Handheld laser three-dimensional scanner control method and system and scanner

Abstract

The invention relates to a handheld laser three-dimensional scanner control method and system and a scanner, and relates to the technical field of handheld laser scanners, and the method comprises the steps: collecting the real-time movement information, scanning image information and holding detection information of a handheld laser three-dimensional scanner; identifying the mark point based on the scanned image information to obtain a mark position point; determining mark movement information according to the movement condition of the mark position point; demand movement information is determined according to the mark movement information; determining movement deviation information in combination with the real-time movement information and the required movement information; and determining holding vibration early warning information according to the movement deviation information and the holding detection information, and outputting the holding vibration early warning information to the handheld laser three-dimensional scanner to perform vibration early warning of the held part. The method has the effect of reducing the scanning error when a green-hand detector scans an object by adopting a handheld laser three-dimensional scanner.

Description

Technical Field

[0001] This invention relates to the field of handheld laser scanner technology, and in particular to a control method, system and scanner for a handheld laser 3D scanner. Background Technology

[0002] A handheld laser scanner is a portable, handheld scanning device that uses laser light as a detection medium to collect data on planar (two-dimensional) or three-dimensional (three-dimensional) objects.

[0003] When scanning an object using a handheld laser 3D scanner, the process typically involves attaching markers to the object and having the operator maintain a stable grip while keeping the laser beam perpendicular to the object's surface and moving it at a constant speed. During the scanning process, the handheld laser 3D scanner uses a preset supplementary light source for illumination and two or more built-in cameras for scanning and recognition, thereby obtaining scan data and generating a scanned model.

[0004] When using a handheld laser 3D scanner to scan an object, it is generally necessary for the inspector to perform the handheld inspection, which requires a high level of proficiency. When novice inspectors use it, they are prone to improper scanning path planning, resulting in insufficient overlap or missed viewpoints, which in turn leads to large errors in the scanning results. Summary of the Invention

[0005] To reduce scanning errors when novice inspectors use handheld laser 3D scanners to scan objects, this invention provides a handheld laser 3D scanner control method, system, and scanner.

[0006] In a first aspect, the present invention provides a control method for a handheld laser 3D scanner, which adopts the following technical solution: A control method for a handheld laser 3D scanner includes: S1: Collects real-time movement information, scanned image information, and grip detection information from a handheld laser 3D scanner; S2: Identify marker points based on scanned image information to obtain marker location points; S3: Determine the sign movement information based on the movement of the sign's location point; S4: Determine the required movement information based on the sign movement information; S5: Combine real-time mobility information with demand mobility information to determine mobility deviation information; S6: Determine grip vibration warning information based on movement deviation information and grip detection information, and output grip vibration warning information to handheld laser 3D scanner for vibration warning of grip area.

[0007] By adopting the above technical solution, real-time movement information, scanned image information, and grip detection information are collected to identify the marker position points and determine the required movement information. Then, movement deviation information is determined, and grip vibration warning information is generated and output by combining grip detection information. This enables real-time monitoring of movement deviation and grip status during the scanning process, and provides vibration warnings to the gripping part of the inspector. It promptly prompts the inspector to adjust the speed and direction of movement, reducing problems such as scan data misalignment and decreased accuracy caused by hand vibration. This improves the integrity and accuracy of 3D scan data and reduces scanning errors when novice inspectors use handheld laser 3D scanners to scan objects.

[0008] Optionally, methods for determining grip vibration warning information include: S61: Retrieve the movement deviation value and movement deviation angle value based on the movement deviation information; S62: Retrieve the grip area and grip strength value based on grip detection information; S63: Combine the movement deviation value and the grip force value to generate the vibration force value and vibration frequency value; S64: Generate vibration location points by combining the movement deviation angle value, gripping area and vibration force value; S65: Determine comprehensive vibration early warning information based on vibration frequency value, vibration intensity value and vibration location point, and use comprehensive vibration early warning information as grip vibration early warning information.

[0009] By adopting the above technical solution, the values ​​of movement deviation, movement deviation angle, grip area, and grip force are retrieved, and vibration force, vibration frequency, and vibration location are generated step by step. This allows for the determination of comprehensive vibration early warning information, which serves as grip vibration early warning information. This makes the early warning more targeted and accurate, enabling testing personnel to quickly adjust based on the vibration and ensuring scanning quality.

[0010] Optionally, methods for generating vibration force values ​​include: S631: Determine the reference value for grip feel based on the grip strength value; S632: Retrieve real-time mobile speed value based on real-time mobile information; S633: Calculate the ratio between the movement deviation value and the real-time movement speed value and use it as the deviation ratio value; S634: Determine the deviation adjustment coefficient based on the deviation ratio value; S635: Calculate the product between the deviation adjustment coefficient and the grip feel reference value and use it as the grip feel adjustment value, and use the grip feel adjustment value as the vibration force value.

[0011] By adopting the above technical solution, the grip feel benchmark value is determined by the grip force value, and the deviation ratio value is calculated by retrieving the real-time movement speed value. Then, the deviation adjustment coefficient is determined, and the grip feel adjustment value is calculated and used as the vibration force value. This makes the generation of vibration force value fully match the user's actual grip state and the device's movement, making the vibration warning force feedback more ergonomic, improving the user's perception experience during operation, and avoiding operational interference or insufficient perception caused by improper warning force.

[0012] Optionally, methods for generating vibration location points include: S641: Retrieve real-time movement direction based on real-time movement information; S642: Determine the reference position point for movement by combining the real-time movement direction and the gripping area; S643: Determine the deviation adjustment point by combining the moving reference position point and the moving deviation angle value; S644: Retrieve vibration reference value based on deviation adjustment position point; S645: Determine whether the vibration force value is greater than the vibration reference value; S646: If yes, calculate the difference between the vibration force value and the vibration reference value and use it as the vibration deviation value; S647: Generate the selected location point by combining the vibration deviation value, the vibration reference value, and the movement deviation angle value; S648: The selected location point is combined with the deviation adjustment location point and used as the vibration location point; S649: If not, then the deviation adjustment point will be used as the vibration point.

[0013] By adopting the above technical solution, the real-time movement direction is retrieved to determine the movement reference position point, and the deviation adjustment position point is determined by combining the movement deviation angle value. Then, the vibration reference value is retrieved, and the generation logic of the vibration position point is refined by judging whether the vibration force value is greater than the vibration reference value. This allows for precise positioning of the holding vibration and timely and accurate early warning to the testing personnel.

[0014] Optionally, the methods for generating the selected location points include: S6471: Calculate the ratio between the vibration deviation value and the vibration reference value and use it as the vibration deviation ratio value; S6472: Determine the selected value based on the vibration deviation ratio; S6473: Determine the selected deviation ratio value based on the movement deviation angle value; S6474: Determine the number of selected bias values ​​by combining the selected numerical values ​​and the selected bias ratio value; S6475: Based on the selected bias values ​​and deviation adjustment position points, the surrounding neighboring position points are selected, and the surrounding neighboring position points are used as the selected position points.

[0015] By adopting the above technical solution, the vibration deviation ratio is calculated and the selected values ​​are determined. The deviation angle value is used to determine the selected bias ratio value, and then the selected bias values ​​are determined for selection. This results in obtaining the surrounding neighboring position points, which are then used as the selected position points. This makes the positioning of the vibration position points more consistent with the actual movement deviation characteristics of the equipment, avoiding the limitations of a single position point.

[0016] Optionally, after identifying the marker points based on the scanned image information to obtain the marker location points, the process further includes: S21: Retrieve the reflected light intensity value of the sign from the scanned image information based on the sign's location point; S22: Calculate the difference between the reflected light intensity values ​​of adjacent marker locations and use it as the light intensity change value between adjacent markers; S23: Acquire supplementary lighting output information; S24: Retrieve the supplementary light intensity value based on the supplementary light output information; S25: Determine the change in moving distance based on the scanned image information; S26: Combine the supplementary light intensity value, the change value of the light intensity of adjacent markers and the change value of the moving distance to generate supplementary light adjustment information, and output the supplementary light adjustment information to the handheld laser 3D scanner for supplementary light adjustment.

[0017] By adopting the above technical solution, the reflected light intensity value of the marker is retrieved and the light intensity change value of adjacent markers is calculated. Then, the supplementary light output information is collected and the supplementary light intensity value is retrieved. By determining the change value of the moving distance and combining it with the supplementary light intensity value and the light intensity change value of adjacent markers, supplementary light adjustment information is generated. The supplementary light adjustment information is then output to the handheld laser 3D scanner for supplementary light adjustment. This allows for real-time monitoring of the light intensity feedback and equipment movement status of the marker points, dynamic adjustment of supplementary light parameters, and resolution of the problem of unclear marker point identification caused by changes in moving distance or abnormal light intensity. This ensures the accuracy of marker point positioning and improves the accuracy of obtaining marker location points.

[0018] Optionally, methods for generating supplemental lighting adjustment information include: S261: Determine the reference value for light intensity change based on the change in moving distance; S262: Calculate the difference between the baseline value of light intensity change and the light intensity change value of adjacent markers and use it as the light intensity change anomaly value; S263: Determine the adjustment value for supplemental lighting needs based on abnormal values ​​of light intensity changes; S264: Calculate the sum between the supplementary light intensity value and the supplementary light demand adjustment value, and use it as the supplementary light adjustment result value; S265: Determine whether the supplemental lighting adjustment result value is greater than the preset supplemental lighting reference value; S266: If yes, calculate the difference between the supplementary lighting adjustment result value and the supplementary lighting reference value and use it as the supplementary lighting extra value; S267: Combine the supplementary light output information with the supplementary light extra value to generate additional adjustment information, and combine the supplementary light demand adjustment value with the additional adjustment information as supplementary light adjustment information; S268: If not, the supplementary lighting demand adjustment value will be used as the supplementary lighting adjustment information.

[0019] By adopting the above technical solution, the reference value of light intensity change is determined by the change value of moving distance, the abnormal value of light intensity change is calculated to derive the adjustment value of supplementary lighting requirement, and then the adjustment result value of supplementary lighting is calculated. By judging whether the adjustment result value of supplementary lighting is greater than the preset reference value of supplementary lighting, it is determined whether additional adjustment information should be generated, thereby improving the accuracy of the obtained supplementary lighting adjustment information and avoiding the failure of sign recognition caused by insufficient supplementary lighting or the laser interference caused by excessive supplementary lighting.

[0020] Optional methods for generating additional adjustment information include: S2671: Retrieve the marker color from scanned image information based on the marker location point; S2672: Retrieve fill light color based on fill light output information; S2673: Determine the current color intensity coefficient by combining the logo color and the fill light color; S2674: Determine the required color light intensity coefficient based on the supplementary light value; S2675: Determine whether the light intensity coefficient of the required color is greater than the light intensity coefficient of the current color; S2676: If yes, the adjusted color is obtained based on the required color light intensity coefficient and the logo color, and the adjusted color is used as additional adjustment information; S2677: If not, retrieve the type of scanned object based on the scanned image information; S2678: Query the type of object to obtain the type of color used, and use the type of color as additional adjustment information.

[0021] By adopting the above technical solution, the current color intensity coefficient is determined by retrieving the logo color and the fill light color, the required color intensity coefficient is determined by the fill light extra value, and the color or type of color to be adjusted is determined by judging whether the required color intensity coefficient is greater than the current color intensity coefficient, thereby improving the fill light effect through color adjustment and adaptation.

[0022] Secondly, the present invention provides a handheld laser 3D scanner control system, which adopts the following technical solution: A handheld laser 3D scanner control system includes: The acquisition module is used to acquire real-time motion information, scanned image information, grip detection information, and supplementary lighting output information; The memory stores a program for implementing a handheld laser 3D scanner control method as described in any one of the first aspects; The processor loads and executes programs stored in memory.

[0023] Thirdly, the present invention provides a scanner, which adopts the following technical solution: A scanner includes a memory and a processor, wherein the memory stores a computer program and is capable of being loaded and executed by the processor, as described in any one of the first aspects, a method for controlling a handheld laser 3D scanner.

[0024] In summary, the present invention has at least one of the following beneficial technical effects: 1. By collecting real-time movement information, scanned image information, and grip detection information, the system identifies the marker position points and determines the required movement information, thereby determining the movement deviation information. Combined with the grip detection information, it generates and outputs grip vibration warning information, which enables real-time monitoring of movement deviation and grip status during the scanning process. It also provides vibration warnings to the gripping part of the inspector, prompting the inspector to adjust the movement speed and direction in a timely manner. This reduces problems such as scan data misalignment and decreased accuracy caused by handheld vibration, improves the integrity and accuracy of 3D scan data, and reduces scanning errors when novice inspectors use handheld laser 3D scanners to scan objects. 2. By retrieving the values ​​of movement deviation, movement deviation angle, grip area, and grip force, and then generating vibration force, vibration frequency, and vibration location points step by step, comprehensive vibration early warning information is determined and used as grip vibration early warning information. This makes the early warning more targeted and accurate, allowing inspection personnel to quickly adjust based on the vibration and ensure scanning quality. 3. By retrieving the reflected light intensity value of the marker and calculating the light intensity change value of adjacent markers, and then collecting the supplementary light output information and retrieving the supplementary light intensity value, the supplementary light adjustment information is generated by determining the change value of the moving distance and combining it with the supplementary light intensity value and the light intensity change value of adjacent markers. The supplementary light adjustment information is then output to the handheld laser 3D scanner for supplementary light adjustment. This allows for real-time monitoring of the light intensity feedback of the marker point and the movement status of the equipment, and dynamic adjustment of the supplementary light parameters. This solves the problem of unclear marker point identification caused by changes in moving distance or abnormal light intensity, ensuring the accuracy of marker point positioning and thus improving the accuracy of obtaining the marker location point. Attached Figure Description

[0025] Figure 1 This is a flowchart of the method for controlling a handheld laser 3D scanner; Figure 2 This is a flowchart of a method for identifying marker points based on scanned image information to obtain the marker location points; Figure 3 This is a flowchart illustrating the method for determining vibration warning information. Detailed Implementation

[0026] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0027] A control method for a handheld laser 3D scanner collects real-time movement information, scanned image information, grip detection information, and supplementary lighting output information. This allows for the determination of supplementary lighting intensity values ​​and changes in light intensity between adjacent markers, which are then combined to generate supplementary lighting adjustment information. This adjustment information is output to the handheld laser 3D scanner for supplementary lighting adjustment, dynamically adjusting the supplementary lighting parameters to ensure accurate marker positioning. Furthermore, by identifying the marker position points and determining movement deviation information, this method combines grip detection information to generate and output grip vibration warning information. This enables real-time monitoring of movement deviation and grip status during the scanning process, providing vibration warnings to the operator's grip area and prompting timely adjustments to the speed and direction of movement. This reduces scanning errors for novice operators using handheld laser 3D scanners.

[0028] Reference Figure 1 This invention discloses a control method for a handheld laser 3D scanner, comprising: S1: Collects real-time movement information, scanned image information, and grip detection information from a handheld laser 3D scanner.

[0029] Real-time motion information refers to the motion data of the laser 3D scanner during the scanning process conducted by the inspector using a handheld laser 3D scanner. This real-time motion information includes real-time motion speed and real-time motion direction. The real-time motion speed refers to the speed at which the laser 3D scanner moves during the scanning process, and the real-time motion direction refers to the direction in which the laser 3D scanner moves during the scanning process. Real-time motion information is acquired through the scanner's built-in inertial measurement unit and positioning module.

[0030] Scanned image information refers to the image information acquired by a laser 3D scanner during the scanning process performed by an inspector using a handheld laser 3D scanner. This scanned image information is obtained through detection using a camera pre-installed within the laser 3D scanner.

[0031] Grip detection information refers to the area and force information corresponding to the grip of the handheld laser 3D scanner by the inspector.

[0032] The grip detection information is obtained by a pressure sensor pre-installed in the grip area of ​​the laser 3D scanner.

[0033] S2: Identify marker points based on scanned image information to obtain marker location points.

[0034] Among them, the marker location point refers to the positioning reference mark with high contrast and a specific shape (such as circle or square) that is pasted on the surface of the object or in the scanning environment before scanning.

[0035] By using image recognition algorithms to filter out regions that meet the preset shape, size, and contrast characteristics of marker points from the scanned image information, marker points are obtained. The pixel positions of the marker points in the image are then used as marker location points for convenient subsequent use.

[0036] To further ensure the validity of the marker location points obtained by identifying marker points based on scanned image information, it is necessary to perform further separate analysis and calculations on the marker location points obtained by identifying marker points based on scanned image information. The specific steps are explained in detail below.

[0037] Reference Figure 2 After identifying the marker points based on the scanned image information to obtain the marker location points, the following steps are also included: S21: Retrieve the reflected light intensity value of the sign from the scanned image information based on the sign's location point.

[0038] The reflected light intensity value of the marker refers to the intensity data of the light reflected after the laser shines on the surface of the marker point during the scanning process.

[0039] By retrieving the light intensity data corresponding to the location of the marker from the scanned image information and using it as the reflected light intensity value of the marker, it is convenient for subsequent use.

[0040] S22: Calculate the difference between the reflected light intensity values ​​of adjacent sign locations and use it as the light intensity change value of adjacent signs.

[0041] The change in light intensity between adjacent signs refers to the difference between the reflected light intensity values ​​of adjacent sign locations.

[0042] The calculation of the light intensity changes of adjacent signs facilitates subsequent use.

[0043] S23: Collect supplementary lighting output information.

[0044] The supplementary lighting output information refers to the light intensity and color parameter data output by the supplementary lighting system built into the handheld laser 3D scanner when it is working. This information is obtained by querying the supplementary lighting module preset in the handheld laser 3D scanner.

[0045] S24: Retrieve the supplementary light intensity value based on the supplementary light output information.

[0046] The supplementary light intensity value refers to the light intensity parameter output by the built-in supplementary light system of the handheld laser 3D scanner when it is working. The supplementary light output information includes the supplementary light intensity value.

[0047] The supplementary light intensity value can be retrieved by using the supplementary light output information, which facilitates subsequent use.

[0048] S25: Determine the change in moving distance based on the scanned image information.

[0049] The change in moving distance refers to the change in distance between the handheld laser 3D scanner and the scanned object per unit time. The unit time is preset by the inspector according to actual needs; it can be 0.1 seconds or 0.5 seconds.

[0050] By selecting a marker point from the scanned image information and retrieving the change value of the pixel area of ​​the marker point in the scanned image information per unit time, and then querying the image scale corresponding to the camera in the laser 3D scanner at the current time, the change value of the distance between the handheld laser 3D scanner and the scanned object per unit time can be calculated by using the change value of the pixel area and the image scale, and used as the change value of the moving distance for subsequent use.

[0051] S26: Combine the supplementary light intensity value, the change value of the light intensity of adjacent markers and the change value of the moving distance to generate supplementary light adjustment information, and output the supplementary light adjustment information to the handheld laser 3D scanner for supplementary light adjustment.

[0052] Among them, the supplementary lighting adjustment information refers to the control information used to control the working status of the supplementary lighting module preset on the handheld laser 3D scanner.

[0053] By combining and analyzing the supplementary light intensity value, the light intensity change value of adjacent markers, and the movement distance change value to generate supplementary light adjustment information, supplementary light adjustment information is generated and output to a handheld laser 3D scanner for supplementary light adjustment. This allows for real-time monitoring of the light intensity feedback of marker points and the movement status of the equipment, dynamically adjusting the supplementary light parameters, solving the problem of unclear marker point identification caused by changes in movement distance or abnormal light intensity, ensuring the accuracy of marker point positioning, and thus improving the accuracy of marker location acquisition.

[0054] To further ensure the rationality of the fill light adjustment information, it is necessary to perform further separate analysis and calculation on the fill light adjustment information, which will be explained in detail through the steps shown below.

[0055] The method for generating supplemental lighting adjustment information includes the following steps: S261: Determine the reference value for light intensity change based on the change in moving distance.

[0056] Among them, the light intensity change reference value refers to the reference change value that occurs after the light intensity is affected by the change in distance between the handheld laser 3D scanner and the scanned object.

[0057] The greater the change in moving distance, the more significant the attenuation of the laser light reaching the scanned object, and the higher the baseline value for light intensity change. The product of the change in moving distance and the preset distance-intensity coefficient is calculated, and the result is used as the baseline value for light intensity change for convenient subsequent use.

[0058] The distance light intensity coefficient is a coefficient used to convert the change in moving distance into a reference value for the change in light intensity. The distance light intensity coefficient is obtained after being pre-input by the testing personnel.

[0059] S262: Calculate the difference between the baseline value of light intensity change and the light intensity change value of adjacent markers and use it as the light intensity change anomaly value.

[0060] Among them, the abnormal value of light intensity change refers to the difference between the baseline value of light intensity change and the light intensity change value of the adjacent marker.

[0061] By calculating the outliers of light intensity changes and using the calculation results as the outliers of light intensity changes, it is convenient to use them in the future.

[0062] S263: Determine the adjustment value for supplemental lighting requirements based on abnormal values ​​of light intensity changes.

[0063] Among them, the supplementary lighting demand adjustment value refers to the adjustment value corresponding to the need to adjust the light intensity of the supplementary lighting.

[0064] The product of abnormal light intensity changes and preset adjustment coefficients is calculated, and the result is used as the adjustment value for supplementary lighting needs for convenient subsequent use.

[0065] The change adjustment coefficient is a coefficient used to convert abnormal values ​​of light intensity change into adjustment values ​​for supplemental lighting needs. The change adjustment coefficient is obtained by the testing personnel after pre-inputting it according to actual needs.

[0066] S264: Calculate the sum between the supplementary light intensity value and the supplementary light demand adjustment value, and use it as the supplementary light adjustment result value.

[0067] The supplementary lighting adjustment result value refers to the light intensity value that needs to be output after supplementary lighting adjustment.

[0068] The sum of the supplementary light intensity value and the supplementary light adjustment value is calculated, and the calculation result is used as the supplementary light adjustment result value for convenient subsequent use.

[0069] S265: Determine whether the supplemental lighting adjustment result value is greater than the preset supplemental lighting reference value. If yes, proceed to S266; if no, proceed to S268.

[0070] The supplementary lighting reference value refers to the maximum light intensity value that the supplementary lighting module on the handheld laser 3D scanner can emit. The supplementary lighting reference value is obtained after being pre-input by the inspection personnel.

[0071] By judging whether the result of the supplementary light adjustment is greater than the preset supplementary light reference value, it can be determined whether the light intensity can be directly adjusted.

[0072] S266: Calculate the difference between the supplementary lighting adjustment result value and the supplementary lighting reference value and use it as the supplementary lighting extra value.

[0073] The supplementary lighting value refers to the light intensity value that requires additional supplementary lighting.

[0074] When the supplementary light adjustment result value is greater than the preset supplementary light reference value, it means that the light intensity cannot be directly adjusted at this time. Therefore, the difference between the supplementary light adjustment result value and the supplementary light reference value is calculated, and the calculation result is used as the supplementary light extra value for convenient subsequent use.

[0075] S267: Combine the supplementary light output information with the supplementary light extra value to generate additional adjustment information, and combine the supplementary light demand adjustment value with the additional adjustment information as supplementary light adjustment information.

[0076] The additional adjustment information refers to the control information that makes additional adjustments based on the additional fill light value.

[0077] By combining and analyzing the supplementary lighting output information with the supplementary lighting extra value, additional adjustment information is generated. The supplementary lighting requirement adjustment value is then combined with the additional adjustment information to form the supplementary lighting adjustment information, thereby improving the accuracy of the obtained supplementary lighting adjustment information.

[0078] To further ensure the rationality of the additional adjustment information, it is necessary to perform further separate analysis and calculation on the additional adjustment information, which will be explained in detail through the steps shown below.

[0079] The method for generating additional adjustment information includes the following steps: S2671: Retrieve the marker color from the scanned image information based on the marker location point.

[0080] The color of the marker refers to the color information displayed on the surface of the marker corresponding to the marker location point.

[0081] The RGB mean value of the region corresponding to the marker location point is extracted from the scanned image information and used as the marker color.

[0082] S2672: Retrieve fill light color based on fill light output information.

[0083] The fill light color refers to the color parameter data output by the fill light system built into the handheld laser 3D scanner. The fill light color is also an RGB value.

[0084] The output fill light color can be selected by using the fill light output information, which facilitates subsequent use.

[0085] S2673: Determine the current color intensity coefficient by combining the logo color and the fill light color.

[0086] The current color intensity coefficient is a quantitative parameter reflecting the light intensity reflection efficiency of the supplementary light color on the marker point. The closer the current color intensity coefficient is to 1, the better the compatibility between the supplementary light color and the marker color, and the higher the light intensity reflection efficiency.

[0087] The current color intensity coefficient is obtained by inputting the logo color and the fill light color into a preset color intensity database, which facilitates subsequent use.

[0088] The color intensity database contains a pre-stored table of different marker colors, supplementary light colors, and their corresponding current color intensity coefficients. The color intensity database is obtained after the testing personnel pre-input it.

[0089] For example, if the logo color is white (RGB252, 252, 252) and the fill light color is white light (RGB255, 255, 255), the basic matching degree obtained from the lookup table is 0.95; if the fill light color is changed to red light (RGB255, 0, 0), the basic matching degree is 0.62.

[0090] S2674: Determine the required color light intensity coefficient based on the supplementary light value.

[0091] The required color intensity coefficient refers to the target value of the compatibility coefficient between the supplementary light color and the logo color that needs to be achieved to offset the adaptation risk caused by the extra value of the supplementary light. The larger the extra value of the supplementary light, the more light intensity redundancy there is, the higher the requirement for color compatibility, and the higher the required color intensity coefficient.

[0092] By inputting the additional supplementary lighting value into the preset supplementary lighting requirement database to match the required color light intensity coefficient, it is convenient for subsequent use.

[0093] The supplementary lighting requirement database pre-stores a table of different supplementary lighting value ranges and their corresponding required color light intensity coefficients. The supplementary lighting requirement database is pre-set by the testing personnel.

[0094] For example, the supplementary lighting requirement database can be set as follows: the required color light intensity coefficient is 0.85 when the supplementary lighting value is 0-20 lux; the required color light intensity coefficient is 0.90 when the supplementary lighting value is 21-50 lux; and the required color light intensity coefficient is 0.95 when the supplementary lighting value is 51 lux or higher.

[0095] S2675: Determine whether the light intensity coefficient of the required color is greater than the light intensity coefficient of the current color. If yes, proceed to S2676; if no, proceed to S2677.

[0096] Specifically, the system determines whether a color can be selected based on the required color intensity coefficient by checking whether the light intensity coefficient of the desired color is greater than that of the current color.

[0097] S2676: Based on the required color light intensity coefficient and the logo color query, the adjusted color is obtained and used as additional adjustment information.

[0098] Among them, color adjustment refers to the color selected based on the required color light intensity coefficient.

[0099] When the required color intensity coefficient is greater than the current color intensity coefficient, it means that the color can be selected based on the required color intensity coefficient. Therefore, by inputting the required color intensity coefficient and the mark color into the preset color intensity database, the adjustment color can be obtained and used as additional adjustment information to improve the accuracy of the additional adjustment information obtained.

[0100] S2677: Retrieve the type of scanned object based on scanned image information.

[0101] Among them, the type of scanned object refers to the category to which the object scanned by the handheld laser 3D scanner belongs.

[0102] When the required color intensity coefficient is not greater than the current color intensity coefficient, it means that the color can be selected according to the required color intensity coefficient. Therefore, the outline and shape of the scanned object are extracted from the scanned image information and input into the preset object type database to match the scanned object type for convenient use later.

[0103] The object type database contains a pre-stored table of different object outlines, shape features and corresponding object type names. The object type database is obtained by the inspectors after they have entered the information in advance.

[0104] S2678: Query the type of object to obtain the type of color used, and use the type of color as additional adjustment information.

[0105] Among them, the color used for the category refers to the color corresponding to the category of the scanned object.

[0106] By inputting the type of scanned object into a preset type color database to match the type of color used, and using the type of color used as additional adjustment information, the accuracy of the additional adjustment information obtained is improved.

[0107] The category and color database contains a pre-stored table of different scanned object types and their corresponding colors. The category and color database is obtained after the inspectors pre-input the data.

[0108] S268: Use the supplementary lighting demand adjustment value as supplementary lighting adjustment information.

[0109] When the result of the supplementary lighting adjustment is not greater than the preset supplementary lighting reference value, it means that the light intensity can be directly adjusted at this time. Therefore, the supplementary lighting requirement adjustment value is used as the supplementary lighting adjustment information to improve the accuracy of the obtained supplementary lighting adjustment information.

[0110] S3: Determine the sign movement information based on the movement of the sign's location point.

[0111] Among them, the sign movement information refers to key information such as the movement speed and direction of the sign's location.

[0112] By retrieving the corresponding marker positions of the same marker point within a unit of time, the distance between the two marker positions can be calculated, thereby obtaining the moving speed and direction of the same marker point. This information is then combined with the marker movement information for convenient subsequent use.

[0113] S4: Determine the required movement information based on the marker movement information.

[0114] Among them, demand mobility information refers to the ideal mobility state data that a handheld laser 3D scanner needs to achieve in order to achieve accurate scanning and ensure data stitching accuracy.

[0115] The system retrieves the sign's movement speed and direction by analyzing the sign's movement information. It then determines the required adjustment speed by comparing the sign's movement speed with a preset normal movement speed. Finally, it uses scanned image information to determine the current image scale and calculates the required adjustment speed based on the sign's required adjustment speed and the image scale. The system also determines the required adjustment direction by comparing the sign's movement direction with a preset normal movement direction. These two values ​​are then combined to form the required movement information for subsequent use.

[0116] The normal movement speed value refers to the baseline movement speed value corresponding to precise scanning by a handheld laser 3D scanner. The normal movement direction refers to the baseline movement direction corresponding to precise scanning by a handheld laser 3D scanner. The normal movement speed value and normal movement direction are set by the inspection personnel according to actual needs.

[0117] The marker demand adjustment speed value refers to the speed value required to adjust the marker's movement speed to the normal movement speed value in the next unit of time. The movement demand adjustment speed value refers to the speed value that the handheld laser 3D scanner needs to adjust its movement speed to according to the marker demand adjustment speed value in the next unit of time. The movement demand adjustment direction refers to the direction required to adjust the movement direction to the normal movement direction in the next unit of time.

[0118] S5: Combine real-time mobility information with demand mobility information to determine mobility deviation information.

[0119] Among them, the movement deviation information refers to the deviation situation when there is a deviation in the movement speed and movement direction of the handheld laser 3D scanner in actual practice.

[0120] The system retrieves real-time movement speed and direction from real-time movement information, adjusts these values ​​based on movement needs, calculates the deviation between the real-time movement speed and the adjusted speed, and calculates the angle between the real-time movement direction and the adjusted direction as the movement deviation angle. Finally, the system combines the movement deviation value and the movement deviation angle value to obtain movement deviation information for subsequent use.

[0121] The motion deviation value refers to the deviation value corresponding to the actual deviation in the movement speed of a handheld laser 3D scanner. The motion deviation angle value refers to the angle value corresponding to the direction angle when the actual movement direction of a handheld laser 3D scanner deviates.

[0122] S6: Determine grip vibration warning information based on movement deviation information and grip detection information, and output grip vibration warning information to handheld laser 3D scanner for vibration warning of grip area.

[0123] The grip vibration warning information refers to the control information used to control the vibration of the grip part of the handheld laser 3D scanner. Several vibrators are pre-installed at equal intervals on the circumferential sidewalls of the grip part of the handheld laser 3D scanner to provide vibration alerts to the operator. These vibrators are located within the grip area. Buffering elements are pre-installed around the vibrators to prevent them from affecting the scanning process of the handheld laser 3D scanner.

[0124] By analyzing movement deviation information and grip detection information, grip vibration warning information is determined and output to the handheld laser 3D scanner to provide vibration warning for the gripping part. This allows the inspection personnel to adjust the speed and direction of movement in a timely manner, reducing problems such as scan data misalignment and decreased accuracy caused by hand grip vibration, improving the integrity and accuracy of 3D scan data, and reducing scanning errors when novice inspection personnel use handheld laser 3D scanners to scan objects.

[0125] To further ensure the rationality of the grip vibration warning information, it is necessary to perform further separate analysis and calculation on the grip vibration warning information, which will be explained in detail through the following steps.

[0126] Reference Figure 3 The method for determining vibration warning information includes the following steps: S61: Retrieve the movement deviation value and movement deviation angle value based on the movement deviation information.

[0127] Among them, the movement deviation value and movement deviation angle value are retrieved through the movement deviation information for convenient subsequent use.

[0128] S62: Retrieve the grip area and grip strength value based on grip detection information.

[0129] The grip area refers to the area where the inspector holds the handheld laser 3D scanner. The grip strength value refers to the force applied by the inspector when holding the handheld laser 3D scanner. Grip inspection information includes both the grip area and the grip strength value.

[0130] The grip detection information can be used to retrieve the grip area and grip strength values ​​for convenient subsequent use.

[0131] S63: Combine the movement deviation value and the grip strength value to generate the vibration force value and vibration frequency value.

[0132] Among them, the vibration intensity value refers to the quantitative parameter used to control the vibration strength of the vibrator. The vibration frequency value refers to the number of vibrations of the vibrator per unit time.

[0133] By inputting the movement deviation value and grip force value into the preset vibration control database, the vibration force value and vibration frequency value are obtained for convenient subsequent use.

[0134] The vibration control database has a pre-stored table of different movement deviation values, gripping force values ​​and corresponding vibration force values ​​and vibration frequency values. The vibration control database is pre-set by the testing personnel according to actual needs.

[0135] To further ensure the rationality of the vibration force value, it is necessary to perform a further separate analysis and calculation of the vibration force value, which will be explained in detail through the steps shown below.

[0136] The method for generating vibration intensity values ​​includes the following steps: S631: Determine the reference value for grip feel based on the grip strength value.

[0137] Among them, the grip feel reference value refers to the reference vibration intensity value that the tester can feel when gripping the object based on the grip force value.

[0138] The product of the grip strength value and the preset grip sensitivity coefficient is calculated, and the calculation result is used as the grip sensitivity benchmark value for convenient subsequent use.

[0139] The force perception coefficient is a coefficient used to convert the grip force value into a grip feeling reference value. The force perception coefficient is obtained by the tester conducting tests on different grip force values ​​in advance, and adjusting the vibration intensity of the vibrator until it can be felt, and then recording the intensity.

[0140] S632: Retrieve real-time mobile speed value based on real-time mobile information.

[0141] Among these features, real-time movement speed values ​​can be retrieved using real-time movement information for convenient subsequent use.

[0142] S633: Calculate the ratio between the movement deviation value and the real-time movement speed value and use it as the deviation ratio value.

[0143] The deviation ratio refers to the ratio between the movement deviation value and the real-time movement speed value.

[0144] Calculating the deviation ratio facilitates subsequent use.

[0145] S634: Determine the deviation adjustment coefficient based on the deviation ratio.

[0146] Among them, the deviation adjustment coefficient refers to the influence coefficient corresponding to the effect of the deviation in moving speed on the grip feel.

[0147] By inputting the deviation ratio value into the preset deviation adjustment database, the deviation adjustment coefficient is obtained for easy subsequent use.

[0148] The deviation adjustment database has a pre-stored table of different deviation ratios and their corresponding deviation adjustment coefficients. The deviation adjustment database is obtained by the testing personnel conducting tests on different moving speed deviations in advance, adjusting the vibration intensity of the vibrator until it can be felt, recording the intensity, and then calculating it with the grip feel reference value.

[0149] S635: Calculate the product between the deviation adjustment coefficient and the grip feel reference value and use it as the grip feel adjustment value, and use the grip feel adjustment value as the vibration force value.

[0150] Among them, the grip feel adjustment value refers to the intensity value corresponding to the vibration intensity that can be felt when gripping after adjusting for the influence of movement speed deviation.

[0151] By calculating the product between the deviation adjustment coefficient and the grip feel reference value, and using the calculation result as the grip feel adjustment value, and then using the grip feel adjustment value as the vibration force value, the accuracy of the obtained vibration force value is improved.

[0152] S64: Generate vibration location points by combining the movement deviation angle value, grip area and vibration force value.

[0153] The vibration location point refers to the location point on the circumferential sidewall of the grip part of the handheld laser 3D scanner that needs to be controlled to vibrate.

[0154] By combining the analysis of the movement deviation angle value, the gripping area and the vibration force value, the vibration location point can be easily generated, which is convenient for subsequent use.

[0155] To further ensure the rationality of the vibration location, it is necessary to perform further separate analysis and calculation on the vibration location, which will be explained in detail through the steps shown below.

[0156] The method for generating vibration location points includes the following steps: S641: Retrieve real-time movement direction based on real-time movement information.

[0157] Among these features, the real-time movement direction can be retrieved through real-time movement information, which facilitates subsequent use.

[0158] S642: Determine the reference position point for movement by combining the real-time movement direction and the grip area.

[0159] Among them, the moving reference position point refers to the position point of the vibrator in the grip area that is oriented in the same direction as the real-time moving direction.

[0160] By querying the vibrator in the grip area that is aligned with the real-time movement direction, and using the position point corresponding to that vibrator as the movement reference point, subsequent use becomes easier.

[0161] S643: Determine the deviation adjustment point by combining the moving reference position point and the moving deviation angle value.

[0162] Among them, the deviation adjustment position point refers to the position point of the vibrator after adjustment based on the movement deviation angle value.

[0163] By using the reference position point as the starting point and the position of the vibrator corresponding to the rotational deviation angle as the deviation adjustment position point, subsequent use is facilitated.

[0164] S644: Retrieve vibration reference value based on deviation adjustment position point.

[0165] The vibration reference value refers to the maximum vibration intensity that the vibrator can produce when it is at the deviation adjustment position.

[0166] By inputting the deviation adjustment points into a preset vibrator database, a vibration reference value is obtained for convenient subsequent use. The vibration reference values ​​corresponding to each deviation adjustment point can be the same or different, and the vibration reference value corresponding to each deviation adjustment point is determined according to the vibrator model at the corresponding location.

[0167] The vibrator database has a pre-stored table of different deviation adjustment positions and corresponding vibration reference values. The vibrator database can be pre-set by the operator according to their needs.

[0168] S645: Determine whether the vibration force value is greater than the vibration reference value. If yes, proceed to S646; if no, proceed to S649.

[0169] Specifically, by judging whether the vibration intensity value is greater than the vibration reference value, it can be determined whether the vibration intensity can be directly adjusted.

[0170] S646: Calculate the difference between the vibration force value and the vibration reference value and use it as the vibration deviation value.

[0171] Among them, the vibration deviation value refers to the deviation value corresponding to the existence of a deviation in vibration intensity.

[0172] When the vibration intensity value is greater than the vibration reference value, it means that the vibration intensity cannot be directly adjusted. Therefore, the difference between the vibration intensity value and the vibration reference value is calculated, and the calculation result is used as the vibration deviation value for subsequent use.

[0173] S647: Generate the selected location point by combining the vibration deviation value, vibration reference value and movement deviation angle value.

[0174] The selected location point refers to the location point corresponding to the additional selection of the vibrator position.

[0175] By combining and analyzing the vibration deviation value, vibration reference value, and movement deviation angle value, a selection location point is generated for convenient subsequent use.

[0176] To further ensure the rationality of the selected location points, it is necessary to perform further separate analysis and calculation on the selected location points, which will be explained in detail through the steps shown below.

[0177] The method for generating location points includes the following steps: S6471: Calculate the ratio between the vibration deviation value and the vibration reference value and use it as the vibration deviation ratio value.

[0178] Among them, the vibration deviation ratio value refers to the ratio between the vibration deviation value and the vibration reference value.

[0179] The calculation of the vibration deviation ratio facilitates subsequent use.

[0180] S6472: Select a value based on the vibration deviation ratio.

[0181] Here, the selected values ​​refer to the values ​​corresponding to the additional selection of the vibrator position.

[0182] By rounding the vibration deviation ratio up, a selection of values ​​is obtained for convenient subsequent use.

[0183] For example, when the vibration deviation ratio is 1.2, the value is selected as 2; when the vibration deviation ratio is 2.5, the value is selected as 3.

[0184] S6473: Determine the selected bias ratio value based on the movement deviation angle value.

[0185] The selected bias ratio value refers to the proportion corresponding to the number of positions selected on both sides of the deviation adjustment point. The larger the movement deviation angle value, the larger the selected bias ratio value.

[0186] The product of the movement deviation angle value and the preset deviation ratio coefficient is calculated, and the calculation result is used as the selected deviation ratio value for convenient subsequent use.

[0187] The bias ratio coefficient is a coefficient used to convert the movement deviation angle value into a selected bias ratio value. The bias ratio coefficient is preset by the operator according to actual needs.

[0188] S6474: Determine the number of selected bias values ​​by combining the selected numerical values ​​and the selected bias ratio value.

[0189] The selected bias value refers to the specific number of positions selected on both sides of the deviation adjustment point.

[0190] By calculating the product between the selected bias ratio and the selected numerical value, and then rounding it down, the selected bias numerical value is obtained for convenient subsequent use.

[0191] S6475: Based on the selected bias values ​​and deviation adjustment position points, the surrounding neighboring position points are selected, and the surrounding neighboring position points are used as the selected position points.

[0192] Among them, the surrounding adjacent location points refer to the location points of the vibrator that are close to the deviation adjustment location point.

[0193] By selecting the vibrators on both sides of the deviation adjustment point according to the selected deviation value, and using the selected position points as the surrounding neighboring position points, it is convenient for subsequent use.

[0194] S648: The selected location point is combined with the deviation adjustment location point and used as the vibration location point.

[0195] In this method, the accuracy of the obtained vibration location points is improved by combining the selected location point with the deviation adjustment location point.

[0196] S649: Use the deviation adjustment point as the vibration location point.

[0197] When the vibration intensity value is not greater than the vibration reference value, it means that the vibration intensity can be directly adjusted. Therefore, the deviation adjustment point is taken as the vibration position point, thereby improving the accuracy of the obtained vibration position point.

[0198] S65: Determine comprehensive vibration early warning information based on vibration frequency value, vibration intensity value and vibration location point, and use comprehensive vibration early warning information as grip vibration early warning information.

[0199] Among them, vibration comprehensive early warning information refers to the comprehensive control information corresponding to the vibration early warning.

[0200] By combining vibration frequency values, vibration intensity values, and vibration location points, and using the resulting dataset as comprehensive vibration early warning information, and then using this comprehensive vibration early warning information as grip vibration early warning information, the accuracy of the obtained grip vibration early warning information is improved.

[0201] Based on the same inventive concept, embodiments of the present invention provide a handheld laser 3D scanner control system, comprising: The acquisition module is used to acquire real-time motion information, scanned image information, grip detection information, and supplementary lighting output information; The memory stores a program for implementing a handheld laser 3D scanner control method as described above; The processor loads and executes programs stored in memory.

[0202] Based on the same inventive concept, embodiments of the present invention provide a scanner, including a memory and a processor, wherein the memory stores a computer program that can be loaded and executed by the processor as described above, a handheld laser 3D scanner control method.

[0203] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0204] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A control method for a handheld laser 3D scanner, characterized in that, include: S1: Collects real-time movement information, scanned image information, and grip detection information from a handheld laser 3D scanner; S2: Identify marker points based on scanned image information to obtain marker location points; S3: Determine the sign movement information based on the movement of the sign's location point; S4: Determine the required movement information based on the sign movement information; S5: Combine real-time mobility information with demand mobility information to determine mobility deviation information; S6: Determine grip vibration warning information based on movement deviation information and grip detection information, and output grip vibration warning information to handheld laser 3D scanner for vibration warning of grip area.

2. The handheld laser 3D scanner control method according to claim 1, characterized in that, Methods for determining grip vibration warning information include: S61: Retrieve the movement deviation value and movement deviation angle value based on the movement deviation information; S62: Retrieve the grip area and grip strength value based on grip detection information; S63: Combine the movement deviation value and the grip force value to generate the vibration force value and vibration frequency value; S64: Generate vibration location points by combining the movement deviation angle value, gripping area and vibration force value; S65: Determine comprehensive vibration early warning information based on vibration frequency value, vibration intensity value and vibration location point, and use comprehensive vibration early warning information as grip vibration early warning information.

3. The handheld laser 3D scanner control method according to claim 2, characterized in that, Methods for generating vibration force values ​​include: S631: Determine the reference value for grip feel based on the grip strength value; S632: Retrieve real-time mobile speed value based on real-time mobile information; S633: Calculate the ratio between the movement deviation value and the real-time movement speed value and use it as the deviation ratio value; S634: Determine the deviation adjustment coefficient based on the deviation ratio value; S635: Calculate the product between the deviation adjustment coefficient and the grip feel reference value and use it as the grip feel adjustment value, and use the grip feel adjustment value as the vibration force value.

4. The handheld laser 3D scanner control method according to claim 2, characterized in that, Methods for generating vibration location points include: S641: Retrieve real-time movement direction based on real-time movement information; S642: Determine the reference position point for movement by combining the real-time movement direction and the gripping area; S643: Determine the deviation adjustment point by combining the moving reference position point and the moving deviation angle value; S644: Retrieve vibration reference value based on deviation adjustment position point; S645: Determine whether the vibration force value is greater than the vibration reference value; S646: If yes, calculate the difference between the vibration force value and the vibration reference value and use it as the vibration deviation value; S647: Generate the selected location point by combining the vibration deviation value, the vibration reference value, and the movement deviation angle value; S648: The selected location point is combined with the deviation adjustment location point and used as the vibration location point; S649: If not, then the deviation adjustment point will be used as the vibration point.

5. The handheld laser 3D scanner control method according to claim 4, characterized in that, Methods for generating location points include: S6471: Calculate the ratio between the vibration deviation value and the vibration reference value and use it as the vibration deviation ratio value; S6472: Determine the selected value based on the vibration deviation ratio; S6473: Determine the selected deviation ratio value based on the movement deviation angle value; S6474: Determine the number of selected bias values ​​by combining the selected numerical values ​​and the selected bias ratio value; S6475: Based on the selected bias values ​​and deviation adjustment position points, the surrounding neighboring position points are selected, and the surrounding neighboring position points are used as the selected position points.

6. The handheld laser 3D scanner control method according to claim 3, characterized in that, After identifying marker points based on scanned image information to obtain marker location points, the following steps are also included: S21: Retrieve the reflected light intensity value of the sign from the scanned image information based on the sign's location point; S22: Calculate the difference between the reflected light intensity values ​​of adjacent marker locations and use it as the change value of light intensity between adjacent markers; S23: Acquire supplementary lighting output information; S24: Retrieve the supplementary light intensity value based on the supplementary light output information; S25: Determine the change in moving distance based on the scanned image information; S26: Combine the supplementary light intensity value, the change value of the light intensity of adjacent signs, and the change value of the moving distance to generate supplementary light adjustment information, and output the supplementary light adjustment information to the handheld laser 3D scanner for supplementary light adjustment.

7. The handheld laser 3D scanner control method according to claim 6, characterized in that, Methods for generating supplemental lighting adjustment information include: S261: Determine the reference value for light intensity change based on the change in moving distance; S262: Calculate the difference between the baseline value of light intensity change and the light intensity change value of adjacent markers and use it as the light intensity change anomaly value; S263: Determine the adjustment value for supplemental lighting needs based on abnormal values ​​of light intensity changes; S264: Calculate the sum between the supplementary light intensity value and the supplementary light demand adjustment value, and use it as the supplementary light adjustment result value; S265: Determine whether the supplemental lighting adjustment result value is greater than the preset supplemental lighting reference value; S266: If yes, calculate the difference between the supplementary lighting adjustment result value and the supplementary lighting reference value and use it as the supplementary lighting extra value; S267: Combine the supplementary light output information with the supplementary light extra value to generate additional adjustment information, and combine the supplementary light demand adjustment value with the additional adjustment information as supplementary light adjustment information; S268: If not, the supplementary lighting demand adjustment value will be used as the supplementary lighting adjustment information.

8. The handheld laser 3D scanner control method according to claim 7, characterized in that, Methods for generating additional adjustment information include: S2671: Retrieve the marker color from scanned image information based on the marker location point; S2672: Retrieve fill light color based on fill light output information; S2673: Determine the current color intensity coefficient by combining the logo color and the fill light color; S2674: Determine the required color light intensity coefficient based on the supplementary light value; S2675: Determine whether the light intensity coefficient of the required color is greater than the light intensity coefficient of the current color; S2676: If yes, the adjusted color is obtained based on the required color light intensity coefficient and the logo color, and the adjusted color is used as additional adjustment information; S2677: If not, retrieve the type of scanned object based on the scanned image information; S2678: Query the type of object to obtain the type of color used, and use the type of color as additional adjustment information.

9. A handheld laser 3D scanner control system, characterized in that, include: The acquisition module is used to acquire real-time motion information, scanned image information, grip detection information, and supplementary lighting output information; The memory stores a program for implementing a handheld laser 3D scanner control method as described in any one of claims 1 to 8; The processor loads and executes programs stored in memory.

10. A scanner, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program and can be loaded and executed by the processor, as described in any one of claims 1 to 8, a handheld laser 3D scanner control method.

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