Three-dimensional scanning control system and method

Abstract

The invention relates to a three-dimensional scanning control system and method, and belongs to the technical field of scanners, the three-dimensional scanning control system comprises a scanner, a POE adapter and an upper computer which are connected through a network cable, and the POE adapter is used for supplying power to the scanner through the network cable; the upper computer sends a scanning instruction to the scanner; the scanner further comprises a laser source used for emitting laser to a to-be-scanned object based on a scanning instruction, an image acquisition module used for acquiring a laser image reflected by the to-be-scanned object, and an image processing module used for extracting the laser image for preprocessing and sending a preprocessing result to the upper computer. And the upper computer is also used for receiving the preprocessing result and post-processing the preprocessing result. The three-dimensional scanning control system is simple in wiring and high in scanning precision and efficiency.

Description

Technical Field

[0001] This invention relates to the field of scanner technology, and more particularly to a three-dimensional scanning control system and method. Background Technology

[0002] An optical 3D scanner projects a laser onto the surface of an object using a laser. A binocular camera simultaneously captures images of the laser line and marker points, and transmits the image information to a host computer. The host computer then uses binocular vision tracking technology to calculate the 3D coordinates of points on the object's surface, thereby enabling the measurement of the object's 3D contour.

[0003] Conventional 3D scanners are powered by connecting an adapter to the scanner via a power cord and transmit data to a host computer via a USB data cable. When used in industrial settings, the wiring is complex and inconvenient to use while dragging the scanner. In industrial settings with severe interference, this can affect signal transmission and scan data. Furthermore, the large amount of data that needs to be transmitted can impact scanning accuracy and efficiency.

[0004] It is evident that existing 3D scanners have complex wiring and low scanning accuracy and efficiency due to the large amount of data transmitted. Summary of the Invention

[0005] In view of this, it is necessary to provide a three-dimensional scanning control system and method to solve the problems of complex wiring and low scanning accuracy and efficiency caused by the large amount of data transmitted in the existing three-dimensional scanners.

[0006] To address the aforementioned issues, in a first aspect, the present invention provides a three-dimensional scanning control system, comprising a scanner, a PoE adapter, and a host computer, wherein the scanner and the PoE adapter are connected via a network cable, and the PoE adapter and the host computer are connected via a network cable. The PoE adapter is used to power the scanner via a network cable; The host computer is used to send scanning commands to the scanner; The scanner also includes a laser source, an image acquisition module, and an image processing module. The laser source is used to emit laser light to the object to be scanned based on the scanning command. The image acquisition module is used to acquire the laser image reflected by the object to be scanned. The image processing module is used to extract the laser image, perform preprocessing, and send the preprocessing result to the host computer. The host computer is also used to receive the preprocessing results and perform postprocessing on them.

[0007] In one possible implementation, the PoE adapter includes a DC power supply, a PSE controller, and a PD controller. The DC power supply powers the PoE adapter and the scanner. The PD controller is located in the scanner, and the PSE controller and PD controller work together to determine the power supply from the DC power supply to the scanner.

[0008] In one possible implementation, the scanner further includes a signal processing module for receiving scanning instructions and controlling the scanner to scan the object to be scanned based on the scanning instructions.

[0009] In one possible implementation, the scanner also includes a DC / DC unit for adjusting the amount of current supplied to the scanner by the DC power supply based on the power output.

[0010] In one possible implementation, the image processing module includes an FPGA module, which is used to extract the coordinates of laser lines and marker points in the laser image using a preset algorithm.

[0011] In one possible implementation, the image acquisition module includes a camera for taking pictures of the laser lines and markers reflected from the object to be scanned.

[0012] In one possible implementation, the scanner, the PoE adapter, and the host computer are all equipped with RJ45 interfaces, and the scanner and the PoE adapter, as well as the PoE adapter and the host computer, are connected via network cables through the RJ45 interfaces.

[0013] Secondly, the present invention also provides a three-dimensional scanning control method, applicable to the three-dimensional scanning control system of any of the foregoing embodiments, comprising: Once the scanner is detected to be connected to the PoE adapter, determine the power supply of the scanner and the PoE adapter. The PoE adapter supplies power to the scanner and sends scanning commands to the scanner based on power supply control. Receive the laser image generated by the scanner scanning the object to be scanned based on the scanning command, and perform post-processing on the laser image.

[0014] In one possible implementation, receiving a laser image generated by a scanner scanning an object to be scanned based on scanning instructions includes: Receive the preprocessing results uploaded by the scanner based on the scanning command. The preprocessing results are the results of the scanner preprocessing the acquired laser image.

[0015] In one possible implementation, the scanner preprocesses the laser image, including: The coordinates of the laser line and marker points in the laser image are extracted using a preset algorithm.

[0016] The beneficial effects of this invention are as follows: The 3D scanning control system provided by this invention includes a scanner, a PoE adapter, and a host computer. The scanner and the PoE adapter are connected via a network cable, and the PoE adapter and the host computer are also connected via a network cable. In use, the host computer and the PoE adapter are arranged in the same cabinet, requiring only one network cable to connect the cabinet and the scanner, effectively reducing cable costs and wiring complexity. Using a network cable for data transmission effectively improves the stability of data transmission in industrial settings, enhances anti-interference capabilities, and significantly extends the data transmission distance. The scanner also includes a laser source, an image acquisition module, and an image processing module. The laser source emits laser light towards the object to be scanned based on scanning commands. The image acquisition module acquires the laser image reflected from the object. The image processing module extracts the laser image, performs preprocessing, and sends the preprocessed result to the host computer. The host computer also receives the preprocessed result and performs post-processing. Preprocessing the scanning data at the scanner end, including extracting laser lines and marker points, effectively reduces the amount of data that needs to be transmitted, achieving higher camera resolution and scanning frame rate, and effectively improving scanning accuracy and efficiency. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic block diagram of a three-dimensional scanning control system provided in an embodiment of the present invention; Figure 2 A block diagram of a three-dimensional scanning control system provided in an embodiment of the present invention; Figure 3 This is a flowchart illustrating a three-dimensional scanning control method provided in an embodiment of the present invention. Detailed Implementation

[0019] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0020] In the description of the embodiments of the present invention, unless otherwise stated, "multiple" means two or more. "And / or" describes the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0021] The terms "first," "second," etc., used in the embodiments of this invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a technical feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature.

[0022] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0023] A specific embodiment of the present invention, such as Figure 1 As shown, a three-dimensional scanning control system is disclosed, including a scanner 102, a POE adapter 103 and a host computer 101, wherein the scanner 102 and the POE adapter 103 are connected by a network cable, and the POE adapter 103 and the host computer are connected by a network cable. PoE adapter 103 is used to power scanner 102 via network cable; The host computer 101 is used to send scanning commands to the scanner 102; Scanner 102 also includes laser source 104, image acquisition module 106 and image processing module 105. Laser source 104 is used to emit laser to the object to be scanned based on scanning instructions. Image acquisition module 106 is used to acquire the laser image reflected by the object to be scanned. Image processing module 105 is used to extract the laser image for preprocessing and send the preprocessing result to host computer 101. The host computer 101 is also used to receive the preprocessing results and perform postprocessing on the preprocessing results.

[0024] In this embodiment of the invention, the scanner 102 may include a handheld laser scanner 102, a tracking 3D scanner 102, a photo-based area array scanner 102, or other types of 3D scanners (i.e., scanners 102 with binocular stereo vision function), for scanning the object to be scanned.

[0025] The host computer 101 can be a personal computer or a processor. In some embodiments, the personal computer can be a portable personal computer such as a mobile phone, tablet computer, personal digital assistant (PDA), wearable device, or laptop computer. Exemplary embodiments of portable personal computers include, but are not limited to, portable personal computers running iOS, Android, Microsoft, or other operating systems. The aforementioned portable personal computer can also be other portable personal computers, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, it may not be a portable personal computer, but a desktop computer with a touch-sensitive surface (e.g., a touch panel). In some embodiments, the processor can be a central processing unit (CPU), a microprocessor, or other data processing chip, or it can be a single server or a group of servers. The server group can be centralized or distributed. In some embodiments, the processor can be local or remote. In some embodiments, the processor can be implemented on a cloud platform. In some embodiments, the cloud platform can include a private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, internal cloud, multi-cloud, or any combination thereof. The host computer 101 is used to control the entire 3D scanning control system and perform post-processing of data.

[0026] In some possible implementations, the PoE adapter 103 includes a DC power supply, a PSE controller, and a PD controller 107. The DC power supply is used to power the PoE adapter 103 and the scanner 102. The PD controller 107 is located in the scanner 102. The PSE controller and the PD controller 107 are used to collaboratively determine the power supply of the DC power supply to the scanner 102.

[0027] In this embodiment of the invention, the POE adapter 103 includes a PSE controller 108 and a PD controller 107. The PSE controller 108 is installed inside the POE adapter 103, and the PD controller 107 is installed inside the scanner 102. The PSE controller 108 and the PD controller 107 cooperate with each other to achieve power supply of different power levels.

[0028] In this embodiment of the invention, the scanner 102, the POE adapter 103, and the host computer 101 are connected by a network cable, which enables data transmission and power transmission.

[0029] Specifically, the working principle of the three-dimensional scanning control system provided in this embodiment of the invention is as follows: Connect the host computer 101 to the PoE adapter 103 and the scanner 102 using network cables. After the PoE adapter 103 detects that the scanner 102 is connected normally, it negotiates the power supply level with the scanner 102 and then begins to supply power to the scanner 102. During the power supply process, the PoE adapter 103 continuously monitors the power supply current of the scanner 102. If an abnormality is detected, the PoE adapter 103 will shut off the voltage output, disconnecting the power to the scanner 102. The PoE adapter 103 will then re-check the connection status of the scanner 102 to determine whether to supply power to it. The host computer 101 then connects to the scanner 102. 02. After parameter configuration and scanning begins, the scanner 102 illuminates the fill light and projects laser light onto the object surface via a laser. The camera captures images of the reflected laser lines and marker points. The FPGA in the scanner 102 processes the captured image information, extracts the laser lines and marker points from the image using an algorithm, and sends the extracted data to the host computer 101 via the network port. The host computer 101 uses binocular vision tracking technology to calculate the three-dimensional coordinates of the points on the object surface from the data from the scanner 102. Simultaneously, it stitches the measurement data to obtain a complete three-dimensional point cloud, further obtaining information such as the height, height difference, width, and other contours (cross-sectional shape) of the entire measured object surface, thus completing a full scan.

[0030] The 3D scanning control system provided by this invention includes a scanner 102, a PoE adapter 103, and a host computer 101. The scanner 102 and PoE adapter 103 are connected via a network cable, and the PoE adapter 103 and host computer 101 are also connected via a network cable. In use, the host computer 101 and PoE adapter 103 are arranged in the same cabinet, requiring only one network cable to connect the cabinet and the scanner 102, effectively reducing cable costs and wiring complexity. Using a network cable for data transmission effectively improves the stability of data transmission in industrial settings, enhances anti-interference capabilities, and significantly extends data transmission distance. The scanner 102 also includes a laser source 104, an image acquisition module 106, and an image processing module 105. The laser source 104 emits laser light towards the object to be scanned based on scanning commands. The image acquisition module 106 acquires the laser image reflected by the object. The image processing module 105 extracts the laser image, performs preprocessing, and sends the preprocessing results to the host computer 101. The host computer 101 also receives the preprocessing results and performs post-processing on them. Pre-processing the scan data at the scanner 102 end, extracting laser lines and marker points, effectively reduces the amount of data that needs to be transmitted, and can achieve higher camera resolution and scanning frame rate, effectively improving scanning accuracy and scanning efficiency.

[0031] In some possible embodiments of the present invention, such as Figure 2 As shown, the scanner 102 also includes a light source for providing illumination to the object to be scanned.

[0032] In this embodiment of the invention, in order to improve the scanning accuracy of the object to be scanned, it is necessary to compensate for the object to be scanned. Therefore, a light source is provided in the scanner 102. The light source can be an LED light. The light source is also powered by the POE adapter 103 and does not require an additional power supply.

[0033] In some possible embodiments of the present invention, the scanner 102 further includes a signal processing module, which is used to receive scanning instructions and control the scanner 102 to scan the object to be scanned based on the scanning instructions.

[0034] In this embodiment of the invention, the scanner 102 is also equipped with a signal processing module. The signal processing module is connected to the host computer 101 via a network cable. It is used to receive the scanning command sent by the host computer 101, and control the laser source 104 of the scanner 102 to emit laser light towards the object to be scanned based on the scanning command, and control the image acquisition module 106 to acquire the laser line reflected by the object to be scanned and the mark points on the object to be scanned.

[0035] In some possible embodiments of the present invention, the scanner 102 further includes a DC / DC unit for adjusting the current supplied to the scanner 102 by the DC power supply based on the power supply strength.

[0036] In this embodiment of the invention, due to the different models or functions of the scanner 102, the required power supply is also different. After the POE adapter 103 determines the power supply of the scanner 102, the DC power supply in the POE adapter 103 will output a corresponding current. This current needs to be converted by the DC / DC unit to convert the unusable DC power into usable DC power. This is to convert the fixed DC voltage into a variable DC voltage. One is to keep the pulse width modulation method unchanged and change the conduction time, and the other is to use frequency modulation to ensure that the scanner 102 can use power normally.

[0037] In some possible embodiments of the present invention, the image processing module 105 includes an FPGA module, which is used to extract the coordinates of laser lines and marker points in the laser image using a preset algorithm.

[0038] In this embodiment of the invention, the image processing module 105 in the scanner 102 is an FPGA module. Specifically, the scanner 102 is equipped with two sets of laser sources 104 and an image acquisition module 106, and correspondingly has two FPGA modules, which are used to process the captured image information, extract the laser lines and markers in the image through algorithms, and send the extracted data information to the host computer 101 through the network port.

[0039] In some possible embodiments of the present invention, the image acquisition module 106 includes a camera for taking pictures of the laser lines and markers reflected by the object to be scanned.

[0040] In this embodiment of the invention, the image acquisition module 106 is a camera, specifically a binocular camera, used to take pictures of the laser lines and markers reflected by the object to be scanned, and obtain a laser image.

[0041] In some possible embodiments of the present invention, the scanner 102, the POE adapter 103 and the host computer 101 are all provided with RJ45 interfaces, and the scanner 102 and the POE adapter 103, and the POE adapter 103 and the host computer 101 are connected by network cables based on the RJ45 interfaces.

[0042] In this embodiment of the invention, the scanner 102, the PoE adapter 103, and the host computer 101 are all equipped with RJ45 interfaces. RJ45 is a type of connector for information sockets (i.e., communication leads) in a cabling system. The connector consists of a plug (connector, crystal head) and a socket (module). The plug has eight recesses and eight contacts. RJ is an abbreviation for Registered Jack. In the FCC (Federal Communications Commission standards and regulations), RJ describes the interface for public telecommunications networks; in computer networks, RJ45 is a common name for a standard 8-bit modular interface. The RJ45 connector, consisting of a plug and a socket, connects wires to ensure electrical continuity.

[0043] To better implement the three-dimensional scanning control system in the embodiments of the present invention, based on the three-dimensional scanning control system, correspondingly, as follows: Figure 3 As shown, this embodiment of the invention also provides a three-dimensional scanning control method, including: S301, after detecting that the scanner is connected to the POE adapter, determine the power supply of the scanner and the POE adapter; S302 controls the power supply of the POE adapter to power the scanner and sends scanning commands to the scanner; S303 receives the laser image generated by the scanner scanning the object to be scanned based on the scanning command, and performs post-processing on the laser image.

[0044] In this embodiment of the invention, the provided three-dimensional scanning control method is applicable to the three-dimensional scanning control system in any of the foregoing embodiments. Specifically, it can be implemented in the host computer of the three-dimensional scanning control system. When the scanner is detected to be connected to the PoE adapter, the PoE adapter and the scanner negotiate the power supply to determine the power level. Then, the PoE adapter begins to supply power to the scanner. During the power supply process, the PoE adapter continuously monitors the scanner's power supply current. If an abnormality occurs, the PoE adapter will shut off the voltage output, powering off the scanner. The PoE adapter will then re-detect the scanner's connection status to determine whether to supply power to the scanner. The scanner's parameters are configured, and after scanning begins, the scanner illuminates the supplementary light and projects a laser onto the object's surface using a laser. The camera captures images of the reflected laser lines and marker points. The host computer then performs post-processing on the data collected by the scanner.

[0045] Furthermore, receiving the laser image generated by the scanner scanning the object to be scanned based on scanning instructions includes: Receive the preprocessing results uploaded by the scanner based on the scanning command. The preprocessing results are the results of the scanner preprocessing the acquired laser image.

[0046] In this embodiment of the invention, the scanner responds to the scanning command, the FPGA in the scanner processes the captured image information, extracts the laser lines and markers in the image through an algorithm, and sends the extracted data information to the host computer through the network port.

[0047] Furthermore, the scanner preprocesses the laser image, including: The coordinates of the laser line and marker points in the laser image are extracted using a preset algorithm.

[0048] In this embodiment of the invention, when the host computer performs post-processing on the laser image, it calculates the three-dimensional coordinates of the object surface points using binocular vision tracking technology, and stitches the measurement data to obtain a complete three-dimensional point cloud. It further obtains information such as the height, height difference, width, and other contours (cross-sectional shape) of the entire measured object surface, thus completing a complete scan.

[0049] In this embodiment of the invention, the laser lines in the laser image are obvious lines, and the marker points are special points (such as circular or square markers). The coordinates of the laser lines and marker points can be extracted through the following steps, including image preprocessing: grayscale conversion, filtering and noise reduction, contrast enhancement, etc. Laser line extraction: Since laser lines are usually quite bright, threshold segmentation can be used to extract them. Then, skeleton refinement is used to obtain laser lines with a single pixel width. Finally, the coordinates of the points on the laser lines are extracted. Marker point extraction: Marker points usually have specific shapes and colors. The center coordinates of the marker points can be extracted through color segmentation or shape detection (such as Hough circle detection, contour detection, etc.). Since the actual image may be complex, the parameters need to be adjusted according to the actual situation. Assume the laser lines are red and the marker points are blue circles (this may be different in reality; this is just an example). Read the image; convert the image to grayscale (for laser lines, channels can be separated first, and the corresponding channel can be selected according to the laser color); for the laser lines: use the red channel, threshold segmentation, morphological processing, skeleton refinement, and then extract the coordinates. For the marker points: use the blue channel, threshold segmentation, morphological processing, and then detect contours or Hough circles to obtain the center coordinates. Since the laser line and the marker point are different colors, they can be processed separately using color separation. However, if the laser line and marker point colors are more prominent in the image, color thresholding can be used for separation. Here, we assume the laser line is red and the marker point is blue. Laser line extraction: Extract the red channel and subtract other channels (or use color space segmentation, such as HSV space); binarize, perform morphological operations (optional, for connecting broken lines or removing noise), thin the skeleton (making the laser line a single pixel wide), and obtain the laser line coordinates through non-zero pixels. Marker point extraction: Extract the blue channel and binarize, perform morphological operations (optional), use contour detection or Hough circle detection to find the marker point, and calculate the center coordinates of the marker point. Since the actual image may be affected by ambient light, the threshold may need to be adjusted.

[0050] In this embodiment of the invention, scanning data is processed in advance at the scanner end, and laser lines and marker points are extracted, which effectively reduces the amount of data that needs to be transmitted, and can achieve higher camera resolution and scanning frame rate, thereby effectively improving scanning accuracy and scanning efficiency.

[0051] Accordingly, this application also provides a computer-readable storage medium for storing a computer-readable program or instruction. When the program or instruction is executed by a processor, it can implement the steps or functions of the three-dimensional scanning control method provided in the above-described method embodiments.

[0052] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0053] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A three-dimensional scanning control system, characterized in that, The system includes a scanner, a PoE adapter, and a host computer, wherein the scanner and the PoE adapter are connected via a network cable, and the PoE adapter and the host computer are connected via a network cable. The PoE adapter is used to power the scanner via a network cable; The host computer is used to send scanning commands to the scanner; The scanner also includes a laser source, an image acquisition module, and an image processing module. The laser source is used to emit laser light to the object to be scanned based on the scanning command. The image acquisition module is used to acquire the laser image reflected by the object to be scanned. The image processing module is used to extract the laser image, perform preprocessing, and send the preprocessing result to the host computer. The host computer is also used to receive the preprocessing results and perform postprocessing on the preprocessing results.

2. The three-dimensional scanning control system according to claim 1, characterized in that, The PoE adapter includes a DC power supply, a PSE controller, and a PD controller. The DC power supply is used to power the PoE adapter and the scanner. The PD controller is located in the scanner. The PSE controller and the PD controller are used to collaboratively determine the power supply output of the DC power supply to the scanner.

3. The three-dimensional scanning control system according to claim 1, characterized in that, The scanner also includes a signal processing module, which receives the scanning command and controls the scanner to scan the object to be scanned based on the scanning command.

4. The three-dimensional scanning control system according to claim 1, characterized in that, The scanner also includes a DC / DC unit, which is used to adjust the current supplied to the scanner by the DC power supply based on the power supply power.

5. The three-dimensional scanning control system according to claim 1, characterized in that, The image processing module includes an FPGA module, which is used to extract the coordinates of laser lines and marker points in the laser image using a preset algorithm.

6. The three-dimensional scanning control system according to claim 1, characterized in that, The image acquisition module includes a camera, which is used to take pictures of the laser lines and marker points reflected by the object to be scanned.

7. The three-dimensional scanning control system according to claim 1, characterized in that, The scanner, the PoE adapter, and the host computer are all equipped with RJ45 interfaces. The scanner and the PoE adapter, and the PoE adapter and the host computer are connected via network cables through the RJ45 interfaces.

8. A three-dimensional scanning control method, applicable to the three-dimensional scanning control system described in any one of claims 1 to 7, characterized in that, include: Once the scanner is detected to be connected to the PoE adapter, the power supply of the scanner and the PoE adapter is determined. Based on the power supply, the POE adapter is controlled to supply power to the scanner and to send scanning commands to the scanner; The scanner receives the laser image generated by scanning the object to be scanned based on the scanning command, and performs post-processing on the laser image.

9. The three-dimensional scanning control method according to claim 8, characterized in that, Receiving the laser image generated by the scanner scanning the object to be scanned based on the scanning command includes: The scanner receives the preprocessing result uploaded based on the scanning command. The preprocessing result is the result of the scanner preprocessing the acquired laser image.

10. The three-dimensional scanning control method according to claim 9, characterized in that, The scanner preprocesses the laser image, including: The coordinates of the laser lines and marker points in the laser image are extracted using a preset algorithm.

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