Three-dimensional scanning path planning method and three-dimensional scanning method

Abstract

The invention relates to a three-dimensional scanning path planning method and a three-dimensional scanning method.The three-dimensional scanning path planning method comprises the steps that an initial workpiece model of a workpiece to be detected is obtained; determining a plurality of scanning areas corresponding to the initial workpiece model according to the first view field information of the scanning equipment and the second view field information of the tracking equipment; and performing scanning path planning on each scanning area to obtain a target scanning path of the to-be-detected workpiece. According to the method and the device, the problem of low three-dimensional scanning efficiency is solved, the scanning path is automatically planned, and the three-dimensional scanning efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of three-dimensional scanning technology, and in particular to a three-dimensional scanning path planning method and a three-dimensional scanning method. Background Art

[0002] When the scanning area of ​​the workpiece to be measured is large or the structure is delicate and complex, such as engine parts, precision molds, etc., tracking scanning technology is often used to perform three-dimensional scanning on the surface of the object to be measured. In the existing scanning method, for different workpieces to be measured, the scanning path needs to be manually planned in advance, resulting in low efficiency of three-dimensional scanning.

[0003] With regard to the problem of low efficiency of three-dimensional scanning in related technologies, no effective solution has been proposed so far. Summary of the invention

[0004] In this embodiment, a three-dimensional scanning path planning method and a three-dimensional scanning method are provided to solve the problem of low three-dimensional scanning efficiency in related technologies.

[0005] In a first aspect, a three-dimensional scanning path planning method is provided in this embodiment, which is applicable to a three-dimensional scanning system; the system includes a scanning device and a tracking device; the method includes:

[0006] Obtaining an initial workpiece model of the workpiece to be tested;

[0007] Determining a plurality of scanning areas corresponding to the initial workpiece model according to the first field of view information of the scanning device and the second field of view information of the tracking device;

[0008] Scanning paths are planned for each of the scanning areas to obtain a target scanning path for the workpiece to be measured.

[0009] In some embodiments, the step of obtaining an initial workpiece model of the workpiece to be measured includes:

[0010] Acquire initial workpiece information of the workpiece to be measured; the initial workpiece information is one or more combinations of a pre-scan model, three-dimensional data and geometric features of the workpiece to be measured;

[0011] Based on the initial workpiece information, the workpiece to be measured is aligned with a preset object model of the workpiece to be measured to obtain an initial workpiece model of the workpiece to be measured.

[0012] In some embodiments, the scanning path planning is performed on each scanning area to obtain a target scanning path of the workpiece to be measured, including:

[0013] Dividing different scanning areas into multiple groups;

[0014] Determine a first scanning path corresponding to each of the scanning areas in each group;

[0015] Based on each of the first scanning paths, the target scanning path of the workpiece to be measured is generated.

[0016] In some embodiments, dividing the different scanning areas into a plurality of groups comprises:

[0017] Determining feature information of each curved surface on the initial workpiece model; the feature information includes the curvature of each curved surface and connectivity between the curved surfaces;

[0018] The scanning areas are grouped based on the feature information of the curved surfaces.

[0019] In some embodiments, determining a first scanning path corresponding to each scanning area in each group includes:

[0020] Merging the scanned areas in each group to obtain a corresponding target surface;

[0021] Perform parameter space sampling on the target surface to obtain a plurality of sampling points on the target surface;

[0022] Determine a plurality of target scanning viewpoints on the target surface based on the sampling points and parameter information of the scanning device;

[0023] Based on each of the target scanning viewpoints and the parameter direction of the target curved surface, the corresponding first scanning path is generated.

[0024] In some of the embodiments, determining a plurality of target scanning viewpoints on the target surface based on the sampling points and parameter information of the scanning device includes:

[0025] Pre-scanning the workpiece to be measured by the tracking device to obtain a working environment model of the workpiece to be measured;

[0026] Dividing the working environment model into a plurality of first areas;

[0027] Determine a plurality of first scanning viewpoints on the target surface based on the sampling points and parameter information of the scanning device;

[0028] The first scanning viewpoints that are not blocked by the first regions are used as the target scanning viewpoints.

[0029] In some of the embodiments, after determining the first scanning path corresponding to each scanning area in each group, the method further includes:

[0030] Determine the first and last scanning viewpoints in each of the first scanning paths;

[0031] Path planning between different groups is performed based on the first and last scanning viewpoints of each group to obtain multiple transfer positions of the tracking device.

[0032] In some embodiments, after obtaining the initial workpiece model of the workpiece to be measured, the method further includes:

[0033] Generate a directional bounding box corresponding to the initial workpiece model;

[0034] Based on the depth of field information of the scanning device and the field of view of the tracking device, the direction bounding box is subdivided to obtain a plurality of sub-direction bounding boxes;

[0035] Path planning is performed on each of the sub-direction bounding boxes to obtain a target scanning path for the workpiece to be measured.

[0036] In a second aspect, a three-dimensional scanning method is provided in this embodiment, and the method includes:

[0037] Determine the target scanning path of the workpiece to be measured according to the three-dimensional scanning path planning method described in the first aspect above;

[0038] The workpiece to be measured is scanned in three dimensions based on the target scanning path.

[0039] In some embodiments, the three-dimensional scanning of the workpiece to be measured based on the target scanning path includes:

[0040] Based on the target scanning path, performing three-dimensional scanning on each scanning area on the workpiece to be measured;

[0041] When the scanning of each scanning area is completed, the tracking device is controlled to move according to the transfer station position indicated by the target scanning path.

[0042] In some embodiments, the workpiece to be measured is disposed on a posture control device; and the three-dimensional scanning of the workpiece to be measured based on the target scanning path includes:

[0043] Based on the target scanning path, performing three-dimensional scanning on each scanning area on the workpiece to be measured;

[0044] Wherein, when the scanning of each scanning area is completed, the position and posture control device is controlled to drive the workpiece to be measured to move according to the transfer station position indicated by the target scanning path.

[0045] In a third aspect, a three-dimensional scanning path planning device is provided in this embodiment, which is applicable to a three-dimensional scanning system; the system includes a scanning device and a tracking device; the device includes:

[0046] An acquisition module, used for acquiring an initial workpiece model of the workpiece to be tested;

[0047] A division module, used for determining a plurality of scanning areas corresponding to the initial workpiece model according to the first field of view information of the scanning device and the second field of view information of the tracking device;

[0048] The planning module is used to plan the scanning path for each of the scanning areas to obtain the target scanning path of the workpiece to be measured.

[0049] In a fourth aspect, a three-dimensional scanning system is provided in this embodiment, the system comprising a scanning device, a tracking device and a processing device;

[0050] The processing device is connected to the scanning device and the tracking device respectively, and is used to execute the three-dimensional scanning path planning method described in the first aspect above, or the three-dimensional scanning method described in the second aspect above.

[0051] In a fifth aspect, in this embodiment, a storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the three-dimensional scanning path planning method described in the first aspect above, or the three-dimensional scanning method described in the second aspect above is implemented.

[0052] Compared with the related art, the 3D scanning path planning method and the 3D scanning method provided in the present embodiment obtain an initial workpiece model of the workpiece to be measured; determine multiple scanning areas corresponding to the initial workpiece model according to the first field of view information of the scanning device and the second field of view information of the tracking device; perform scanning path planning on each scanning area to obtain the target scanning path of the workpiece to be measured, thereby solving the problem of low 3D scanning efficiency, realizing automatic planning of the scanning path, and improving the 3D scanning efficiency.

[0053] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0055] Figure 1 It is a hardware structure block diagram of a terminal device of a three-dimensional scanning path planning method provided in an embodiment of the present application;

[0056] Figure 2 is a flow chart of a three-dimensional scanning path planning method provided by an embodiment of the present application;

[0057] Figure 3 is a flow chart of a three-dimensional scanning method provided by an embodiment of the present application;

[0058] Figure 4 is a flow chart of a three-dimensional scanning path planning method provided by a preferred embodiment of the present application;

[0059] Figure 5 is a structural block diagram of a three-dimensional scanning path planning device provided in an embodiment of the present application;

[0060] Figure 6 It is a structural block diagram of a three-dimensional scanning device provided in one embodiment of the present application.

[0061] In the figure: 102, processor; 104, memory; 106, transmission device; 108, input and output device; 10, acquisition module; 20, division module; 30, planning module; 40, determination module; 50, scanning module. DETAILED DESCRIPTION

[0062] In order to more clearly understand the purpose, technical solutions and advantages of the present application, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0063] Unless otherwise defined, the technical terms or scientific terms involved in this application shall have the general meaning understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the", "these" and the like in this application do not represent quantitative restrictions, and they can be singular or plural. The terms "include", "comprise", "have" and any variants thereof involved in this application are intended to cover non-exclusive inclusions; for example, a process, method and system, product or device comprising a series of steps or modules (units) is not limited to the listed steps or modules (units), but may include unlisted steps or modules (units), or may include other steps or modules (units) inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether directly or indirectly. The "multiple" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone. Usually, the character " / " indicates that the objects associated with each other are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0064] The method embodiment provided in this embodiment can be executed in a terminal, a computer or a similar computing device. For example, running on a terminal, Figure 1 3D scanning path planning method of the present embodiment of the terminal hardware structure block diagram. Figure 1 As shown, the terminal may include one or more ( Figure 1 Only one is shown in the figure) processor 102 and memory 104 for storing data, wherein processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA. The above terminal may also include a transmission device 106 and an input and output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0065] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the three-dimensional scanning path planning method in this embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0066] The transmission device 106 is used to receive or send data via a network. The above network includes a wireless network provided by the communication provider of the terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet wirelessly.

[0067] In this embodiment, a three-dimensional scanning path planning method is provided. Figure 2 is a flow chart of the three-dimensional scanning path planning method of this embodiment. Figure 2 As shown, the process includes the following steps:

[0068] Step S210, obtaining an initial workpiece model of the workpiece to be tested;

[0069] Step S220, determining a plurality of scanning areas corresponding to the initial workpiece model according to the first field of view information of the scanning device and the second field of view information of the tracking device;

[0070] Step S230 , performing scanning path planning for each scanning area to obtain a target scanning path for the workpiece to be measured.

[0071] Specifically, this embodiment is applicable to a three-dimensional scanning system, which includes a scanning device and a tracking device. The initial workpiece information of the workpiece to be measured is obtained in advance, and the initial workpiece information is a pre-scan model, three-dimensional data and geometric features of the workpiece to be measured, and based on the initial workpiece information, the workpiece to be measured is aligned with the preset object model of the workpiece to be measured to obtain the initial workpiece model of the workpiece to be measured. Among them, the geometric features are the plane, sphere, circle, groove and other features of the workpiece to be measured obtained by fitting based on the three-dimensional data, or by hard measurement, the plane, sphere, circle, groove and other features of the workpiece to be measured are obtained by probe or probe.

[0072] Taking the pre-scan model as an example, the workpiece to be measured is pre-scanned by a tracking device to obtain a pre-scan model of the workpiece to be measured, and the pre-scan model includes a partial structure or the entire structure of the workpiece to be measured. The pre-scan model is aligned with the preset object model of the workpiece to be measured to obtain an initial workpiece model of the workpiece to be measured. Among them, the preset object model is usually a computer-aided design (CAD) model preset based on the workpiece to be measured, and the model alignment method includes but is not limited to best fit alignment, reference point system (Reference Point System, RPS) alignment, feature alignment, N-point alignment or a combination of multiple alignment methods. The relative relationship between the models is unified through alignment, and the CAD model of the complete workpiece is obtained.

[0073] After that, the first field of view information of the scanning device and the second field of view information of the tracking device are obtained. The first field of view information is the spatial range in which the scanning device can effectively obtain data, usually expressed in angle or distance, and the second field of view information is the spatial range in which the tracking device can monitor and track the scanning device or the marked points on the scanned object in real time. According to the first field of view information of the scanning device and the second field of view information of the tracking device, the initial workpiece model is divided into regions to obtain corresponding multiple scanning regions to ensure that each scanning region can be accurately scanned and the scanning data can be effectively spliced ​​with the support of the tracking device.

[0074] Next, different scanning areas are divided into multiple groups according to the connectivity and positional relationship between the scanning areas, or the scanning areas are grouped according to the feature information of each surface on the initial workpiece model. Taking grouping based on surface feature information as an example, the feature information of each surface on the initial workpiece model is obtained, and the feature information includes but is not limited to the curvature of each surface and the connectivity between each surface. The scanning areas are grouped based on the feature information of each surface, and the scanning areas in each group are merged to obtain the corresponding target surface. After that, parameter space sampling is performed on each target surface to obtain multiple sampling points on the target surface. Based on the parameter information of each sampling point and the scanning device, multiple target scanning viewpoints on the target surface are determined. The parameter information of the scanning device includes but is not limited to the depth of field information of the scanning device, the camera baseline, the camera field of view, the number of laser lines, and the type of laser lines (such as parallel or cross). Based on the parameter direction of each target scanning viewpoint and the target surface, a corresponding first scanning path is generated, and the first scanning path is a scanning path within the corresponding target surface.

[0075] Furthermore, the first and last scanning viewpoints of different first scanning paths are connected in sequence to form a coherent scanning path to obtain the target scanning path of the workpiece to be measured, or a path optimization algorithm is used to plan the scanning path between different target surfaces, and the first scanning path within each target surface is combined to generate the target scanning path of the workpiece to be measured.

[0076] Exemplarily, while retaining the first scanning path in each target surface, a greedy algorithm is used to plan the scanning paths between different target surfaces based on the first and last scanning viewpoints in each target surface. Among them, a group of first scanning paths are pre-selected as the starting path. The starting path can be randomly selected, or the path that is easiest to reach or closest to the initial position of the scanning device can be selected. Based on the tail viewpoint of the starting path, the nearest starting point of other paths is found. If the nearest point found is the tail viewpoint of other paths, the currently found path is reversed to ensure that each path is connected to form a coherent scanning path. After the connection is completed, the next nearest path starting point is found based on the tail viewpoint of the newly connected path each time until all paths are completely planned, and the scanning paths between different target surfaces are obtained, and then the target scanning path of the workpiece to be measured is generated by combining the first scanning path in each target surface. In this embodiment, a path optimization algorithm such as a dynamic programming algorithm, a genetic algorithm, a simulated annealing algorithm, an ant colony algorithm, etc. can also be used to plan the scanning path between different target surfaces, which is not limited here.

[0077] It should be noted that after determining the target scanning viewpoints on each target surface, the target scanning path can be obtained by using a greedy algorithm, a dynamic programming algorithm, a genetic algorithm, a simulated annealing algorithm, an ant colony algorithm, or other path optimization algorithms based on all target scanning viewpoints of the workpiece model, thereby comprehensively considering more scanning viewpoints in the path planning and obtaining a better scanning path. In particular, in order to give priority to the scanning path within each target surface, a higher weight can be set for the scanning path within the target surface.

[0078] When the scanning area of ​​the workpiece to be measured is large or the structure is delicate and complex, such as engine parts, precision molds, etc., tracking scanning technology is often used to perform three-dimensional scanning on the surface of the object to be measured. In the existing scanning method, for different workpieces to be measured, the scanning path needs to be manually planned in advance, resulting in low efficiency of three-dimensional scanning.

[0079] Compared with the prior art, the present application obtains the initial workpiece model of the workpiece to be measured; determines multiple scanning areas corresponding to the initial workpiece model according to the first field of view information of the scanning device and the second field of view information of the tracking device; and plans the scanning path for each scanning area to obtain the target scanning path of the workpiece to be measured. Based on this, by dividing the initial workpiece model of the workpiece to be measured into multiple scanning areas and planning the scanning path for each scanning area, the problem of low efficiency of three-dimensional scanning is solved, and automatic planning of the scanning path is realized to guide the scanner to perform comprehensive and rapid scanning, thereby improving the efficiency of three-dimensional scanning.

[0080] In some embodiments, obtaining the initial workpiece model of the workpiece to be measured in step S210 includes the following steps:

[0081] Step S211, obtaining initial workpiece information of the workpiece to be measured; the initial workpiece information is one or more combinations of a pre-scan model, three-dimensional data and geometric features of the workpiece to be measured;

[0082] Step S212: based on the initial workpiece information, align the workpiece to be measured with a preset object model of the workpiece to be measured to obtain an initial workpiece model of the workpiece to be measured.

[0083] In this embodiment, the initial workpiece information of the workpiece to be measured is obtained in advance, and the initial workpiece information is the pre-scan model, three-dimensional data and geometric features of the workpiece to be measured. The geometric features are the plane, sphere, circle, groove and other features of the workpiece to be measured obtained by fitting based on the three-dimensional data, or by hard measurement, through the use of a probe or a probe to detect the plane, sphere, circle, groove and other features of the workpiece to be measured.

[0084] Afterwards, based on the initial workpiece information, the workpiece to be measured is aligned to the corresponding preset object model to obtain the initial workpiece model of the workpiece to be measured. The preset object model is usually a CAD model preset based on the workpiece to be measured. The model alignment method includes but is not limited to best fit alignment, RPS alignment, feature alignment, N-point alignment or a combination of multiple alignment methods. The relative relationship between the models is unified through alignment, and the CAD model of the complete workpiece, that is, the initial workpiece model, is obtained.

[0085] Exemplarily, when the initial workpiece model of the workpiece to be measured is obtained based on the geometric features obtained by the probe or probe detection, the model is aligned using an appropriate alignment method according to the different categories of the workpiece to be measured. If there is a reference plane in the workpiece to be measured, feature alignment (such as using three vertical planes as reference references) can be used, or PLP alignment of surface line points constructed based on three planes can be used, and the 3-2-1 principle is used in the alignment operation to control the six degrees of freedom of rotation and translation. Specifically, three mutually perpendicular standard value reference planes are pre-created on the CAD, and the priority of each reference plane is determined. The priority is from high to low, namely the first, second, and third features. The probe is used to detect the workpiece to be measured in turn to obtain the measurement values ​​of the three reference planes, and then the workpiece to be measured is aligned to the CAD model to achieve the unification of the tracking head and the CAD coordinate system.

[0086] If the number of reference surfaces of the workpiece to be measured is insufficient, RPS alignment can be used. For example, if the workpiece to be measured is a sheet metal part, sheet metal parts usually do not have three vertical reference surfaces, and it is easy to have poor narrow edge control accuracy and inaccurate alignment. In the alignment operation, the 3-2-1 principle is used for rigid objects. Three reference points are set on the largest surface of the rigid object, two reference points are set on the second largest surface, and one reference point is set on the smallest surface. The positioning points can be faces, holes, edges or pins. Holes and pins can define two degrees of freedom, and faces can define one degree of freedom. For non-rigid objects, the N-2-1 principle can be used to ensure the effective positioning of parts. Specifically, the features required for RPS alignment (such as surface points, circles, grooves, rectangles, polygons, etc.) are created in advance on CAD with standard values. The probe is used to detect the measured values ​​of each feature in the object to be measured in turn, and then RPS alignment is performed according to the direction of each feature constraint to align the workpiece to the CAD model. It should be noted that RPS alignment is also applicable to the case where there is a reference surface on the workpiece to be measured. RPS alignment pays more attention to the error in the specified direction. There is no priority between features, while feature alignment gives priority to features with high priority, and the error increases from high to low according to the priority.

[0087] In addition, if the pre-scan model of the workpiece to be measured is used as the initial workpiece information, the workpiece to be measured is pre-scanned by a tracking device to obtain the pre-scan model of the workpiece to be measured, and the pre-scan model is aligned with the preset object model of the workpiece to be measured to obtain the initial workpiece model of the workpiece to be measured.

[0088] Through this embodiment, the workpiece to be measured is pre-scanned by the tracking device to obtain a pre-scan model of the workpiece to be measured, and the pre-scan model is aligned with the preset object model of the workpiece to be measured to obtain an initial workpiece model of the workpiece to be measured, thereby obtaining a complete model of the workpiece to be measured, which is convenient for subsequent path planning.

[0089] In some embodiments, the step S230 of performing scanning path planning for each scanning area to obtain a target scanning path of the workpiece to be measured includes the following steps:

[0090] Step S231, dividing different scanning areas into multiple groups;

[0091] Step S232, determining a first scanning path corresponding to each scanning area in each group;

[0092] Step S233: generating a target scanning path of the workpiece to be measured based on each first scanning path.

[0093] Specifically, different scanning areas are divided into multiple groups. For example, different scanning areas are divided into multiple groups according to the connectivity and position relationship between the scanning areas, or the scanning areas are grouped according to the feature information of each curved surface on the initial workpiece model.

[0094] Afterwards, each scanning area in each group is merged to obtain a corresponding target surface, and parameter space sampling is performed on each target surface to obtain multiple sampling points on the target surface. Based on each sampling point and parameter information of the scanning device, multiple target scanning viewpoints on the target surface are determined. The parameter information of the scanning device includes but is not limited to the depth of field information of the scanning device, the camera baseline, the camera field of view, the number of laser lines, and the type of laser lines (such as parallel or cross). Based on each target scanning viewpoint and the parameter direction of the target surface, a corresponding first scanning path is generated, and the first scanning path is a scanning path within the corresponding target surface.

[0095] Furthermore, the first and last scanning viewpoints of different first scanning paths are sequentially connected to form a coherent scanning path to obtain the target scanning path of the workpiece to be tested, or a path optimization algorithm is used to plan the scanning path between different target surfaces, and the first scanning path within each target surface is combined to generate the target scanning path of the workpiece to be tested. Among them, the greedy algorithm, dynamic programming algorithm, genetic algorithm, simulated annealing algorithm, ant colony algorithm and other related algorithms can be used to plan the scanning path between different target surfaces.

[0096] Taking the greedy algorithm as an example, a set of first scanning paths are pre-selected as the starting path. The starting path can be randomly selected or the path that is easiest to reach or closest to the initial position of the scanning device can be selected. Based on the tail viewpoint of the starting path, the nearest starting point of other paths is found. If the nearest point found is the tail viewpoint of other paths, the currently found path is reversed to ensure that each path is connected to form a coherent scanning path. After the connection is completed, the next nearest path starting point is found based on the tail viewpoint of the newly connected path each time until all paths are fully planned, and the scanning paths between different target surfaces are obtained, and then the target scanning path of the workpiece to be measured is generated by combining the first scanning path in each target surface.

[0097] Through this embodiment, different scanning areas are divided into multiple groups, and the first scanning paths corresponding to the scanning areas in each group are determined. Then, based on the first scanning paths, the target scanning paths of the workpiece to be measured are generated, thereby achieving accurate planning of the scanning paths.

[0098] In some embodiments, dividing different scanning areas into multiple groups in step S231 includes the following steps:

[0099] Determine feature information of each surface on the initial workpiece model; the feature information includes the curvature of each surface and connectivity between the surfaces;

[0100] Based on the feature information of each surface, each scan area is grouped.

[0101] Specifically, feature information of each surface on the initial workpiece model is obtained, and the feature information includes but is not limited to the curvature of each surface and the connectivity between the surfaces. The curvature of the surface reflects the bending degree and change of the surface. For example, the inner wall of the cylinder of the engine cylinder is relatively smooth, and the curvature change is small. The outer contour surface of the cylinder includes an arc-shaped transition part, and the curvature change is relatively large. Connectivity describes the transition mode and continuity between the surfaces. For example, the cylinder of the engine cylinder is connected to the cylinder head.

[0102] It should be noted that the curvature of the surface affects the setting of scanning parameters such as scanning spacing and scanning device posture. For surfaces with smaller curvature, such as planes or parts that are approximately plane, a larger scanning spacing can be set, and the scanning device can maintain a relatively fixed posture for scanning. For surfaces with larger curvature, such as spheres or complex free-form surfaces, the scanning spacing needs to be reduced, and the scanning device needs to constantly change its posture, such as the pitch angle and azimuth angle of the scanning device, to ensure comprehensive and accurate scanning. In addition, grouping based on the connectivity between surfaces can ensure that the subsequently planned scanning path can completely cover the boundary area when crossing the boundaries of different surfaces. Based on this, the characteristic information of each surface is comprehensively considered and each scanning area is grouped. For example, scanning areas with the same curvature range or geometric continuity requirements are divided into the same group, etc., which can be set according to actual needs and are not limited here.

[0103] Through this embodiment, the characteristic information of each surface on the initial workpiece model is determined, the characteristic information includes the curvature of each surface and the connectivity between the surfaces, and the scanning areas are grouped based on the characteristic information of each surface to improve the scanning efficiency, and at the same time facilitate the adaptation of subsequent scanning parameters or scanning methods to the scanning areas in different groups, thereby improving the scanning accuracy.

[0104] In some of the embodiments, determining the first scanning path corresponding to each scanning area in each group in step S232 includes the following steps:

[0105] Merge the scanned areas in each group to obtain the corresponding target surface;

[0106] Perform parameter space sampling on the target surface to obtain multiple sampling points on the target surface;

[0107] Determine multiple target scanning viewpoints on the target surface based on parameter information of each sampling point and scanning equipment;

[0108] Based on each target scanning viewpoint and the parameter direction of the target curved surface, a corresponding first scanning path is generated.

[0109] Specifically, each scanning area in each group is merged to obtain the corresponding target surface. The point spacing of the sampling points is calculated in advance according to the depth of field and field of view of the scanning device, and the overlapping part between adjacent scanning ranges. The target surface is sampled in parameter space in the U direction and V direction of the target surface with the calculated point spacing to obtain multiple sampling points on the target surface.

[0110] Furthermore, based on the position distribution of each sampling point and the parameter information of the scanning device, multiple target scanning viewpoints on the target surface are determined to ensure that each sampling point can be clearly scanned within the depth of field of the scanning device. The parameter information of the scanning device includes but is not limited to the depth of field information of the scanning device, the camera baseline, the camera field of view, the number of laser lines, and the type of laser lines (such as parallel or crossed).

[0111] Based on each target scanning viewpoint, a corresponding first scanning path is generated. Among them, the first scanning path within the target surface can be generated based on the parameter directions of each target scanning viewpoint and the target surface, including the U direction and V direction of the surface, to obtain a scanning path that fits the geometric shape of the surface, or an initial single target scanning viewpoint is selected, and the selected initial viewpoint is used as the starting point to perform the shortest path planning for each target scanning viewpoint to obtain the first scanning path, so as to facilitate the subsequent completion of the scan with the shortest path and improve the scanning efficiency.

[0112] Through this embodiment, the scanning areas in each group are merged to obtain the corresponding target surface, and the target surface is sampled in parameter space to obtain multiple sampling points on the target surface. Based on the parameter information of each sampling point and the scanning device, multiple target scanning viewpoints on the target surface are determined, and based on the parameter direction of each target scanning viewpoint and the target surface, a corresponding first scanning path is generated, thereby completing the scanning path planning within each target surface.

[0113] In some of the embodiments, determining a plurality of target scanning viewpoints on a target surface based on parameter information of each sampling point and a scanning device comprises the following steps:

[0114] Pre-scan the workpiece to be tested by tracking equipment to obtain a working environment model of the workpiece to be tested;

[0115] dividing the working environment model into a plurality of first areas;

[0116] Determine a plurality of first scanning viewpoints on the target surface based on parameter information of each sampling point and a scanning device;

[0117] The first scanning viewpoint that is not blocked by each first area is used as the target scanning viewpoint.

[0118] Specifically, the workpiece to be tested is pre-scanned by the tracking device to obtain the working environment model of the workpiece to be tested. The working environment model may include multiple parts of the current working environment, such as the ground, table, bracket and turntable, etc., and the pre-scanned working environment model is aligned with the preset environment model. Among them, the preset environment model is usually a CAD model preset based on various working environments. The model alignment method includes but is not limited to best fit alignment, RPS alignment, feature alignment, N-point alignment or a combination of multiple alignment methods. The relative relationship between the models is unified through alignment, and the CAD model of the complete working environment is obtained.

[0119] After sampling to obtain multiple sampling points on the target surface, multiple first scanning viewpoints on the target surface are determined based on the parameter information of each sampling point and the scanning device, and the aligned working environment model is divided into multiple first areas, and it is determined whether each first scanning viewpoint is blocked by the first area. If there is no occlusion, the current first scanning viewpoint is retained as the target scanning viewpoint. If there is occlusion, the first scanning viewpoint is adjusted or recalculated according to the surrounding viewpoint constraints of the first scanning viewpoint to obtain the final target scanning viewpoint. For example, in the case where the first scanning viewpoint is blocked by the first area, according to the front, back, left, and right viewpoint constraints of the first scanning viewpoint, the angle of the first scanning viewpoint is fine-tuned within the range of ensuring that the scanning device can work normally, to obtain the target scanning viewpoint.

[0120] Through this embodiment, the workpiece to be measured is pre-scanned by a tracking device to obtain a working environment model of the workpiece to be measured, and the working environment model is divided into multiple first areas. Based on the parameter information of each sampling point and the scanning device, multiple first scanning viewpoints on the target surface are determined, and the first scanning viewpoints that are not blocked by each first area are used as target scanning viewpoints, so as to avoid the scanning path planning being affected by environmental occlusion, which helps to optimize the coherence of the scanning path planning and improve the scanning integrity and scanning accuracy.

[0121] In some of the embodiments, after determining the first scanning path corresponding to each scanning area in each group, the following steps are further included:

[0122] Determine the first and last scanning viewpoints in each first scanning path;

[0123] Path planning between different groups is performed based on the first and last scanning viewpoints of each group to obtain multiple transfer positions of the tracking device.

[0124] Specifically, for each first scanning path in the target surface, the first and last scanning viewpoints in the first scanning path are determined. The first and last scanning viewpoints of different first scanning paths are sequentially connected to form a coherent scanning path to obtain the target scanning path of the workpiece to be measured, or a scanning path between different target surfaces is planned using a path optimization algorithm, and the first scanning paths in each target surface are combined to generate the target scanning path of the workpiece to be measured.

[0125] It should be noted that in order to completely scan large or complex workpieces, a single tracking device is usually required for station transfer. The tracking device is used to track the position and posture of the scanning device in real time to ensure the accuracy of the scanning data and the integration of different parts of the scanning data in a unified coordinate system. Based on this, according to the target scanning path, the field of view of the tracking device and the requirements of the entire scanning range, the multiple transfer station positions that need to be set for the tracking device are determined to ensure that when the scanning device scans each grouping area along the target scanning path, the tracking device can always accurately track the scanning device. Among them, since a common area needs to be set between the transfer station positions to ensure that there is enough overlap in the data of adjacent stations to facilitate the subsequent data splicing between different stations, a common area needs to be reserved during path planning. The common area is placed with enough marking points or enough features, and the size of the common area is set according to the actual accuracy requirements. It is preferred that the common area is not less than 1 / 4 of the scanning field of view.

[0126] Through this embodiment, the first and last scanning viewpoints in each first scanning path are determined, and path planning between different groups is performed based on the first and last scanning viewpoints of each group to obtain multiple transfer positions of the tracking device, thereby ensuring the integrity of the workpiece scanning.

[0127] In some of the embodiments, after obtaining the initial workpiece model of the workpiece to be measured, the three-dimensional scanning path planning method further includes the following steps:

[0128] Generate a directional bounding box corresponding to the initial workpiece model;

[0129] Based on the depth of field information of the scanning device and the field of view of the tracking device, the direction bounding box is subdivided to obtain multiple sub-direction bounding boxes;

[0130] Perform path planning for each sub-direction bounding box to obtain the target scanning path of the workpiece to be measured.

[0131] Specifically, the initial workpiece model of the workpiece to be measured is converted into a corresponding oriented bounding box (OBB). The oriented bounding box is a geometric space containing the initial workpiece model. The shape of the workpiece can usually be summarized by a regular cuboid to provide a simplified spatial range description for the workpiece to be measured. The depth of field information of the scanning device and the field of view of the tracking device are obtained. The depth of field information of the scanning device indicates the distance range of clear imaging of the scanning device. The field of view of the tracking device limits the angle range that can effectively capture and track the target. According to the depth of field information of the scanning device and the field of view of the tracking device, the oriented bounding box is subdivided to obtain multiple sub-oriented bounding boxes, so that each sub-oriented bounding box obtained by subdivision is adapted to the performance of the device.

[0132] Further, path planning is performed on each subdivided bounding box to obtain a first scanning path corresponding to the bounding box of the sub-direction, the first scanning path refers to the scanning path within each bounding box of the sub-direction, and the scanning path between the bounding boxes of the sub-direction is planned according to the relative position relationship of the bounding boxes of the sub-direction, and then the target scanning path of the workpiece to be measured is generated by combining multiple first scanning paths. Among them, a path optimization algorithm such as a shortest path planning algorithm and a dynamic programming algorithm can be used to determine the scanning path between the bounding boxes of the sub-direction, such as the Dijkstra algorithm, which is not limited here.

[0133] Through this embodiment, a directional bounding box corresponding to the initial workpiece model is generated, and the directional bounding box is subdivided based on the depth of field information of the scanning device and the field of view of the tracking device to obtain multiple sub-directional bounding boxes, and path planning is performed on each sub-directional bounding box to obtain a target scanning path of the workpiece to be measured.

[0134] This embodiment also provides a three-dimensional scanning method. Figure 3 is a flow chart of a three-dimensional scanning method of this embodiment. Figure 3 As shown, the process includes the following steps:

[0135] Step S310, determining a target scanning path of the workpiece to be measured according to the above three-dimensional scanning path planning method;

[0136] Step S320: performing a three-dimensional scan on the workpiece to be measured based on the target scanning path.

[0137] In this embodiment, according to the above three-dimensional scanning path planning method, the scanning path planning is performed on the workpiece to be measured to obtain the target scanning path of the workpiece to be measured, which will not be described in detail here. Based on the target scanning path, three-dimensional scanning is performed on each scanning area on the workpiece to be measured to obtain three-dimensional scanning data of the workpiece to be measured to complete three-dimensional reconstruction.

[0138] Among them, the robot can be guided to achieve automated scanning based on the target scanning path. Specifically, according to the planned target scanning path, analyze whether each joint angle of the robot can reach the corresponding posture at each path point to mark the unreachable path nodes, adjust the placement position and posture of the workpiece to be measured according to the marking results, determine the optimal placement position and posture with fewer unreachable paths, and generate the corresponding schematic diagram of the placement of the workpiece to be measured. The schematic diagram contains information such as the workpiece contour, coordinate axis direction, key positioning features, etc. to guide the user to place it. After that, guide the robot to complete the three-dimensional scan according to the target scanning path. It should be noted that, considering the arm span of the robot and the size of its scanning range, a turntable can be used to assist the robot in completing the three-dimensional scan, and different transfer positions are achieved by the relative movement of the rotating turntable.

[0139] Through this embodiment, the scanning path of the workpiece to be measured is planned to obtain the target scanning path of the workpiece to be measured, and based on the target scanning path, three-dimensional scanning is performed on each scanning area on the workpiece to be measured, thereby improving the three-dimensional scanning efficiency and completing a comprehensive and detailed scan of the workpiece to be measured.

[0140] In some embodiments, performing three-dimensional scanning on the workpiece to be measured based on the target scanning path in step S320 includes the following steps:

[0141] Based on the target scanning path, three-dimensional scanning is performed on each scanning area on the workpiece to be measured;

[0142] When the scanning of each scanning area is completed, the tracking device is controlled to move according to the transfer station position indicated by the target scanning path.

[0143] Specifically, according to the target scanning path, each scanning area on the workpiece to be measured is scanned three-dimensionally in turn. When the scanning of each scanning area is completed, the tracking device is controlled to move according to the transfer position indicated by the target scanning path until the scanning of all areas is completed. In this way, the position and posture of the scanning device can be tracked in real time by the tracking device to ensure that the scanning data of different areas can be subsequently integrated in a unified coordinate system. At the same time, the continuity of the three-dimensional scanning is guaranteed to avoid missing scanning areas and ensure that all parts of the workpiece are covered.

[0144] In some embodiments, the workpiece to be measured is disposed on a posture control device; and performing three-dimensional scanning of the workpiece to be measured based on the target scanning path in step S320 includes the following steps:

[0145] Based on the target scanning path, three-dimensional scanning is performed on each scanning area on the workpiece to be measured;

[0146] When the scanning of each scanning area is completed, the position control device is controlled to drive the workpiece to be measured to move according to the transfer station position indicated by the target scanning path.

[0147] Specifically, the workpiece to be tested is placed on a posture control device, which is used to control the posture change of the workpiece to be tested so that different parts of the workpiece face the scanning device in turn to assist in completing the three-dimensional scanning, and three-dimensionally scan each scanning area on the workpiece to be tested in turn according to the planned target scanning path. The posture control device includes but is not limited to an automated guided vehicle (AGV) that can control the translation and rotation of the workpiece to be tested, and a turntable that can drive the workpiece to be tested to rotate.

[0148] Exemplarily, in the case of using a turntable, when the scanning of each scanning area is completed, the rotation direction of the turntable and the target angle to which the turntable needs to rotate are determined according to the turntable position indicated by the target scanning path and the current position information of the tracking device. Then, based on the rotation direction and the target angle, the turntable is controlled to drive the workpiece to be measured to rotate and rotate it to the corresponding position for scanning, so as to obtain the scanning data of each area in an orderly manner, improve the scanning efficiency, and at the same time ensure the comprehensiveness of the scanning to avoid missing the scanning area.

[0149] The present embodiment is described and illustrated below through preferred embodiments.

[0150] Figure 4 is a flow chart of the three-dimensional scanning path planning method of the preferred embodiment. Figure 4 As shown, the three-dimensional scanning path planning method includes the following steps:

[0151] Step S410, pre-scanning the workpiece to be tested by a tracking device to obtain a pre-scan model of the workpiece to be tested and a working environment model;

[0152] Step S420, aligning the pre-scanned model of the workpiece to be measured with the preset CAD model of the workpiece to be measured to obtain an initial workpiece model, and aligning the working environment model obtained by the pre-scanning with the preset working environment CAD model;

[0153] Step S430, determining a plurality of scanning areas corresponding to the initial workpiece model according to the first field of view information of the scanning device and the second field of view information of the tracking device;

[0154] Step S440, determining feature information of each curved surface on the initial workpiece model, the feature information including the curvature of each curved surface and the connectivity between the curved surfaces, and grouping the scanning areas based on the feature information of each curved surface;

[0155] Step S450, merging the scanning areas in each group to obtain a corresponding target surface, performing parameter space sampling on the target surface to obtain a plurality of sampling points on the target surface;

[0156] Step S460, based on the parameter information of each sampling point and the scanning device, a plurality of first scanning viewpoints on the target surface are determined, the aligned working environment model is divided into a plurality of first regions, and the first scanning viewpoints that are not blocked by each first region are used as target scanning viewpoints;

[0157] Step S470, based on the parameter direction of each target scanning viewpoint and the target surface, a corresponding first scanning path is generated, path planning between different groups is performed based on the first and last scanning viewpoints of the first scanning path in each group, and a target scanning path is generated according to the path planning results between different groups and each first scanning path.

[0158] Through this embodiment, the workpiece to be measured is pre-scanned by the tracking device to obtain the pre-scan model and the working environment model of the workpiece to be measured, the pre-scan model of the workpiece to be measured is aligned with the preset CAD model of the workpiece to be measured to obtain the initial workpiece model, and the working environment model obtained by the pre-scan is aligned with the preset working environment CAD model. According to the first field of view information of the scanning device and the second field of view information of the tracking device, multiple scanning areas corresponding to the initial workpiece model are determined, and the feature information of each curved surface on the initial workpiece model is determined, the feature information includes the curvature of each curved surface and the connectivity between the curved surfaces, and the scanning areas are grouped based on the feature information of each curved surface.

[0159] Furthermore, each scanning area in each group is merged to obtain a corresponding target surface, and parameter space sampling is performed on the target surface to obtain multiple sampling points on the target surface. Based on the parameter information of each sampling point and the scanning device, multiple first scanning viewpoints on the target surface are determined, the aligned working environment model is divided into multiple first areas, and the first scanning viewpoints that are not blocked by each first area are used as target scanning viewpoints. Afterwards, based on the parameter directions of each target scanning viewpoint and the target surface, a corresponding first scanning path is generated, and path planning between different groups is performed based on the first and last scanning viewpoints of the first scanning path in each group, and then a target scanning path is generated based on the path planning results between different groups and each first scanning path, thereby solving the problem of low efficiency of three-dimensional scanning, realizing automatic planning of scanning paths, and improving three-dimensional scanning efficiency.

[0160] It should be noted that the steps shown in the above process or the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0161] In this embodiment, a three-dimensional scanning path planning device is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. The terms "module", "unit", "subunit", etc. used below can implement a combination of software and / or hardware of predetermined functions. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0162] Figure 5 is a structural block diagram of the three-dimensional scanning path planning device of this embodiment, such as Figure 5 As shown, the device comprises:

[0163] An acquisition module 10 is used to acquire an initial workpiece model of the workpiece to be tested;

[0164] A division module 20, for determining a plurality of scanning areas corresponding to the initial workpiece model according to the first field of view information of the scanning device and the second field of view information of the tracking device;

[0165] The planning module 30 is used to plan the scanning path for each scanning area to obtain the target scanning path of the workpiece to be measured.

[0166] Through the device provided in this embodiment, an initial workpiece model of the workpiece to be measured is obtained; based on the first field of view information of the scanning device and the second field of view information of the tracking device, multiple scanning areas corresponding to the initial workpiece model are determined; scanning paths are planned for each scanning area to obtain a target scanning path for the workpiece to be measured, thereby solving the problem of low efficiency of three-dimensional scanning, realizing automatic planning of scanning paths, and improving three-dimensional scanning efficiency.

[0167] In some of the embodiments, the acquisition module 10 is also used to obtain initial workpiece information of the workpiece to be measured; the initial workpiece information is one or more combinations of a pre-scanned model, three-dimensional data and geometric features of the workpiece to be measured; based on the initial workpiece information, the workpiece to be measured is aligned with a preset object model of the workpiece to be measured to obtain an initial workpiece model of the workpiece to be measured.

[0168] In some of the embodiments, the planning module 30 is further used to divide different scanning areas into multiple groups; determine a first scanning path corresponding to each scanning area in each group; and generate a target scanning path of the workpiece to be measured based on each first scanning path.

[0169] In some of the embodiments, the planning module 30 is further used to determine feature information of each surface on the initial workpiece model; the feature information includes the curvature of each surface and the connectivity between the surfaces; and the scanning areas are grouped based on the feature information of each surface.

[0170] In some of the embodiments, the planning module 30 is further used to merge the scanning areas in each group to obtain a corresponding target surface; perform parameter space sampling on the target surface to obtain multiple sampling points on the target surface; determine multiple target scanning viewpoints on the target surface based on parameter information of each sampling point and the scanning device; and generate a corresponding first scanning path based on the parameter direction of each target scanning viewpoint and the target surface.

[0171] In some of the embodiments, the planning module 30 is also used to perform a pre-scan on the workpiece to be measured by means of a tracking device to obtain a working environment model of the workpiece to be measured; divide the working environment model into a plurality of first areas; determine a plurality of first scanning viewpoints on the target surface based on parameter information of each sampling point and the scanning device; and use the first scanning viewpoint that is not blocked by each first area as the target scanning viewpoint.

[0172] In some of the embodiments, the planning module 30 is further used to determine the first and last scanning viewpoints in each first scanning path; and perform path planning between different groups based on the first and last scanning viewpoints of each group to obtain multiple transfer positions of the tracking device.

[0173] In some of the embodiments, the planning module 30 is also used to generate a directional bounding box corresponding to the initial workpiece model; based on the depth of field information of the scanning device and the field of view of the tracking device, the directional bounding box is subdivided to obtain a plurality of sub-directional bounding boxes; and path planning is performed on each sub-directional bounding box to obtain a target scanning path of the workpiece to be measured.

[0174] Figure 6 is a structural block diagram of the three-dimensional scanning device of this embodiment, such as Figure 6 As shown, the device comprises:

[0175] A determination module 40 is used to determine a target scanning path of the workpiece to be measured according to the above three-dimensional scanning path planning method;

[0176] The scanning module 50 is used to perform three-dimensional scanning on the workpiece to be measured based on the target scanning path.

[0177] In some of the embodiments, the scanning module 50 is also used to perform three-dimensional scanning of each scanning area on the workpiece to be measured based on the target scanning path; wherein, when the scanning of each scanning area is completed, the tracking device is controlled to move according to the transfer station position indicated by the target scanning path.

[0178] In some of the embodiments, the scanning module 50 is also used to perform three-dimensional scanning of each scanning area on the workpiece to be measured based on the target scanning path; wherein, when the scanning of each scanning area is completed, the posture control device is controlled to drive the workpiece to be measured to move according to the transfer station position indicated by the target scanning path.

[0179] It should be noted that the above modules can be functional modules or program modules, and can be implemented by software or hardware. For modules implemented by hardware, the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0180] In this embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0181] Optionally, the computer device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0182] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementation modes, and will not be repeated in this embodiment.

[0183] In addition, in combination with the three-dimensional scanning path planning method provided in the above embodiment, a storage medium can also be provided in this embodiment to implement. The storage medium stores a computer program; when the computer program is executed by the processor, any one of the three-dimensional scanning path planning methods in the above embodiment is implemented. Or, in combination with the three-dimensional scanning method provided in the above embodiment, when the computer program is executed by the processor, any one of the three-dimensional scanning methods in the above embodiment is implemented.

[0184] It should be understood that the specific embodiments described herein are only used to explain the application, rather than to limit it. Based on the embodiments provided in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of this application.

[0185] Obviously, the drawings are only some examples or embodiments of the present application. For ordinary technicians in the field, the present application can also be applied to other similar situations based on these drawings without creative work. In addition, it is understandable that although the work done in this development process may be complicated and lengthy, for ordinary technicians in the field, certain changes in design, manufacturing or production based on the technical content disclosed in this application are only conventional technical means and should not be regarded as insufficient content disclosed in this application.

[0186] The term "embodiment" in this application refers to a specific feature, structure or characteristic described in conjunction with the embodiment that can be included in at least one embodiment of the present application. The appearance of this phrase in various locations in the specification does not necessarily mean the same embodiment, nor does it mean that it is mutually exclusive with other embodiments and is independent or optional. It is clearly or implicitly understood by those of ordinary skill in the art that the embodiments described in this application can be combined with other embodiments without conflict.

[0187] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of patent protection. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the scope of protection of the present application. Therefore, the scope of protection of the present application shall be subject to the attached claims.

Claims

1. A three-dimensional scanning path planning method, characterized in that: Applicable to a three-dimensional scanning system; the system comprises a scanning device and a tracking device; the method comprises: Obtaining an initial workpiece model of the workpiece to be tested; Determining a plurality of scanning areas corresponding to the initial workpiece model according to the first field of view information of the scanning device and the second field of view information of the tracking device; Scanning paths are planned for each of the scanning areas to obtain a target scanning path for the workpiece to be measured.

2. The three-dimensional scanning path planning method according to claim 1, characterized in that: The step of obtaining an initial workpiece model of the workpiece to be tested includes: Acquire initial workpiece information of the workpiece to be measured; the initial workpiece information is one or more combinations of a pre-scan model, three-dimensional data and geometric features of the workpiece to be measured; Based on the initial workpiece information, the workpiece to be measured is aligned with a preset object model of the workpiece to be measured to obtain an initial workpiece model of the workpiece to be measured.

3. The three-dimensional scanning path planning method according to claim 1, characterized in that: The scanning path planning is performed on each of the scanning areas to obtain a target scanning path of the workpiece to be measured, including: Dividing different scanning areas into multiple groups; Determine a first scanning path corresponding to each of the scanning areas in each group; Based on each of the first scanning paths, the target scanning path of the workpiece to be measured is generated.

4. The three-dimensional scanning path planning method according to claim 3, characterized in that: The dividing the different scanning areas into a plurality of groups comprises: Determining feature information of each curved surface on the initial workpiece model; the feature information includes the curvature of each curved surface and connectivity between the curved surfaces; The scanning areas are grouped based on the feature information of the curved surfaces.

5. The three-dimensional scanning path planning method according to claim 3, characterized in that: The determining of the first scanning path corresponding to each scanning area in each group includes: Merging the scanned areas in each group to obtain a corresponding target surface; Perform parameter space sampling on the target surface to obtain a plurality of sampling points on the target surface; Determine a plurality of target scanning viewpoints on the target surface based on the sampling points and parameter information of the scanning device; Based on each of the target scanning viewpoints and the parameter direction of the target curved surface, the corresponding first scanning path is generated.

6. The three-dimensional scanning path planning method according to claim 5, characterized in that: The step of determining a plurality of target scanning viewpoints on the target surface based on the sampling points and the parameter information of the scanning device comprises: Pre-scanning the workpiece to be measured by the tracking device to obtain a working environment model of the workpiece to be measured; Dividing the working environment model into a plurality of first areas; Determine a plurality of first scanning viewpoints on the target surface based on the sampling points and parameter information of the scanning device; The first scanning viewpoints that are not blocked by the first regions are used as the target scanning viewpoints.

7. The three-dimensional scanning path planning method according to claim 3, characterized in that: After determining the first scanning path corresponding to each scanning area in each group, the method further includes: Determine the first and last scanning viewpoints in each of the first scanning paths; Path planning between different groups is performed based on the first and last scanning viewpoints of each group to obtain multiple transfer positions of the tracking device.

8. The three-dimensional scanning path planning method according to claim 1, characterized in that: After obtaining the initial workpiece model of the workpiece to be measured, the method further includes: Generate a directional bounding box corresponding to the initial workpiece model; Based on the depth of field information of the scanning device and the field of view of the tracking device, the direction bounding box is subdivided to obtain a plurality of sub-direction bounding boxes; Path planning is performed on each of the sub-direction bounding boxes to obtain a target scanning path for the workpiece to be measured.

9. A three-dimensional scanning method, characterized in that: The method comprises: Determine the target scanning path of the workpiece to be measured according to the three-dimensional scanning path planning method according to any one of claims 1 to 7; The workpiece to be measured is scanned in three dimensions based on the target scanning path.

10. The three-dimensional scanning method according to claim 9, characterized in that: The three-dimensional scanning of the workpiece to be measured based on the target scanning path includes: Based on the target scanning path, performing three-dimensional scanning on each scanning area on the workpiece to be measured; When the scanning of each scanning area is completed, the tracking device is controlled to move according to the transfer station position indicated by the target scanning path.

11. The three-dimensional scanning method according to claim 9, characterized in that: The workpiece to be measured is arranged on a posture control device; and the three-dimensional scanning of the workpiece to be measured based on the target scanning path includes: Based on the target scanning path, performing three-dimensional scanning on each scanning area on the workpiece to be measured; Wherein, when the scanning of each scanning area is completed, the position and posture control device is controlled to drive the workpiece to be measured to move according to the transfer station position indicated by the target scanning path.

12. A three-dimensional scanning path planning device, characterized in that: Applicable to a three-dimensional scanning system; the system comprises a scanning device and a tracking device; the device comprises: An acquisition module, used for acquiring an initial workpiece model of the workpiece to be tested; A division module, used for determining a plurality of scanning areas corresponding to the initial workpiece model according to the first field of view information of the scanning device and the second field of view information of the tracking device; The planning module is used to plan the scanning path for each of the scanning areas to obtain the target scanning path of the workpiece to be measured.

13. A three-dimensional scanning system, characterized in that: The system includes a scanning device, a tracking device, and a processing device; The processing device is connected to the scanning device and the tracking device respectively, and is used to execute the three-dimensional scanning path planning method described in any one of claims 1 to 8, or to execute the three-dimensional scanning method described in any one of claims 9 to 11.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the three-dimensional scanning path planning method described in any one of claims 1 to 8 are implemented, or the steps of the three-dimensional scanning method described in any one of claims 9 to 11 are implemented.

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