Scanning method and full-automatic three-dimensional scanning device

Abstract

According to the scanning method and the full-automatic three-dimensional scanning device provided by the invention, the scanner is movably connected to the sliding rail in the scanning bracket, so that the scanner can automatically move on the sliding rail according to the preset motion characteristics and perform scanning, and meanwhile, an object to be scanned moves on the rotating base; the scanner scans the to-be-scanned article when the slide rail is in different areas, and three-dimensional scanning of the to-be-scanned article is completed. The scanning area of the scanner can cover all the surfaces of the to-be-scanned object except the side, making contact with the rotating base, of the to-be-scanned object in the movement process of the scanner and / or the rotating base. The scanning result is detected and controlled through the intelligent terminal, so that the three-dimensional scanning process is fully automatic, and the method is suitable for the situation of mass scanning. The scanning efficiency and accuracy can be improved, and the labor cost of scanning is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of three-dimensional scanning, and in particular to a scanning method and a fully automatic three-dimensional scanning device. Background Art

[0002] A 3D scanner is a scientific instrument used to detect and analyze the shape (geometry) and appearance data (such as color, surface albedo, and other properties) of objects or environments in the real world. The mainstream 3D scanners in the current market include three-dimensional coordinate measuring machines, camera-type 3D scanners, and handheld 3D scanners. However, three-dimensional coordinate measuring machines are not suitable for scanning soft objects and are expensive. Camera-type scanners lack accuracy and have high requirements for the color and material of the scanned objects. Handheld 3D scanners are also prone to incomplete scanning paths and repeated scanning and missing points due to the flexibility of handheld devices, resulting in low scanning efficiency. In addition, handheld scanners require manual hand-held control of the scanner to orbit the object, which places high demands on the staff and has high labor costs. Summary of the invention

[0003] In view of this, the present invention proposes a scanning method and a fully automatic three-dimensional scanning device, which can realize automatic scanning of an object by a scanner and improve scanning efficiency. The specific scheme is as follows:

[0004] In the first part, the present invention provides a scanning method, which comprises:

[0005] The scanner is detachably connected to a slide rail extending in an arc shape in the scanning support;

[0006] Placing the object to be scanned on the rotating base, so that the rotating base drives the object to be scanned to move under the drive of the driving system, and there is relative rotation between the object to be scanned and the scanning bracket;

[0007] The scanner is connected to the smart terminal for communication and transmits the scanning result to the smart terminal. The smart terminal detects the scanning result in real time. When the scanning result does not meet the requirements, the missing area is rescanned. When the scanning result meets the requirements, the scanning is completed.

[0008] Preferably, the slide rail is divided into a plurality of regions in sequence according to the change of the scanning direction of the scanner when the scanner moves from one end of the slide rail to the other end, wherein the lower limit of the scanning range of the scanner when it is at the lowest point of the slide rail is not higher than the placement surface of the object to be scanned.

[0009] Specifically, the scanner is driven by the driving system to move in multiple areas between the two ends of the slide rail, and scans the object to be scanned at different angles in different areas. During the scanning process, the scanning area of ​​the scanner can cover all surfaces of the object to be scanned except the side in contact with the rotating base during the movement of the scanner and / or the rotating base.

[0010] Preferably, the intelligent terminal is communicatively connected to the drive system and the scanner, and is used to control the drive system and receive scanning results from the scanner. The drive system is respectively connected to the scanner and the rotating base, and is used to drive the scanner and the rotating base to move.

[0011] Furthermore, the slide rail can be divided into a first area, a bending area and a second area in sequence according to the change in the scanning direction of the scanner when the scanner moves from one end of the slide rail to the other end.

[0012] When the scanner is located in the first area, the scanning direction of the scanner is a preset first direction, which is parallel to the placement surface of the object to be scanned;

[0013] When the scanner is located in the second area, the scanning direction of the scanner is a preset second direction, which is perpendicular to the placement surface of the object to be scanned;

[0014] The first direction and the second direction are perpendicular to each other.

[0015] When the scanner is in the bending area, the scanning direction of the scanner is a direction included between the angle between the first direction and the second direction, and is used to scan the three-dimensional details of the object to be scanned.

[0016] Preferably, the drive system includes a conveyor belt, a drive member and a transmission member. The scanner also includes a connection assembly. The conveyor belt and the slide rail are parallel. The connection assembly is fixedly connected to a point on the conveyor belt. In one embodiment, the connection assembly also includes a pulley, a part of the connection assembly is movably connected to the slide rail through the pulley, and a part is connected to a point on the conveyor belt. As the drive system drives the conveyor belt to move, the point on the conveyor belt drives the connection assembly to move, and further drives the scanner to move on the slide rail through the pulley, thereby achieving a smooth movement process.

[0017] Preferably, there is one or more transmission members, which are arranged below the conveyor belt in the bending area, for making the conveyor belt bend smoothly in the bending area. In one embodiment, the transmission member is a toothed driven wheel, which can generate a large friction force with the conveyor belt, so that the conveyor belt can run stably and at a uniform speed.

[0018] The driving member comprises a first driving member and a second driving member. The first driving member drives the conveyor belt to drive the scanner to move; the second driving member is used to drive the rotating base to move.

[0019] Preferably, the rotating base is communicatively connected to the smart terminal, can be changed to different sizes according to the size of the object to be scanned, and can move in real time according to the instructions issued by the smart terminal, so that the distance between the surface of the object to be scanned and the scanner remains consistent during the movement and is within the optimal scanning focal length.

[0020] Preferably, the specific process of the intelligent terminal detecting the scanning result in real time includes:

[0021] When the scanner is fixed at a certain area for scanning, the projection of the current scanning area of ​​the scanner on the object to be scanned is set to obtain the scanning start position and the scanning end position;

[0022] After the intelligent terminal obtains the scanning result of the current scanning area, it detects the scanning result of the area. After detecting that the scanning result of the area meets the requirements, the driving system drives the rotating base to move, so that the next area adjacent to the object to be scanned that has not been scanned enters the current scanning area, and sets the scanning starting position and scanning end position again.

[0023] The newly set scanning starting point position is the scanning end point position set for the previous scanning, and the newly set scanning end point position is the scanning starting point position set for the next scanning.

[0024] When the smart terminal detects that the current object to be scanned has been scanned in the area at this angle, it issues a command to the drive system to operate, so that the scanner moves to the next position on the slide rail and continues the above scanning process for the object to be scanned. The smart terminal confirms that the scanning of the entire object to be scanned is completed after it detects that the scanning of the entire object to be scanned meets the requirements.

[0025] Preferably, the specific process of the intelligent terminal detecting the scanning result in real time includes:

[0026] The motion characteristics of the scanner and the rotating base are preset through the intelligent terminal, and a scanning task is set for each object to be scanned, so that the driving system drives the scanner and the rotating base to move according to the preset; the intelligent terminal receives the scanning results from the scanner in real time and detects whether they meet the preset scanning requirements;

[0027] When it is detected that the scanning result does not meet the requirements, the intelligent terminal sends instructions to adjust the motion characteristics of the drive system and the rotating base, so that the scanner and the rotating base automatically move until the scanning area of ​​the scanner covers the scanned missed area, and re-scans;

[0028] When it is detected that the scanning result meets the requirements, the scanning task is completed.

[0029] Preferably, the motion characteristics include: motion time, and / or motion number, and / or motion speed, and / or motion direction, and / or rotation speed, and / or rotation angle.

[0030] Preferably, one end at the higher position of the slide rail is the preset end point, which is provided with a blocking member and an end point detection device electrically connected to the driving system. When the scanner moves to the end point and contacts the blocking member, the end point detection device detects that the scanner reaches the end point, and sends a return instruction or a pause instruction to the driving system, so that the driving system adjusts the moving direction to make the scanner return or pause.

[0031] Second, the present invention also provides a full-automatic three-dimensional scanning device, which is applicable to any one of the above scanning methods, and specifically includes: a scanner, a rotating base, a scanning bracket, a driving system, and an intelligent terminal.

[0032] The intelligent terminal is communicatively connected to the driving system and the scanner, and is used to control the driving system and receive the scanning results from the scanner; the driving system is respectively connected to the scanner and the rotating base, and is used to drive the scanner and the rotating base to move.

[0033] The scanning bracket includes a slide rail extending in an arc shape, and the scanner is movably connected to the slide rail. The rotating base is used to place the item to be scanned, and the rotating base can adjust the size and position according to needs. Among them, the distance between the surface of the item to be scanned and the scanner is within the optimal scanning focal length. In practical applications, the scanner can usually adjust the focal length, but there is usually an optimal focal length range. In one embodiment, the optimal scanning distance of the scanner is 40 cm. During use, the position of the rotating base can be adjusted in real time to make the distance between the surface of the scanned item and the scanner consistent during the entire movement and scanning process.

[0034] The slide rail can be sequentially divided into a first area, a bending area, and a second area according to the change of the scanning direction of the scanner when the scanner moves from one end of the slide rail to the other end.

[0035] When the scanner is located in the first area, the scanning direction of the scanner is the preset first direction, which is perpendicular to the side surface of the item to be scanned; when the scanner is located in the second area, the scanning direction of the scanner is the preset second direction, which is perpendicular to the top surface of the item to be scanned; among them, the first direction and the second direction are perpendicular to each other.

[0036] The driving system includes a conveyor belt, a driving member, and a transmission member, and is used to drive the scanner to move along the slide rail; the conveyor belt is parallel to the slide rail; the scanner is fixedly connected to a point on the conveyor belt; there is one or more transmission members, which are arranged under the conveyor belt in the bending area, and are used to make the conveyor belt bend smoothly in the bending area.

[0037] Preferably, it further includes a movable table for placing and fixing the rotating base and the scanning bracket, and movable wheels are arranged under the movable table, which is convenient for the overall movement and handling of the full-automatic three-dimensional scanning device.

[0038] Beneficial effects: The present invention proposes a scanning method and a fully automatic three-dimensional scanning device, including a rotating base, a scanning support scanner and a driving system. By movably connecting the scanner to the slide rail in the scanning support, the scanner moves along the slide rail and scans the object, and the scanning range of the scanner can cover all surfaces of the object to be scanned except the side in contact with the rotating base during the movement of the scanner and the rotating base. The scanner is made to scan the object according to the preset trajectory, which improves the efficiency and accuracy of the scanning, reduces the labor cost of the scanning, and optimizes the scanning workflow. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 Schematic diagram of the steps of the scanning method of the present invention;

[0041] Figure 2 It is a schematic diagram of the three-dimensional structure of the fully automatic scanning device in the present invention;

[0042] Figure 3 It is a partial perspective three-dimensional structural schematic diagram of the fully automatic scanning device in the present invention;

[0043] Figure 4 It is a schematic diagram of the area division of the fully automatic scanning device in the present invention.

[0044] Figure numerals: 11-scanner; 12-connecting assembly; 21-scanning bracket; 22-slide rail; 23-driving system; 24-transmission member; 25-end point detection device; 26-blocking member; 31-rotating base; 32-object to be scanned; 41-movable table; 42-movable wheel; A-first direction; B-second direction; C-first area; D-second area; E-bending area. DETAILED DESCRIPTION

[0045] In the following, various embodiments of the present disclosure will be described more fully. The present disclosure may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present disclosure to the specific embodiments disclosed herein, but the present disclosure should be understood to cover all adjustments, equivalents and / or alternatives that fall within the spirit and scope of the various embodiments of the present disclosure.

[0046] The terms used in the various embodiments disclosed in the present invention are only used for the purpose of describing specific embodiments and are not intended to limit the various embodiments disclosed in the present invention. As used herein, the singular form is intended to also include the plural form, unless the context clearly indicates otherwise. Unless otherwise specified, all terms used herein (including technical terms and scientific terms) have the same meaning as the meanings commonly understood by ordinary technicians in the field of the various embodiments disclosed in the present invention. Terms (such as terms defined in generally used dictionaries) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning, unless clearly defined in the various embodiments disclosed in the present invention.

[0047] Example 1

[0048] Embodiment 1 of the present invention discloses a scanning method, which realizes scanning the object to be scanned in a fully automatic manner by movably mounting the scanner on a scanning support and cooperating with a rotating base to move the object to be scanned. The steps of this scanning method are shown in FIG. Figure 1 The scanning method is as follows:

[0049] 101. Preset the motion characteristics of the scanner 11 and the rotating base 31 through the intelligent terminal, so that the driving system 23 drives the scanner 11 and the rotating base 31 to move according to the preset characteristics;

[0050] 102. The scanner 11 transmits the scanning result to the smart terminal, and the smart terminal detects the scanning result in real time;

[0051] 103. When it is detected that the scanning result does not meet the requirements, the intelligent terminal sends an instruction to automatically adjust the motion characteristics of the driving system 23 and the rotating base 31, so that the scanner 11 and the rotating base 31 automatically move until the scanning area of ​​the scanner 11 covers the scanned missed area, and re-scans;

[0052] 104. When it is detected that the scanning result meets the requirements, the scanning is completed.

[0053] Preferably, the motion characteristics in step 101 include: the motion characteristics include: motion time, and / or motion times, and / or motion speed, and / or motion direction, and / or rotation speed, and / or rotation angle.

[0054] Preferably, the movement process in step 101 specifically includes: the slide rail 22 can be divided into a first area, a bending area, and a second area in sequence according to the change in the scanning direction of the scanner 11 when the scanner 11 moves from one end of the slide rail 22 to the other end, such as Figure 4 shown.

[0055] When the scanner 11 is located in the first area, the scanning direction of the scanner 11 is a preset first direction, which is parallel to the placement surface of the object 32 to be scanned;

[0056] When the scanner 11 is located in the second area, the scanning direction of the scanner 11 is a preset second direction, which is perpendicular to the placement surface of the object 32 to be scanned;

[0057] When the scanner 11 is in the bending area, the scanning direction of the scanner 11 is a direction included in the angle between the first direction and the second direction, and is used to scan the three-dimensional details of the object 31 to be scanned;

[0058] The first direction and the second direction are perpendicular to each other.

[0059] Preferably, in step 101, the lowest position of the scanning range of the scanner 11 is not higher than the placement surface of the object 32 to be scanned; the slide rail 22 is divided into multiple areas in sequence according to the change of the scanning direction of the scanner 11 when the scanner 11 moves from one end of the slide rail 22 to the other end.

[0060] Specifically, the scanner 11 is driven by the driving system 23 to move in multiple areas between the two ends of the slide rail 22, and scans the object 32 to be scanned at different angles in the first area, the bending area, and the second area. During the scanning process, the scanning area of ​​the scanner 11 can cover all surfaces of the object to be scanned except the side in contact with the rotating base 31 during the movement of the scanner 11 and / or the rotating base 31.

[0061] Preferably, the motion process in step 101 is specifically implemented as follows: the drive system 23 includes a conveyor belt 25, a drive member and a transmission member 24. The scanner 11 also includes a connecting component 12. The conveyor belt 25 is parallel to the slide rail 22. The connecting component 12 is also fixedly connected to a point on the conveyor belt 25.

[0062] In one embodiment, the connecting component 12 also includes a pulley, a portion of the connecting component 12 is movably connected to the slide rail 22 through the pulley, and a portion is also connected to a point on the conveyor belt 25. As the driving system drives the conveyor belt 25 to move, the point on the conveyor belt 25 drives the connecting component 12 to move, and further drives the scanner 11 to move on the slide rail 22 through the pulley, thereby realizing a smooth movement process.

[0063] Specifically, in step 102, the intelligent terminal is connected to the drive system and the scanner 11 through communication, and is used to control the drive system 23 and receive the scanning result from the scanner 11. The drive system is connected to the scanner 11 and the rotating base 31 respectively, and is used to drive the scanner 11 and the rotating base 31 to move.

[0064] Preferably, there is one or more transmission members 24, which are arranged below the conveyor belt 25 in the bending area, so as to make the conveyor belt 25 bend smoothly in the bending area. In practical applications, the transmission member 24 can be a toothed driven wheel, which can generate greater friction with the conveyor belt 25. In one embodiment, a total of 19 toothed driven wheels are arranged below the conveyor belt 25 in the bending area, so that the conveying process of the conveyor belt 25 is smoother.

[0065] The driving member 23 includes a first driving member and a second driving member. The first driving member drives the conveyor belt 25 to drive the scanner 11 to move; the second driving member is used to drive the rotating base 31 to move.

[0066] Preferably, the rotating base 31 is communicatively connected to the smart terminal, can be changed to different sizes according to the size of the object 32 to be scanned, and can be moved in real time according to the instructions issued by the smart terminal, so that the distance between the surface of the object 32 to be scanned and the scanner 11 remains consistent during the movement and is within the optimal scanning focal length.

[0067] Preferably, in steps 102 to 104, the specific process of the intelligent terminal detecting the scanning result in real time includes:

[0068] When the scanner 11 is fixed at a certain area for scanning, the projection of the current scanning area of ​​the scanner 11 on the object to be scanned 32 is set to obtain the scanning start position and the scanning end position. After the intelligent terminal obtains the scanning result of the current scanning area, it performs a detection. When it is detected that the scanning result of the area meets the requirements, the driving system 23 drives the rotating base 31 to move, so that the next area adjacent to the object to be scanned 32 that has not been scanned enters the current scanning area, and the scanning start position and the scanning end position are set again.

[0069] The newly set scanning starting point position is the scanning end point position set for the previous scanning, and the newly set scanning end point position is the scanning starting point position set for the next scanning.

[0070] When the smart terminal detects that the current object to be scanned has been fully scanned in the area at this angle, it issues a command to the drive system 23 to operate, so that the scanner 11 moves to the next position on the slide rail and continues the aforementioned scanning process on the object to be scanned 32. The smart terminal confirms that the scanning of the entire object to be scanned 32 is completed after it detects that the scanning of the entire object to be scanned 32 meets the requirements.

[0071] Specific requirements for intelligent terminal detection include but are not limited to: scan result integrity, scan result splicing integrity, scan result clarity, etc.

[0072] This specific process describes the situation that the scanning support 21 is kept stationary, the scanner 11 moves in the slide rail 22 of the scanning support, and the rotating base 31 rotates and / or moves as required to adapt to the scanning range of the scanner 11. In practical applications, as long as the purpose of scanning the object 32 to be scanned can be achieved, the object 32 to be scanned can also be scanned in a manner that the rotating base 31 is kept stationary, the scanner 11 moves in the slide rail 22 of the scanning support 21, and the scanning support 21 moves with the object 32 to be scanned as the center of the circle.

[0073] Preferably, the higher end of the slide rail 22 is a preset end point, and is provided with a blocking member 27 and an end point detection device 26 electrically connected to the drive system 23. When the scanner 11 moves to the end point and contacts the blocking member 27, the end point detection device 26 detects that the scanner 11 has reached the end point, and sends a return command or a pause command to the drive system 23, so that the drive system 23 adjusts the movement direction to make the scanner 11 turn back or pause.

[0074] This embodiment provides a scanning method, which enables the scanner to move according to a preset motion feature and trajectory and scan an object by movably connecting the scanner to the slide rail in the scanning support. The scanning range of the scanner can cover all surfaces of the object to be scanned except the side in contact with the rotating base during the movement of the scanner and the rotating base. The three-dimensional scanning process is fully automated, the scanning efficiency and accuracy are improved, the labor cost of scanning is reduced, and the scanning workflow is optimized.

[0075] Example 2

[0076] The embodiment of the present invention discloses a fully automatic three-dimensional scanning device, which is applicable to any scanning method in embodiment 1. The structure of the scanning device is shown in FIG. Figures 2 to 4 Specifically including:

[0077] Scanner 11, scanning support 21, rotating base 31, driving system 23 and intelligent terminal.

[0078] The intelligent terminal is communicatively connected to the drive system 23 and the scanner 11, and is used to control the drive system 23 and receive the scanning result from the scanner 11; the drive system 23 is respectively connected to the scanner 11 and the rotating base 31, and is used to drive the scanner 11 and the rotating base 31 to move.

[0079] The scanning support 21 includes an arc-shaped extending slide rail 22, and the scanner 11 is movably connected to the slide rail 22. The rotating base 31 is used to place the object 32 to be scanned, and the rotating base 31 can adjust the size and position as needed. Among them, the distance between the surface of the object 32 to be scanned and the scanner 11 is within the optimal scanning focal length. In practical applications, the scanner 11 can usually adjust the focal length, but there is usually an optimal focal length range. In one embodiment, the optimal scanning distance of the scanner 11 is 40 cm. During use, the position of the rotating base 31 can be adjusted in real time to make the distance between the surface of the object 32 to be scanned and the scanner 11 consistent throughout the movement and scanning process. In one embodiment, a track extending in multiple directions is also provided under the rotating base 31, which is used to adjust the distance of the rotating base 31 relative to the scanning support 21.

[0080] Preferably, the slide rail 22 can be divided into a first area, a bending area and a second area in sequence according to the change in the scanning direction of the scanner 11 when the scanner 11 moves from one end of the slide rail 11 to the other end.

[0081] Preferably, the driving system 23 includes a conveyor belt 25, a driving member and a transmission member 24, which are used to drive the scanner 11 to move along the slide rail 22; the conveyor belt 25 is parallel to the slide rail 22. The scanner 11 also includes a connecting component 12. The scanner 11 is also fixedly connected to a point on the conveyor belt 25 through the connecting component 12. When the conveyor belt moves, the point moves, driving the connecting component 12 to move, and further driving the scanner 11 to move on the slide rail 22.

[0082] There is one or more transmission members 24, which are arranged below the conveyor belt 25 in the bending area, and are used to make the conveyor belt 25 bend smoothly in the bending area.

[0083] Preferably, it also includes a movable platform 41 for placing and fixing the rotating base 31 and the scanning bracket 21, and movable wheels 42 are arranged under the movable platform 41 to facilitate the overall movement and transportation of the fully automatic three-dimensional scanning device.

[0084] In practical applications, in order to scan large quantities of products, the fully automatic three-dimensional scanning device provided in this embodiment can also be integrated into the product assembly line, and the products are continuously transferred to the rotating base 31 for rotation, so that the scanner 11 can scan the products at a preset fixed time and fixed trajectory.

[0085] The present invention provides a fully automatic three-dimensional scanning device, in which a scanner is movably connected to a slide rail in a scanning support, and a rotating base is provided to enable the object to be scanned to rotate, so that the scanning range of the scanner can cover all surfaces of the object to be scanned except the side in contact with the rotating base during the movement of the scanner and the rotating base. The scanner can move according to the preset motion characteristics and trajectory and scan the object, thereby improving the efficiency and accuracy of scanning, reducing the labor cost of scanning, optimizing the scanning workflow, and making the three-dimensional scanning work fully automatic.

[0086] Those skilled in the art will appreciate that the accompanying drawings are only schematic diagrams of a preferred implementation scenario, and the modules or processes in the accompanying drawings are not necessarily necessary for the implementation of the present invention. Those skilled in the art will appreciate that the modules in the devices in the implementation scenario can be distributed in the devices of the implementation scenario according to the description of the implementation scenario, or can be changed accordingly and located in one or more devices different from the present implementation scenario. The modules of the above-mentioned implementation scenarios can be combined into one module, or can be further divided into multiple sub-modules. The above-mentioned serial numbers of the present invention are only for description and do not represent the advantages and disadvantages of the implementation scenarios. Disclosed above are only a few specific implementation scenarios of the present invention, but the present invention is not limited thereto, and any changes that can be thought of by those skilled in the art should fall within the scope of protection of the present invention.

Claims

1. A scanning method, It is characterized in that The method includes: The scanner is movably connected to a slide rail extending in an arc shape in the scanning support; Placing the object to be scanned on the rotating base, so that the rotating base drives the object to be scanned to move under the drive of the driving system, and there is relative rotation between the object to be scanned and the scanning bracket; Dividing the slide rail into a plurality of areas in sequence according to a change in the scanning direction of the scanner when the scanner moves from one end of the slide rail to the other end; The scanner is driven by the driving system to move in a plurality of areas between the two ends of the slide rail, and scans the object to be scanned in different areas respectively; During the scanning process, the scanning area of ​​the scanner may cover all surfaces of the object to be scanned except for the side in contact with the rotating base during the movement of the scanner and / or the movement of the rotating base; The scanner is connected to the smart terminal for communication and transmits the scanning result to the smart terminal. The smart terminal detects the scanning result in real time. When the scanning result does not meet the requirements, the missing area is rescanned; when the scanning result meets the requirements, the scanning is completed.

2. A scanning method according to claim 1, It is characterized in that The slide rail can be divided into a first area, a bending area, and a second area in sequence according to the change of the scanning direction of the scanner when the scanner moves from one end of the slide rail to the other end; When the scanner is located in the first area, the scanning direction of the scanner is a preset first direction, which is parallel to the placement surface of the object to be scanned; When the scanner is located in the second area, the scanning direction of the scanner is a preset second direction, which is perpendicular to the placement surface of the object to be scanned; The first direction and the second direction are perpendicular to each other; When the scanner is in the bending area, the scanning direction of the scanner is a direction included in the angle between the first direction and the second direction, and is used to scan the three-dimensional details of the object to be scanned.

3. A scanning method according to claim 2, It is characterized in that The driving system includes a conveyor belt, a driving member and a transmission member, and the scanner also includes a connecting component; The conveyor belt is parallel to the slide rail; the scanner is also connected to a point on the conveyor belt through the connecting component, and when the conveyor belt moves, the point drives the connecting component to move, and further drives the scanner to move on the slide rail; There is one or more transmission members, which are arranged below the conveyor belt in the bending area and are used to make the conveyor belt bend smoothly in the bending area; The driving member includes a first driving member and a second driving member, and the first driving member drives the conveyor belt to move; The second driving member is used to drive the rotating base to move.

4. A scanning method according to claim 1, It is characterized in that The rotating base can be changed to different sizes according to the size of the object to be scanned, and is driven by the driving system to move in real time, so that the distance between the surface of the object to be scanned and the scanner remains consistent during the movement and is within the optimal scanning focal length.

5. A scanning method according to claim 1, It is characterized in that The specific process of the intelligent terminal detecting the scanning result in real time includes: When the scanner is fixed at a certain area for scanning, the projection of the current scanning area of ​​the scanner on the object to be scanned is set to obtain the scanning start point position and the scanning end point position; After the intelligent terminal obtains the scanning result of the current scanning area, the scanning result of the area is detected. After detecting that the scanning result of the area meets the requirements, the driving system drives the rotating base to move, so that the next area adjacent to the object to be scanned and not scanned enters the current scanning area, and the scanning starting position and the scanning end position are set again; The newly set scanning starting point position is the scanning end point position set for the previous scanning, and the newly set scanning end point position is the scanning starting point position set for the next scanning.

6. A scanning method according to claim 1, It is characterized in that The specific process of the intelligent terminal detecting the scanning result in real time includes: The smart terminal is connected to the drive system by communication; the motion characteristics of the scanner and the rotating base are preset through the smart terminal, and a scanning task is set for each object to be scanned, so that the drive system drives the scanner and the rotating base to move according to the preset; the smart terminal receives the scanning result from the scanner in real time and detects whether it meets the preset scanning requirements; When it is detected that the scanning result does not meet the requirements, the intelligent terminal sends an instruction to adjust the motion characteristics of the drive system and the rotating base, so that the scanner and the rotating base automatically move until the scanning area of ​​the scanner covers the scanned missed area, and re-scans; When it is detected that the scanning result meets the requirements, the scanning task is completed.

7. A scanning method according to claim 6, It is characterized in that The motion characteristics include: motion time, and / or motion times, and / or motion speed, and / or motion direction, and / or rotation speed, and / or rotation angle.

8. A scanning method according to claim 1, It is characterized in that The higher end of the slide rail is a preset end point, and is provided with a blocking member and an end point detection device electrically connected to the drive system; When the scanner moves to the end point and contacts the blocking member, the end point detection device detects that the scanner has reached the end point and sends a turnaround command or a pause command to the drive system, causing the drive system to adjust the direction of movement to cause the scanner to turn around or pause.

9. A fully automatic three-dimensional scanning device, applicable to any scanning method in claims 1-8, It is characterized in that include: Scanner, rotating base, scanning bracket, drive system and intelligent terminal, The intelligent terminal is communicatively connected to the drive system and the scanner, and is used to control the drive system and receive the scanning result from the scanner; the drive system is respectively connected to the scanner and the rotating base, and is used to drive the scanner and the rotating base to move; The scanning support comprises an arc-shaped extending slide rail, and the scanner is movably connected to the slide rail; The rotating base is used to place the object to be scanned, wherein the distance between the surface of the object to be scanned and the scanner is within the optimal scanning focal length; The slide rail can be divided into a first area, a bending area, and a second area in sequence according to the change of the scanning direction of the scanner when the scanner moves from one end of the slide rail to the other end; The driving system includes a conveyor belt, a driving member and a transmission member, which are used to drive the scanner to move along the slide rail; the conveyor belt and the slide rail are parallel; the scanner is fixedly connected to a point on the conveyor belt; there is one or more transmission members, which are arranged under the conveyor belt in the bending area, and are used to make the conveyor belt bend smoothly in the bending area.

10. A fully automatic three-dimensional scanning device according to claim 9, It is characterized in that It also includes a movable table for placing and fixing the rotating base and the scanning support; Movable wheels are arranged under the movable platform to facilitate the overall movement and transportation of the fully automatic three-dimensional scanning device.

Images