multiple scanning areas; A scanning module, used to control the drone scanner to scan the object to be scanned according to the scanning path, and generate regional point cloud data corresponding to each scanning area; A reconstruction module is used to generate a three-dimensional image of the object to be scanned based on the plurality of regional point cloud data.

11. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 9 are implemented.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

13. A three-dimensional scanning system, characterized in that: Includes tracking devices and drone scanners, among which, The tracking device is used to collect the position and posture data of the drone scanner during the scanning process in real time; The drone scanner is used to scan the object to be scanned in different regions and generate regional point cloud data corresponding to each scanning region; the regional point cloud data is synchronized with the posture data.

14. The three-dimensional scanning system according to claim 13, characterized in that: The drone scanner comprises a drone, a plurality of first image acquisition mechanisms, a plurality of laser mechanisms and a marking mechanism; the first image acquisition mechanism, the laser mechanism and the marking mechanism are integrally arranged with the drone; The drone is used to change its posture according to the scanning path; The plurality of laser mechanisms are used to generate laser lines and project the laser lines onto the object to be scanned; The plurality of first image acquisition mechanisms are used to acquire the image of the object to be scanned with the laser line projected thereon; The marking mechanism is provided with a plurality of marking points in the circumference thereof, which are used to be collected by the tracking device to generate posture data.

15. The three-dimensional scanning system according to claim 13, characterized in that: The drone scanner comprises: a drone and a scanning component; the scanning component is fixedly connected to the drone; The drone is used to change its posture according to the scanning path; The scanning component is used to scan the object to be scanned in different regions and generate regional point cloud data corresponding to each scanning region.

16. The three-dimensional scanning system according to claim 15, characterized in that: The scanning assembly includes: a plurality of first image acquisition mechanisms, a plurality of laser mechanisms and a marking mechanism; the first image acquisition mechanisms, the laser mechanisms and the marking mechanism are all externally connected to the drone; The plurality of laser mechanisms are used to generate laser lines and project the laser lines onto the object to be scanned; The plurality of first image acquisition mechanisms are used to acquire the image of the object to be scanned projected with the laser line; The marking mechanism is provided with a plurality of marking points in the circumference thereof, which are used to be collected by the tracking device to generate posture data.

17. The three-dimensional scanning system according to any one of claims 14 or 16, characterized in that: The three-dimensional scanning system further includes: a plurality of first fill-light mechanisms; A plurality of the first fill-light mechanisms are arranged on the UAV and around the first image acquisition mechanism.

18. The three-dimensional scanning system according to claim 13, characterized in that: The tracking device comprises: a plurality of second image acquisition mechanisms and a second fill light mechanism; The second image acquisition mechanism is used to collect the posture data of the drone scanner during the scanning process in real time; A plurality of the second fill-light mechanisms are arranged on the tracking device and around the second image acquisition mechanism.

Images