Scanning control method, scanning control device, scanning control system and storage medium

Abstract

The invention discloses a scanning control method, a scanning control device, a scanning control system and a computer readable storage medium, and belongs to the technical field of three-dimensional scanning. The scanning control method is applied to the three-dimensional scanning equipment. The three-dimensional scanning equipment comprises a laser projection device. The laser projection device comprises a plurality of lasers. The scanning control method comprises the following steps: respectively calibrating a plurality of lasers to judge whether each laser is damaged or not; and in the scanning process, the undamaged lasers in the multiple lasers are controlled to project laser. According to the scanning control method, the scanning control device, the scanning control system and the computer readable storage medium, whether each laser device is damaged or not can be accurately judged through the calibration process of the multiple laser devices, and then the laser devices which are not damaged in the multiple laser devices are controlled to project laser in the scanning process, so that the scanning accuracy is improved. Therefore, the three-dimensional scanning equipment can continue to work under the condition that a certain laser is damaged, and the user experience is good.

Description

Technical Field

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

[0002] In the current cross-multi-laser scanning technology, 3D scanning equipment achieves efficient and high-precision 3D data acquisition of target objects through the coordinated work of multiple lasers. However, in actual applications, lasers may be damaged due to various reasons (such as long-term use, environmental factors, equipment aging, etc.). When a laser is damaged, if the laser is not specially treated, the entire 3D scanning device may not work properly, thus affecting the user experience. Summary of the invention

[0003] The embodiments of the present application provide a scanning control method, a scanning control device, a scanning control system and a computer-readable storage medium to solve at least one of the above-mentioned technical problems.

[0004] The scanning control method of the embodiment of the present application is applied to a three-dimensional scanning device, wherein the three-dimensional scanning device includes a laser projection device, wherein the laser projection device includes a plurality of lasers, and the scanning control method includes: Calibrate the multiple lasers respectively to determine whether each of the lasers is damaged; During the scanning process, the lasers among the plurality of lasers that are not damaged are controlled to project laser light.

[0005] In some embodiments, the three-dimensional scanning device further includes an image acquisition device, and the calibrating the multiple lasers respectively to determine whether each of the lasers is damaged includes: For each of the lasers, controlling the laser to project laser light onto a calibration plate; Controlling the image acquisition device to acquire the laser three-dimensional data corresponding to different height positions of the calibration plate to determine the laser plane; According to the situation of acquiring the laser three-dimensional data, it is determined whether each of the lasers is damaged.

[0006] In some embodiments, judging whether each of the lasers is damaged according to the situation of acquiring the three-dimensional laser data includes: When the laser three-dimensional data cannot be acquired, it is determined that the laser is damaged; When the laser three-dimensional data is acquired, it is determined that the laser is not damaged.

[0007] In some embodiments, the calibrating the plurality of lasers respectively to determine whether each of the lasers is damaged includes: Calibrate the plurality of lasers at predetermined time intervals to determine whether each of the lasers is damaged; and / or The multiple lasers are calibrated respectively according to user triggering to determine whether each of the lasers is damaged.

[0008] In certain embodiments, the plurality of lasers include the lasers that have been historically determined to be damaged and the lasers that have been historically determined to be not damaged.

[0009] In some embodiments, during the scanning process, controlling the lasers among the plurality of lasers that are not damaged to project laser light comprises: During the scanning process, the plurality of lasers are polled and the laser that is damaged is skipped to control the projected laser.

[0010] In some embodiments, the three-dimensional scanning device also includes an image acquisition device, which includes a first camera and a second camera, the connection direction between the first camera and the second camera is a first direction, and the arrangement angle of the laser lines projected by the multiple lasers is located in a predetermined diagonal area staggered from the first direction.

[0011] In some embodiments, the predetermined diagonal area includes a first edge angle and a second edge angle, the plurality of lasers include N lasers, the arrangement angle of the laser line projected by the first laser is located at the first edge angle, the arrangement angle of the laser line projected by the Nth laser is located at the second edge angle, and the arrangement angle of the laser lines projected by the 2nd to (N-1)th lasers is located between the first edge angle and the second edge angle; Wherein, N≥3, and N is an integer.

[0012] In some embodiments, the arrangement angles of the laser lines projected by the 2nd to (N-1)th lasers evenly distribute the angle space between the first edge angle and the second edge angle.

[0013] In some embodiments, the predetermined diagonal area includes a prohibited area covering a second direction perpendicular to the first direction, and the arrangement angles of the laser lines projected by the 2nd to (N-1)th lasers are staggered from the prohibited area.

[0014] The scanning control device of the embodiment of the present application is applied to a three-dimensional scanning device, wherein the three-dimensional scanning device includes a laser projection device, wherein the laser projection device includes a plurality of lasers, and the scanning control device includes: A calibration module, used to calibrate the multiple lasers respectively to determine whether each of the lasers is damaged; The control module is used to control the lasers that are not damaged among the multiple lasers to project laser light during the scanning process.

[0015] The scanning control system of the embodiment of the present application includes one or more processors and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the scanning control method of any of the above embodiments is implemented.

[0016] The computer-readable storage medium of the embodiment of the present application stores a computer program thereon, and when the computer program is executed by a processor, the scanning control method of any of the above embodiments is implemented.

[0017] The scanning control method, scanning control device, scanning control system and computer-readable storage medium of the implementation mode of the present application can accurately determine whether each laser is damaged through the calibration process of multiple lasers, and then during the scanning process, control the undamaged lasers among the multiple lasers to project lasers, so that the three-dimensional scanning equipment can continue to work when a certain laser is damaged, and the user experience is better.

[0018] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 It is one of the flowcharts of the scanning control method of certain embodiments of the present application; Figure 2 is a schematic diagram of a module of a three-dimensional scanning device according to some embodiments of the present application; Figure 3 is a schematic diagram of a scene of a scanning control method in some embodiments of the present application; Figure 4 This is the second flow chart of the scanning control method of certain embodiments of the present application; Figure 5 This is the third flow chart of the scanning control method of certain embodiments of the present application; Figure 6 This is a fourth flow chart of a scanning control method according to some embodiments of the present application; Figure 7 This is a fifth flow chart of a scanning control method according to some embodiments of the present application; Figure 8 is a schematic diagram of a blank area and a predetermined diagonal area in certain embodiments of the present application; Fig. 9 is a schematic diagram of the arrangement angles of laser lines projected by multiple lasers in certain embodiments of the present application; Fig.10 It is a schematic diagram of a laser scanning along a specific moving trajectory in the related art; Fig.11 is a schematic diagram of a blank area, a predetermined diagonal area and a prohibited area in certain embodiments of the present application; Fig.12 is a schematic diagram of a module of a scanning control device according to some embodiments of the present application; Fig.13 is a module schematic diagram of a scanning control system of certain embodiments of the present application; Fig.14 It is a schematic diagram of the connection status between a computer-readable storage medium and a processor in certain embodiments of the present application.

[0020] Description of reference numerals: Laser projection device 100, laser 10, image acquisition device 200, first camera 210, second camera 220, calibration plate 300, scanning control device 400, calibration module 410, control module 420, scanning control system 500, processor 510, memory 520, computer readable storage medium 600, computer program 610, processor 620, three-dimensional scanning device 1000. DETAILED DESCRIPTION

[0021] The following is a further description of the embodiments of the present application in conjunction with the accompanying drawings. The same or similar reference numerals in the accompanying drawings represent the same or similar elements or elements with the same or similar functions from beginning to end. In addition, the embodiments of the present application described below in conjunction with the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the present application.

[0022] See also Figures 1 to 3 The scanning control method of the embodiment of the present application is applied to a three-dimensional scanning device 1000. The three-dimensional scanning device 1000 includes a laser projection device 100. The laser projection device 100 includes a plurality of lasers 10. The scanning control method includes: 010: Calibrate the multiple lasers 10 respectively to determine whether each laser 10 is damaged; 020: During the scanning process, the undamaged laser 10 among the plurality of lasers 10 is controlled to project laser light.

[0023] The scanning control method of the embodiment of the present application can accurately determine whether each laser 10 is damaged through the calibration process of multiple lasers 10, and then during the scanning process, control the undamaged laser 10 among the multiple lasers 10 to project laser, so that the three-dimensional scanning device 1000 can continue to work when a certain laser 10 is damaged, and the user experience is better.

[0024] Specifically, first, multiple lasers 10 are calibrated in sequence to determine whether each laser 10 is damaged. Taking three lasers as an example, the first laser 10 is calibrated to determine whether the first laser 10 is damaged; the second laser 10 is calibrated to determine whether the second laser 10 is damaged; and the third laser 10 is calibrated to determine whether the third laser 10 is damaged. In this way, it can be accurately determined whether each laser 10 is damaged.

[0025] Then, during the scanning process, the lasers 10 that are not damaged among the multiple lasers 10 are controlled to project lasers. For example, when the first laser 10 and the third laser 10 are not damaged, but the second laser 10 is damaged, the first laser 10 and the third laser 10 are controlled to project lasers. In this way, the three-dimensional scanning device 1000 can continue to work even if a certain laser 10 is damaged.

[0026] In some implementations, the method of calibrating each laser 10 includes but is not limited to: turning on each laser 10 one by one, and detecting the laser parameters such as the brightness, directionality, stability and flatness of the laser projected by it, and recording the number of each laser 10. If the laser parameters of a laser 10 do not meet the preset conditions, such as missing data or abnormal data, it is considered to be damaged and needs to be repaired or replaced. At this time, the number record of the damaged laser 10 can be sent to the control system of the three-dimensional scanning device 1000 and stored in the database for subsequent use.

[0027] During the scanning process, the method of controlling the undamaged laser 10 among the multiple lasers 10 to project laser includes but is not limited to: according to the scanning task requirements of the three-dimensional scanning device 1000, the scanning task is assigned to the undamaged laser 10 to ensure that the laser 10 used in the scanning process has good performance and stability, thereby improving the accuracy of the scanning result.

[0028] In the related art, when a laser is damaged, it is often not specially treated, which may cause the entire 3D scanning device to malfunction. At this time, the user can only be informed that the 3D scanning device needs to be repaired, which greatly affects the user experience.

[0029] The scanning control method of the embodiment of the present application provides a method for determining whether the laser 10 is damaged, and a method for dealing with the damage of the laser 10. This allows the three-dimensional scanning device 1000 to continue working even if a certain laser 10 is damaged, and provides a better user experience.

[0030] In the related art, it is not reliable to determine whether the laser is damaged during the actual scanning process of the 3D scanning device. During the actual scanning process, a single frame of laser may not reconstruct data due to various reasons, but this information is unreliable. The laser may have 3D data at a different angle or scanning distance.

[0031] The scanning control method of the embodiment of the present application determines whether each laser 10 is damaged during the calibration process. The calibration process has standardized processes and specifications, and is carried out under strictly controlled conditions, which can eliminate the interference of external factors on the judgment results and ensure the accuracy and reliability of the judgment results. Therefore, through the calibration process of multiple lasers 10, it is possible to accurately determine whether each laser 10 is damaged.

[0032] It should be noted that the type of the laser 10 in the embodiment of the present application includes but is not limited to a multi-line laser, a vertical cavity surface emitting laser (Vertical-Cavity Surface-Emitting Laser, VCSEL), etc., and is not limited here.

[0033] See also Figures 2 to 4 In some embodiments, the three-dimensional scanning device 1000 further includes an image acquisition device 200. The plurality of lasers 10 are calibrated respectively to determine whether each laser 10 is damaged (ie, 010), including: 011: For each laser 10, control the laser 10 to project laser light onto the calibration plate 300; 012: Control the image acquisition device 200 to acquire the laser three-dimensional data corresponding to different height positions of the calibration plate 300 to determine the laser plane; 013: Based on the situation of acquiring the laser three-dimensional data, determine whether each laser 10 is damaged.

[0034] Specifically, the image acquisition device 200 can be a binocular camera. The process of calibrating multiple lasers 10 is as follows: for each laser 10, the laser 10 is controlled to project laser light to the calibration plate 300, wherein the laser light can be projected to different height positions on the calibration plate 300 by adjusting the projection angle of the laser 10. Then, the three-dimensional laser data corresponding to different height positions of the calibration plate 300 is obtained by the image acquisition device 200 to form a laser surface. Finally, the laser surface is fitted by a plane fitting algorithm to obtain a laser plane. The laser plane can be used as a reference surface for subsequent three-dimensional reconstruction of the three-dimensional scanning device 1000.

[0035] According to the situation of acquiring the laser 3D data, it can be determined whether each laser 10 is damaged. For example, according to whether the laser 3D data is acquired, or whether the acquired laser 3D data meets a predetermined condition (whether there is data anomaly, etc.), it can be determined whether each laser 10 is damaged.

[0036] See also Figure 3 and Figure 5 In some embodiments, judging whether each laser 10 is damaged (ie, 013) based on the situation of acquiring the laser three-dimensional data includes: 0131: When the laser three-dimensional data cannot be acquired, it is determined that the laser 10 is damaged; 0132: When the laser three-dimensional data is acquired, it is determined that the laser 10 is not damaged.

[0037] Specifically, if the image acquisition device 200 fails to acquire the laser three-dimensional data, it indicates that there is no laser projected onto the calibration plate 300, that is, the laser 10 is damaged; otherwise, it indicates that the laser 10 is not damaged. The embodiment of the present application determines whether the laser 10 is damaged based on whether the laser three-dimensional data is acquired. This judgment method is simple and efficient.

[0038] In some embodiments, when the image acquisition device 200 fails to acquire the laser three-dimensional data, the projection angle of the laser 10, the position of the calibration plate 300, etc. can also be adjusted, and the laser 10 can be controlled to project the laser to the calibration plate 300 multiple times; the image acquisition device 200 can be controlled to acquire the laser three-dimensional data corresponding to different height positions of the calibration plate 300 multiple times to determine the laser plane. Furthermore, when the laser three-dimensional data cannot be acquired for multiple consecutive times, it is determined that the laser 10 is damaged to avoid errors in a single determination.

[0039] See also Figure 3 and Figure 6 In some embodiments, the plurality of lasers 10 are calibrated respectively to determine whether each laser 10 is damaged (ie, 010), including: 014: Calibrate the plurality of lasers 10 at predetermined time intervals to determine whether each laser 10 is damaged; and / or 015: Calibrate multiple lasers 10 according to user triggering to determine whether each laser 10 is damaged.

[0040] It is understandable that after the 3D scanning device 1000 is used for a long time, the performance of the laser 10 may be degraded due to aging, dust accumulation or environmental factors. In order to ensure the accuracy of the scanning results of the 3D scanning device 1000, it is necessary to frequently check whether each laser 10 is damaged.

[0041] The first way is to detect whether each laser 10 is damaged at a predetermined time interval. The predetermined time interval is used to trigger the calibration process of the laser 10 to determine whether each laser 10 is damaged. The predetermined time interval can be determined based on the frequency of use of the laser 10. For example, when the frequency of use of the laser 10 is high, the predetermined time interval can be set to be relatively small; when the frequency of use of the laser 10 is low, the predetermined time interval can be set to be relatively large. In other words, the predetermined time interval can be inversely proportional to the frequency of use of the laser 10. Of course, in other examples, the predetermined time interval can also be determined in combination with factors such as the environmental conditions of the laser 10.

[0042] In one example, the predetermined time interval may be half a day. Every half a day, when the three-dimensional scanning device 1000 is turned on, the three-dimensional scanning device 1000 automatically starts the calibration process, sequentially controls each laser 10 to project laser light to the calibration plate 300; controls the image acquisition device 200 to acquire laser three-dimensional data corresponding to different height positions of the calibration plate 300 to determine the laser plane; and determines whether each laser 10 is damaged based on the acquisition of the laser three-dimensional data. In this way, the laser 10 can be regularly maintained to ensure the accuracy of the scanning results of the three-dimensional scanning device 1000.

[0043] The second method is to detect whether each laser 10 is damaged according to user triggering. It is understandable that in some cases, the user may want to trigger the calibration process of the laser 10 according to actual needs or obvious abnormalities observed in the laser 10 to determine whether each laser 10 is damaged. At this time, the user can select the calibration option on the control interface of the three-dimensional scanning device 1000 to trigger the calibration process of the laser 10.

[0044] The 3D scanning device 1000 starts the calibration process according to the received user trigger signal, and sequentially controls each laser 10 to project laser light to the calibration plate 300; controls the image acquisition device 200 to acquire the laser 3D data corresponding to different height positions of the calibration plate 300 to determine the laser plane; and determines whether each laser 10 is damaged according to the acquired laser 3D data. In this way, the detection flexibility is high, and the damage determination of the laser 10 can be carried out in time according to the user's needs.

[0045] In the above implementation, "calibrating multiple lasers 10 at predetermined time intervals" and "calibrating multiple lasers 10 according to user triggering" can be combined for application. For example, a predetermined time interval can be set, and the user can be allowed to manually trigger the calibration process. In this way, regular maintenance of the laser 10 can be ensured, and the actual needs of the user can be met.

[0046] In some embodiments, the plurality of lasers 10 include lasers 10 that have been historically determined to be damaged and lasers 10 that have been historically determined to be not damaged.

[0047] Specifically, the multiple lasers 10 in “calibrating the multiple lasers 10 at predetermined time intervals” and “calibrating the multiple lasers 10 according to user triggering” both include lasers 10 that have been historically determined to be damaged and lasers 10 that have been historically determined to be not damaged.

[0048] That is to say, during each calibration, multiple lasers 10 are calibrated separately, regardless of whether the laser 10 is a laser 10 that has been historically determined to be damaged or a laser 10 that has been historically determined to be undamaged. In this way, it is possible to avoid a laser 10 being determined to be damaged during a calibration process, and the laser 10 is not processed subsequently, thereby causing a single determination error.

[0049] See also Figure 3 and Figure 7 In some embodiments, during the scanning process, controlling the laser 10 that is not damaged among the plurality of lasers 10 to project laser light (ie, 020) includes: 021: During the scanning process, multiple lasers 10 are polled and the damaged laser 10 is skipped to control the projected laser.

[0050] Specifically, before starting scanning, the control system of the three-dimensional scanning device 1000 obtains the status information of each laser 10 (damaged or not damaged). During the scanning process, the control system enters the polling mode and checks the status of each laser 10 in turn to identify which lasers 10 are damaged and need to be skipped; and which lasers 10 are not damaged and can work normally. For example, the status of the first laser 10 is checked first. If the laser 10 is not damaged, a control signal is sent to control the laser 10 to project the laser; if the laser 10 is damaged, the laser 10 is skipped immediately without sending any control signal, and the status of the next laser 10 is checked, and so on.

[0051] Assuming that when multiple lasers 10 are not damaged, the scanning frame rate of the three-dimensional scanning device 1000 is F, then after using the polling control mechanism of the embodiment of the present application, when a laser 10 is damaged, the scanning frame rate of the three-dimensional scanning device 1000 can still be maintained at F. Taking four lasers 10 as an example, if the four lasers 10 are not damaged, then in one scanning cycle, the first laser 10, the second laser 10, the third laser 10, and the fourth laser 10 are controlled to emit lasers in sequence, and the scanning frame rate of the three-dimensional scanning device 1000 is 100fps. If the third laser 10 is damaged, and the remaining lasers 10 are not damaged, then in one scanning cycle, the first laser 10, the second laser 10, the fourth laser 10, and the first laser 10 are controlled to emit lasers in sequence, and the scanning frame rate of the three-dimensional scanning device 1000 can still be maintained at 100fps. In this way, when a certain laser 10 is damaged, the cycle of the laser 10 will not be wasted, thereby maintaining the scanning frame rate of the three-dimensional scanning device 1000 unchanged.

[0052] The specific structure of the three-dimensional scanning device 1000 according to the embodiment of the present application is introduced below.

[0053] See also Figure 2 , Figure 3 , Figure 8 and Fig. 9 The three-dimensional scanning device 1000 of the embodiment of the present application includes a laser projection device 100 and an image acquisition device 200. The image acquisition device 200 includes a first camera 210 and a second camera 220. The direction of the connection between the first camera 210 and the second camera 220 is a first direction. The laser projection device 100 includes a plurality of lasers 10. The arrangement angles of the laser lines projected by the plurality of lasers 10 are located in a predetermined diagonal region staggered from the first direction.

[0054] In the three-dimensional scanning device 1000 of the embodiment of the present application, the laser projection device 100 includes a plurality of lasers 10 to overcome the problem of limited scanning frame rate of the three-dimensional scanning device 1000. Furthermore, the arrangement angles of the laser lines projected by the plurality of lasers 10 are located within a predetermined diagonal region staggered from the first direction to improve the scanning accuracy of the three-dimensional scanning device 1000 and enhance the reliability of the scanning result.

[0055] Specifically, the three-dimensional scanning device 1000 includes a laser projection device 100 and an image acquisition device 200. The image acquisition device 200 includes a first camera 210 and a second camera 220, that is, a left eye camera and a right eye camera. The laser projection device 100 is used to project a laser to the object to be measured, and the first camera 210 and the second camera 220 are used to capture images of the object to be measured, so as to obtain three-dimensional data of the surface of the object to be measured.

[0056] The laser projection device 100 includes a plurality of lasers 10. It should be noted that, in the embodiments of the present application, a plurality refers to two or more lasers. Preferably, the laser projection device 100 includes at least three lasers 10. The plurality of lasers 10 are used to alternately project laser lines with different arrangement angles in sequence, wherein the specific order of the alternate sequence is not limited. The type of the laser 10 may be a multi-line laser.

[0057] The connection direction between the first camera 210 and the second camera 220 is a first direction (eg Figure 8 The direction perpendicular to the first direction is the second direction (e.g. Figure 8 The first direction and the second direction are both perpendicular to the light emitting direction of the laser projection device 100. The arrangement angle of the laser lines projected by the multiple lasers 10 is located in a predetermined diagonal area staggered from the first direction. Figure 8 As shown, the predetermined diagonal area (such as Figure 8 R2 area) and blank area (such as Figure 8 The predetermined diagonal area and the blank area do not overlap each other. The blank area can cover the first direction, and the predetermined diagonal area can cover the second direction. In other words, the first direction is included in the blank area, and the second direction is included in the predetermined diagonal area.

[0058] For example, based on the second direction (clockwise is positive, counterclockwise is negative, or the direction of rotation toward the second camera 220 is positive, and the direction of rotation toward the first camera 210 is negative), the angle range of the predetermined diagonal area is [-75°, +75°], and the angle range of the blank area is [-90°, -75°) and (+75°, +90°). For another example, based on the second direction, the angle range of the predetermined diagonal area is [-45°, +45°], and the angle range of the blank area is [-90°, -75°) and (+75°, +90°). , -45°) and (+45°, +90°]. For another example, based on the second direction, the angle range of the predetermined diagonal area is [-30°, +30°], while the angle range of the blank area is [-90°, -30°) and (+30°, +90°]. It should be noted that the second direction is used as a reference only to illustrate the angle range of the blank area and the predetermined diagonal area. In other examples, the first direction can also be used as a reference to convert the angle range of the blank area and the predetermined diagonal area.

[0059] like Fig. 9 As shown, the arrangement angles of the laser lines projected by the multiple lasers 10 are within the predetermined diagonal area. That is to say, the arrangement angles of the laser lines projected by each laser 10 are within the angle range of the predetermined diagonal area. Taking the angle range of the predetermined diagonal area as [-75°, +75°], and the multiple lasers 10 including four lasers 10 as an example, the arrangement angles of the laser lines projected by the four lasers 10 can be -50°, -25°, +25°, +50°, respectively; or, the arrangement angles of the laser lines projected by the four lasers 10 can be -30°, -15°, +15°, +30°, respectively; or, the arrangement angles of the laser lines projected by the four lasers 10 can be -30°, -10°, +10°, +30°, etc., which are not explained one by one here.

[0060] It should be noted that the embodiment of the present application is designed for the arrangement angle of the laser lines projected by the multiple lasers 10, rather than the placement of the multiple lasers 10. The placement of the lasers 10 can be flexibly selected according to actual needs and is not limited here. The arrangement angle of the laser lines projected by the multiple lasers 10 is also the angle at which the lasers projected by the multiple lasers 10 irradiate the object to be measured.

[0061] In the related art, three-dimensional scanning equipment has the problem of limited scanning frame rate.

[0062] It is understandable that the duty cycle is a very important parameter for the energy output and control of the laser. The duty cycle is defined as the ratio of the laser on time to the entire cycle time in a complete laser lighting cycle. For example, when the duty cycle is 30%, it means that in each cycle, the laser is on for 30% of the entire cycle time. When the duty cycle of the laser exceeds the threshold, it will cause the laser to heat up too much and burn out.

[0063] When the laser projection device includes a laser, if the duty cycle of the laser is fixed at 30% and the original period of the laser is 10ms, the laser frame rate (i.e. scanning frame rate) of the 3D scanning device can only be limited to a maximum of 100fps, and the exposure time is limited to a maximum of 3ms. If you want to increase the exposure time to 6ms, the laser period must be adjusted to 20ms due to the limitation that the duty cycle of the laser is 30%, then the maximum laser frame rate of the 3D scanning device is 50fps.

[0064] In this case, the laser brightness (i.e., exposure time) will increase, while the laser frame rate will decrease, which is very disadvantageous for scanning dark and shiny workpieces (scanning dark and shiny workpieces requires increasing the exposure time to scan them, resulting in a decrease in the laser frame rate, which will cause the scanning to become stuck and slow for users). Therefore, simply increasing the exposure time to reduce the laser frame rate is not a feasible application method.

[0065] According to research, if the laser frame rate of the 3D scanning device is 100fps, when the laser projection device includes one laser, if the requirement of 100fps needs to be met, then the frame rate of the laser must be 100fps. When the laser projection device includes two lasers, if the requirement of 100fps needs to be met, then the frame rate of each laser only needs to be 50fps. In other words, if the maximum frame rate of a single laser is 100fps (too high will burn out), and only one laser is used, then the laser frame rate of the 3D scanning device cannot exceed 100fps. If two lasers are used, the laser frame rate of the 3D scanning device can theoretically reach 200fps.

[0066] In the embodiment of the present application, by setting more lasers 10 in the laser projection device 100, the laser frame rate of the three-dimensional scanning device 1000 can be improved. For the above example, if four lasers 10 are used and the exposure time is increased to 6ms, the laser frame rate of the three-dimensional scanning device 1000 can still reach 200fps, so that the scanning of black and bright workpieces can be better realized, the exposure time is improved, and the laser frame rate is also improved.

[0067] In the related art, the laser has the problem of slow scanning along a specific moving trajectory. Fig.10, two different lasers project lasers respectively, where A and B are schematic diagrams of the laser lines projected by the two lasers onto the object to be measured (the positions of the two lasers can be understood as the centers of lines A and B, and the projection direction is perpendicular to the paper surface), and then the three-dimensional scanning device moves in the direction indicated by the arrow. The area scanned by the laser is the area surrounded by the solid line and the dotted line. It can be seen that the area scanned by A is significantly larger than the area scanned by B. Based on the same scanning time, A scans a larger area per unit time and has a higher scanning efficiency, that is, A is easier to scan under this scanning path. However, due to the arrangement angle of the laser lines projected by the laser, the laser is prone to slow scanning along a specific moving trajectory.

[0068] In the embodiment of the present application, by setting more lasers 10 in the laser projection device 100, the laser lines projected by the multiple lasers 10 correspond to a variety of arrangement angles, which can cover a variety of different scanning paths. For different scanning paths, the corresponding lasers 10 can be flexibly selected to be turned on, and the problem of slow scanning along a specific moving trajectory of the weakened laser 10 exists. In some embodiments, the laser projection device 100 includes at least three lasers 10.

[0069] See also Figure 8 In some embodiments, the predetermined diagonal regions are symmetrically arranged along a second direction perpendicular to the first direction.

[0070] Taking the second direction as a reference, for example, the angle range of the predetermined diagonal area is [-75°, +75°]; or, the angle range of the predetermined diagonal area is [-60°, +60°]; or, the angle range of the predetermined diagonal area is [-45°, +45°]; or, the angle range of the predetermined diagonal area is [-30°, +30°], etc., which are not illustrated one by one here. In the embodiment of the present application, the predetermined diagonal area is symmetrically arranged along the second direction, which facilitates the design of the arrangement angle of the laser lines projected by the multiple lasers 10.

[0071] See also Figure 8 In some embodiments, based on the second direction, the angle range of the predetermined diagonal area is [-45°, +45°].

[0072] Specifically, the area corresponding to the angle range of [-90°, -45°) and (+45°, +90°) is too parallel to the line connecting the first camera 210 and the second camera 220. According to the principle of binocular imaging, if the arrangement angle of the laser line projected by the laser 10 is within this area, the noise of the acquired three-dimensional data will be large. Therefore, the embodiment of the present application does not set the arrangement angle of the laser line within the angle range of [-90°, -45°) and (+45°, +90°], but sets the arrangement angle of the laser line within the angle range of [-45°, +45°] to reduce the noise of the three-dimensional data, thereby avoiding scanning errors, improving the scanning accuracy of the three-dimensional scanning device 1000, and enhancing the reliability of the scanning results.

[0073] See also Fig. 9 In some embodiments, the predetermined diagonal area includes a first edge angle and a second edge angle. The plurality of lasers 10 include N lasers 10. The arrangement angle of the laser line projected by the first laser 10 is located at the first edge angle, and the arrangement angle of the laser line projected by the Nth laser 10 is located at the second edge angle. The arrangement angles of the laser lines projected by the 2nd to (N-1)th lasers 10 are between the first edge angle and the second edge angle. Wherein, N≥3, and N is an integer.

[0074] Specifically, taking the case where the angle range of the predetermined diagonal area is [-45°, +45°] and the multiple lasers 10 include four lasers 10 as an example, the predetermined diagonal area includes a first edge angle of -45° and a second edge angle of +45°, the arrangement angle of the laser line projected by the first laser 10 is located at the first edge angle of -45°, and the arrangement angle of the laser line projected by the fourth laser 10 is located at the second edge angle of +45°. The arrangement angles of the laser lines projected by the second to third lasers 10 are between -45° and +45°, for example, they may be -25° and +25°, respectively.

[0075] Taking the case where the angle range of the predetermined diagonal area is [-45°, -15°] and the multiple lasers 10 include four lasers 10 as an example, the predetermined diagonal area includes a first edge angle of -45° and a second edge angle of -15°, the arrangement angle of the laser line projected by the first laser 10 is located at the first edge angle of -45°, and the arrangement angle of the laser line projected by the fourth laser 10 is located at the second edge angle of -15°. The arrangement angles of the laser lines projected by the second to third lasers 10 are between -45° and -15°, for example, they may be -35° and -25°, respectively.

[0076] See also Fig. 9 In some embodiments, the first edge angle and the second edge angle are respectively located on both sides of a second direction perpendicular to the first direction.

[0077] For example, the first edge angle is -45° and the second edge angle is +45°; for another example, the first edge angle is -45° and the second edge angle is +30°; for another example, the first edge angle is -30° and the second edge angle is +45°.

[0078] In the embodiment of the present application, the first edge angle and the second edge angle are respectively located on both sides of the second direction, and the arrangement angle of the laser lines projected by the multiple lasers 10 can be set in a wider angle range, so that the angle range that the laser lines projected by the multiple lasers 10 can cover is also wider, which is beneficial to increase the scanning range of the three-dimensional scanning device 1000.

[0079] See also Fig. 9 In some embodiments, the arrangement angles of the laser lines projected by the 2nd to (N-1)th lasers 10 evenly distribute the angle space between the first edge angle and the second edge angle.

[0080] Specifically, taking the case where the angle range of the predetermined diagonal area is [-20°, +20°] and the multiple lasers 10 include four lasers 10 as an example, the predetermined diagonal area includes a first edge angle of -20° and a second edge angle of +20°, the arrangement angle of the laser line projected by the first laser 10 is located at the first edge angle of -20°, and the arrangement angle of the laser line projected by the fourth laser 10 is located at the second edge angle of +20°. The arrangement angles of the laser lines projected by the second to third lasers 10 are evenly distributed in the angle space between -20° and +20°. According to the calculation of 40 / 3≈13 degrees, the arrangement angles of the laser lines projected by the second to third lasers 10 are -7° and +7°, respectively.

[0081] In the embodiment of the present application, the arrangement angles of the laser lines projected by the 2nd to (N-1)th lasers 10 evenly distribute the angle space between the first edge angle and the second edge angle, so that the laser lines projected by the laser 10 can cover all corners of the predetermined diagonal area, thereby improving the uniformity and integrity of the laser coverage.

[0082] See also Fig.11 In some embodiments, the predetermined diagonal area includes a prohibited area covering a second direction perpendicular to the first direction. The arrangement angles of the laser lines projected by the 2nd to (N-1)th lasers 10 are staggered from the prohibited area.

[0083] Specifically, the second direction is included in the prohibited area (the prohibited area is as follows Fig.11As shown in the R3 area in the figure, the arrangement angles of the laser lines projected by the second to (N-1) lasers 10 are offset from the prohibited area, that is, the arrangement angles of the laser lines projected by the second to (N-1) lasers 10 are at least offset from the second direction. Taking the angle range of the predetermined diagonal area as [-20°, +20°] as an example, the angle range of the prohibited area is (-8°, +8°); or, the angle range of the prohibited area is (-5°, +5°); or, the angle range of the prohibited area is (-2°, +2°), which will not be explained one by one here.

[0084] Furthermore, the scheme of "the arrangement angles of the laser lines projected by the 2nd to (N-1)th lasers 10 are staggered from the prohibited area" can be combined with the aforementioned scheme of "the arrangement angles of the laser lines projected by the 2nd to (N-1)th lasers 10 evenly distribute the angle space between the first edge angle and the second edge angle".

[0085] One combination method is to first make the arrangement angles of the laser lines projected by the 2nd to (N-1)th lasers 10 evenly distribute the angle space between the first edge angle and the second edge angle, and then adjust the arrangement angle of the laser lines falling in the prohibited area to outside the prohibited area.

[0086] When the angle range of the predetermined diagonal area is [-20°, +20°] and the angle range of the prohibited area is (-5°, +5°), taking the multiple lasers 10 including five lasers 10 as an example, the arrangement angle of the laser line projected by the first laser 10 is located at the first edge angle of -20°, and the arrangement angle of the laser line projected by the fifth laser 10 is located at the second edge angle of +20°. According to the arrangement angles of the laser lines projected by the second to fourth lasers 10, the angle space between -20° and +20° is evenly distributed, and the arrangement angles of the laser lines projected by the second to fourth lasers 10 should theoretically be -10°, 0°, and +10°, respectively. Since 0° is located in the prohibited area, it can be adjusted to 5°. In other words, the arrangement angles of the laser lines projected by the second to fourth lasers 10 can be -10°, 5°, and +10°, respectively.

[0087] Another combination method is to first remove the prohibited area from the angle space between the first edge angle and the second edge angle, and then make the arrangement angles of the laser lines projected by the 2nd to (N-1)th lasers 10 evenly distribute the angle space between the first edge angle and the second edge angle after removing the prohibited area.

[0088] When the angle range of the predetermined diagonal area is [-20°, +20°] and the angle range of the prohibited area is (-5°, +5°), taking the multiple lasers 10 including six lasers 10 as an example, the arrangement angle of the laser line projected by the first laser 10 is located at the first edge angle of -20°, and the arrangement angle of the laser line projected by the sixth laser 10 is located at the second edge angle of +20°. Remove (-5°, +5°) from the angle space between -20° and +20°, and the arrangement angles of the laser lines projected by the second to fifth lasers 10 evenly distribute the remaining angle space, then the arrangement angles of the laser lines projected by the second to fifth lasers 10 can be -15°, -5°, 5°, +15°, respectively.

[0089] In the embodiment of the present application, the arrangement angles of the laser lines projected by the second to (N-1) lasers 10 are arranged to distribute the angle space between the first edge angle and the second edge angle as evenly as possible, on the premise that the arrangement angles of the laser lines projected by the second to (N-1) lasers 10 are staggered from the prohibited area. Due to the laser symmetry problem of the laser 10 (especially the multi-line laser), in the same frame image, too symmetrical laser data will be very easy to match incorrectly, and the reconstructed three-dimensional information is not real information, but false information. Therefore, the embodiment of the present application does not set the arrangement angle of the laser line in the prohibited area covering 0° to avoid laser data matching errors, thereby ensuring the reliability of the scanning results.

[0090] See also Fig.11 In some embodiments, the prohibited areas are symmetrically arranged along the second direction.

[0091] Specifically, based on the second direction, for example, the angle range of the prohibited area is (-10°, +10°); or, the angle range of the prohibited area is (-8°, +8°); or, the angle range of the prohibited area is (-5°, +5°); or, the angle range of the prohibited area is (-2°, +2°), etc., which are not illustrated one by one here. In the embodiment of the present application, the prohibited area is symmetrically arranged along the second direction, which facilitates the design of the arrangement angle of the laser lines projected by the multiple lasers 10.

[0092] Of course, in other embodiments, the prohibited area may not be symmetrically arranged along the second direction. In this case, based on the second direction, the angle range of the prohibited area is, for example, (-5°, +4°), etc., which is not limited here.

[0093] See also Fig.11 In some embodiments, based on the second direction, the angle range of the prohibited area is (-5°, +5°).

[0094] Specifically, in the area corresponding to the angle range of (-5°, +5°), since there is a laser symmetry problem to a certain extent, the embodiment of the present application does not set the arrangement angle of the laser line in this area, so as to avoid the problem of matching errors of laser data that is too symmetrical, thereby ensuring the reliability of the scanning results.

[0095] See also Figure 2 , Figure 3 and Fig.12 , the scanning control device 400 of the embodiment of the present application is applied to a three-dimensional scanning device 1000. The three-dimensional scanning device 1000 includes a laser projection device 100. The laser projection device 100 includes a plurality of lasers 10. The scanning control device 400 includes a calibration module 410 and a control module 420. The calibration module 410 is used to calibrate the plurality of lasers 10 respectively to determine whether each laser 10 is damaged. The control module 420 is used to control the undamaged laser 10 among the plurality of lasers 10 to project laser during the scanning process.

[0096] In some embodiments, the three-dimensional scanning device 1000 further includes an image acquisition device 200. The calibration module 410 is specifically used to: for each laser 10, control the laser 10 to project laser light to the calibration plate 300; control the image acquisition device 200 to acquire laser three-dimensional data corresponding to different height positions of the calibration plate 300 to determine the laser plane; and determine whether each laser 10 is damaged according to the situation of acquiring the laser three-dimensional data.

[0097] In some embodiments, the calibration module 410 is specifically used to: determine that the laser 10 is damaged when the laser three-dimensional data cannot be obtained; and determine that the laser 10 is not damaged when the laser three-dimensional data is obtained.

[0098] In some embodiments, the calibration module 410 is specifically used to: calibrate multiple lasers 10 at predetermined time intervals to determine whether each laser 10 is damaged; and / or calibrate multiple lasers 10 according to user triggering to determine whether each laser 10 is damaged.

[0099] In some embodiments, the plurality of lasers 10 include lasers 10 that have been historically determined to be damaged and lasers 10 that have been historically determined to be not damaged.

[0100] In some embodiments, the control module 420 is specifically configured to poll multiple lasers 10 during scanning and skip the damaged laser 10 to control the projected laser.

[0101] In some embodiments, the three-dimensional scanning device 1000 further includes an image acquisition device 200. The image acquisition device 200 includes a first camera 210 and a second camera 220. The direction of the connection between the first camera 210 and the second camera 220 is a first direction. The arrangement angle of the laser lines projected by the multiple lasers 10 is located in a predetermined diagonal area staggered from the first direction.

[0102] In some embodiments, the predetermined diagonal regions are symmetrically arranged along a second direction perpendicular to the first direction.

[0103] In some embodiments, based on the second direction, the angle range of the predetermined diagonal area is [-45°, +45°].

[0104] In some embodiments, the predetermined diagonal area includes a first edge angle and a second edge angle. The plurality of lasers 10 include N lasers 10. The arrangement angle of the laser line projected by the first laser 10 is located at the first edge angle, and the arrangement angle of the laser line projected by the Nth laser 10 is located at the second edge angle. The arrangement angles of the laser lines projected by the 2nd to (N-1)th lasers 10 are located between the first edge angle and the second edge angle. Wherein, N≥3, and N is an integer.

[0105] In some embodiments, the first edge angle and the second edge angle are respectively located on two sides of a second direction perpendicular to the first direction.

[0106] In some embodiments, the arrangement angles of the laser lines projected by the 2nd to (N-1)th lasers 10 evenly distribute the angle space between the first edge angle and the second edge angle.

[0107] In some embodiments, the predetermined diagonal area includes a prohibited area covering the second direction. The arrangement angles of the laser lines projected by the 2nd to (N-1)th lasers 10 are staggered from the prohibited area.

[0108] In some embodiments, the forbidden areas are symmetrically arranged along the second direction.

[0109] In some embodiments, based on the second direction, the angle range of the prohibited area is (-5°, +5°).

[0110] It should be noted that the explanation of the scanning control method in the aforementioned embodiment is also applicable to the scanning control device 400 in the embodiment of the present application, and will not be elaborated here.

[0111] See also Fig.13The scanning control system 500 of the embodiment of the present application includes one or more processors 510 and a memory 520. The memory 520 stores a computer program. When the computer program is executed by the processor 510, the scanning control method of any of the above embodiments is implemented.

[0112] For example, when the computer program is executed by the processor 510, the following scanning control method is implemented: 010: Calibrate the multiple lasers 10 respectively to determine whether each laser 10 is damaged; 020: During the scanning process, the undamaged laser 10 among the plurality of lasers 10 is controlled to project laser light.

[0113] For another example, when the computer program is executed by the processor 510, the following scanning control method is implemented: 011: For each laser 10, control the laser 10 to project laser light onto the calibration plate 300; 012: Control the image acquisition device 200 to acquire the laser three-dimensional data corresponding to different height positions of the calibration plate 300 to determine the laser plane; 013: Based on the situation of acquiring the laser three-dimensional data, determine whether each laser 10 is damaged.

[0114] It should be noted that the explanation of the scanning control method in the aforementioned embodiment is also applicable to the scanning control system 500 of the embodiment of the present application, and will not be elaborated here.

[0115] See also Fig.14 The computer-readable storage medium 600 of the embodiment of the present application stores a computer program 610 thereon, and when the program is executed by the processor 620, the scanning control method of any of the above-mentioned embodiments is implemented.

[0116] For example, when the program is executed by the processor 620, the following scanning control method is implemented: 010: Calibrate the multiple lasers 10 respectively to determine whether each laser 10 is damaged; 020: During the scanning process, the undamaged laser 10 among the plurality of lasers 10 is controlled to project laser light.

[0117] For another example, when the program is executed by the processor 620, the following scanning control method is implemented: 011: For each laser 10, control the laser 10 to project laser light onto the calibration plate 300; 012: Control the image acquisition device 200 to acquire the laser three-dimensional data corresponding to different height positions of the calibration plate 300 to determine the laser plane; 013: Based on the situation of acquiring the laser three-dimensional data, determine whether each laser 10 is damaged.

[0118] It should be noted that the explanation of the scanning control method in the aforementioned embodiment is also applicable to the computer-readable storage medium 600 in the embodiment of the present application, and will not be elaborated here.

[0119] In summary, the scanning control method, scanning control device 400, scanning control system 500 and computer-readable storage medium 600 of the implementation mode of the present application can accurately determine whether each laser 10 is damaged through the calibration process of multiple lasers 10, and then during the scanning process, control the undamaged laser 10 among the multiple lasers 10 to project laser, so that the three-dimensional scanning equipment 1000 can continue to work when a certain laser 10 is damaged, and the user experience is better.

[0120] In addition, in the laser projection device 100 and the three-dimensional scanning device 1000 of the embodiment of the present application, the laser projection device 100 includes a plurality of lasers 10 to overcome the problem of limited scanning frame rate of the three-dimensional scanning device 1000. Furthermore, the arrangement angles of the laser lines projected by the plurality of lasers 10 are located within a predetermined diagonal region staggered from the first direction to improve the scanning accuracy of the three-dimensional scanning device 1000 and enhance the reliability of the scanning result.

[0121] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0122] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0123] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable storage medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, a computer-readable storage medium can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples (non-exhaustive list) of computer-readable storage media include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable storage medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0124] It should be understood that the various parts of the present application can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0125] A person of ordinary skill in the art will appreciate that all or part of the steps carried by the method for implementing the above-mentioned embodiment can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment. In addition, each functional unit in each embodiment of the present application can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. The above-mentioned storage medium can be a read-only memory, a disk or an optical disk, etc.

[0126] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application. The scope of the present application is defined by the claims and their equivalents.

Claims

1. A scanning control method, characterized in that: Applied to a three-dimensional scanning device, the three-dimensional scanning device includes a laser projection device, the laser projection device includes a plurality of lasers, and the scanning control method includes: Calibrate the multiple lasers respectively to determine whether each of the lasers is damaged; During scanning, the lasers among the plurality of lasers that are not damaged are controlled to project laser light.

2. The scanning control method according to claim 1, characterized in that: The three-dimensional scanning device also includes an image acquisition device, and the calibrating of the multiple lasers is performed respectively to determine whether each of the lasers is damaged, including: For each of the lasers, controlling the laser to project laser light onto a calibration plate; Controlling the image acquisition device to acquire the laser three-dimensional data corresponding to different height positions of the calibration plate to determine the laser plane; According to the situation of acquiring the laser three-dimensional data, it is determined whether each of the lasers is damaged.

3. The scanning control method according to claim 2, characterized in that: The step of determining whether each of the lasers is damaged according to the situation of acquiring the laser three-dimensional data comprises: When the laser three-dimensional data cannot be acquired, it is determined that the laser is damaged; When the laser three-dimensional data is acquired, it is determined that the laser is not damaged.

4. The scanning control method according to claim 1, characterized in that: The calibrating the plurality of lasers respectively to determine whether each of the lasers is damaged includes: Calibrate the plurality of lasers at predetermined time intervals to determine whether each of the lasers is damaged; and / or The multiple lasers are calibrated respectively according to user triggering to determine whether each of the lasers is damaged.

5. The scanning control method according to claim 4, characterized in that: The plurality of lasers include the lasers that have been historically determined to be damaged and the lasers that have been historically determined to be not damaged.

6. The scanning control method according to claim 1, characterized in that: During the scanning process, controlling the lasers among the plurality of lasers that are not damaged to project laser light comprises: During the scanning process, the plurality of lasers are polled and the laser that is damaged is skipped to control the projected laser.

7. The scanning control method according to claim 1, characterized in that: The three-dimensional scanning equipment also includes an image acquisition device, which includes a first camera and a second camera. The connection direction between the first camera and the second camera is a first direction, and the arrangement angle of the laser lines projected by the multiple lasers is located in a predetermined diagonal area staggered from the first direction.

8. The scanning control method according to claim 7, characterized in that: The predetermined diagonal area includes a first edge angle and a second edge angle, the plurality of lasers include N lasers, the arrangement angle of the laser line projected by the first laser is located at the first edge angle, the arrangement angle of the laser line projected by the Nth laser is located at the second edge angle, and the arrangement angles of the laser lines projected by the second to (N-1) lasers are located between the first edge angle and the second edge angle; Wherein, N≥3, and N is an integer.

9. The scanning control method according to claim 8, characterized in that: The arrangement angles of the laser lines projected by the 2nd to (N-1)th lasers evenly distribute the angle space between the first edge angle and the second edge angle.

10. The scanning control method according to claim 8, characterized in that: The predetermined diagonal area includes a prohibited area covering a second direction perpendicular to the first direction, and the arrangement angles of the laser lines projected by the 2nd to (N-1)th lasers are staggered from the prohibited area.

11. A scanning control device, characterized in that: Applied to a three-dimensional scanning device, the three-dimensional scanning device includes a laser projection device, the laser projection device includes a plurality of lasers, and the scanning control device includes: A calibration module, used to calibrate the multiple lasers respectively to determine whether each of the lasers is damaged; The control module is used to control the lasers that are not damaged among the multiple lasers to project laser light during the scanning process.

12. A scanning control system, characterized in that: The scanning control system includes one or more processors and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the scanning control method according to any one of claims 1 to 10 is implemented.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the scanning control method according to any one of claims 1 to 10 is implemented.

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