Scanner environment adaptive adjustment method and device, scanner and storage medium

Abstract

The invention relates to the field of scanning detection, in particular to a scanner environment adaptive adjustment method and device, a scanner and a computer readable storage medium. The method comprises the following steps: controlling an environment sensing device to continuously collect first environment data of an environment where a scanner is located; when the scanner is powered on and started up, first environment data collected by an environment sensing device in a power-off shutdown time period of the scanner is obtained to serve as target environment data, and the power-off shutdown time period is a time period between the current power-on startup time and the previous power-off shutdown time adjacent to the current power-on startup time in the time sequence; and determining a target interference parameter of the scanner in the power-off shutdown time period according to the target environment data, and adjusting an optical parameter of the scanner according to the target interference parameter. According to the scanner environment adaptive adjustment method and device, the scanner and the computer readable storage medium provided by the invention, the technical effect of improving the accuracy of the scanning result of the scanner can be realized.

Description

Technical Field

[0001] This application relates to the field of scanning inspection, specifically to a scanner environment adaptive adjustment method and apparatus, a scanner, and a computer-readable storage medium. Background Technology

[0002] A 3D scanner is a scientific instrument used to detect and analyze shape and appearance data of the real world or environment, such as color and surface albedo. The collected data is used to create 3D models, generating digital models of actual objects in a virtual world. 3D scanners greatly improve efficiency in digital modeling, especially in reverse engineering, where they can automatically generate digital models.

[0003] However, for high-precision 3D scanners, especially structured light scanners and laser scanners, their measurement accuracy is highly susceptible to changes in ambient temperature and physical stress. The mechanical structure of the scanner (such as the support and base) and optical components (such as the camera and projector) undergo thermal expansion and contraction when the temperature changes, causing slight alterations to the pre-calibrated optical path and positional relationships, thus introducing measurement errors.

[0004] To address this technical issue, most high-precision scanners currently employ temperature-controlled workshops or prolonged preheating after startup to reduce the impact of temperature drift. However, scanners are affected by environmental changes not only during operation but also during shutdown, leading to reduced accuracy in scanning results. Summary of the Invention

[0005] In view of this, it is necessary to provide a scanner environment adaptive adjustment method and apparatus, a scanner and a computer-readable storage medium to achieve the technical effect of improving the accuracy of the scanner's scanning results.

[0006] To achieve the aforementioned technical effects, in a first aspect, this application provides a scanner environment adaptive adjustment method, applied to a scanner environment adaptive adjustment device. The scanner includes an environment sensing device and a power supply battery for powering the environment sensing device. The environment sensing device includes a sub-controller and a first environment sensor. The environment sensing device continuously collects first environmental data of the environment in which the scanner is located. The scanner environment adaptive adjustment method includes: When the scanner is powered on, the first environmental data collected by the environmental sensing device during the power-off time period of the scanner is acquired as the target environmental data. The power-off time period is the time period between the current power-on time and the previous power-off time that is adjacent in time sequence. Based on the target environment data, the target interference parameters of the scanner during the power-off period are determined, and the optical parameters of the scanner are adjusted according to the target interference parameters.

[0007] In one possible embodiment, the scanner further includes a second environmental sensor, and the scanner environment adaptive adjustment method further includes: When the scanner is powered on, the second environmental sensor is controlled to start collecting second environmental data of the environment in which the scanner is located; Calculate the environmental data difference between the first environmental data and the second environmental data within the same time period; If the difference in the environmental data is less than a set difference threshold, the following step is performed: adjust the optical parameters of the scanner according to the target interference parameters.

[0008] In one possible embodiment, determining the target interference parameters of the scanner during the power-off period based on the target environment data includes: Based on the correspondence between the target environmental data and time, an environmental data-time curve is plotted, and the power-off time period is divided into several sub-time periods based on the slope of the environmental data-time curve. Calculate the sub-time period interference parameters corresponding to each of the sub-time periods; The target interference parameters are obtained by integrating all the interference parameters of the sub-time periods.

[0009] In one possible embodiment, it further includes: Determine whether the interference parameter of each sub-time period exceeds the set deformation threshold; If all the interference parameters of the sub-time periods do not exceed the set deformation threshold, the following step is performed: adjust the optical parameters of the scanner according to the target interference parameters.

[0010] Secondly, this application also provides a scanner environment adaptive adjustment device for adjusting a scanner. The scanner includes an environmental sensing device and a power supply battery for powering the environmental sensing device. The environmental sensing device includes a sub-controller and a first environmental sensor. The environmental sensing device continuously collects first environmental data of the environment in which the scanner is located. The scanner environment adaptive adjustment device includes: The data acquisition module is used to acquire the first environmental data collected by the environmental sensing device during the power-off time period of the scanner when the scanner is powered on. The power-off time period is the time period between the current power-on time and the previous power-off time that is adjacent in time sequence. The calculation module is used to determine the target interference parameters of the scanner during the power-off period based on the target environment data. An adaptive adjustment module is used to adjust the optical parameters of the scanner according to the target interference parameters.

[0011] Thirdly, this application also provides a scanner, comprising: The scanner includes a scanning device, a power interface, an environmental sensing device, a power supply battery, and a scanner environment adaptive adjustment device as described in claim 5, wherein the environmental sensing device includes a sub-controller and a first environmental sensor. The distance between the scanning device and the environmental sensing device is less than a set distance threshold. The power supply battery is connected to the environmental sensing device and provides power to the environmental sensing device. When the power interface is connected to an external power source, the scanner is powered on; when the power interface is disconnected from the external power source, the scanner is powered off. The scanner environment adaptive adjustment device is connected to both the environment sensing device and the scanning device. The scanner environment adaptive adjustment device controls the environment sensing device to continuously collect first environmental data of the environment in which the scanner is located. When the scanner is powered on, the scanner environment adaptive adjustment device acquires the first environmental data collected by the environment sensing device during the power-off period as target environmental data. The power-off period is the time interval between the current power-on time and the previous power-off time that is adjacent in time sequence. The scanner environment adaptive adjustment device determines the target interference parameters of the scanner during the power-off period based on the target environmental data, and adjusts the optical parameters of the scanning device based on the target interference parameters.

[0012] In one possible embodiment, it further includes: a second environmental sensor connected to the scanner environment adaptive adjustment device and the power interface respectively; when the power interface is connected to the external power supply, the second environmental sensor is powered on; when the power interface is disconnected from the external power supply, the second environmental sensor is powered off. When the scanner is powered on, the scanner environment adaptive adjustment device controls the second environment sensor to start collecting second environment data of the environment in which the scanner is located, calculates the difference between the first environment data and the second environment data within the same time period, and if the difference between the environment data is less than a set difference threshold, the following step is executed: adjust the optical parameters of the scanner according to the target interference parameters.

[0013] In one possible embodiment, the power of the secondary controller is less than the power of the scanner environment adaptive adjustment device.

[0014] In one possible embodiment, the number of the second environmental sensors is greater than the number of the first environmental sensors.

[0015] Fourthly, this application provides a computer-readable storage medium for storing a computer-readable program or instructions, which, when executed by a processor, can implement the steps in the aforementioned scanner environment adaptive adjustment method.

[0016] The technical effects of this application include: Compared with related technologies, the scanner environment adaptive adjustment method and apparatus, scanner, and computer-readable storage medium provided in this application continuously collect first environmental data of the environment in which the scanner is located by controlling an environmental sensing device. This allows the environmental sensing device to monitor the environmental data around the scanner even when the scanner is powered off. Based on this, when the scanner is powered on, the adjustment device can acquire the first environmental data collected by the environmental sensing device during the power-off period as target environmental data. Then, based on the target environmental data, the target interference parameters of the scanner during the power-off period are determined. Finally, the optical parameters of the scanner are adjusted according to the target interference parameters. This reduces the impact of deformation caused by environmental changes during the power-off period on the accuracy of the scanner's optical parameters. More accurate optical parameters can improve the accuracy of the scanner's scanning results, thus achieving the technical effect of improving the accuracy of the scanner's scanning results. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, 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 this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of a scanner provided in one embodiment of this application; Figure 2 This is a flowchart illustrating a scanner environment adaptive adjustment method provided in one embodiment of this application; Figure 3 This is a flowchart illustrating the process of determining target interference parameters of the scanner during the power-off period based on target environment data in a scanner environment adaptive adjustment method provided in an embodiment of this application. Figure 4 This is a schematic diagram of the scanner provided in another embodiment of this application; Figure 5 A flowchart illustrating a scanner environment adaptive adjustment method provided in another embodiment of this application; Figure 6 This is a schematic diagram of the structure of a scanner environment adaptive adjustment device provided in one embodiment of this application. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0020] In the description of the embodiments of this application, 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 application 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 this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. 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] This application provides a scanner environment adaptive adjustment method and apparatus, a scanner, and a computer-readable storage medium, which are described below.

[0024] Please refer to Figure 1 The scanner provided in one embodiment of this application includes: The scanner comprises a scanning device 101, a power interface 102, an environmental sensing device 103, a power supply battery 104, and a scanner environment adaptive adjustment device 105. The environmental sensing device 103 includes a sub-controller 1031 and a first environmental sensor 1032. The scanning device 101 is the component within the scanner that specifically implements the scanning function, including left and right camera modules, a projector module, and main load-bearing structural components. The power interface 102 is a power supply interface for connecting to an external power source. When the power interface 102 is connected to an external power source, the scanner powers on; when the power interface 102 is disconnected from the external power source, the scanner powers off. The environmental sensing device 103 consists of multiple sensors used to sense environmental data of the environment in which the scanner is located. The specific sensors are configured according to the type of environmental data to be sensed. In this embodiment, the environmental sensing device 103 specifically includes multiple temperature sensors and multiple gyroscopes. The temperature sensors are used to sense the ambient temperature of the environment in which the scanner is located, and the gyroscopes are used to sense the acceleration data of the scanner.

[0025] Furthermore, the distance between the scanning device 101 and the environmental sensing device 103 is less than a set distance threshold, thereby enabling better detection of environmental data around the scanning device 101.

[0026] The power supply battery 104 is connected to the environmental sensing device 103 and supplies power to the environmental sensing device 103. Due to the presence of the power supply battery 104, the environmental sensing device 103 can be in a normally open state. That is, regardless of whether the scanner is powered on or powered off, the environmental sensing device 103 is always continuously collecting first environmental data of the environment in which the scanner is located. In this embodiment, the first environmental data specifically includes the ambient temperature data collected by the temperature sensor and the acceleration data collected by the gyroscope.

[0027] The scanner environment adaptive adjustment device 105 is connected to the environment sensor 103 and the scanning device 101 respectively. The scanner environment adaptive adjustment device 105 controls the environment sensor 103 to continuously collect the first environmental data of the environment in which the scanner is located. When the scanner is powered on, the scanner environment adaptive adjustment device 105 obtains the first environmental data collected by the scanner during the power-off period as the target environmental data. The power-off period is the time period between the current power-on time and the previous power-off time that is adjacent in time sequence. The scanner environment adaptive adjustment device 105 determines the target interference parameters of the scanner during the power-off period based on the target environmental data, and adjusts the optical parameters of the scanning device 101 according to the target interference parameters.

[0028] based on Figure 1 Please refer to the scanner shown. Figure 2Applied to the scanners provided in the foregoing embodiments, the scanner environment adaptive adjustment method provided in this application embodiment includes: Step S201: Control the environmental sensing device 103 to continuously collect the first environmental data of the environment where the scanner is located.

[0029] In this step, the environmental sensor 103 is powered by the battery 104 alone. Therefore, whether the scanner is connected to an external power source and powered on or disconnected from the external power source and powered off, the scanner's environmental adaptive adjustment device 105 always controls the environmental sensor 103 to collect environmental parameters of the environment around the scanner. The environmental parameters collected by the environmental sensor 103 are the first environmental parameters.

[0030] Step S202: When the scanner is powered on, acquire the first environmental data collected by the scanner during the power-off period as the target environmental data.

[0031] Specifically, when the scanner is powered on, it responds to the connection of the power interface 102 to the external power supply. That is, when the power interface 102 is connected to the external power supply, the first environmental data collected by the scanner during the power-off period is used as the target environmental data. At the same time, the external power supply can also charge the power supply battery 104 through the power interface 102.

[0032] In this step, the power-off time period is specifically the time period between the current power-on time and the previous power-off time that is adjacent in time sequence. For example, if the scanner is powered on at 13:00, and the scanner's most recent power-off time is 12:00, then the time period from 12:00 to 13:00 is the power-off time period corresponding to this power-on process. The first environmental data collected by the environmental sensor 103 within this power-off time period is obtained as the target environmental data.

[0033] Step S203: Determine the target interference parameters of the scanner during the power-off period based on the target environment data.

[0034] In this step, the corresponding interference algorithm is determined based on the type of target environmental data. The determined interference algorithm is then used to calculate the target interference parameters for the scanner during the power-off period. For example, if the target environmental data includes temperature data, the interference algorithm corresponding to the temperature data is determined to be the thermal expansion and contraction algorithm. The thermal expansion and contraction coefficients of each component in the scanner are obtained based on their material properties. Then, the thermal expansion and contraction deformation corresponding to the temperature data is calculated using the thermal expansion and contraction algorithm and the temperature data, and used as the target interference parameter. As another example, if the target environmental data includes acceleration data, the interference algorithm corresponding to the acceleration data is determined to be the displacement algorithm. The relative sliding distance between the components in the scanner is determined based on the displacement algorithm, acceleration data, and parameters such as the mass and material of each component in the scanner.

[0035] For further details, please refer to Figure 3 In this embodiment, determining the target interference parameters of the scanner during the power-off period based on the target environment data specifically includes: Step S301: Plot an environmental data-time curve based on the correspondence between the target environmental data and time, and divide the power-off time period into several sub-time periods based on the slope of the environmental data-time curve.

[0036] In this step, firstly, it is necessary to ensure the accurate correspondence between the target environmental data and the time dimension. Timestamp information for each data point is collected synchronously, outliers and missing values ​​are removed during the collection process, and data breakpoints are filled in to ensure temporal consistency. Based on this, a continuous environmental data-time curve is plotted with time as the horizontal axis (the unit can be set to seconds, minutes, etc., depending on the sampling frequency) and environmental data values ​​as the vertical axis. Subsequently, the slope of the plotted environmental data-time curve is calculated, and sub-time periods are divided. The core significance of the curve slope lies in quantifying the rate of change of environmental data over time: a positive slope represents an increase in environmental data over time, and a negative slope represents a decrease in data over time. During division, when the curve slope shows a clear inflection point, the absolute value of the slope exceeds a preset threshold, or the slope changes from positive / negative to close to 0, this critical point is used as the boundary point for the sub-time periods, thus dividing the entire power-off period into several sub-time periods with consistent characteristics. Step S302: Calculate the interference parameters for each sub-time period.

[0037] Step S303: Integrate all sub-time period interference parameters to obtain the target interference parameters.

[0038] Since some deformation or displacement processes are irreversible, for example, the total thermal expansion and contraction deformation of a material heated from 20°C to 50°C and then cooled to 0°C may differ from that of a material cooled directly from 20°C to 0°C. In this embodiment, the power-off period is divided into several sub-periods based on the characteristics of environmental data changes over time. The interference parameters for each sub-period are calculated separately, and then all the interference parameters for the sub-periods are integrated to obtain the target interference parameters. Compared with a unified calculation based on the entire power-off period, calculating each sub-period separately can result in higher accuracy of the final target interference parameters.

[0039] Furthermore, in some embodiments of this application, before step S303, the method further includes: determining whether the interference parameters of each sub-time period exceed the set deformation threshold; if the interference parameters of all sub-time periods do not exceed the set deformation threshold, the method executes the step of: adjusting the optical parameters of the scanner according to the target interference parameters; if any sub-time period interference parameter exceeds the set deformation threshold, it indicates that the scanner deformation or displacement exceeds the normal range, and a warning is issued to remind the user to maintain the scanner.

[0040] Step S204: Adjust the optical parameters of the scanner according to the target interference parameters.

[0041] In this step, the optical parameters of the scanner specifically include various data such as camera intrinsic parameters (focal length, principal point) and extrinsic parameters (rotation and translation matrix between the camera and the projector). In this embodiment, the optical parameters of the scanner are adjusted according to the target interference parameters, that is, the optical parameters of the scanner are compensated and corrected according to the deformation parameters and / or displacement parameters in the target interference parameters. The scanner then uses the compensated and corrected optical parameters to process the image and generate a three-dimensional point cloud, thereby obtaining a high-precision scanning result after compensation and correction.

[0042] Compared with related technologies, the scanner environment adaptive adjustment method provided in this embodiment controls the environment sensor 103 to continuously collect the first environmental data of the environment in which the scanner is located. This allows the environment sensor 103 to monitor the environmental data around the scanner even when the scanner is powered off. Based on this, when the scanner is powered on, the adjustment device can obtain the first environmental data collected by the environment sensor 103 during the power-off period as the target environmental data. Then, based on the target environmental data, the target interference parameters of the scanner during the power-off period are determined. Finally, the optical parameters of the scanner are adjusted according to the target interference parameters. This reduces the impact of deformation caused by environmental changes on the accuracy of the scanner's optical parameters during the power-off period. More accurate optical parameters can improve the accuracy of the scanner's scanning results, thus achieving the technical effect of improving the accuracy of the scanner's scanning results.

[0043] Please refer to Figure 4 Another embodiment of this application also provides a scanner, with Figure 1 Compared to the scanner shown, the scanner provided in this embodiment also includes a scanning device 101, a power interface 102, an environmental sensor 103, a power supply battery 104, and a scanner environment adaptive adjustment device 105. The difference is that the scanner provided in this embodiment also includes a second environmental sensor 106. The second environmental sensor 106 is connected to the scanner environment adaptive adjustment device 105 and the power interface 102 respectively. When the power interface 102 is connected to an external power source, the second environmental sensor 106 is powered on. When the power interface 102 is disconnected from the external power source, the second environmental sensor 106 is powered off. When the scanner is powered on, the scanner environment adaptive adjustment device 105 controls the second environmental sensor 106 to start collecting second environmental data of the environment in which the scanner is located, calculates the environmental data difference between the first environmental data and the second environmental data within the same time period, and if the environmental data difference is less than a set difference threshold, the following step is executed: adjust the optical parameters of the scanner according to the target interference parameters.

[0044] In this embodiment, the number of first environmental sensors 1031 is less than the number of second environmental sensors 106. Since the first environmental sensors 1031 are powered by the power supply battery 104, while the second environmental sensors 106 are powered by an external power source, setting the number of first environmental sensors 1031 to be less than the number of second environmental sensors 106 can improve the battery life of the environmental sensing device 103. Improving the battery life of the environmental sensing device 103 can better monitor environmental interference experienced by the scanner when it is powered off and has not been turned on for a long time.

[0045] Furthermore, in order to further improve the battery life of the environmental sensing device 103, this embodiment also sets the power of the secondary controller 1032 to be less than the sensor power of the scanner environmental adaptive adjustment device 105.

[0046] based on Figure 4 Please refer to the scanner shown. Figure 5 , applied to Figure 4 The scanner shown in this application, another embodiment of which provides a scanner environment adaptive adjustment method includes: Step S501: Control the environmental sensing device 103 to continuously collect the first environmental data of the environment where the scanner is located.

[0047] Step S502: When the scanner is powered on, acquire the first environmental data collected by the scanner during the power-off period as the target environmental data.

[0048] Step S503: Determine the target interference parameters of the scanner during the power-off period based on the target environment data.

[0049] It is understood that steps S501 to S503 provided in this embodiment are largely the same as steps S201 to S203 provided in the previous embodiment. For details, please refer to the specific description in the previous embodiment, which will not be repeated here.

[0050] Step S504: When the scanner is powered on, control the second environmental sensor 106 to start collecting second environmental data of the environment in which the scanner is located.

[0051] In this step, the second environmental sensor 106 is powered by an external power source and connected to the external power source via the power interface 102. After the scanner is powered on, the second environmental sensor 106 begins to collect environmental data of the environment in which the scanner is located as the second environmental data. It can be understood that both the first and second environmental data refer to the environmental data of the environment in which the scanner is located. The environmental data collected by the environmental sensing device 103 is the first environmental data, and the environmental data collected by the second environmental sensor 106 is the second environmental data.

[0052] Step S505: Calculate the environmental data difference between the first environmental data and the second environmental data within the same time period.

[0053] Step S506: Determine whether the difference in environmental data is less than the set difference threshold. If yes, proceed to step S507; otherwise, proceed to step S508.

[0054] Step S507: Adjust the optical parameters of the scanner according to the target interference parameters.

[0055] Step S508: Issue an alarm.

[0056] Compared with related technologies, the scanner environment adaptive adjustment method provided in this embodiment, in addition to including all the technical effects of the scanner environment adaptive adjustment method provided in the aforementioned embodiments, also compares the first environmental data collected by the first environmental sensor 1031 and the second environmental data collected by the second environmental sensor 106, calculates the environmental data difference between the first environmental data and the second environmental data within the same time period, and issues an alarm when the environmental data difference is greater than or equal to a set difference threshold, reminding the user that the first environmental sensor 1031 and / or the second environmental sensor 106 may be faulty, causing one of them to have inaccurate test results, and reminding the user to maintain the scanner, thereby further improving the accuracy of the scanner's scanning results.

[0057] To better implement the scanner environment adaptive adjustment method in the embodiments of this application, based on the scanner environment adaptive adjustment method, correspondingly, as follows: Figure 6 As shown, this application embodiment also provides a scanner environment adaptive adjustment device 105, which includes: When the scanner is powered on, the data acquisition module 601 is used to acquire the first environmental data collected by the environmental sensor during the power-off period of the scanner as the target environmental data. The power-off period is the time period between the current power-on time and the previous power-off time that is adjacent in time sequence. Calculation module 602 is used to determine the target interference parameters of the scanner during the power-off period based on the target environment data; The adaptive adjustment module 603 is used to adjust the optical parameters of the scanner according to the target interference parameters.

[0058] The scanner environment adaptive adjustment device 105 provided in the above embodiments can realize the technical solutions described in the above scanner environment adaptive adjustment method embodiments. The specific implementation principles of each module or unit can be found in the corresponding content in the above scanner environment adaptive adjustment method embodiments, and will not be repeated here.

[0059] 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 scanner environment adaptive adjustment method provided in the above-described method embodiments.

[0060] 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 (such as a processor, controller, etc.), and the computer 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.

[0061] The scanner environment adaptive adjustment method, apparatus, scanner, and storage medium provided in this application have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A scanner environment adaptive adjustment method, characterized in that, An adaptive adjustment method for a scanner environment is provided, wherein the scanner includes an environmental sensing device and a power supply battery for powering the environmental sensing device, the environmental sensing device includes a sub-controller and a first environmental sensor, the environmental sensing device continuously collects first environmental data of the environment in which the scanner is located, and the adaptive adjustment method for the scanner environment includes: When the scanner is powered on, the first environmental data collected by the environmental sensing device during the power-off time period of the scanner is acquired as the target environmental data. The power-off time period is the time period between the current power-on time and the previous power-off time that is adjacent in time sequence. Based on the target environment data, the target interference parameters of the scanner during the power-off period are determined, and the optical parameters of the scanner are adjusted according to the target interference parameters.

2. The scanner environment adaptive adjustment method according to claim 1, characterized in that, The scanner also includes a second environmental sensor, and the scanner environmental adaptive adjustment method further includes: When the scanner is powered on, the second environmental sensor is controlled to start collecting second environmental data of the environment in which the scanner is located; Calculate the environmental data difference between the first environmental data and the second environmental data within the same time period; If the difference in the environmental data is less than a set difference threshold, the following step is performed: adjust the optical parameters of the scanner according to the target interference parameters.

3. The scanner environment adaptive adjustment method according to claim 1, characterized in that, Determining the target interference parameters of the scanner during the power-off period based on the target environment data includes: Based on the correspondence between the target environmental data and time, an environmental data-time curve is plotted, and the power-off time period is divided into several sub-time periods based on the slope of the environmental data-time curve. Calculate the sub-time period interference parameters corresponding to each of the sub-time periods; The target interference parameters are obtained by integrating all the interference parameters of the sub-time periods.

4. The scanner environment adaptive adjustment method according to claim 3, characterized in that, Also includes: Determine whether the interference parameter of each sub-time period exceeds the set deformation threshold; If all the interference parameters of the sub-time periods do not exceed the set deformation threshold, the following step is performed: adjust the optical parameters of the scanner according to the target interference parameters.

5. A scanner environment adaptive adjustment device, characterized in that, An adaptive adjustment device for a scanner is used to adjust the scanner, the scanner including an environmental sensing device and a power supply battery for powering the environmental sensing device, the environmental sensing device including a sub-controller and a first environmental sensor, the environmental sensing device continuously collecting first environmental data of the environment in which the scanner is located, and the scanner environmental adaptive adjustment device including: The data acquisition module is used to acquire the first environmental data collected by the environmental sensing device during the power-off time period of the scanner when the scanner is powered on. The power-off time period is the time period between the current power-on time and the previous power-off time that is adjacent in time sequence. The calculation module is used to determine the target interference parameters of the scanner during the power-off period based on the target environment data. An adaptive adjustment module is used to adjust the optical parameters of the scanner according to the target interference parameters.

6. A scanner, characterized in that, include: The scanner includes a scanning device, a power interface, an environmental sensing device, a power supply battery, and a scanner environment adaptive adjustment device as described in claim 5, wherein the environmental sensing device includes a sub-controller and a first environmental sensor. The distance between the scanning device and the environmental sensing device is less than a set distance threshold. The power supply battery is connected to the environmental sensing device and provides power to the environmental sensing device. When the power interface is connected to an external power source, the scanner is powered on; when the power interface is disconnected from the external power source, the scanner is powered off. The scanner environment adaptive adjustment device is connected to the environment sensing device and the scanning device respectively. When the scanner is powered on, the scanner environment adaptive adjustment device acquires the first environmental data collected by the environment sensing device during the power-off time period as the target environmental data. The power-off time period is the time period between the current power-on time and the previous power-off time that is adjacent in time sequence. The scanner environment adaptive adjustment device determines the target interference parameters of the scanner during the power-off time period based on the target environmental data, and adjusts the optical parameters of the scanning device based on the target interference parameters.

7. The scanner according to claim 6, characterized in that, Also includes: The second environmental sensor is connected to the scanner's environmental adaptive adjustment device and the power interface respectively. When the power interface is connected to the external power supply, the second environmental sensor is powered on and turned on. When the power interface is disconnected from the external power supply, the second environmental sensor is powered off. When the scanner is powered on, the scanner environment adaptive adjustment device controls the second environment sensor to start collecting second environment data of the environment in which the scanner is located, calculates the difference between the first environment data and the second environment data within the same time period, and if the difference between the environment data is less than a set difference threshold, the following step is executed: adjust the optical parameters of the scanner according to the target interference parameters.

8. The scanner according to claim 7, characterized in that, The power of the secondary controller is less than the power of the scanner's environmental adaptive adjustment device.

9. The scanner according to claim 7, characterized in that, Also includes: The number of the second environmental sensors is greater than the number of the first environmental sensors.

10. A computer-readable storage medium, characterized in that, Used to store computer-readable programs or instructions, which, when executed by a processor, can implement the steps in the scanner environment adaptive adjustment method according to any one of claims 1 to 4.

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