Laser scanning method, device, electronic equipment, system and storage medium

Abstract

The invention provides a laser scanning method and device, electronic equipment, a system and a storage medium, and the method comprises the steps: determining a first rotation direction and a target degree of a rotary table which is used for rotating a part; after the rotary table rotates based on the first rotation direction and the target degree, the target point is driven by the motor to rotate by the target degree according to the second rotation direction, the second rotation direction is the opposite direction of the first rotation direction, the target point is used for being captured by the tracker, and the motor rotates along with the part. According to the method provided by the invention, the laser scanning efficiency and precision can be improved.

Description

Technical Field

[0001] The present application relates to the field of automobile manufacturing, and in particular to a laser scanning method, device, electronic equipment, system and storage medium. Background Art

[0002] In the field of automobile manufacturing, part measurement is a common process, and the purpose of part measurement is usually to obtain the size information of the part.

[0003] In the related art, the means of measuring parts is usually laser scanning. Specifically, multiple reflective positioning target points are arranged on the surface of the part, and the tracker performs laser scanning on the part by tracking the reflective positioning target points.

[0004] However, since the reflective positioning target point is facing a fixed direction and can only be captured by the tracker in a specific direction, when the reflective positioning target point is fixed on the part and as the part rotates, the direction of the reflective positioning target point will change, which will cause some reflective positioning target points to be unable to be effectively captured by the tracker. In this case, more reflective positioning target points in different directions need to be arranged, which reduces the efficiency of laser scanning and leads to increased costs, or during the scanning process, the position of the tracker needs to be constantly adjusted, which affects the efficiency of laser scanning. Summary of the invention

[0005] The embodiments of the present application provide a laser scanning method, device, electronic device, system and storage medium, which help to improve the efficiency of laser scanning.

[0006] In a first aspect, an embodiment of the present application provides a laser scanning method, comprising: determining a first rotation direction and a target degree of a turntable, wherein the turntable is used to rotate a part; after the turntable rotates based on the first rotation direction and the target degree, driving a target point by a motor to rotate the target degree in a second rotation direction, wherein the second rotation direction is the opposite direction of the first rotation direction, the target point is used to be captured by a tracker, and the motor rotates following the part.

[0007] In one possible implementation manner, the first rotation direction includes a rotation direction with one or more axes as rotation axes.

[0008] In one possible implementation, when the first rotation direction is rotation with one axis as the rotation axis, the target degree includes a rotation degree; or When the first rotation direction is rotation with multiple axes as rotation axes, the target degree includes multiple rotation degrees corresponding to the multiple axes.

[0009] In one possible implementation, before the turntable rotates based on the first rotation direction and the target degree, the target point faces the tracker, and after the target point is driven by the motor to rotate the target degree in the second rotation direction, the target point faces the tracker.

[0010] In one possible implementation manner, the parts and the motor are mounted on a measuring bracket, and the measuring bracket is fixed to the turntable.

[0011] In a second aspect, an embodiment of the present application provides a laser scanning device, comprising one or more functional modules, wherein the one or more functional modules are used to execute the laser scanning method as described in the first aspect.

[0012] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory, wherein the memory is used to store a computer program; the processor is used to run the computer program to implement the laser scanning method as described in the first aspect.

[0013] In a fourth aspect, an embodiment of the present application provides a laser scanning system, including: a tracker, a turntable, a motor and a target point, wherein: The tracker is used to capture the target point; The turntable is used to rotate the part after determining the first rotation direction and the target degree, and the turntable is used to rotate the part; The motor is used to drive the target point to rotate in a second rotation direction by the target degree after the turntable rotates based on the first rotation direction and the target degree, wherein the second rotation direction is the opposite direction of the first rotation direction, the target point is used to be captured by the tracker, and the motor rotates following the part.

[0014] In a fifth aspect, an embodiment of the present application provides a readable storage medium, which stores a program. When the program is run on an electronic device, the electronic device implements the laser scanning method described in the first aspect.

[0015] In a sixth aspect, an embodiment of the present application provides a program, which, when executed on a processor of an electronic device, enables the electronic device to perform the laser scanning method as described in the first aspect.

[0016] In one possible design, the program in the sixth aspect may be stored in whole or in part on a storage medium packaged together with the processor, or may be stored in whole or in part on a memory not packaged together with the processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the system architecture provided for an embodiment of the present application; Figure 2 A schematic diagram of a laser scanning method according to an embodiment of the present invention; Figure 3 A schematic diagram of the initial state of a target point provided in an embodiment of the present application; Figure 4 A schematic diagram of the rotation of the turntable provided in the embodiment of the present application; Figure 5 A schematic diagram of target point rotation provided in an embodiment of the present application; Figure 6 A schematic diagram of the structure of a laser scanning device provided in an embodiment of the present application; Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] In the embodiments of the present application, unless otherwise specified, the character " / " indicates that the objects before and after the association are in an or relationship. For example, A / B can represent A or B. "And / or" describes the association relationship of the associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone.

[0019] It should be pointed out that the words "first", "second", etc. involved in the embodiments of the present application are only used to distinguish the description purpose, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated, nor can they be understood as indicating or implying order.

[0020] In the embodiments of the present application, "at least one" means one or more, and "more" means two or more. In addition, "at least one of the following" or similar expressions refers to any combination of these items, which may include any combination of single items or plural items. For example, at least one of A, B, or C can represent: A, B, C, A and B, A and C, B and C, or A, B and C. Among them, each of A, B, and C can be an element itself, or a set containing one or more elements.

[0021] In the embodiments of the present application, "exemplary", "in some embodiments", "in another embodiment", etc. are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present concepts in a concrete way.

[0022] In the embodiments of the present application, "of", "corresponding", and "corresponding" can sometimes be used interchangeably. It should be noted that when the distinction between them is not emphasized, the meanings to be expressed are consistent. In the embodiments of the present application, communication and transmission can sometimes be used interchangeably. It should be noted that when the distinction between them is not emphasized, the meanings to be expressed are consistent. For example, transmission can include sending and / or receiving, which can be a noun or a verb.

[0023] The equal to involved in the embodiments of the present application can be used in conjunction with greater than, and is applicable to the technical solution adopted when greater than, and can also be used in conjunction with less than, and is applicable to the technical solution adopted when less than. It should be noted that when equal to is used in conjunction with greater than, it cannot be used in conjunction with less than; when equal to is used in conjunction with less than, it cannot be used in conjunction with greater than.

[0024] In the field of automobile manufacturing, part measurement is a common process, and the purpose of part measurement is usually to obtain the size information of the part.

[0025] In the related art, the means of measuring parts is usually laser scanning. Specifically, multiple reflective positioning target points are arranged on the surface of the part, and the tracker performs laser scanning on the part by tracking the reflective positioning target points.

[0026] However, since the reflective positioning target point is facing a fixed direction and can only be captured by the tracker in a specific direction, when the reflective positioning target point is fixed on the part and as the part rotates, the direction of the reflective positioning target point will change, which will cause some reflective positioning target points to be unable to be effectively captured by the tracker. In this case, more reflective positioning target points in different directions need to be arranged, which reduces the efficiency of laser scanning and leads to increased costs, or during the scanning process, the position of the tracker needs to be constantly adjusted, which affects the efficiency of laser scanning.

[0027] Based on the above problems, the present application provides a laser scanning method.

[0028] Figure 1 A schematic diagram of the structure of a laser scanning system provided in an embodiment of the present application.

[0029] refer to Figure 1 The laser scanning system may include a tracker 10 , a turntable support 20 , a turntable 30 , a turntable motor 40 , a part 50 , a measuring bracket 60 , a target point motor 70 and a target point 80 .

[0030] The tracker 10 is used to track the target point 80 .

[0031] The component 50 is mounted on a measuring bracket 60 .

[0032] The measuring bracket 60 is fixed to the turntable 30 . As the turntable 30 rotates, the measuring bracket 60 rotates accordingly, and the component 50 can also rotate accordingly.

[0033] It can be understood that the rotation of the turntable 30 can be rotation in any plane.

[0034] For example, taking the XYZ axis as an example, the turntable 30 can rotate at any degree within 0-360 degrees in the XY plane, or the turntable 30 can rotate at any degree within 0-360 degrees in the XZ plane, or the turntable 30 can rotate at any degree within 0-360 degrees in the YZ plane, and the embodiments of the present application do not specifically limit this.

[0035] In some optional embodiments, the rotation of the turntable 30 may also be a rotation in a three-dimensional space.

[0036] Exemplarily, taking the XYZ axis as an example, the rotation of the turntable 30 may be any degree of rotation along any one axis or multiple axes, and the embodiment of the present application does not specifically limit this.

[0037] It can be understood that when the turntable 30 rotates to a certain target degree, the component 50 also rotates to the target degree.

[0038] The target point motor 70 may be used to drive the target point 80 to rotate.

[0039] The target point motor 70 may be a stepping motor, or the target point motor 70 may be other types of motors, which is not particularly limited in the embodiment of the present application.

[0040] It is understandable that the target point motor 70 is mounted on the measuring bracket 60 and does not need to be mounted on the surface of the part 50 , thereby reducing the complexity of the installation and avoiding scratching the part.

[0041] The target point motor 70 can be rotated in any form and any degree. The specific rotation mode of the target point motor 70 can refer to the rotation of the turntable 30 in the above embodiment, and will not be repeated here. Since the target point motor 70 and the part 50 can be both installed on the measuring bracket 60, the target point motor 70 can rotate with the part 50, that is, when the part 50 rotates in any direction at any target degree, the target point motor 70 can also rotate in the same direction at the same target degree.

[0042] It is understandable that the rotation of the target point motor 70 can drive the rotation of the target point 80. When the turntable 30 rotates in any direction by any target degree, the target point motor 70 can drive the target point 80 to rotate in the opposite direction by the target degree, so that the target point can always be captured by the tracker 10 in the positive direction.

[0043] The target point 80 may be a reflective positioning target point.

[0044] The type of the target point 80 may include but is not limited to a circle, a cylinder, etc.

[0045] In the embodiment of the present application, the target point 80 is installed on the target point motor 70, and does not need to be magnetically adsorbed to the surface of the part as in the prior art, thereby avoiding scratching the part.

[0046] It is understandable that, in the initial state, the target point motor 70 and the tracker 10 maintain a positive direction or deviate from the positive direction by a certain range. No matter what direction relationship the target point 80 and the tracker are in, the target point 80 can be captured by the tracker 10 .

[0047] Figure 2 The schematic diagram of a flow chart of an embodiment of the laser scanning method provided in the present application comprises the following steps: Step 201, determining a first rotation direction and a target degree of the turntable.

[0048] Specifically, after the components in the laser scanning system are installed, the target point may include an initial state, and the initial state may be used to indicate that the target point is in a state that can be captured by the tracker.

[0049] For example, the initial state of the target point is that the target point is facing the tracker. Figure 3 The state where the target point faces the tracker is exemplarily shown.

[0050] refer to Figure 3 , the state between the target point 60 and the tracker is facing each other head-on.

[0051] It is understandable that the initial state of the target point is that the target point is facing the tracker directly, which is only an exemplary description. In this case, the tracker can better capture the target point, that is, in the initial state, the capture effect is the best, but it does not constitute a limitation on the embodiments of the present application. In some embodiments, the initial state of the target point can also be that the front is deviated from the tracker by a certain range. In this case, the target point can still be captured by the tracker, but the capture effect may not be as good as when the target point is facing the tracker directly.

[0052] When the turntable is in the first posture, the turntable may continue to rotate, for example, the turntable may rotate a target degree in the first rotation direction, thereby obtaining a second posture of the turntable.

[0053] The first posture may be the posture of the turntable after the components in the laser scanning system are installed, or the first posture may be the posture of the turntable after a certain rotation. The embodiment of the present application does not specifically limit this.

[0054] Taking the plane rotation of the turntable as an example, Figure 4 The schematic diagram of the rotation of the turntable is shown exemplarily.

[0055] refer to Figure 4 , the turntable 20 in the left figure is in a first posture. When the turntable 20 is rotated by a target degree in the first rotation direction, the turntable 20 in a second posture as shown in the right figure can be obtained.

[0056] In some optional embodiments, the first rotation direction may be rotation around a single axis as the rotation axis.

[0057] Exemplarily, the first rotation direction may be rotation with the X-axis as the rotation axis, or the first rotation direction may be rotation with the Y-axis as the rotation axis, or the first rotation direction may be rotation with the X-axis as the rotation axis.

[0058] In some optional embodiments, the first rotation direction may be rotation with multiple axes as rotation axes.

[0059] For example, the first rotation direction may be rotation with the X-axis and the Y-axis as rotation axes.

[0060] For another example, the first rotation direction may be rotation with the X-axis and the Z-axis as rotation axes.

[0061] For another example, the first rotation direction may be rotation with the Y-axis and the Z-axis as rotation axes.

[0062] For another example, the first rotation direction may be rotation with the X-axis, the Y-axis, and the Z-axis as rotation axes.

[0063] It will be appreciated that the target degree may include one or more degrees of rotation.

[0064] For example, when the first rotation direction is a single-axis rotation, the target degree may include one rotation degree.

[0065] For another example, when the first rotation direction is to rotate with multiple axes as rotation axes, the target degree may include multiple rotation degrees.

[0066] Step 202: After the turntable rotates based on the first rotation direction and the target degree, the target point is driven by the target point motor to rotate in a second rotation direction by the target degree, wherein the second rotation direction is the opposite direction of the first rotation direction.

[0067] Specifically, when the turntable rotates, it will rotate with the parts, and thus will rotate with the target point. In this case, the target point may not be captured by the tracker.

[0068] Therefore, after the rotation, the embodiment of the present application can drive the target point through the target point motor so that the target point rotates by the target degree in the second rotation direction, thereby making the target point after the rotation in the second rotation direction be in the initial state to ensure that the target point can still be captured by the tracker after the turntable rotates.

[0069] The second rotation direction is the opposite direction of the first rotation direction.

[0070] For example, if the first rotation direction is a clockwise rotation direction about the X-axis, the second rotation direction may be a counterclockwise rotation direction about the X-axis.

[0071] For another example, if the first rotation direction is counterclockwise about the X-axis, the second rotation direction may be clockwise about the X-axis.

[0072] For another example, if the first rotation direction is a clockwise rotation direction about the Y axis, the second rotation direction may be a counterclockwise rotation direction about the Y axis.

[0073] For another example, if the first rotation direction is counterclockwise about the Y axis, the second rotation direction may be clockwise about the Y axis.

[0074] For another example, if the first rotation direction is a clockwise rotation direction about the Z axis, the second rotation direction may be a counterclockwise rotation direction about the Z axis.

[0075] For another example, if the first rotation direction is counterclockwise about the Z axis, the second rotation direction may be clockwise about the Z axis.

[0076] It is understandable that the above embodiment only illustrates the first rotation direction using one axis rotation, but does not constitute a limitation on the embodiments of the present application. In some embodiments, the first rotation direction may also be multiple axis rotations.

[0077] For example, if the first rotation direction is a clockwise rotation direction of the X axis and a clockwise rotation direction of the Y axis, the second rotation direction may be a counterclockwise rotation direction of the X axis and a counterclockwise rotation direction of the Y axis.

[0078] For another example, if the first rotation direction is a clockwise rotation direction about the X axis and a counterclockwise rotation direction about the Y axis, the second rotation direction may be a counterclockwise rotation direction about the X axis and a clockwise rotation direction about the Y axis.

[0079] For another example, if the first rotation direction is counterclockwise about the X axis and clockwise about the Y axis, the second rotation direction may be clockwise about the X axis and counterclockwise about the Y axis.

[0080] For another example, if the first rotation direction is a counterclockwise rotation direction about the X axis and the Y axis, the second rotation direction may be a clockwise rotation direction about the X axis and the Y axis.

[0081] For another example, if the first rotation direction is a clockwise rotation direction about the X axis and a clockwise rotation direction about the Z axis, the second rotation direction may be a counterclockwise rotation direction about the X axis and a counterclockwise rotation direction about the Z axis.

[0082] For another example, if the first rotation direction is a clockwise rotation direction about the X axis and a counterclockwise rotation direction about the Z axis, the second rotation direction may be a counterclockwise rotation direction about the X axis and a clockwise rotation direction about the Z axis.

[0083] For another example, if the first rotation direction is counterclockwise about the X axis and clockwise about the Z axis, the second rotation direction may be clockwise about the X axis and counterclockwise about the Z axis.

[0084] For another example, if the first rotation direction is a counterclockwise rotation direction about the X axis and a counterclockwise rotation direction about the Z axis, the second rotation direction may be a clockwise rotation direction about the X axis and a clockwise rotation direction about the Z axis.

[0085] For another example, if the first rotation direction is a clockwise rotation direction of the Y axis and a clockwise rotation direction of the Z axis, the second rotation direction may be a counterclockwise rotation direction of the Y axis and a counterclockwise rotation direction of the Z axis.

[0086] For another example, if the first rotation direction is a clockwise rotation direction about the Y axis and a counterclockwise rotation direction about the Z axis, then the second rotation direction may be a counterclockwise rotation direction about the Y axis and a clockwise rotation direction about the Z axis.

[0087] For another example, if the first rotation direction is a counterclockwise rotation direction about the Y axis and a clockwise rotation direction about the Z axis, then the second rotation direction may be a clockwise rotation direction about the Y axis and a counterclockwise rotation direction about the Z axis.

[0088] For another example, if the first rotation direction is a counterclockwise rotation direction about the Y axis and a counterclockwise rotation direction about the Z axis, then the second rotation direction may be a clockwise rotation direction about the Y axis and a clockwise rotation direction about the Z axis.

[0089] It can be understood that when the first rotation direction is a rotation with three axes (for example, XYZ axes) as the rotation axis, the method for determining the second rotation direction can refer to the method for determining the first rotation direction when it is a rotation with two circles as the rotation axis, which will not be repeated here.

[0090] In some optional embodiments, when the target degree includes a rotation degree, the target point can be rotated by the one rotation degree in a second rotation direction.

[0091] Exemplarily, taking the first rotation direction as the clockwise rotation direction of the X-axis and the rotation of 60 degrees as an example, the target point can take the counterclockwise rotation direction of the X-axis as the second rotation direction and rotate 60 degrees.

[0092] In some optional embodiments, when the target degree includes multiple rotation degrees, the target point can be rotated by the multiple rotation degrees in the second rotation direction.

[0093] For example, taking the first rotation direction as the clockwise rotation direction of the X-axis and the Y-axis, and rotating 40 degrees clockwise along the X-axis and 60 degrees clockwise along the Y-axis as an example, the target point can use the counterclockwise rotation direction of the X-axis and the counterclockwise rotation direction of the Y-axis as the second rotation direction, and rotate 40 degrees counterclockwise along the X-axis and 60 degrees counterclockwise along the Y-axis.

[0094] It can be understood that when the target point uses multi-axis rotation as the second rotation direction, the rotation along the multiple axes may be performed in any order.

[0095] For example, taking the above embodiment as an example, when the turntable rotates 40 degrees clockwise along the X-axis and 60 degrees clockwise along the Y-axis, the target point can first rotate 40 degrees counterclockwise along the X-axis and then rotate 60 degrees counterclockwise along the Y-axis; or, the target point can first rotate 60 degrees counterclockwise along the Y-axis and then rotate 40 degrees counterclockwise along the X-axis; or, the target point can simultaneously rotate 40 degrees counterclockwise along the X-axis and 60 degrees counterclockwise along the Y-axis.

[0096] Figure 5 The schematic diagram of the rotation effect of the target point is shown as an example.

[0097] refer to Figure 5 The upper left figure is a schematic diagram of the turntable 20 and the target point 60 before the first rotation. In the upper left figure, the target point 60 is in the initial state, that is, the target point 60 can be captured by the tracker. After the first rotation, that is, after rotating in the first rotation direction, the turntable 60 rotates a certain angle in the first rotation direction, so that the target point 60 rotates a certain angle in the first rotation direction. The posture of the turntable 20 and the target point 60 after the first rotation can be as follows: Figure 4As shown in the upper right figure in . It is understandable that in the posture after the first rotation, the target point 60 may not be captured by the tracker 10, so the target point 60 can be rotated for the second time along the second rotation direction, wherein the second rotation direction can be the opposite direction of the first rotation direction, so that the target point 60 can be in the initial state after the second rotation. For example, if the initial state is that the target point 60 is facing the tracker 10, after the first rotation, the target point 60 is no longer facing the tracker 10, and after the second rotation, the target point 60 can still face the tracker 10, thereby solving the problem that the target point deviates from the direction and cannot be captured by the tracker due to the rotation of the turntable.

[0098] Figure 6 A schematic diagram of the structure of a laser scanning device provided in an embodiment of the present application is shown in FIG. Figure 6 As shown, the laser scanning device 60 may include: a determination module 61 and a rotation module 62; wherein, A determination module 61 is used to determine a first rotation direction and a target degree of a turntable, wherein the turntable is used to rotate a part; The rotation module 62 is used to drive the target point to rotate the target degree in a second rotation direction through a motor after the turntable rotates based on the first rotation direction and the target degree, wherein the second rotation direction is the opposite direction of the first rotation direction, the target point is used to be captured by the tracker, and the motor rotates following the part.

[0099] In one possible implementation manner, the first rotation direction includes a rotation direction with one or more axes as rotation axes.

[0100] In one possible implementation, when the first rotation direction is rotation with one axis as the rotation axis, the target degree includes a rotation degree; or When the first rotation direction is rotation with multiple axes as rotation axes, the target degree includes multiple rotation degrees corresponding to the multiple axes.

[0101] In one possible implementation, before the turntable rotates based on the first rotation direction and the target degree, the target point faces the tracker, and after the target point is driven by the target point motor to rotate the target degree in a second rotation direction, the target point faces the tracker.

[0102] In one possible implementation manner, the parts and the motor are mounted on a measuring bracket, and the measuring bracket is fixed to the turntable.

[0103] Figure 6The laser scanning device 60 provided in the illustrated embodiment can be used to execute the technical solution of the method embodiment illustrated in the present application. Its implementation principle and technical effects can be further referred to the relevant description in the method embodiment.

[0104] It should be understood that the division of the various modules of the above laser scanning device 60 is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. And these modules can all be implemented in the form of software calling through processing elements; they can also be all implemented in the form of hardware; some modules can also be implemented in the form of software calling through processing elements, and some modules can be implemented in the form of hardware. For example, the detection module can be a separately established processing element, or it can be integrated in a chip of the terminal device. The implementation of other modules is similar. In addition, all or part of these modules can be integrated together, or they can be implemented independently. In the implementation process, each step of the above method or each module above can be completed by the hardware integrated logic circuit in the processor element or the instructions in the form of software.

[0105] For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as one or more application specific integrated circuits (ASIC), or one or more microprocessors (DSP), or one or more field programmable gate arrays (FPGA). For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0106] Figure 7 The present invention provides a schematic diagram of the structure of an electronic device 700 provided in an embodiment of the present invention. The electronic device 700 may include: at least one processor; and at least one memory connected to the processor in communication. The memory stores program instructions executable by the processor. The processor in the electronic device 700 calls the program instructions to perform the actions performed in the storage access method provided in the embodiment of the present invention.

[0107] like Figure 7 As shown, the electronic device 700 is in the form of a general-purpose computing device. The components of the electronic device 700 may include, but are not limited to: one or more processors 710, a memory 720, a communication bus 740 connecting different system components (including the memory 720 and the processor 710), and a communication interface 730.

[0108] Communication bus 740 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnection (PCI) bus.

[0109] The electronic device 700 typically includes a variety of computer system readable media, which can be any available media that can be accessed by the terminal device, including volatile and non-volatile media, removable and non-removable media.

[0110] The memory 720 may include a computer system readable medium in the form of a volatile memory, such as a random access memory (RAM) and / or a cache memory. The terminal device may further include other removable / non-removable, volatile / non-volatile computer system storage media. Figure 7 Not shown, a disk drive for reading and writing a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing a removable non-volatile optical disk (e.g., a compact disc read only memory (CD-ROM), a digital versatile disc read only memory (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to the communication bus 740 via one or more data medium interfaces. The memory 720 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present application.

[0111] A program / utility having a set (at least one) of program modules may be stored in memory 720, such program modules including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules typically perform the functions and / or methods of the embodiments described herein.

[0112] The electronic device 700 may also communicate with one or more external devices (e.g., keyboard, pointing device, display, etc.), one or more devices that enable a user to interact with the terminal device, and / or any device that enables the terminal device to communicate with one or more other computing devices (e.g., network card, modem, etc.). Such communication may be performed via the communication interface 730. In addition, the electronic device 700 may also communicate with the network adapter ( Figure 7 The network adapter may communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via the communication bus 740. It should be understood that although Figure 7 Not shown, other hardware and / or software modules may be used in conjunction with the electronic device 700, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, disk arrays (Redundant Arrays of Independent Drives; hereinafter referred to as: RAID) systems, tape drives, and data backup storage systems.

[0113] The processor 710 executes various functional applications and data processing by running the programs stored in the memory 720, such as implementing the method provided in the embodiment of the present application.

[0114] It is understandable that the interface connection relationship between the modules illustrated in the embodiment of the present application is only a schematic illustration and does not constitute a structural limitation on the electronic device 700. In other embodiments of the present application, the electronic device 700 may also adopt different interface connection methods in the above embodiments, or a combination of multiple interface connection methods.

[0115] In the above embodiments, the processor involved may include, for example, a CPU, a DSP, a microcontroller or a digital signal processor, and may also include a GPU, an embedded neural network processor (Neural-network Process Units; hereinafter referred to as: NPU) and an image signal processor (Image Signal Processing; hereinafter referred to as: ISP). The processor may also include necessary hardware accelerators or logic processing hardware circuits, such as ASIC, or one or more integrated circuits for controlling the execution of the program of the technical solution of the present application. In addition, the processor may have the function of operating one or more software programs, and the software programs may be stored in a storage medium.

[0116] An embodiment of the present application also provides a readable storage medium, which stores a program. When the program is run on a terminal device, the terminal device executes the method provided by the embodiment shown in the present application.

[0117] An embodiment of the present application also provides a program product, which includes a program. When the program product is run on a terminal device, the terminal device executes the method provided by the embodiment shown in the present application.

[0118] In the embodiments of the present application, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. Among them, A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c can be represented by: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, c can be single or multiple.

[0119] Those of ordinary skill in the art will appreciate that the various units and algorithm steps described in the embodiments disclosed herein can be implemented in a combination of electronic hardware, computer software, and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0120] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0121] In several embodiments provided in the present application, if any function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory; hereinafter referred to as: ROM), random access memory (Random Access Memory; hereinafter referred to as: RAM), disk or optical disk, and other media that can store program codes.

[0122] The above is only a specific implementation of the present application. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. The protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A laser scanning method, characterized in that: The method comprises: Determining a first rotation direction and a target degree of a turntable, wherein the turntable is used to rotate a part; After the turntable rotates based on the first rotation direction and the target degree, the target point is driven by a motor to rotate the target degree in a second rotation direction, wherein the second rotation direction is the opposite direction of the first rotation direction, the target point is used to be captured by a tracker, and the motor rotates following the part.

2. The method according to claim 1, characterized in that The first rotation direction includes a rotation direction with one or more axes as rotation axes.

3. The method according to claim 2, characterized in that When the first rotation direction is rotation with one axis as the rotation axis, the target degree includes a rotation degree; or When the first rotation direction is rotation with multiple axes as rotation axes, the target degree includes multiple rotation degrees corresponding to the multiple axes.

4. The method according to claim 1, characterized in that: Before the turntable rotates based on the first rotation direction and the target degree, the target point faces the tracker. After the motor drives the target point to rotate by the target degree in the second rotation direction, the target point faces the tracker.

5. The method according to any one of claims 1 to 4, characterized in that: The parts and the motor are mounted on a measuring bracket, and the measuring bracket is fixed on the turntable.

6. A laser scanning device, characterized in that: The laser scanning device comprises: A determination module, used to determine a first rotation direction and a target degree of a turntable, wherein the turntable is used to rotate a part; A rotation module is used to drive a target point to rotate by the target degree in a second rotation direction through a motor after the turntable rotates based on the first rotation direction and the target degree, wherein the second rotation direction is the opposite direction of the first rotation direction, the target point is used to be captured by a tracker, and the motor rotates following the part.

7. An electronic device, characterized in that: include: A processor and a memory, wherein the memory is used to store a program; and the processor is used to run the program to implement the laser scanning method as described in any one of claims 1 to 5.

8. A laser scanning system, characterized in that: include: Tracker, turntable, motor and target point, among which, The tracker is used to capture the target point; The turntable is used to rotate the part after determining the first rotation direction and the target degree; The motor is used to drive the target point to rotate in a second rotation direction by the target degree after the turntable rotates based on the first rotation direction and the target degree, wherein the second rotation direction is the opposite direction of the first rotation direction, the target point is used to be captured by the tracker, and the motor rotates following the part.

9. A readable storage medium, characterized in that: The readable storage medium stores a program, and when the program is run on an electronic device, the laser scanning method according to any one of claims 1 to 5 is implemented.

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