Three-dimensional scanning system adopting projection light machine multiplexing technology and scanning method

Abstract

The invention provides a three-dimensional scanning system adopting a projection light machine multiplexing technology and a scanning method.The three-dimensional scanning system comprises a projection scanning assembly and an upper computer, the projection scanning assembly comprises a projection light machine and a scanning camera, and the scanning method comprises the steps that S100, the projection light machine projects a grating image to a to-be-measured object, and the to-be-measured object is obtained; the scanning is performed by using a camera, and data obtained by the scanning is uploaded to an upper computer; s200, the upper computer processes the data transmitted in the step S100 to obtain an image signal including the information of the to-be-measured object, and sends the image signal to a projection light machine; and S300, the display picture of the projection light machine is switched into an image formed by projecting the image signal, so that an operator can check whether the scanning result is ideal or not or what the scanning result is not ideal, and the operator can observe the scanning result by switching the picture of the projection light machine. The distance between the projection scanning assembly and the to-be-measured object is always controlled within an ideal range without moving the sight line to other screens.

Description

Technical Field

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

[0002] In the existing three-dimensional scanning operation, see the attached Figure 5 , usually the operator holds the 3D scanner and points it at the object to be measured, and the relevant software obtains the scan data and runs the relevant calculations on the host computer platform. During the scanning operation, the operator's line of sight must be constantly switched between the object to be measured and the scanning status display screen (such as the display screen of the host computer, or the display screen configured additionally for the host computer) to ensure that the handheld 3D scanner is within the optimal measurement distance range and is aimed at the object to be measured, and to always pay attention to the defects of the scanned model and re-scan at any time.

[0003] When the operator focuses on the scanner and the object to be measured, it is impossible to know the defects of the scanned model in time; and when the operator focuses on the computer screen, it is difficult to ensure that the instrument held in the other hand is within the optimal measurement distance range and is aimed at the object area to be measured.

[0004] Therefore, operators are prone to lose sight of one thing while focusing on another, resulting in a high probability of error and low scanning efficiency. Summary of the invention

[0005] Based on the above situation, the main purpose of the present invention is to provide a scanning method and system of a three-dimensional scanning system using projection optical-mechanical multiplexing technology to solve the above problems.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0007] In a first aspect, the present invention provides a scanning method of a three-dimensional scanning system using projection optical-mechanical multiplexing technology.

[0008] The three-dimensional scanning system includes a projection scanning component and a host computer connected to the projection scanning component, the projection scanning component includes a projection optical machine and a scanning camera, and the scanning method includes the following steps:

[0009] S100, the projection optical machine projects the grating image onto the object to be measured, the scanning camera performs scanning, and uploads the data obtained by this scanning to the host computer;

[0010] S200, the host computer processes the data transmitted in step S100, obtains an image signal including information of the object to be measured after the processing is completed, and sends the image signal to the projection optical machine;

[0011] S300, the display screen of the projection optical machine is switched to an image projected by the image signal, so that the operator can check whether the scanning result is ideal / why it is not ideal.

[0012] Preferably, the step S200 further comprises: after the host computer sends the image signal to the projection light machine, issuing a prompt message.

[0013] Preferably, the step S200 further includes: in the data processing program performed by the host computer, it also includes judging whether the scanning result is ideal, and issuing a warning message when the result is judged to be unsatisfactory.

[0014] Preferably, after the host computer sends a prompt message, in the step S300, the display screen of the projection light machine is automatically switched to an image projected by the image signal.

[0015] Preferably, in the step S300, the display screen of the projection optical machine is manually switched to an image projected by the image signal.

[0016] Preferably, in step S300, while the projection scanning component remains stationary, the display screen of the projection optical machine is switched to project the image signal into an image.

[0017] In a second aspect, the present invention provides a three-dimensional scanning system for implementing the scanning method as described above, wherein the three-dimensional scanning system comprises a projection scanning component and a host computer connected to the projection scanning component, wherein the projection scanning component comprises a projection optical machine and a scanning camera,

[0018] The projection optical machine comprises a projection module, and the projection module is used to project the grating image onto the object to be measured;

[0019] The scanning camera includes a scanning module and a data uploading module, wherein the scanning module is used for scanning; the data uploading module uploads the data obtained by the scanning to the host computer;

[0020] The host computer includes a data processing module and an image signal sending module. The data processing module is used to process the data transmitted from the data uploading module, and after the processing is completed, an image signal including information of the object to be measured is obtained; the image signal sending module is used to send the image signal to the projection optical machine;

[0021] The projection module is further used to project the image signal into an image, so that the operator can check whether the scanning result is ideal / why it is not ideal.

[0022] Preferably, the host computer further comprises a message prompt module, and the message prompt module is used to send a prompt message after the image signal sending module sends the image signal to the projection light machine.

[0023] Preferably, the host computer further comprises a judgment and message warning module, which is used to judge whether the scanning result is ideal in the data processing procedure performed by the data processing module, and to issue a warning message when the judgment result is unsatisfactory.

[0024] Preferably, the host computer further includes a control module, and the control module is used for automatically controlling the display screen of the projection light machine to switch to an image projected by the image signal after the prompt message is sent.

[0025] The three-dimensional scanning system and scanning method using projection optical machine multiplexing technology provided by the present invention adopt projection optical machine multiplexing technology, so that the projection optical machine, in addition to projecting grating images, also has the functions of displaying scanning results (such as displaying model defects, prompting whether the measured distance is within the optimal measurement range), etc. The operator can observe the scanning results by switching the projection optical machine screen. Therefore, during the entire operation process, they only need to pay attention to the picture projected by the projector, and there is no need to move their sight to other screens. It is also convenient to always control the distance between the projection scanning component and the object to be measured within the ideal range. The operation is simple, the scanning efficiency is high, and there is no need to add an additional display screen, and the cost is low.

[0026] Other beneficial effects of the present invention will be explained in the specific implementation manner through the introduction of specific technical features and technical solutions. Through the introduction of these technical features and technical solutions, those skilled in the art should be able to understand the beneficial technical effects brought about by the technical features and technical solutions. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings.

[0028] Figure 1 A flowchart of a preferred implementation of the scanning method provided by the present invention;

[0029] Figure 2 A flowchart of another preferred embodiment of the scanning method provided by the present invention;

[0030] Figure 3 A flowchart of another preferred embodiment of the scanning method provided by the present invention;

[0031] Figure 4 A schematic diagram of a preferred implementation of a host computer in the three-dimensional scanning system provided by the present invention;

[0032] Figure 5 It is a schematic diagram of the movement of the sight line of an operator between a scanning status display screen and an object to be measured when scanning in the prior art. DETAILED DESCRIPTION

[0033] The present invention is described below based on embodiments, but the present invention is not limited to these embodiments. In the following detailed description of the present invention, some specific details are described in detail. In order to avoid confusing the essence of the present invention, known methods, processes, procedures, and components are not described in detail.

[0034] In addition, persons of ordinary skill in the art will appreciate that the drawings provided herein are for illustration purposes and are not necessarily drawn to scale.

[0035] Unless the context clearly requires otherwise, throughout the specification and claims, the words "include", "comprising" and similar words should be interpreted in an inclusive sense rather than an exclusive or exhaustive sense; that is, in the sense of "including but not limited to".

[0036] In the description of the present invention, it should be understood that the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0037] First, see Appendix Figure 1 The present invention provides a scanning method of a three-dimensional scanning system using projection optical-mechanical multiplexing technology.

[0038] The three-dimensional scanning system includes a projection scanning component and a host computer connected to the projection scanning component, the projection scanning component includes a projection optical machine and a scanning camera, and the scanning method includes the following steps:

[0039] S100, the projection optical machine projects the grating image onto the object to be measured, the scanning camera performs scanning, and uploads the data obtained by this scanning to the host computer;

[0040] S200, the host computer processes the data transmitted in step S100, obtains an image signal including information of the object to be measured after the processing is completed, and sends the image signal to the projection optical machine;

[0041] S300, the display screen of the projection optical machine is switched to an image projected by the image signal, so that the operator can check whether the scanning result is ideal / why it is not ideal.

[0042] Specifically, the projection scanning component is usually a handheld 3D scanner, but it can also be a non-handheld one. In the case where the projection scanning component is a handheld 3D scanner, the projection optical machine and the scanning camera are integrated into the same instrument; in the case where the projection scanning component is a non-handheld 3D scanner, the projection optical machine and the scanning camera can be integrated into the same instrument or can be separately and independently arranged.

[0043] In the scanning action of step S100, the role of the projection optical machine is to project the grating image onto the object to be measured. Since the object to be measured is three-dimensional, after the regular grating image is projected onto the surface of the object to be measured, as the surface of the object to be measured rises and falls, the shape of the projected grating image will also change and the grating image will be distorted. The scanning camera takes a picture and scans the shape of the projected grating image, and uploads the data obtained from this scan to the host computer. The host computer can then process these data to obtain the corresponding scanning results of the object to be measured.

[0044] In step S200, the host computer processes the data transmitted in step S100. After the data processing is completed, an image signal including information of the object to be measured is obtained, and the image signal is sent to the projection optical machine.

[0045] The specific content type of the image signal is not limited, but it is related to the information of the object to be measured and can reflect the result of this scan from a certain angle. For example, it can be the appearance image of the object to be measured restored by the host computer, that is, the scan model established for the object to be measured, or the coordinate information of the defect in the scan model, or the distance information between the scanner and the object to be measured during this scan, etc. Obviously, the specific content type of the image signal is set in advance by the operator before scanning, depending on the use requirements determined in advance by the operator, and then the image signal of the corresponding content is generated in step S200.

[0046] Those skilled in the art will appreciate that the "scanning model established for the object to be measured" in the present invention is not necessarily a model that fully reflects the complete appearance of the object to be measured. It may be a scanning model established for a part of the object to be measured after a single scan of the part.

[0047] In step S300, the optical projection machine no longer projects the grating image, but is controlled to switch to projecting the image signal into an image, so that the scanning operator can check whether the scanning result is ideal / why it is not ideal.

[0048] Continuing with the above example:

[0049] If the image signal generated in step S200 is about the scanning model established for the object to be measured, then the operator can visually observe the model image to see whether there are scanning defects (such as a certain part not being scanned), etc., thereby determining whether the scanning result is ideal. The operator can decide whether to implement re-scanning, supplementary scanning, and other remedial measures based on the scanning result.

[0050] If the image signal generated in step S200 is the coordinate information of the defect in the scanning model established for the object to be measured (this implies that in step S200, the host computer has completed the corresponding data processing of the scanning model and determined where the defect exists in the scanning model and the coordinates of the defect), the operator can check why the scan is not ideal.

[0051] If the image signal generated in step S200 is the distance information between the scanner and the object to be measured during this scan, the operator can determine whether the object to be measured is within the depth of field of the projection scanning component during this scan based on the distance information. If not, it can be preliminarily determined that there is a high possibility of scanning error and the scanning result is not ideal. The operator can then adjust the scanning distance and rescan.

[0052] Those skilled in the art can understand that the above description is only an exemplary description of the situation where “the operator checks whether the scanning result is ideal / why it is not ideal”, and does not mean that the situation only includes the above types.

[0053] In the scanning method of the three-dimensional scanning system using the projection optical machine multiplexing technology provided by the present invention, the projection optical machine multiplexing technology is adopted, so that the projection optical machine has the functions of displaying the scanning results (such as displaying the model defects, prompting whether the measured distance is within the optimal measurement range) in addition to projecting the grating image. The operator can observe the scanning results by switching the projection optical machine screen. Therefore, during the entire operation process, the operator only needs to pay attention to the picture projected by the projector, and there is no need to move the line of sight to other screens. It is also convenient to always control the distance between the projection scanning component and the object to be measured within the ideal range. The operation is simple, the scanning efficiency is high, and there is no need to add an additional display screen, and the cost is low.

[0054] Preferably, see Appendix Figure 2 , the step S200 also includes: the host computer sends a prompt message after sending the image signal to the projection light machine.

[0055] Specifically, the prompt message can be a voice prompt or a flashing light prompt. The host computer sends a prompt message to attract the operator's attention, inform the operator that the relevant data processing for this scan has been completed, and let the operator know that he can manually switch the projection screen of the projection light machine (if the switching mode of the projection light machine is manual switching) or observe the projection screen after the projection light machine automatically switches (if the switching mode of the projection light machine is automatic switching) to check whether the scanning result is ideal / why it is not ideal.

[0056] Preferably, see Appendix Figure 3 , the step S200 also includes: in the data processing program performed by the host computer, it also includes judging whether the scanning result is ideal, and issuing a warning message when the judgment result is not ideal.

[0057] In this case, it is obvious that the host computer stores the ideal data of the object to be measured (such as the ideal model data and the depth of field range data of the projection scanning component) in advance, so as to facilitate the subsequent implementation of the judgment on whether the scanning result is ideal.

[0058] The warning message can be a voice prompt or a flashing light prompt. Those skilled in the art can understand that if the host computer can send both a prompt message and a warning message, then the voice / flashing light setting as the warning message should be set differently from the prompt message described above, so that the operator can clearly understand whether the message is just a prompt or a warning. Moreover, in this case, since the "judgment on whether the scanning result is ideal" is made in the data processing program, that is, before the image signal is sent to the projection light machine, the warning message is usually sent before the prompt message.

[0059] Preferably, after the host computer sends the prompt message, in the step S300, the display screen of the projection light machine is automatically switched to the image projected by the image signal.

[0060] Preferably, in the step S300, the display screen of the projection optical machine is manually switched to an image projected by the image signal.

[0061] Specifically, after the host computer sends a prompt message, in the step S300, the projection light machine can automatically switch the projection screen under the control of the host computer.

[0062] The operator can also manually switch the projection screen of the projection light machine. In this case, a specific switching button / key can be provided on the host computer or the projection component to facilitate the operator to perform manual switching.

[0063] Preferably, in step S300, while the projection scanning component remains stationary, the display screen of the projection optical machine is switched to project the image signal into an image.

[0064] By keeping the projection scanning component in a stationary state and switching the projection screen of the projection optical machine therein to project the projection signal into an image, it is convenient for the operator to immediately switch the projection screen to a raster image when the scanning result is not ideal, and start rescanning / scanning on the spot without adjusting the setting angle of the projection scanning component again to obtain the same scanning angle as the previous scanning action with unsatisfactory results.

[0065] In a second aspect, the present invention further provides a three-dimensional scanning system for implementing the scanning method as described above, wherein the three-dimensional scanning system comprises a projection scanning component and a host computer connected to the projection scanning component, wherein the projection scanning component comprises a projection optical machine and a scanning camera,

[0066] The projection optical machine comprises a projection module, and the projection module is used to project the grating image onto the object to be measured;

[0067] The scanning camera includes a scanning module and a data uploading module, wherein the scanning module is used for scanning; the data uploading module uploads the data obtained by the scanning to the host computer;

[0068] The host computer includes a data processing module and an image signal sending module. The data processing module is used to process the data transmitted from the data uploading module, and after the processing is completed, an image signal including information of the object to be measured is obtained; the image signal sending module is used to send the image signal to the projection optical machine (see attached Figure 4 );

[0069] The projection module is further used to project the image signal into an image, so that the operator can check whether the scanning result is ideal / why it is not ideal.

[0070] Preferably, see Appendix Figure 4 The host computer also includes a message prompt module, which is used to send a prompt message after the image signal sending module sends the image signal to the projection light machine.

[0071] Preferably, see Appendix Figure 4 The host computer also includes a judgment and message warning module, which is used to judge whether the scanning result is ideal in the data processing program performed by the data processing module, and send a warning message when the judgment result is not ideal.

[0072] Preferably, see Appendix Figure 4The host computer also includes a control module, which is used to automatically control the display screen of the projection light machine to switch to the image projected by the image signal after the prompt message is sent.

[0073] The above-mentioned three-dimensional scanning system provided by the present invention helps to smoothly implement the scanning method using the projection optical machine multiplexing technology mentioned above, and helps to obtain the technical effect that the operator only needs to observe the scanning results by switching the projection optical machine screen. During the entire operation process, he only needs to pay attention to the picture projected by the projector, and there is no need to move the line of sight to other screens. It is also convenient to always control the distance between the projection scanning component and the object to be measured within an ideal range.

[0074] Those skilled in the art will appreciate that, without conflict, the above-mentioned preferred solutions can be freely combined and superimposed.

[0075] It should be understood that the above-mentioned embodiments are merely illustrative and not restrictive. Without departing from the basic principles of the present invention, various obvious or equivalent modifications or substitutions that can be made by those skilled in the art to the above-mentioned details will all be included in the scope of the claims of the present invention.

Claims

1. A scanning method of a three-dimensional scanning system using projection optical-mechanical multiplexing technology, characterized in that: The three-dimensional scanning system includes a projection scanning component and a host computer connected to the projection scanning component, the projection scanning component includes a projection optical machine and a scanning camera, and the scanning method includes the following steps: S100, the projection optical machine projects the grating image onto the object to be measured, the scanning camera performs scanning, and uploads the data obtained by this scanning to the host computer; S200, the host computer processes the data transmitted in step S100, obtains an image signal including information of the object to be measured after the processing is completed, and sends the image signal to the projection optical machine; S300, the display screen of the projection optical machine is switched to an image projected by the image signal, so that the operator can check whether the scanning result is ideal / why it is not ideal.

2. The method according to claim 1, characterized in that The step S200 further includes: after the host computer sends the image signal to the projection light machine, issuing a prompt message.

3. The method according to claim 2, characterized in that The step S200 also includes: in the data processing program performed by the host computer, it also includes judging whether the scanning result is ideal, and issuing a warning message when the result is judged to be unsatisfactory.

4. The method according to claim 2, characterized in that: After the host computer sends a prompt message, in the step S300, the display screen of the projection light machine is automatically switched to the image projected by the image signal.

5. The method according to any one of claims 1 to 3, characterized in that: In the step S300, the display screen of the projection optical machine is manually switched to an image projected by the image signal.

6. The method according to any one of claims 1 to 5, characterized in that In step S300, while the projection scanning component remains stationary, the display screen of the projection optical machine is switched to project the image signal into an image.

7. A three-dimensional scanning system for implementing the scanning method according to any one of claims 1 to 6, characterized in that: The three-dimensional scanning system includes a projection scanning component and a host computer connected to the projection scanning component, wherein the projection scanning component includes a projection optical machine and a scanning camera. The projection optical machine comprises a projection module, and the projection module is used to project the grating image onto the object to be measured; The scanning camera includes a scanning module and a data uploading module, wherein the scanning module is used for scanning; the data uploading module uploads the data obtained by the scanning to the host computer; The host computer includes a data processing module and an image signal sending module. The data processing module is used to process the data transmitted from the data uploading module, and after the processing is completed, an image signal including information of the object to be measured is obtained; the image signal sending module is used to send the image signal to the projection optical machine; The projection module is further used to project the image signal into an image, so that the operator can check whether the scanning result is ideal / why it is not ideal.

8. The system according to claim 7, characterized in that The host computer further includes a message prompt module, and the message prompt module is used to send a prompt message after the image signal sending module sends the image signal to the projection light machine.

9. The system according to claim 8, characterized in that The host computer also includes a judgment and message warning module, which is used to judge whether the scanning result is ideal in the data processing program performed by the data processing module, and send a warning message when the judgment result is not ideal.

10. The system according to claim 8, characterized in that The host computer further includes a control module, and the control module is used for automatically controlling the display screen of the projection light machine to switch to an image projected by the image signal after the prompt message is sent.

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