A scanner measurement coverage prediction method and related equipment

Abstract

The present application relates to the field of scanner technology and provides a method for predicting measurement coverage of a scanner and related equipment. The method includes: obtaining multiple scanning movement trajectories of a target scanner and surface points of an object to be scanned, and determining multiple valid movement trajectories from all scanning movement trajectories; for each valid movement trajectory, obtaining the point motion trajectory of the surface point relative to the target scanner based on the valid movement trajectory, and calculating the length of the point motion trajectory; obtaining the gap length between the laser lines of the target scanner, and calculating the distribution length of the surface point based on the length of all point motion trajectories and the gap length; and calculating the measurability value of the surface area where the surface point is located based on the distribution length of the surface point. The method of the present application can improve the accuracy of measurement coverage prediction.

Description

Technical Field

[0001] The present application relates to the field of scanner technology, and in particular to a scanner measurement coverage prediction method and related equipment. Background Art

[0002] A scanner is an instrument that can acquire features (including contours, textures, colors, and stress) of a scanned object through contact or non-contact means. All scanners are specified with a nominal scanning range, which represents the spatial range of positions that can be measured by the scanner. This range can be two-dimensional, such as document scanners and line laser profilometers, or three-dimensional, such as lidar and computed tomography (CT). Depending on the measurement principle, some scanners can measure any position within the measurement range, while others can only measure a portion of the measurement range. For the latter, the nominal measurement range is actually the envelope of measurable positions. For example, the measurable positions of a multi-line structured light scanner are composed of multiple laser lines, and the nominal scanning range is the enclosing pyramid of the surfaces swept by these laser lines in space. For scanners that use the envelope of measurable positions as the measurement range, existing methods cannot accurately predict the area that can be measured after executing a given scanning trajectory based on the nominal measurement range, due to the presence of unmeasured gaps within the measurement range. The occurrence of measurement coverage prediction errors is mainly affected by three factors: the nominal measurement range of the scanner, the geometric characteristics of the scanned object, and the scanning trajectory.

[0003] Existing methods propose the conditions under which surface points are measured, called visibility conditions, which include the following three elements:

[0004] In volume: The surface point is within the nominal measurement range of the scanner.

[0005] Unobstructed: The light from the laser projector to the surface point and from the surface point to the imaging element is not blocked.

[0006] Small off-axis: The angle between the scanner optical axis and the surface point normal vector is small enough.

[0007] The aforementioned visibility requirements demonstrate the ability of some scanner types to perform uniformly dense measurements within their measurement range. However, multi-line structured light 3D scanners lack the ability to determine whether a surface point is illuminated by a laser line. This results in the scanner executing a scan trajectory that satisfies visibility requirements, resulting in incomplete measurement coverage and, in other words, missed scans.

[0008] Some methods use the nominal measurement range of other scanners and impose additional limitations imposed by the measurement principle to construct measurement judgment conditions to make a preliminary judgment on the scanner's measurement coverage. Due to the existence of gaps, these conditions cannot reliably predict the area that the scanner can measure after executing a given scanning trajectory, resulting in measurement coverage prediction errors. Summary of the Invention

[0009] The present application provides a method for predicting measurement coverage of a scanner and related equipment, which can solve the problem of measurement coverage prediction errors of scanners with gaps in the measurement range.

[0010] In a first aspect, the present application provides a method for predicting measurement coverage of a scanner, the method comprising:

[0011] Acquire multiple scanning trajectories of the target scanner and surface points of the object to be scanned, and determine multiple valid trajectories from all the scanning trajectories; the valid trajectories are scanning trajectories that meet measurement determination conditions when scanning and measuring the surface points using the target scanner;

[0012] For each valid movement trajectory, the point movement trajectory of the surface point relative to the target scanner is obtained according to the valid movement trajectory, and the length of the point movement trajectory is calculated; the point movement trajectory is the movement trajectory of the surface point relative to the target scanner when the target scanner is considered stationary;

[0013] Obtain the gap length between the laser lines of the target scanner and calculate the distribution length of the surface points based on the length of the motion trajectory of all points and the gap length; the distribution length is used to describe the probability of the surface point being scanned and measured;

[0014] The measurability value of the surface area where the surface point is located is calculated according to the distribution length of the surface points; the measurability value is used to describe the probability that the surface area can be completely measured by the target scanner.

[0015] Optionally, the measurement judgment condition is:

[0016] The surface point is located within a nominal measurement range corresponding to the scanning motion trajectory of the target scanner, and the target scanner satisfies the constraints imposed by the measurement principle when moving along the scanning motion trajectory.

[0017] Optionally, calculate the length of the point's trajectory, including:

[0018] Select a target calculation method from the first calculation method, the second calculation method, and the third calculation method;

[0019] Calculate the length of the point motion trajectory according to the target calculation method.

[0020] Optionally, the first calculation method is:

[0021] The length of the major axis of the bounding box of the point motion trajectory is taken as the length of the point motion trajectory;

[0022] The second calculation method is:

[0023] The modulus of the vector from the starting point to the end point of the point motion trajectory is taken as the length of the point motion trajectory;

[0024] The third calculation method is:

[0025] The arc length of the point motion trajectory is taken as the length of the point motion trajectory.

[0026] Optionally, the distribution length of the surface points is calculated based on the length of the motion trajectories of all points and the gap length, including:

[0027] For each point motion trajectory, determine whether the length of the point motion trajectory is greater than or equal to the gap length. If so, treat the point motion trajectory as a measurable motion trajectory.

[0028] The distribution length of the surface points is calculated based on the lengths of all measurable motion trajectories.

[0029] Optionally, the distribution length of the surface points is calculated based on the lengths of all measurable motion trajectories, including:

[0030] By formula:

[0031] ;

[0032] Calculate the distribution length of surface points ;

[0033] in, Indicates the effective moving trajectory corresponding to the measurable motion trajectory, represents the set of valid moving trajectories corresponding to all measurable motion trajectories, express The length of the corresponding measurable motion trajectory, is a surface point in the surface region, Represents all scanning movement trajectories.

[0034] Optionally, the measurability value of the surface area where the surface point is located is calculated based on the distribution length of the surface point, including:

[0035] By formula:

[0036] ;

[0037] Calculate the measurability value of the surface area ;

[0038] in, represents the set of all surface points in the surface region, Represents a surface point The preset length of the point motion trajectory required to meet testability when performing scanning measurements.

[0039] In a second aspect, the present application provides a measurement coverage prediction device for a scanner, comprising:

[0040] a determination module, configured to obtain a plurality of scanning movement trajectories of the target scanner and surface points of the object to be scanned, and determine a plurality of valid movement trajectories from all the scanning movement trajectories; a valid movement trajectory is a scanning movement trajectory that satisfies a measurement determination condition when scanning and measuring the surface points using the target scanner;

[0041] a first calculation module, configured to obtain, for each valid movement trajectory, a point motion trajectory of the surface point relative to the target scanner based on the valid movement trajectory, and calculate the length of the point motion trajectory; the point motion trajectory is the motion trajectory of the surface point relative to the target scanner when the target scanner is considered stationary;

[0042] An acquisition module is used to obtain the gap length between the laser lines of the target scanner and calculate the distribution length of the surface points based on the length of the motion trajectory of all points and the gap length; the distribution length is used to describe the probability of the surface point being scanned and measured;

[0043] The second calculation module is used to calculate the measurability value of the surface area where the surface point is located according to the distribution length of the surface point; the measurability value is used to describe the probability that the surface area can be completely measured by the target scanner.

[0044] In a third aspect, an embodiment of the present application provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned scanner measurement coverage prediction method when executing the above-mentioned computer program.

[0045] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the above-mentioned scanner measurement coverage prediction method.

[0046] The above solution of the present application has the following beneficial effects:

[0047] In some embodiments of the present application, multiple scanning motion trajectories of a target scanner and surface points of an object to be scanned are obtained, and multiple valid motion trajectories are determined from all scanning motion trajectories when scanning and measuring the surface points using the target scanner. Then, for each valid motion trajectory, the point motion trajectory of the surface point relative to the target scanner is obtained based on the valid motion trajectory, and the length of the point motion trajectory is calculated. The length of the gap between the laser lines of the scanner is then obtained, and the distribution length of the surface point is calculated based on the length of all the point motion trajectories and the gap length. Finally, the measurability value of the surface area where the surface point is located is calculated based on the distribution length of the surface point. Defining the distribution length can quantify the probability of a surface point being covered by measurement, providing an accurate representation of the measured condition of the surface point. Considering the gap length between the laser lines when calculating the distribution length can improve the accuracy of the distribution length. Calculating the measurability value of the surface area based on the distribution length can effectively improve the accuracy of predicting the measured coverage of the surface area when measuring using a scanner with gaps within the measurement range.

[0048] Other beneficial effects of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0050] Figure 1 A flowchart of a method for predicting measurement coverage of a scanner provided in one embodiment of the present application;

[0051] Figure 2 A schematic diagram of the structure of a multi-line structured light 3D scanner provided in one embodiment of the present application;

[0052] Figure 3 A schematic diagram of a plane projection provided in an embodiment of the present application;

[0053] Figure 4 A schematic diagram of projection results provided in one embodiment of the present application;

[0054] Figure 5 A schematic diagram of a point motion trajectory provided in an embodiment of the present application;

[0055] Figure 6 A schematic structural diagram of a scanner coverage prediction device according to an embodiment of the present application;

[0056] Figure 7A schematic diagram of the structure of a terminal device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0057] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0058] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0059] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0060] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0061] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0062] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0063] To address the problem of incorrect measurement coverage prediction for existing scanners with gaps within their measurement range, embodiments of the present application provide a scanner measurement coverage prediction method. This method obtains multiple scanning motion trajectories of a target scanner and surface points of an object to be scanned, and determines, from all scanning motion trajectories, multiple valid motion trajectories for scanning and measuring the surface points using the target scanner. For each valid motion trajectory, the point motion trajectory of the surface point relative to the target scanner is obtained based on the valid motion trajectory, and the length of the point motion trajectory is calculated. The length of the gaps between the scanner's laser lines is then obtained, and the distribution length of the surface point is calculated based on the lengths of all the point motion trajectories and the gap lengths. Finally, the measurability value of the surface area within which the surface point is located is calculated based on the distribution length of the surface point. Defining the distribution length quantifies the probability of a surface point being covered by measurement, providing an accurate representation of the measured condition of the surface point. Considering the gap lengths between the laser lines when calculating the distribution length improves the accuracy of the distribution length. Calculating the measurability value of the surface area based on the distribution length effectively improves the accuracy of predicting the measured coverage of the surface area when measuring using a scanner with gaps within its measurement range.

[0064] Next, the measurement coverage prediction method of the scanner provided in this application is exemplified.

[0065] like Figure 1 As shown, the measurement coverage prediction method of the scanner provided in this application includes the following steps:

[0066] Step 11: Acquire multiple scanning movement trajectories of the target scanner and surface points of the object to be scanned, and determine multiple valid movement trajectories from all the scanning movement trajectories.

[0067] The target scanner is a laser line scanner, which has gaps between its laser lines during scanning. The object to be scanned is the object to be scanned and measured, such as a document or obstacle. The surface point is any point within the surface area of ​​the object to be scanned and measured. The scanning trajectory is the trajectory of the target scanner during scanning. The valid trajectory is a scanning trajectory that meets the measurement judgment criteria when scanning and measuring surface points using the target scanner.

[0068] In some embodiments of the present application, the target scanner's historical movement trajectory (such as the movement trajectory of the target scanner scanning and measuring other objects at historical moments) can be recorded and segmented to obtain multiple scanning movement trajectories. The above measurement judgment conditions are:

[0069] The surface point is within the nominal measurement range corresponding to the scanning trajectory of the target scanner, and the target scanner satisfies the constraints imposed by the measurement principle when moving along the scanning trajectory (e.g., the angle between the scanner optical axis and the normal vector of the surface point is less than a preset angle).

[0070] It should be noted that the nominal measurement range corresponding to the scanning trajectory refers to the range that the target scanner can measure when scanning along the scanning trajectory. If the number of valid movement trajectories is 0, it is directly assumed that the surface point will be missed by the target scanner.

[0071] For example, a multi-line structured light 3D scanner such as Figure 2 As shown, Figure 2 The middle rectangle is the projector, the dotted trapezoid is the measurement volume, and cameras A and B are set at both ends of the projector. The projector points to the surface point Projected light is emitted, and the reflected light A from the surface point enters camera A, and the reflected light B enters camera B. The dotted line between the projector and the measurement volume is the optical axis, and the solid quadrilateral is the scanning surface. , Surface point The normal vector of The optical axis and For example, Figure 2 For the multi-line structured light 3D scanner shown in FIG, the above measurement judgment conditions are expressed as:

[0072] ;

[0073] in, represents the position and attitude of the target scanner, represents the set of all positions and postures in the scanning trajectory, represents a surface point, represents the set of all surface points within the nominal measurement range corresponding to the scanning movement trajectory, represents the projected light vector, Represents the first reflected light vector (e.g. Figure 2 The vector of the reflected light A in Represents the second reflected light vector (such as Figure 2 The vector of the reflected light B in Indicates the optical axis and The angle between Indicates that the surface point The maximum measurement ( The reflected light intensity will not be enough to be sensed by the scanner).

[0074] Step 12: for each valid movement trajectory, obtain the point movement trajectory of the surface point relative to the target scanner according to the valid movement trajectory, and calculate the length of the point movement trajectory.

[0075] The point motion trajectory is the motion trajectory of the surface point relative to the target scanner when the target scanner is stationary.

[0076] In some embodiments of the present application, the target scanner can be used as a stationary reference object based on the relative position between the surface point of the object to be scanned and the target scanner when the object is waiting to be scanned. When the target scanner moves along the effective movement trajectory, the point movement trajectory corresponding to the effective movement trajectory is obtained based on the physical principles of relative motion. The above-mentioned step of calculating the length of the point movement trajectory includes:

[0077] The first step is to select a target calculation method from the first calculation method, the second calculation method, and the third calculation method.

[0078] Specifically, the first calculation method is:

[0079] The length of the major axis of the bounding box of the point motion trajectory is taken as the length of the point motion trajectory.

[0080] The second calculation method is:

[0081] The modulus of the vector from the starting point to the end point of the point motion trajectory is taken as the length of the point motion trajectory.

[0082] The third calculation method is:

[0083] The arc length of the point motion trajectory is taken as the length of the point motion trajectory.

[0084] For example, the target calculation method can be selected based on the actual shape of the point motion trajectory. For example, for a point motion trajectory with a straight line shape, the second calculation method can be selected to calculate its length; for a point motion trajectory with an arc shape, the third calculation method can be selected to calculate its length; and for a point motion trajectory with an irregular curve shape, the first calculation method can be selected to calculate its length.

[0085] The second step is to calculate the length of the point motion trajectory according to the target calculation method.

[0086] Taking a multi-line structured scanner as an example, the measurable position within its nominal scanning range is composed of the scanning surface swept by several laser lines; the gap is a quadrangular pyramid between the scanning surfaces, with infinite size in the radial direction (the direction toward or away from the laser emitter) and finite size in the direction perpendicular to the radial direction. Therefore, for this special case of a multi-line structured scanner, the processing can be reduced to projection onto a two-dimensional plane:

[0087] like Figure 3 As shown, in the scanner coordinate system In the process, surface points and multiple scanned surfaces are And point motion trajectory , projected onto On the plane, is the horizontal axis of the plane, is the longitudinal axis of the plane, and the projection point is obtained and projection lines , and the projected point motion trajectory .

[0088] The specific projection results are as follows Figure 4 As shown, the regularly arranged solid lines are projection lines , the dotted line is the rhombus gap formed by the projection line The long axis of the , the curve with arrows is the trajectory of the projected point , the length is .

[0089] Step 13: Obtain the gap length between the laser lines of the target scanner, and calculate the distribution length of the surface points based on the length of the motion trajectory of all points and the gap length.

[0090] The above distribution length is used to describe the probability of a surface point being scanned and measured. The above laser line is the scanning line when the target scanner performs scanning measurement.

[0091] In some embodiments of the present application, a tool such as a rangefinder may be used to obtain the gap length between laser lines. The above step of calculating the distribution length of the surface points based on the length of the motion trajectory of all points and the gap length is specifically as follows:

[0092] In the first step, for each point motion trajectory, it is determined whether the length of the point motion trajectory is greater than or equal to the gap length. If so, the point motion trajectory is regarded as a measurable motion trajectory.

[0093] That is, the measurable motion trajectory is a point motion trajectory that satisfies the condition that the length of the point motion trajectory is greater than or equal to the gap length.

[0094] In the second step, the distribution length of the surface points is calculated based on the lengths of all measurable motion trajectories.

[0095] By formula:

[0096] ;

[0097] Calculate the distribution length of surface points .

[0098] in, Indicates the effective moving trajectory corresponding to the measurable motion trajectory, represents the set of valid moving trajectories corresponding to all measurable motion trajectories, express The length of the corresponding measurable motion trajectory, is a surface point in the surface region, Represents all scanning movement trajectories.

[0099] It should be noted that if there is a measurable motion trajectory whose length is greater than the gap length, then the valid trajectory corresponding to the measurable motion trajectory must intersect with the edge of the gap and also intersect with the surface point, that is, the surface point can be measured, which is expressed as:

[0100] ;

[0101] in, represents the position and attitude of the target scanner, represents the set of all positions and postures in the scanning trajectory, represents a surface point, Represents the set of measurable points within the nominal measurement range corresponding to the scanning movement trajectory, Indicates gap the edge of Indicates the gap length.

[0102] Step 14: Calculate the measurability value of the surface area where the surface point is located according to the distribution length of the surface point.

[0103] The measurability value describes the probability that a surface area can be fully measured by the target scanner. This surface area is the area of ​​the object to be scanned and measured. For example, for a document, the surface area is the portion of the document to be scanned and measured (e.g., the portion of the document containing actual text or images).

[0104] Specifically, through the formula:

[0105] ;

[0106] Calculate the measurability value of the surface area .

[0107] in, represents the set of all surface points in the surface region, Represents a surface point The preset length of the point motion trajectory required to meet testability when performing scanning measurements.

[0108] For example, the above-mentioned preset length It can be set according to the position of different surface points, and can be set as the gap length between the laser lines of the target scanner. Figure 5 As shown, the point motion trajectory of two surface points and For example, Figure 5 The solid curve with arrows is , the dotted curve with arrow is , the solid line is the projection line ,when When close to the projection line, even if it is significantly shorter than , still has a high probability of passing through the projection line; on the contrary, , then it takes longer to pass through the projection line of the gap edge. Points at different locations within Effective trace length required to meet testability There are differences.

[0109] It should be noted that after calculating the measurability value of the surface area, it is possible to express whether the surface area can be completely measured by the target scanner based on the measurability value, and to determine which surface points have a low probability of being covered by the measurement based on the distribution length of each surface point, so as to facilitate adjustment of the position and posture of the scanned object or the movement trajectory of the scanner to reduce the situation where the target scanner misses the scan.

[0110] It is worth mentioning that defining the distribution length can quantify the probability of surface points being covered by measurement, providing an accurate description of the measured conditions of the surface points. Considering the gap length between laser lines when calculating the distribution length can improve the accuracy of the distribution length. Calculating the measurability value of the surface area based on the distribution length can effectively improve the prediction accuracy of the measured coverage of the surface area.

[0111] The following is an exemplary description of the measurement coverage prediction device of the scanner provided in this application.

[0112] like Figure 6 As shown, an embodiment of the present application provides a measurement coverage prediction device for a scanner, and the measurement coverage prediction device 600 for a scanner includes:

[0113] The determination module 601 is configured to obtain multiple scanning trajectories of the target scanner and surface points of the object to be scanned, and determine multiple valid trajectories from all the scanning trajectories; a valid trajectories is a scanning trajectories that satisfies a measurement determination condition when scanning and measuring the surface points using the target scanner;

[0114] A first calculation module 602 is configured to obtain, for each valid movement trajectory, a point motion trajectory of the surface point relative to the target scanner based on the valid movement trajectory, and calculate the length of the point motion trajectory; the point motion trajectory is the motion trajectory of the surface point relative to the target scanner when the target scanner is considered stationary;

[0115] An acquisition module 603 is used to obtain the gap length between the laser lines of the target scanner and calculate the distribution length of the surface points based on the length of the motion trajectory of all points and the gap length; the distribution length is used to describe the probability of the surface point being scanned and measured;

[0116] The second calculation module 604 is used to calculate the measurability value of the surface area where the surface point is located according to the distribution length of the surface point; the measurability value is used to describe the probability that the surface area can be completely measured by the target scanner.

[0117] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0118] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0119] like Figure 7 As shown, an embodiment of the present application provides a terminal device. The terminal device D10 of this embodiment includes: at least one processor D100 ( Figure 7 Only one processor is shown in the figure), a memory D101, and a computer program D102 stored in the memory D101 and executable on the at least one processor D100, wherein the processor D100 implements the steps of any of the above-mentioned method embodiments when executing the computer program D102.

[0120] Specifically, when the processor D100 executes the computer program D102, it obtains multiple scanning movement trajectories of the target scanner and surface points of the object to be scanned, and determines multiple valid movement trajectories from all scanning movement trajectories when scanning and measuring the surface points using the target scanner. Then, for each valid movement trajectory, the processor obtains the point motion trajectory of the surface point relative to the target scanner based on the valid movement trajectory, calculates the length of the point motion trajectory, obtains the gap length between the laser lines of the scanner, and calculates the distribution length of the surface point based on the length of all the point motion trajectories and the gap length. Finally, the processor calculates the measurability value of the surface area where the surface point is located based on the distribution length of the surface point. Defining the distribution length can quantify the probability of the surface point being covered by the measurement, providing an accurate description of the measured condition of the surface point. Considering the gap length between the laser lines when calculating the distribution length can improve the accuracy of the distribution length. Calculating the measurability value of the surface area based on the distribution length can effectively improve the accuracy of the prediction of the measured coverage of the surface area when measuring using a scanner with gaps within the measurement range.

[0121] The processor D100 may be a central processing unit (CPU), or may be another general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor or any conventional processor.

[0122] In some embodiments, the memory D101 may be an internal storage unit of the terminal device D10, such as a hard disk or memory of the terminal device D10. In other embodiments, the memory D101 may also be an external storage device of the terminal device D10, such as a plug-in hard disk, a smart memory card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device D10. Furthermore, the memory D101 may include both an internal storage unit of the terminal device D10 and an external storage device. The memory D101 is used to store an operating system, application programs, a boot loader, data, and other programs, such as the program code of the computer program. The memory D101 may also be used to temporarily store data that has been output or is about to be output.

[0123] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned various method embodiments can be implemented.

[0124] An embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0125] If the integrated unit is implemented as a software functional unit and sold or used as a standalone product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process steps in the above-mentioned method embodiments by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the computer program can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form. The computer-readable medium can include at least: any entity or device capable of carrying the computer program code to the scanner's measurement coverage prediction method apparatus / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media. Examples include a USB flash drive, a removable hard drive, a magnetic disk, or an optical disk.

[0126] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0127] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0128] The above is a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles described in the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for predicting measurement coverage of a scanner, characterized in that: include: Acquire multiple scanning movement trajectories of the target scanner and surface points of the object to be scanned, and determine multiple valid movement trajectories from all the scanning movement trajectories; The effective movement trajectory is a scanning movement trajectory that meets the measurement judgment condition when the target scanner is used to scan and measure the surface point; For each of the valid movement trajectories, respectively, obtaining a point motion trajectory of the surface point relative to the target scanner according to the valid movement trajectory, and calculating a length of the point motion trajectory; The point motion trajectory is the motion trajectory of the surface point relative to the target scanner when the target scanner is considered to be stationary; Obtaining the gap length between the laser lines of the target scanner, and calculating the distribution length of the surface point according to the length of the motion trajectory of all points and the gap length; the distribution length is used to describe the probability of the surface point being scanned and measured; A measurability value of the surface area where the surface point is located is calculated according to the distribution length of the surface point; the measurability value is used to describe the probability that the surface area can be completely measured by the target scanner.

2. The measurement coverage prediction method according to claim 1, wherein: The measurement judgment conditions are: The surface point is located within a nominal measurement range corresponding to a scanning motion trajectory of the target scanner, and the target scanner satisfies constraints imposed by a measurement principle when moving along the scanning motion trajectory.

3. The measurement coverage prediction method according to claim 1, wherein: The calculating the length of the point motion trajectory includes: Select a target calculation method from the first calculation method, the second calculation method, and the third calculation method; The length of the point motion trajectory is calculated according to the target calculation method.

4. The measurement coverage prediction method according to claim 3, wherein: The first calculation method is: The length of the major axis of the bounding box of the point motion trajectory is used as the length of the point motion trajectory; The second calculation method is: The modulus of the vector from the starting point to the end point of the point motion trajectory is used as the length of the point motion trajectory; The third calculation method is: The arc length of the point motion trajectory is used as the length of the point motion trajectory.

5. The measurement coverage prediction method according to claim 1, wherein: The calculating the distribution length of the surface points according to the lengths of the motion trajectories of all points and the gap lengths includes: for each of the point motion trajectories, determining whether the length of the point motion trajectory is greater than or equal to the gap length; if so, treating the point motion trajectory as a measurable motion trajectory; The distribution length of the surface points is calculated according to the lengths of all measurable motion trajectories.

6. The measurement coverage prediction method according to claim 5, characterized in that: Calculating the distribution length of the surface points according to the lengths of all measurable motion trajectories includes: By formula: Calculate the distribution length of the surface points ; in, Indicates the effective moving trajectory corresponding to the measurable motion trajectory, represents the set of valid moving trajectories corresponding to all measurable motion trajectories, express The length of the corresponding measurable motion trajectory, is a surface point, Represents all scanning movement trajectories.

7. The measurement coverage prediction method according to claim 6, characterized in that: The calculating the measurability value of the surface area where the surface point is located according to the distribution length of the surface point includes: By formula: Calculate the measurability value of the surface area ; in, represents the set of all surface points in the surface region, Represents a surface point The preset length of the point motion trajectory required to meet testability when performing scanning measurements.

8. A scanner measurement coverage prediction device, characterized in that: include: a determination module, configured to obtain a plurality of scanning movement trajectories of a target scanner and surface points of an object to be scanned, and determine a plurality of valid movement trajectories from all the scanning movement trajectories; The effective movement trajectory is a scanning movement trajectory that meets the measurement judgment condition when the target scanner is used to scan and measure the surface point; a first calculation module, configured to obtain, for each of the valid movement trajectories, a point motion trajectory of the surface point relative to the target scanner according to the valid movement trajectory, and calculate a length of the point motion trajectory; The point motion trajectory is the motion trajectory of the surface point relative to the target scanner when the target scanner is considered to be stationary; an acquisition module, configured to acquire the gap length between the laser lines of the target scanner, and calculate the distribution length of the surface point according to the length of the motion trajectory of all points and the gap length; the distribution length is used to describe the probability of the surface point being scanned and measured; The second calculation module is used to calculate a measurability value of the surface area where the surface point is located according to the distribution length of the surface point; the measurability value is used to describe the probability that the surface area is completely measured by the target scanner.

9. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the measurement coverage prediction method of the scanner according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for predicting the measurement coverage of a scanner according to any one of claims 1 to 7 is implemented.

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