Three-dimensional scanning system for recovering digital prototype of landing system structure

Abstract

A three-dimensional scanning system for recovering a digital prototype of a landing system structure belongs to the technical field of digital modeling, and provides original detailed data of physical objects and assembly states by constructing a flight product one-to-one digital object model and a parachute bay product assembly state digital twin model. And long-term storage of data, multi-scene simulation analysis and full-dimensional state difference comparison are supported, the state consistency of real objects is ensured, and the reliability of the system is improved. The three-dimensional visual model can also be used for collaborative design and verification of pneumatic deceleration performance.

Description

Technical Field

[0001] This invention relates to a 3D scanning system for a digital prototype of a recovery landing system structure, belonging to the field of digital modeling technology. Background Technology

[0002] Currently, the structural status recording of recovery landing systems still relies on basic fixed-viewpoint two-dimensional image methods to record the assembly process, and depends on decentralized static design models for status management. Although this method can partially record the macroscopic form of the product, it has significant limitations. First, the physical state of the recovered landing system flight product differs from its design state, and current technology lacks high-precision three-dimensional scanning capabilities, making it impossible to construct a one-to-one digital physical model, resulting in difficulty in quantifying and tracing changes in physical state. Second, the assembly process of components within the recovery landing system structure is entirely dependent on manual operation, which is an undetectable process. Existing two-dimensional image recording methods cannot reconstruct a three-dimensional dynamic assembly sequence, resulting in the loss of parameters such as key mating clearances and component poses, making it difficult to establish a digital twin model of the assembly state. Finally, historical data is stored in a decentralized manner and is not integrated with a long-term preservation mechanism, making it difficult to trace historical states across multiple missions and affecting the efficiency of fault analysis. Summary of the Invention

[0003] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a three-dimensional scanning system for a digital prototype of a recovery and landing system structure, which realizes three-dimensional digital archiving and high-precision analysis of the entire process from parts to final assembly, ensures the consistency of the physical state, and improves the reliability of the recovery and landing system.

[0004] The technical solution of this invention is:

[0005] A 3D scanning system for recovering a digital prototype of a landing system structure includes:

[0006] The multi-level 3D scanning unit is used to scan and acquire 3D images of the physical objects of the recovery and landing system at different assembly levels and preset key process nodes. During the scanning process, 3D point cloud reconstruction and preview are performed in real time. Then, the 3D point cloud model data and associated process information obtained by scanning are sent to the data transmission module. The objects of the 3D image scanning acquisition include the geometry and assembly status of the whole machine and component level objects.

[0007] The data transmission module is used to receive the three-dimensional point cloud model data and associated process information obtained by the multi-level three-dimensional scanning unit, and to package and send the data to the software processing unit.

[0008] The software processing unit includes an operation guidance module, a data processing module, a quality analysis module, and a model rendering module. The operation guidance module loads the assembly process files for the landing system assembly task, provides a visual interface, guides the operator to adjust parameters of the scanning unit, including position and exposure, and judges in real time whether the scanning distance and angle meet preset conditions, providing adjustment suggestions. The data processing module receives 3D point cloud model data and processes and tracks the 3D point cloud model data after determining that the scanning position meets preset conditions. It also unifies the 3D point cloud model data obtained from different scanning processes into the same global coordinate system based on the reference markers set in the initial assembly stage and the associated process information, forming a 3D model set arranged in a time sequence. The module then optimizes the models in the 3D model set to form a reconstructed 3D digital model. The quality analysis module is used to... The reconstructed 3D digital model undergoes quantitative analysis and provides virtual sectioning tools, enabling users to view and measure the gaps between parts at any cross-section within the assembly. It also compares the scanned model with the original design model, generating a dimensional deviation analysis report for the overall structure and preset key features. Furthermore, it determines whether the scanned points completely cover the physical target area of ​​the recovery and landing system during the scanning process, and provides visual prompts for re-registering the scanned target when it is lost. The model rendering module renders the reconstructed 3D digital model to obtain the mesh model and texture map of the scanned object, and visualizes it, enabling real-time or post-rendering of the color state of the physical surface. It also provides interactive operations for users and stores the reconstructed 3D digital model obtained after post-scanning processing, intermediate scanned models for each process, analysis reports, and related metadata, sending them to the data management module.

[0009] The data management module is used to store the 3D digital models, intermediate scanning models of each process, analysis reports, and related metadata sent by the software processing unit.

[0010] Furthermore, the multi-level three-dimensional scanning unit includes at least two imaging modules, wherein the first imaging module is used to scan key components smaller than a preset size, and the second imaging module is suitable for scanning the overall assembly state of the whole machine or parachute cabin larger than the preset size; the scanning accuracy of the first imaging module is greater than the scanning accuracy of the second imaging module.

[0011] Furthermore, the first imaging module is used to record the acquisition of parameters including mating gaps and part poses, and is used to reconstruct a three-dimensional dynamic assembly sequence. The second imaging module is used to expand the field of view to continuously track the target object in the overall model of the product assembly state inside the umbrella compartment.

[0012] Furthermore, the assembly process document will predefine the preset key process nodes of the assembly process.

[0013] Furthermore, the interactive operations include rotating, scaling, and translating the digital model.

[0014] Furthermore, the data management module uses blockchain to solidify data timestamps, supporting the querying and tracing of historical data by product serial number, assembly date, and process number, establishing a complete digital assembly file for each product, allowing users to view the recorded model data, and realizing the tracing and preservation of historical status records.

[0015] Furthermore, the processing and tracking include noise filtering and data preprocessing, and model reconstruction.

[0016] A three-dimensional scanning method based on the three-dimensional scanning system for a digital prototype of a recovery landing system structure, comprising:

[0017] The physical objects of the recovery and landing system are scanned and acquired in three dimensions at different assembly levels and preset key process nodes. During the scanning process, three-dimensional point cloud reconstruction and preview are performed in real time, and the three-dimensional point cloud model data and related process information are obtained from the scan.

[0018] Load the assembly process file for the recovery and landing system assembly task, adjust the parameters of the scanning unit including position and exposure, and judge in real time whether the scanning distance and angle meet the preset conditions. If they do not meet the conditions, make adjustments.

[0019] After determining that the scanning position meets the preset conditions, the three-dimensional point cloud model data is processed and tracked. Based on the reference markers set in the initial stage of assembly, the three-dimensional point cloud model data obtained from different processes are unified into the same global coordinate system according to the associated process information, forming a three-dimensional model set arranged in time sequence. The models in the three-dimensional model set are then optimized to form the reconstructed three-dimensional digital model.

[0020] The reconstructed 3D digital model is quantitatively analyzed, and the scanned model is compared with the original design model to generate a dimensional deviation analysis report of the whole and preset key features.

[0021] The reconstructed 3D digital model is rendered to obtain the mesh model and texture map of the scanned object, and then visualized to achieve real-time or post-rendering of the color state of the physical object surface.

[0022] The system stores the reconstructed 3D digital model obtained after post-scanning processing, as well as intermediate scan models, analysis reports, and related metadata for each process.

[0023] Furthermore, during the scanning process, it is determined whether the scan points completely cover the physical target area of ​​the recovery landing system, and when the scanned target is lost, a visual prompt is provided to re-register the scanned target.

[0024] The advantages of this invention compared to the prior art are:

[0025] (1) This invention achieves process-oriented and traceable digital detection by developing a multi-level three-dimensional scanning unit: Through serialized scanning and benchmark transfer technology, this invention has for the first time realized high-fidelity three-dimensional image scanning and acquisition of physical objects and parachute assembly status of the entire assembly process of the recovery landing system, making "undetectable items" measurable and traceable;

[0026] (2) This invention improves the depth and accuracy of detection through virtual sectioning and automated comparison. This invention can accurately quantify internal assembly parameters (such as gaps, poses, etc.), far exceeding two-dimensional imaging records and manual measurements.

[0027] (3) This invention achieves data traceability of dynamic assembly status by developing a data management software module and using blockchain technology to solidify key data timestamps. Furthermore, by constructing a one-to-one digital physical model of the flight product and a digital twin model of the product assembly status inside the parachute compartment, the model is linked to manufacturing process data, enabling long-term data storage, multi-scenario simulation analysis, and full-dimensional state difference comparison. This forms digital assets that support the entire product lifecycle quality management, ensuring the consistency of the physical state. This significantly improves the efficiency of reliability analysis and fault location for the recovery and landing system. Attached Figure Description

[0028] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0029] Figure 1 This is a schematic diagram illustrating the principle of the present invention. Detailed Implementation

[0030] To better understand the above technical solutions, the technical solutions of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solutions of the present invention, rather than limitations on the technical solutions of the present invention. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0031] The following description, in conjunction with the accompanying drawings, provides a more detailed explanation of a three-dimensional scanning system for a digital prototype of a recovery landing system structure provided by an embodiment of the present invention. Specific implementation methods may include:

[0032] The multi-level 3D scanning unit is used to scan and acquire 3D images of the physical objects of the recovery and landing system at different assembly levels and preset key process nodes. During the scanning process, 3D point cloud reconstruction and preview are performed in real time. Then, the 3D point cloud model data and associated process information obtained by scanning are sent to the data transmission module. The objects of the 3D image scanning acquisition include the geometry and assembly status of the whole machine and component level objects.

[0033] The data transmission module is used to receive the three-dimensional point cloud model data and associated process information obtained by the multi-level three-dimensional scanning unit, and to package and send the data to the software processing unit.

[0034] The software processing unit includes an operation guidance module, a data processing module, a quality analysis module, and a model rendering module. The operation guidance module loads the assembly process files for the landing system assembly task, provides a visual interface, guides the operator to adjust parameters of the scanning unit, including position and exposure, and judges in real time whether the scanning distance and angle meet preset conditions, providing adjustment suggestions. The data processing module receives 3D point cloud model data and processes and tracks the 3D point cloud model data after determining that the scanning position meets preset conditions. It also unifies the 3D point cloud model data obtained from different scanning processes into the same global coordinate system based on the reference markers set in the initial assembly stage and the associated process information, forming a 3D model set arranged in a time sequence. The module then optimizes the models in the 3D model set to form a reconstructed 3D digital model. The quality analysis module is used to... The reconstructed 3D digital model undergoes quantitative analysis and provides virtual sectioning tools, enabling users to view and measure the gaps between parts at any cross-section within the assembly. It also compares the scanned model with the original design model, generating a dimensional deviation analysis report for the overall structure and preset key features. Furthermore, it determines whether the scanned points completely cover the physical target area of ​​the recovery and landing system during the scanning process, and provides visual prompts for re-registering the scanned target when it is lost. The model rendering module renders the reconstructed 3D digital model to obtain the mesh model and texture map of the scanned object, and visualizes it, enabling real-time or post-rendering of the color state of the physical surface. It also provides interactive operations for users and stores the reconstructed 3D digital model obtained after post-scanning processing, intermediate scanned models for each process, analysis reports, and related metadata, sending them to the data management module.

[0035] The data management module is used to store the 3D digital models, intermediate scanning models of each process, analysis reports, and related metadata sent by the software processing unit.

[0036] The solution provided in the embodiments of the present invention includes a multi-level three-dimensional scanning unit, a data transmission module, a software processing unit, and a data management module.

[0037] The multi-level three-dimensional scanning unit uses hardware scanning equipment to perform high-fidelity three-dimensional image scanning and acquisition of the physical objects of the recovery and landing system, including geometric shape scanning of the whole machine and component level objects, as well as high-precision scanning of the assembly state, and sends them to the data transmission module.

[0038] The data transmission module is used to receive the three-dimensional physical model data obtained by the scanning unit hardware scanning and send the data to the software processing unit.

[0039] The software processing unit is divided into an operation testing module, a data processing module, a model rendering module, and a cross-interaction module according to its functions.

[0040] The operation testing module is used to adjust the position and exposure of the hardware device to adapt to the actual environment. The hardware device needs to be aligned with the object to be scanned. The software provides a corresponding visualization module to determine whether parameters such as the current scanning distance are appropriate, and provides the judgment results and adjustment suggestions. Furthermore, during the actual scanning process, it determines whether the scanning points completely cover the target area of ​​the object, and if the target is lost, it prompts for re-registration of the scanning target and provides corresponding prompts.

[0041] The data processing module further processes and tracks the data obtained after the image scanning officially begins, including noise filtering and data preprocessing, model reconstruction, etc. Finally, it stores the scan data as a file and transmits the optimized 3D model to the model rendering module and the data management module.

[0042] The model rendering module is used to render the established 3D digital model in real-world conditions. It uses a suitable 3D rendering engine for automatic processing to obtain the mesh model and texture map of the scanned object. Different modes can be displayed to achieve real-time or post-processing automatic rendering of the color state of the physical object surface and display it on the software processing unit operation page.

[0043] The cross-interaction module supports user interaction with the 3D model, such as rotation, scaling, and translation. Ultimately, this allows users to perform various user-level operations on the software's interface.

[0044] The data management module uses blockchain to solidify data timestamps to store real-time generated models and data, supports the storage and query of large-scale historical data, and ensures that users can click on the model to view the recorded model data, thus completing the tracing of historical status and long-term preservation of records.

[0045] like Figure 1 As shown, this invention relates to 3D scanning of a digital prototype of a recovery landing system structure, suitable for providing detailed data on the physical object and assembly status required during recovery and landing operations. It includes a multi-level 3D scanning unit, a data transmission unit, a software processing unit, and a data management module. Specific implementation details are as follows:

[0046] 1) Preliminary Preparation: The operator starts the software processing unit and opens the dedicated scanning control software on the computer. The operation guidance module of the software processing unit loads the assembly process file for implementing the assembly task and predefines key process nodes in the process file, for example:

[0047] Step A: Fold the parachute ropes and put them into the parachute bag.

[0048] Process B: Rotary joints and other structural components are loaded into the parachute pack.

[0049] Step C: Fold the umbrella canopy and put it into the umbrella bag, paying special attention to the position of the drawstring cutter.

[0050] Process D: The parachute is completely sealed, and assembly is complete.

[0051] The data management module automatically creates a new product file for this assembly task and assigns a unique serial number.

[0052] 2) Hardware Scanning: The 3D scanning unit of this invention adopts a modular optical acquisition system, comprising multiple imaging modules with different field-of-view characteristics. One imaging module is adapted for close-range, high-precision acquisition, while another has an extended field of view to support continuous tracking of large-sized targets. This composite optical architecture enables the device to adapt to full-scale scanning needs, from small components to medium-to-large objects. The device integrates a dedicated data processing unit to achieve real-time 3D point cloud reconstruction. Through the combination of an optimized optical projection system and active illumination technology, it ensures stable acquisition of target surface information under complex ambient light conditions (including high-brightness outdoor scenes and low-light environments). The texture restoration module can dynamically compensate for ambient light, outputting a 3D model with realistic color and texture. The hardware scanning device performs high-fidelity 3D scanning of physical entities, including scanning of the entire machine and component-level physical geometry, as well as scanning in the assembled state, with a scanning accuracy of no less than 0.02mm; the scanning completeness rate of complex structures inside the canopy is ≥95%, and a high-fidelity millimeter-level digital model is established based on this. The device shell adopts an integrated metal structure and achieves fanless, silent operation through a passive heat dissipation solution. The scanning process employs a unique dynamic image stabilization algorithm and single-frame 3D reconstruction technology to maintain data continuity even in mobile scanning scenarios. After the operator completes the folding of the parachute lines and loading them into the parachute pack, permanent reference markers are first affixed to three non-collinear positions on the main structure of the parachute pack accessories, following the illustrations in the operation guidance module. Using the multi-level 3D scanning unit, the first high-precision imaging module (close-range, high-precision) is selected, and the operator aligns the device with the scanning area via the aiming device or the visualization module on the software interface. The operation guidance module displays scanning distance, angle, and other information, and prompts "Appropriate distance" or "Please move closer."

[0053] Once the conditions are met, the operator begins scanning. Simultaneously, the operation guidance module performs coverage analysis, highlighting any missed areas until complete coverage is achieved.

[0054] 3) Data transmission: The scanned data is transmitted to the data processing software in real time via USB or Ethernet;

[0055] 4) Data Processing and Rendering: Further processing and tracking of the data obtained after the formal image scanning begins. Dedicated software is developed, integrating the functions of the above modules. The data processing unit performs point cloud reconstruction, displaying the point cloud in real-time on the software screen. Simultaneously, it performs noise filtering, data preprocessing, and model reconstruction to generate a 3D mesh model for step A. The system identifies and records the precise coordinates of three reference marker points in global space, establishing this model as the reference coordinate system for all subsequent scanning work. The subsequent model rendering module performs physical rendering of the established 3D digital model, using a suitable 3D rendering engine for automatic processing to obtain the mesh model and texture map of the scanned object. Different modes are available for display, enabling real-time or post-processing automatic rendering of the physical object's surface color and displaying it on the software processing unit's operation page. The model is automatically named, and the scanned data is finally stored as a file, managed by the optimized 3D model data management module.

[0056] 5) Subsequent process scanning (core assembly status recording)

[0057] After the operator completes the assembly operation in process B, the imaging mode of the multi-level 3D scanning unit can be switched according to the task status due to the change in scanning range. During scanning, it is ensured that at least two reference marker points set in process A can be scanned. The scan data is sent to the data processing unit via the data transmission module. The data processing unit first automatically identifies the reference marker points in the new scan data, and through an algorithm, automatically registers the scan data of this process to the reference coordinate system established in process A. Millimeter-level precise spatial alignment of the two process models is completed. Then, the 3D model of this process is reconstructed. At the same time, a virtual cutting plane can be generated by dragging in the software. The software will calculate and display the cross-section in real time, and allow the operator to measure the distance, pose, and status of the paracord and nearby structural components at the cross-section, thereby determining whether there is any interference risk.

[0058] 4) Interactive Operation: The human-computer interaction interface adopts a simplified touch-based command input scheme, supplemented by a multimodal status feedback mechanism. It supports interactive operations between the user and the 3D model, such as rotation, scaling, and translation. Users rotate the model by holding down the mouse wheel, and the software converts the screen coordinates into a 3D rotation matrix. Dragging the model surface triggers displacement calculations. The mouse wheel also triggers focus adjustment.

[0059] 5) Storage and Historical Backtracking: Utilizes an efficient real-time database to store real-time generated models and data, supporting the storage and retrieval of large-scale historical data. Employs blockchain technology to permanently stamp key data timestamps, ensuring users can click on models to view recorded model data, and compresses large-scale data to reduce storage and transmission costs.

[0060] This invention provides a computer-readable storage medium storing computer instructions that, when executed on a computer, cause the computer to perform... Figure 1 The method described.

[0061] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0062] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0063] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0064] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0065] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0066] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A three-dimensional scanning system for recovering a digital prototype of a landing system structure, characterized in that, include: The multi-level 3D scanning unit is used to scan and acquire 3D images of the physical objects of the recovery and landing system at different assembly levels and preset key process nodes. During the scanning process, 3D point cloud reconstruction and preview are performed in real time. Then, the 3D point cloud model data and associated process information obtained by scanning are sent to the data transmission module. The objects of the 3D image scanning acquisition include the geometry and assembly status of the whole machine and component level objects. The data transmission module is used to receive the three-dimensional point cloud model data and associated process information obtained by the multi-level three-dimensional scanning unit, and to package and send the data to the software processing unit. The software processing unit includes an operation guidance module, a data processing module, a quality analysis module, and a model rendering module. The operation guidance module loads the assembly process files for the landing system assembly task, provides a visual interface, guides the operator to adjust parameters of the scanning unit, including position and exposure, and judges in real time whether the scanning distance and angle meet preset conditions, providing adjustment suggestions. The data processing module receives 3D point cloud model data and processes and tracks the 3D point cloud model data after determining that the scanning position meets preset conditions. It also unifies the 3D point cloud model data obtained from different scanning processes into the same global coordinate system based on the reference markers set in the initial assembly stage and the associated process information, forming a 3D model set arranged in a time sequence. The module then optimizes the models in the 3D model set to form a reconstructed 3D digital model. The quality analysis module is used to... The reconstructed 3D digital model undergoes quantitative analysis and provides virtual sectioning tools, enabling users to view and measure the gaps between parts at any cross-section within the assembly. It also compares the scanned model with the original design model, generating a dimensional deviation analysis report for the overall structure and preset key features. Furthermore, it determines whether the scanned points completely cover the physical target area of ​​the recovery and landing system during the scanning process, and provides visual prompts for re-registering the scanned target when it is lost. The model rendering module renders the reconstructed 3D digital model to obtain the mesh model and texture map of the scanned object, and visualizes it, enabling real-time or post-rendering of the color state of the physical surface. It also provides interactive operations for users and stores the reconstructed 3D digital model obtained after post-scanning processing, intermediate scanned models for each process, analysis reports, and related metadata, sending them to the data management module. The data management module is used to store the 3D digital models, intermediate scanning models of each process, analysis reports, and related metadata sent by the software processing unit.

2. The three-dimensional scanning system for recovering a digital prototype of a landing system structure according to claim 1, characterized in that, The multi-level three-dimensional scanning unit includes at least two imaging modules, wherein the first imaging module is used to scan key components smaller than a preset size, and the second imaging module is suitable for scanning the entire machine or parachute cabin assembly state larger than the preset size; the scanning accuracy of the first imaging module is greater than the scanning accuracy of the second imaging module.

3. A three-dimensional scanning system for recovering a digital prototype of a landing system structure according to claim 2, characterized in that, The first imaging module is used to record the acquisition of parameters including mating gaps and part poses, and is used to reconstruct a three-dimensional dynamic assembly sequence. The second imaging module is used to expand the field of view to continuously track the target object in the overall model of the product assembly state inside the umbrella compartment.

4. A three-dimensional scanning system for recovering a digital prototype of a landing system structure according to claim 1, characterized in that, The assembly process document will predefine the key process nodes of the assembly process.

5. A three-dimensional scanning system for recovering a digital prototype of a landing system structure according to claim 1, characterized in that, The interactive operations include rotating, scaling, and translating the digital model.

6. A three-dimensional scanning system for recovering a digital prototype of a landing system structure according to claim 1, characterized in that, The data management module uses blockchain to solidify data timestamps, supporting the querying and tracing of historical data by product serial number, assembly date, and process number. It establishes a complete digital assembly file for each product, allowing users to view the recorded model data and realize the tracing and preservation of historical status records.

7. A three-dimensional scanning system for recovering a digital prototype of a landing system structure according to claim 1, characterized in that, The processing and tracking include noise filtering and data preprocessing, and model reconstruction.

8. A three-dimensional scanning method implemented by a three-dimensional scanning system for recovering a digital prototype of a landing system structure as described in any one of claims 1 to 7, characterized in that, include: The physical objects of the recovery and landing system are scanned and acquired in three dimensions at different assembly levels and preset key process nodes. During the scanning process, three-dimensional point cloud reconstruction and preview are performed in real time, and the three-dimensional point cloud model data and related process information are obtained from the scan. Load the assembly process file for the recovery and landing system assembly task, adjust the parameters of the scanning unit including position and exposure, and judge in real time whether the scanning distance and angle meet the preset conditions. If they do not meet the conditions, make adjustments. After determining that the scanning position meets the preset conditions, the three-dimensional point cloud model data is processed and tracked. Based on the reference markers set in the initial stage of assembly, the three-dimensional point cloud model data obtained from different processes are unified into the same global coordinate system according to the associated process information, forming a three-dimensional model set arranged in time sequence. The models in the three-dimensional model set are then optimized to form the reconstructed three-dimensional digital model. The reconstructed 3D digital model is quantitatively analyzed, and the scanned model is compared with the original design model to generate a dimensional deviation analysis report of the whole and preset key features. The reconstructed 3D digital model is rendered to obtain the mesh model and texture map of the scanned object, and then visualized to achieve real-time or post-rendering of the color state of the physical object surface. The system stores the reconstructed 3D digital model obtained after post-scanning processing, as well as intermediate scan models, analysis reports, and related metadata for each process.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in claim 8.

10. A three-dimensional scanning device for recovering a digital prototype of a landing system structure, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, it implements the steps of the method as described in claim 8.

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