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

Abstract

The present application discloses a scanning control method, a scanning control device, a scanning control system and a computer-readable storage medium, belonging to the technical field of three-dimensional scanning. The scanning control method is 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. The scanning control method includes: calibrating each of the plurality of lasers respectively to determine whether each laser is damaged; during scanning, controlling the lasers that are not damaged among the plurality of lasers to project laser light. The scanning control method, the scanning control device, the scanning control system and the computer-readable storage medium according to the embodiments of the present application can accurately determine whether each laser is damaged through the calibration process of the plurality of lasers, and then during scanning, control the lasers that are not damaged among the plurality of lasers to project laser light, so that the three-dimensional scanning device can continue to work when a certain laser is damaged, and the user experience is better.

Description

Technical Field

[0001] This application relates to the field of three-dimensional scanning technology, and particularly relates 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, three-dimensional scanning devices achieve efficient and high-precision three-dimensional data acquisition of target objects through the collaborative work of multiple lasers. However, in actual applications, due to various reasons (such as long-term use, environmental factors, equipment aging, etc.), lasers may be damaged. When a certain laser is damaged, if no special treatment is performed on this laser, it may cause the entire three-dimensional scanning device to malfunction, thereby affecting the user experience. Summary of the Invention

[0003] Embodiments of this 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 embodiments of this application is applied to a three-dimensional scanning device. The three-dimensional scanning device includes a laser projection device, and the laser projection device includes multiple lasers. The scanning control method includes:

[0005] Calibrate each of the multiple lasers respectively to determine whether each laser is damaged;

[0006] During scanning, control the lasers that are not damaged among the multiple lasers to project laser light.

[0007] In some embodiments, the three-dimensional scanning device further includes an image acquisition device. The step of calibrating each of the multiple lasers respectively to determine whether each laser is damaged includes:

[0008] For each laser, control the laser to project laser light onto a calibration plate;

[0009] Control the image acquisition device to acquire laser three-dimensional data corresponding to different height positions of the calibration plate to determine a laser plane;

[0010] Judge whether each laser is damaged according to the situation of acquiring the laser three-dimensional data.

[0011] In some embodiments, the step of judging whether each laser is damaged according to the situation of acquiring the laser three-dimensional data includes:

[0012] When the laser three-dimensional data cannot be acquired, determine that the laser is damaged;

[0013] When the laser three-dimensional data is acquired, it is determined that the laser has not been damaged.

[0014] In some embodiments, the separately calibrating the multiple lasers to determine whether each laser is damaged includes:

[0015] Calibrating the multiple lasers at a predetermined time interval respectively to determine whether each laser is damaged; and / or

[0016] Calibrating the multiple lasers respectively according to user trigger to determine whether each laser is damaged.

[0017] In some embodiments, the multiple lasers include the lasers that have been historically determined to be damaged and the lasers that have been historically determined not to be damaged.

[0018] In some embodiments, during the scanning process, controlling the lasers that have not been damaged among the multiple lasers to project laser light includes:

[0019] During the scanning process, polling the multiple lasers and skipping the damaged lasers to control the projection of laser light.

[0020] In some embodiments, the three-dimensional scanning device further includes an image acquisition device, the image acquisition device includes a first camera and a second camera, the direction of the line connecting the first camera and the second camera is a first direction, and the arrangement angles of the laser lines projected by the multiple lasers are located in a predetermined diagonal area offset from the first direction.

[0021] In some embodiments, the predetermined diagonal area includes a first edge angle and a second edge angle, the multiple 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 2nd to (N - 1)th lasers are located between the first edge angle and the second edge angle;

[0022] Wherein, N≥3 and N is an integer.

[0023] In some embodiments, the arrangement angles of the laser lines projected by the 2nd to (N - 1)th lasers evenly distribute the included angle space between the first edge angle and the second edge angle.

[0024] In some embodiments, the predetermined diagonal region includes a prohibited region covering a second direction perpendicular to the first direction, and the arrangement angles of the laser lines projected by the 2nd to (N - 1) lasers are staggered from the prohibited region.

[0025] The scanning control device according to an embodiment of the present application is 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:

[0026] A calibration module for respectively calibrating the plurality of lasers to determine whether each laser is damaged;

[0027] A control module for controlling the lasers that are not damaged among the plurality of lasers to project laser light during scanning.

[0028] The scanning control system according to an embodiment of the present application, the scanning control system includes one or more processors and a memory, the memory stores a computer program, and when the computer program is executed by the processor, the scanning control method according to any of the above embodiments is implemented.

[0029] The computer-readable storage medium according to an embodiment of the present application, on which a computer program is stored, and when the computer program is executed by a processor, the scanning control method according to any of the above embodiments is implemented.

[0030] The scanning control method, scanning control device, scanning control system, and computer-readable storage medium according to an embodiment of the present application can accurately determine whether each laser is damaged through the calibration process of the plurality of lasers, and then control the lasers that are not damaged among the plurality of lasers to project laser light during scanning, so that the three-dimensional scanning device can continue to work when a certain laser is damaged, and the user experience is better.

[0031] The additional aspects and advantages of the embodiments of the present application will be partially given in the following description, partially become apparent from the following description, or be understood through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and / or additional aspects and advantages of the present application will become apparent and easy to understand from the description of the embodiments in conjunction with the following drawings, where:

[0033] Figure 1 is one of the flow schematic diagrams of the scanning control method according to some embodiments of the present application;

[0034] Figure 2 is a module schematic diagram of a three-dimensional scanning device according to some embodiments of the present application;

[0035] Figure 3 It is a schematic diagram of the scenario of the scanning control method according to some embodiments of the present application;

[0036] Figure 4 It is the second schematic diagram of the process of the scanning control method according to some embodiments of the present application;

[0037] Figure 5 It is the third schematic diagram of the process of the scanning control method according to some embodiments of the present application;

[0038] Figure 6 It is the fourth schematic diagram of the process of the scanning control method according to some embodiments of the present application;

[0039] Figure 7 It is the fifth schematic diagram of the process of the scanning control method according to some embodiments of the present application;

[0040] Figure 8 It is a schematic diagram of the blank area and the predetermined diagonal area according to some embodiments of the present application;

[0041] Figure 9 It is a schematic diagram of the arrangement angles of the laser lines projected by multiple lasers according to some embodiments of the present application;

[0042] Figure 10 It is a schematic diagram of the laser scanner scanning along a specific moving trajectory in the related art;

[0043] Figure 11 It is a schematic diagram of the blank area, the predetermined diagonal area and the prohibited area according to some embodiments of the present application;

[0044] Figure 12 It is a schematic diagram of the modules of the scanning control device according to some embodiments of the present application;

[0045] Figure 13 It is a schematic diagram of the modules of the scanning control system according to some embodiments of the present application;

[0046] Figure 14 It is a schematic diagram of the connection state between the computer-readable storage medium and the processor according to some embodiments of the present application.

[0047] Description of the reference numerals:

[0048] Laser projection device 100, laser 10, image acquisition device 200, first camera 210, second camera 220, calibration board 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 implementation manners

[0049] The embodiments of the present application will be further described below with reference to the accompanying drawings. The same or similar reference numerals in the drawings represent the same or similar elements or elements with the same or similar functions throughout. In addition, the embodiments of the present application described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and should not be construed as a limitation of the present application.

[0050] Please refer to 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:

[0051] 010: Calibrate each of the plurality of lasers 10 respectively to determine whether each laser 10 is damaged;

[0052] 020: During the scanning process, control the lasers 10 that are not damaged among the plurality of lasers 10 to project laser light.

[0053] 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 the plurality of lasers 10, and then during the scanning process, control the lasers 10 that are not damaged among the plurality of lasers 10 to project laser light, 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.

[0054] Specifically, first calibrate each of the plurality of lasers 10 in sequence to correspondingly determine whether each laser 10 is damaged. Taking three lasers as an example, calibrate the first laser 10 to determine whether the first laser 10 is damaged; calibrate the second laser 10 to determine whether the second laser 10 is damaged; calibrate the third laser 10 to determine whether the third laser 10 is damaged. In this way, it can be accurately determined whether each laser 10 is damaged.

[0055] Then, during the scanning process, control the lasers 10 that are not damaged among the plurality of lasers 10 to project laser light. For example, when the first laser 10 and the third laser 10 are not damaged and the second laser 10 is damaged, then control the first laser 10 and the third laser 10 to project laser light. In this way, the three-dimensional scanning device 1000 can continue to work when a certain laser 10 is damaged.

[0056] In some embodiments, the methods for calibrating each laser 10 include, but are not limited to: turning on each laser 10 one by one, and detecting laser parameters such as the brightness, directivity, stability, and flatness of the projected laser, while recording the number of each laser 10. If the laser parameters of a certain laser 10 do not meet the preset conditions, such as data loss or data anomalies, it is considered damaged and needs to be repaired or replaced. At this time, the number of the damaged laser 10 can be recorded and sent to the control system of the three-dimensional scanning device 1000 and stored in the database for subsequent use.

[0057] During the scanning process, the methods for controlling the undamaged lasers 10 among the multiple lasers 10 to project laser include, but are not limited to: according to the scanning task requirements of the three-dimensional scanning device 1000, allocating the scanning tasks to the undamaged lasers 10 to ensure that the lasers 10 used during the scanning process have good performance and stability, thereby improving the accuracy of the scanning results.

[0058] In the related art, when a certain laser is damaged, no special treatment is usually carried out on this laser, which may lead to the entire three-dimensional scanning device being unable to work properly. At this time, the user can only be informed that the three-dimensional scanning device needs to be repaired, which greatly affects the user experience.

[0059] However, the scanning control method of the embodiment of the present application provides a determination method for whether a laser 10 is damaged and a processing method after the laser 10 is damaged, which can enable the three-dimensional scanning device 1000 to continue working on the premise that a certain laser 10 is damaged, and the user experience is better.

[0060] In the related art, during the actual scanning process of the three-dimensional scanning device, determining whether a laser is damaged, this determination method is not reliable. During the actual scanning process, for various reasons, single-frame laser data may not be reconstructed, but this information is not reliable. Maybe from another angle or at another scanning distance, the three-dimensional data of this laser can be obtained.

[0061] However, the scanning control method of the embodiment of the present application determines whether each laser 10 is damaged in the calibration process. The calibration process has standardized procedures 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 can be accurately determined whether each laser 10 is damaged.

[0062] It should be noted that the types of the laser 10 in the embodiments of the present application include, but are not limited to, multi-line lasers, vertical-cavity surface-emitting lasers (VCSELs), etc., and are not limited herein.

[0063] Please refer to Figures 2 to 4 , in some embodiments, the three-dimensional scanning device 1000 further includes an image acquisition device 200. Calibrating multiple lasers 10 respectively to determine whether each laser 10 is damaged (i.e., 010) includes:

[0064] 011: For each laser 10, control the laser 10 to project laser light onto the calibration plate 300;

[0065] 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;

[0066] 013: Determine whether each laser 10 is damaged according to the situation of acquiring the laser three-dimensional data.

[0067] 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, control the laser 10 to project laser light onto the calibration plate 300, where the projection angle of the laser 10 can be adjusted so that the laser can be projected onto different height positions on the calibration plate 300. Then, acquire the laser three-dimensional data corresponding to different height positions of the calibration plate 300 through the image acquisition device 200 to form a laser surface. Finally, fit the laser surface through a plane fitting algorithm to obtain the laser plane. This laser plane can be used as a reference plane for subsequent three-dimensional reconstruction of the three-dimensional scanning device 1000.

[0068] According to the situation of acquiring the laser three-dimensional data, it can be determined whether each laser 10 is damaged. For example, according to whether the laser three-dimensional data is acquired, or whether the acquired laser three-dimensional data meets the predetermined conditions (such as whether there is data abnormality, etc.), it can be determined whether each laser 10 is damaged.

[0069] Please refer to Figure 3 and Figure 5 , in some embodiments, determining whether each laser 10 is damaged (i.e., 013) according to the situation of acquiring the laser three-dimensional data includes:

[0070] 0131: When the laser three-dimensional data cannot be acquired, determine that the laser 10 is damaged;

[0071] 0132: When the laser three-dimensional data is acquired, determine that the laser 10 is not damaged.

[0072] Specifically, if the image acquisition device 200 fails to acquire the laser three-dimensional data, it indicates that no laser is projected onto the calibration plate 300, that is, the laser 10 is damaged; on the contrary, it means that the laser 10 is not damaged. The embodiment of the present application determines whether the laser 10 is damaged according to whether the laser three-dimensional data is acquired, and this determination method is simple and efficient.

[0073] 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 is controlled to project laser onto the calibration plate 300 multiple times; the image acquisition device 200 is 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 fails to be acquired continuously for multiple times, it is determined that the laser 10 is damaged to avoid errors in single determination.

[0074] Please refer to Figure 3 and Figure 6 , in some embodiments, multiple lasers 10 are calibrated respectively to determine whether each laser 10 is damaged (i.e., 010), including:

[0075] 014: Calibrate multiple lasers 10 respectively at a predetermined time interval to determine whether each laser 10 is damaged; and / or

[0076] 015: Calibrate multiple lasers 10 respectively according to user trigger to determine whether each laser 10 is damaged.

[0077] It can be understood that after the three-dimensional scanning device 1000 is used for a long time, the laser 10 may have performance degradation due to aging, dust accumulation or environmental factors. To ensure the accuracy of the scanning results of the three-dimensional scanning device 1000, it is necessary to frequently detect whether each laser 10 is damaged.

[0078] The first method is: 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 usage frequency of the laser 10. For example, when the usage frequency of the laser 10 is high, the predetermined time interval can be set relatively small; when the usage frequency of the laser 10 is low, the predetermined time interval can be set relatively large. That is to say, the predetermined time interval can be inversely proportional to the usage frequency 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.

[0079] In one example, the predetermined time interval can be half a day. Every time half a day has passed, when the 3D scanning device 1000 is powered on, the 3D scanning device 1000 automatically starts the calibration process, and sequentially controls each laser 10 to project laser light onto 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 situation of the acquired laser 3D data. In this way, the lasers 10 can be regularly maintained, ensuring the accuracy of the scanning results of the 3D scanning device 1000.

[0080] The second method is: to detect whether each laser 10 is damaged according to a user trigger. It can be understood that in some cases, the user may wish 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 3D scanning device 1000 to trigger the calibration process of the laser 10.

[0081] The 3D scanning device 1000 starts the calibration process according to the received user trigger signal, sequentially controls each laser 10 to project laser light onto 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 situation of the acquired laser 3D data. In this way, the detection flexibility is high, and the damage determination of the lasers 10 can be carried out in a timely manner according to the user's needs.

[0082] In the above embodiments, "calibrating multiple lasers 10 at predetermined time intervals" and "calibrating multiple lasers 10 according to user triggers" can be combined and applied. For example, a predetermined time interval can be set, and at the same time, the user is allowed to manually trigger the calibration process. In this way, both the regular maintenance of the lasers 10 can be ensured, and the actual needs of the user can be met.

[0083] In some embodiments, the multiple lasers 10 include lasers 10 that have been historically determined to be damaged and lasers 10 that have been historically determined not to be damaged.

[0084] Specifically, the multiple lasers 10 in "calibrating multiple lasers 10 at predetermined time intervals" and "calibrating multiple lasers 10 according to user triggers" both include lasers 10 that have been historically determined to be damaged and lasers 10 that have been historically determined not to be damaged.

[0085] That is to say, during each calibration, multiple lasers 10 are calibrated separately, regardless of whether the laser 10 was historically determined to be damaged or not damaged. In this way, it is possible to avoid a situation where a certain laser 10 is determined to be damaged during a certain calibration process and then no further processing is performed on this laser 10, thereby generating a single determination error.

[0086] Please refer to Figure 3 and Figure 7 , in some embodiments, during the scanning process, controlling the undamaged lasers 10 among the multiple lasers 10 to project laser light (i.e., 020) includes:

[0087] 021: During the scanning process, polling the multiple lasers 10 and skipping the damaged lasers 10 to control the projection of laser light.

[0088] Specifically, before starting the scanning, the control system of the three-dimensional scanning device 1000 acquires the status information (damaged or undamaged) of each laser 10. During the scanning process, the control system enters the polling mode and sequentially checks the status of each laser 10 to identify which lasers 10 are damaged and need to be skipped, and which lasers 10 are undamaged and can operate normally. For example, first check the status of the first laser 10. If the laser 10 is not damaged, send a control signal to control the laser 10 to project laser light; if the laser 10 is damaged, immediately skip this laser 10, do not send any control signals, and continue to check the status of the next laser 10, and so on.

[0089] Assume that when all the 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 embodiments of the present application, when a certain 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 all four lasers 10 are not damaged, then within one scanning cycle, control the first laser 10, the second laser 10, the third laser 10, and the fourth laser 10 to emit laser light in sequence. At this time, the scanning frame rate of the three-dimensional scanning device 1000 is 100 fps. If the third laser 10 is damaged while the other lasers 10 are not damaged, then within one scanning cycle, control the first laser 10, the second laser 10, the fourth laser 10, and the first laser 10 to emit laser light in sequence. At this time, the scanning frame rate of the three-dimensional scanning device 1000 can still be maintained at 100 fps. In this way, it is possible to ensure that when a certain laser 10 is damaged, the cycle of this laser 10 is not wasted, and thus the scanning frame rate of the three-dimensional scanning device 1000 can be kept unchanged.

[0090] The specific structure of the three-dimensional scanning device 1000 according to the embodiments of the present application will be introduced below.

[0091] Please refer to Figure 2 , Figure 3 , Figure 8 and Figure 9 . The three-dimensional scanning device 1000 according to the embodiments 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 line connecting the first camera 210 and the second camera 220 is the 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 within a predetermined diagonal region offset from the first direction.

[0092] In the three-dimensional scanning device 1000 according to the embodiments 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. Further, the arrangement angles of the laser lines projected by the plurality of lasers 10 are located within a predetermined diagonal region offset from the first direction to improve the scanning accuracy of the three-dimensional scanning device 1000 and enhance the reliability of the scanning result.

[0093] 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 laser onto the object to be measured, and the first camera 210 and the second camera 220 are respectively used to capture images of the object to be measured to obtain three-dimensional data on the surface of the object to be measured.

[0094] The laser projection device 100 includes a plurality of lasers 10. It should be noted that in the embodiments of the present application, the plurality means two or more. 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, and the specific sequence of the alternation is not limited. The type of the laser 10 can be a multi-line laser.

[0095] The direction of the line connecting the first camera 210 and the second camera 220 is the first direction (such as the X direction in Figure 8 ), and the direction perpendicular to the first direction is the second direction (such as the Y direction in Figure 8 ). Both the first direction and the second direction are perpendicular to the light-emitting direction of the laser projection device 100. The arrangement angles of the laser lines projected by the plurality of lasers 10 are located within a predetermined diagonal region offset from the first direction. As shown in Figure 8 , the predetermined diagonal region (such as the R2 region in Figure 8 ) and the blank region (such as Figure 8The R1 region) can jointly form a complete disk angle. The predetermined diagonal region and the blank region do not overlap with each other. The blank region can cover the first direction, while the predetermined diagonal region can cover the second direction. That is to say, the first direction is included in the blank region, and the second direction is included in the predetermined diagonal region.

[0096] For example, with the second direction as the reference (clockwise is positive, counterclockwise is negative, or the direction of rotation towards the second camera 220 is positive, and the direction of rotation towards the first camera 210 is negative), the included angle range of the predetermined diagonal region is [-75°, +75°], while the included angle range of the blank region is [-90°, -75°) and (+75°, +90°]. Another example, with the second direction as the reference, the included angle range of the predetermined diagonal region is [-45°, +45°], while the included angle range of the blank region is [-90°, -45°) and (+45°, +90°]. Still another example, with the second direction as the reference, the included angle range of the predetermined diagonal region is [-30°, +30°], while the included angle range of the blank region is [-90°, -30°) and (+30°, +90°]. It should be noted that taking the second direction as the reference is only for facilitating the illustration of the included angle ranges of the blank region and the predetermined diagonal region. In other examples, the first direction can also be used as the reference, and the included angle ranges of the blank region and the predetermined diagonal region can be converted in terms of angles.

[0097] As Figure 9 As shown, the arrangement angles of the laser lines projected by the multiple lasers 10 are within the predetermined diagonal region. That is to say, the arrangement angle of the laser line projected by each laser 10 is within the included angle range of the predetermined diagonal region. Taking the included angle range of the predetermined diagonal region 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., and no further examples are given here one by one.

[0098] It should be noted that the embodiments of the present application are designed for the arrangement angles of the laser lines projected by the multiple lasers 10, rather than the placement positions of the multiple lasers 10. The placement positions of the lasers 10 can be flexibly selected according to actual needs and are not limited here. The arrangement angles of the laser lines projected by the multiple lasers 10 are also the angles presented when the laser light projected by the multiple lasers 10 irradiates on the object to be measured.

[0099] In the related art, three-dimensional scanning equipment has the problem of limited scanning frame rate.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] In the related art, there is a problem that the laser scanner moves slowly along a specific moving trajectory. Please refer to Figure 10 , two different lasers project laser beams respectively. Here, A and B are the schematic diagrams of the laser beams projected by the two lasers onto the object to be measured (the positions of the two lasers can be understood as the centers of the lines A and B, and the projection directions are perpendicular to the paper surface), and then the three-dimensional scanning device moves along the direction indicated by the arrow. The area scanned by the laser is the area enclosed by the solid line and the dashed line. It can be seen that the area scanned by A is significantly larger than that scanned by B. Based on the same scanning time, A scans a larger area per unit time, and the scanning efficiency is higher. That is to say, A is easier to scan under this scanning path. However, limited by the arrangement angle of the laser beam projected by the laser, there is a problem that the laser scanner moves slowly along a specific moving trajectory.

[0106] In the embodiments of the present application, by arranging more lasers 10 in the laser projection device 100, the laser beams projected by the multiple lasers 10 correspond to multiple 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, weakening the problem that the lasers 10 move slowly along a specific moving trajectory. In some embodiments, the laser projection device 100 includes at least three lasers 10.

[0107] Please refer to Figure 8 , in some embodiments, the predetermined diagonal region is symmetrically arranged along a second direction perpendicular to the first direction.

[0108] Taking the second direction as a reference, for example, the included angle range of the predetermined diagonal region is [-75°, +75°]; or, the included angle range of the predetermined diagonal region is [-60°, +60°]; or, the included angle range of the predetermined diagonal region is [-45°, +45°]; or, the included angle range of the predetermined diagonal region is [-30°, +30°], etc. Examples are not given one by one here. In the embodiments of the present application, the predetermined diagonal region is symmetrically arranged along the second direction, which is convenient for the design of the arrangement angles of the laser beams projected by the multiple lasers 10.

[0109] Please refer to Figure 8 , in some embodiments, taking the second direction as a reference, the included angle range of the predetermined diagonal region is [-45°, +45°].

[0110] Specifically, for the regions corresponding to the angular ranges of [-90°, -45°) and (+45°, +90°], since they are 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 lines projected by the laser 10 is within this region, the three-dimensional data obtained will have a large amount of noise. Therefore, in the embodiments of the present application, the arrangement angle of the laser lines is not set within the angular ranges of [-90°, -45°) and (+45°, +90°], but within the angular range of [-45°, +45°], so as 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.

[0111] Please refer to Figure 9 , in some embodiments, the predetermined diagonal region includes a first edge angle and a second edge angle. The plurality of lasers 10 includes 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 second 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.

[0112] Specifically, taking the angular range of the predetermined diagonal region as [-45°, +45°] and the plurality of lasers 10 including four lasers 10 as an example, the predetermined diagonal region includes the first edge angle -45° and the second edge angle +45°. The arrangement angle of the laser line projected by the first laser 10 is located at the first edge angle -45°, and the arrangement angle of the laser line projected by the fourth laser 10 is located at the second edge angle +45°. The arrangement angles of the laser lines projected by the second to third lasers 10 are located between -45° and +45°, for example, they can be -25° and +25° respectively.

[0113] Taking the angular range of the predetermined diagonal region as [-45°, -15°] and the plurality of lasers 10 including four lasers 10 as an example, the predetermined diagonal region includes the first edge angle -45° and the second edge angle -15°. The arrangement angle of the laser line projected by the first laser 10 is located at the first edge angle -45°, and the arrangement angle of the laser line projected by the fourth laser 10 is located at the second edge angle -15°. The arrangement angles of the laser lines projected by the second to third lasers 10 are located between -45° and -15°, for example, they can be -35° and -25° respectively.

[0114] Please refer to Figure 9 , in some embodiments, the first edge angle and the second edge angle are respectively located on both sides of the second direction perpendicular to the first direction.

[0115] 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 still another example, the first edge angle is -30°, and the second edge angle is +45°.

[0116] In the embodiments of the present application, the first edge angle and the second edge angle are respectively located on both sides of the second direction. The arrangement angle of the laser lines projected by the plurality of lasers 10 can be set within a relatively wide range, so that the angle range that the laser lines projected by the plurality of lasers 10 can cover is also relatively wide, which is beneficial to increasing the scanning range of the three-dimensional scanning device 1000.

[0117] Please refer to Figure 9 , in some embodiments, the arrangement angles of the laser lines projected by the 2nd to (N - 1)th lasers 10 evenly distribute the included angle space between the first edge angle and the second edge angle.

[0118] Specifically, taking the included angle range of the predetermined diagonal region as [-20°, +20°] and the plurality of lasers 10 including four lasers 10 as an example, the predetermined diagonal region includes the first edge angle -20° and the second edge angle +20°. The arrangement angle of the laser line projected by the 1st laser 10 is located at the first edge angle -20°, and the arrangement angle of the laser line projected by the 4th laser 10 is located at the second edge angle +20°. The arrangement angles of the laser lines projected by the 2nd to 3rd lasers 10 evenly distribute the included angle space between -20° and +20°. According to the calculation 40 / 3 ≈ 13 degrees, the arrangement angles of the laser lines projected by the 2nd to 3rd lasers 10 are -7° and +7° respectively.

[0119] In the embodiments of the present application, the arrangement angles of the laser lines projected by the 2nd to (N - 1)th lasers 10 evenly distribute the included angle space between the first edge angle and the second edge angle, which can enable the laser lines projected by the lasers 10 to cover all corners of the predetermined diagonal region, improving the uniformity and integrity of laser coverage.

[0120] Please refer to Figure 11 , in some embodiments, the predetermined diagonal region includes a prohibited region covering the 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 region.

[0121] Specifically, the second direction is included in the prohibited region (the prohibited region is as Figure 11As shown in the R3 region, the arrangement angles of the laser lines projected by the 2nd to (N - 1)th lasers 10 are staggered from the prohibited region, that is to say, the arrangement angles of the laser lines projected by the 2nd to (N - 1)th lasers 10 are at least staggered from the second direction. Taking the included angle range of the predetermined diagonal region as [-20°, +20°] as an example, the included angle range of the prohibited region is (-8°, +8°); or, the included angle range of the prohibited region is (-5°, +5°); or, the included angle range of the prohibited region is (-2°, +2°), and no more examples will be given here.

[0122] Further, the solution of "the arrangement angles of the laser lines projected by the 2nd to (N - 1)th lasers 10 are staggered from the prohibited region" can be combined with the aforementioned solution of "the arrangement angles of the laser lines projected by the 2nd to (N - 1)th lasers 10 evenly distribute the included angle space between the first edge angle and the second edge angle".

[0123] 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 included angle space between the first edge angle and the second edge angle, and then adjust the arrangement angles of the laser lines falling within the prohibited region outside the prohibited region.

[0124] When the included angle range of the predetermined diagonal region is [-20°, +20°] and the included angle range of the prohibited region is (-5°, +5°), taking the example that the multiple lasers 10 include five lasers 10, the arrangement angle of the laser line projected by the 1st laser 10 is at the first edge angle -20°, and the arrangement angle of the laser line projected by the 5th laser 10 is at the second edge angle +20°. According to the arrangement angles of the laser lines projected by the 2nd to 4th lasers 10 evenly distributing the included angle space between -20° and +20°, the arrangement angles of the laser lines projected by the 2nd to 4th lasers 10 should theoretically be -10°, 0°, +10° respectively. Since 0° is within the prohibited region, it can be adjusted to 5°. That is to say, the arrangement angles of the laser lines projected by the 2nd to 4th lasers 10 can be -10°, 5°, +10° respectively.

[0125] Another combination method is to first remove the prohibited region from the included 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 included angle space between the first edge angle and the second edge angle after removing the prohibited region.

[0126] 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.

[0127] 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.

[0128] See also Figure 11 In some embodiments, the prohibited areas are symmetrically arranged along the second direction.

[0129] 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.

[0130] 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.

[0131] See also Figure 11 In some embodiments, based on the second direction, the angle range of the prohibited area is (-5°, +5°).

[0132] Specifically, in the area corresponding to the included angle range of (-5°, +5°), due to the laser symmetry problem to a certain extent, the implementation mode of the present application does not set the arrangement angle of the laser line in this area to avoid the problem of incorrect matching of overly symmetric laser data, thereby ensuring the reliability of the scanning result.

[0133] Please refer to Figure 2 、 Figure 3 and Figure 12 , the scanning control device 400 of the implementation mode of the present application is applied to the 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 each of the plurality of lasers 10 respectively to determine whether each laser 10 is damaged. The control module 420 is used to control the undamaged lasers 10 among the plurality of lasers 10 to project laser light during the scanning process.

[0134] In some implementation modes, the three-dimensional scanning device 1000 further includes an image acquisition device 200. Specifically, the calibration module 410 is used for: for each laser 10, controlling the laser 10 to project laser light onto the calibration plate 300; controlling 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; and judging whether each laser 10 is damaged according to the situation of acquiring the laser three-dimensional data.

[0135] In some implementation modes, the calibration module 410 is specifically used for: when the laser three-dimensional data cannot be acquired, determining that the laser 10 is damaged; when the laser three-dimensional data is acquired, determining that the laser 10 is not damaged.

[0136] In some implementation modes, the calibration module 410 is specifically used for: calibrating each of the plurality of lasers 10 at a predetermined time interval to determine whether each laser 10 is damaged; and / or calibrating each of the plurality of lasers 10 according to user triggering to determine whether each laser 10 is damaged.

[0137] In some implementation modes, the plurality of lasers 10 include lasers 10 that have been historically determined to be damaged and lasers 10 that have been historically determined not to be damaged.

[0138] In some implementation modes, the control module 420 is specifically used for polling the plurality of lasers 10 and skipping the damaged lasers 10 to control the projection of laser light during the scanning process.

[0139] 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 line connecting the first camera 210 and the second camera 220 is the first direction. The arrangement angles of the laser lines projected by the plurality of lasers 10 are located within a predetermined diagonal region offset from the first direction.

[0140] In some embodiments, the predetermined diagonal region is symmetrically arranged along a second direction perpendicular to the first direction.

[0141] In some embodiments, based on the second direction, the included angle range of the predetermined diagonal region is [-45°, +45°].

[0142] In some embodiments, the predetermined diagonal region includes a first edge angle and a second edge angle. The plurality of lasers 10 includes 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 second 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.

[0143] In some embodiments, the first edge angle and the second edge angle are respectively located on both sides of the second direction perpendicular to the first direction.

[0144] In some embodiments, the arrangement angles of the laser lines projected by the second to (N - 1)th lasers 10 evenly distribute the included angle space between the first edge angle and the second edge angle.

[0145] In some embodiments, the predetermined diagonal region includes a prohibited region covering the second direction. The arrangement angles of the laser lines projected by the second to (N - 1)th lasers 10 are offset from the prohibited region.

[0146] In some embodiments, the prohibited region is symmetrically arranged along the second direction.

[0147] In some embodiments, based on the second direction, the included angle range of the prohibited region is (-5°, +5°).

[0148] It should be noted that the explanations of the scanning control method in the foregoing embodiments are equally applicable to the scanning control device 400 of the embodiments of the present application, and will not be elaborated herein.

[0149] Please refer to Figure 13, the scanning control system 500 according to the embodiments 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 according to any of the above embodiments is implemented.

[0150] For example, when the computer program is executed by the processor 510, the following scanning control method is implemented:

[0151] 010: Calibrate multiple lasers 10 respectively to determine whether each laser 10 is damaged;

[0152] 020: During the scanning process, control the lasers 10 that are not damaged among the multiple lasers 10 to project laser light.

[0153] Again, for example, when the computer program is executed by the processor 510, the following scanning control method is implemented:

[0154] 011: For each laser 10, control the laser 10 to project laser light onto the calibration plate 300;

[0155] 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;

[0156] 013: Judge whether each laser 10 is damaged according to the situation of acquiring the laser three-dimensional data.

[0157] It should be noted that the explanations of the scanning control method in the foregoing embodiments also apply to the scanning control system 500 according to the embodiments of the present application, and will not be elaborated herein.

[0158] Please refer to Figure 14 , the computer-readable storage medium 600 according to the embodiments of the present application, on which a computer program 610 is stored. When the program is executed by the processor 620, the scanning control method according to any of the above embodiments is implemented.

[0159] For example, when the program is executed by the processor 620, the following scanning control method is implemented:

[0160] 010: Calibrate multiple lasers 10 respectively to determine whether each laser 10 is damaged;

[0161] 020: During the scanning process, control the lasers 10 that are not damaged among the multiple lasers 10 to project laser light.

[0162] Again, for example, when the program is executed by the processor 620, the following scanning control method is implemented:

[0163] 011: For each laser 10, control the laser 10 to project laser light onto the calibration plate 300;

[0164] 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;

[0165] 013: According to the situation of acquiring the laser three-dimensional data, determine whether each laser 10 is damaged.

[0166] It should be noted that the explanations of the scanning control method in the foregoing embodiments are equally applicable to the computer-readable storage medium 600 of the embodiments of the present application, and will not be elaborated herein.

[0167] In summary, the scanning control method, scanning control device 400, scanning control system 500, and computer-readable storage medium 600 of the embodiments of the present application can accurately determine whether each laser 10 is damaged through the calibration process of multiple lasers 10. Furthermore, during the scanning process, control the lasers 10 that are not damaged among the multiple lasers 10 to project laser light, 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.

[0168] In addition, in the laser projection device 100 and the three-dimensional scanning device 1000 of the embodiments of the present application, the laser projection device 100 includes multiple lasers 10 to overcome the problem of limited scanning frame rate of the three-dimensional scanning device 1000. Further, the arrangement angles of the laser lines projected by the multiple lasers 10 are located in a predetermined diagonal area offset from the first direction to improve the scanning accuracy of the three-dimensional scanning device 1000 and enhance the reliability of the scanning result.

[0169] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection 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 can be combined in a suitable manner in any one or more embodiments or examples. In addition, without conflict, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0170] Any process or method description represented in a flowchart or otherwise described herein can be understood to represent a module, segment, or portion of code including one or more executable instructions for implementing a specific logical function or process. The scope of the preferred embodiments of the present application includes additional implementations, where functions may be performed in a substantially simultaneous manner or in a reverse order according to the functions involved, rather than in the order shown or discussed, which should be understood by those skilled in the art to which the embodiments of the present application pertain.

[0171] The logic and / or steps represented in a flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing a logical function, and can be specifically implemented in any computer-readable storage medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device), or in conjunction with these instruction execution systems, apparatuses, or devices. For the purposes of this specification, a computer-readable storage medium can be any device that can contain, store, communicate, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. 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 diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, a computer-readable storage medium can even be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpretation, or other appropriate processing as necessary, and then stored in a computer memory.

[0172] It should be understood that various parts of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above 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 in hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0173] Those of ordinary skill in the art can understand that all or part of the steps carried out in the methods of the above embodiments can be completed by instructing relevant hardware through a program. The said program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments. In addition, in each of the embodiments of the present application, each functional unit can be integrated in a processing module, or each unit can exist physically alone, or two or more units can be integrated in a 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 above-mentioned 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 storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disc, etc.

[0174] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to 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 the scanning process, controlling the lasers among the plurality of lasers that are not damaged to project laser light; 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.

2. The scanning control method according to claim 1, 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.

3. 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.

4. The scanning control method according to claim 3, 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.

5. 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.

6. 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.

7. The scanning control method according to claim 6, 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.

8. The scanning control method according to claim 7, 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.

9. The scanning control method according to claim 7, 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.

10. 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; A control module, used for controlling the lasers that are not damaged among the multiple lasers to project laser light during scanning; The three-dimensional scanning device also includes an image acquisition device, and the calibration module is specifically used for: 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.

11. 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 9 is 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 scanning control method according to any one of claims 1 to 9 is implemented.

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