Power consumption control method and device of three-dimensional scanning system and three-dimensional scanning system

Abstract

The invention relates to a power consumption control method and device of a three-dimensional scanning system and the three-dimensional scanning system. The method comprises the steps that corresponding control strategies are set for all power consumption devices in the three-dimensional scanning system; each power consumption device is correspondingly provided with a control strategy; the power consumption device comprises a processor, an image sensor and a light supplementing lamp; and executing the control strategy in the working process of the three-dimensional scanning system, so that the power consumption of the three-dimensional scanning system in different working modes is kept within a first preset range. According to the invention, in different working modes of the whole working process of the three-dimensional scanning system, the whole power consumption of the system can be kept consistent as much as possible by executing the control strategy, so that the temperature fluctuation is reduced, and the problem that the measurement result is influenced by the larger temperature fluctuation is solved.

Description

Technical Field

[0001] This application relates to the field of 3D scanning technology, and in particular to a power consumption control method, apparatus and 3D scanning system for a 3D scanning system. Background Technology

[0002] In the field of 3D scanning, a new type of tracking 3D scanning technology can be achieved by using scanners and tracking devices together. During the scanning process, the tracking device tracks the spatial position of the scanner in real time, and calculates the 3D coordinates and shape of the object's surface by combining the light deformation or reflection information captured by the scanner.

[0003] With the continuous upgrading of the performance of 3D scanning systems, the scanning distance, resolution, and image acquisition frame rate of tracking devices have been greatly improved, resulting in greater power consumption. In particular, during the operation of 3D scanning systems, significant temperature variations occur between different operating modes. However, tracking devices are very sensitive to temperature changes, and large temperature fluctuations can affect measurement results.

[0004] There is currently no effective solution to the problem that significant temperature fluctuations affect measurement results in related technologies. Summary of the Invention

[0005] Therefore, it is necessary to provide a power consumption control method, device, and 3D scanning system for reducing temperature fluctuations during operation to address the aforementioned technical problems.

[0006] Firstly, this embodiment provides a power consumption control method for a three-dimensional scanning system, comprising:

[0007] Each power consumption device in the 3D scanning system is configured with a corresponding control strategy; each power consumption device is configured with one control strategy; the power consumption devices include a processor, an image sensor, and a fill light.

[0008] The control strategy is executed during the operation of the 3D scanning system to keep the power consumption of the 3D scanning system within a first preset range under different operating modes.

[0009] In some of these embodiments, the control strategy includes:

[0010] In different working modes, the image sensor is controlled to continuously acquire images at the same preset trigger frame rate, and all acquired image frames are transmitted to the processor.

[0011] In some of these embodiments, the control strategy includes:

[0012] The fill light is controlled to fill the target frame in the image frame acquired by the image sensor at a preset trigger frame rate at a fill light frame rate, so as to obtain the target frame after fill light; the product of the fill light duration and the fill light frame rate is kept within a second preset range.

[0013] In some embodiments, controlling the fill light to illuminate the target frame in the acquired image frame at a fill light frame rate to obtain the illuminated target frame includes:

[0014] The target frame is determined based on the supplementary lighting frame rate, and the target frame is then uniformly grouped.

[0015] By configuring the register, each group of target frames is illuminated in a cyclic mode to obtain the illuminated target frames.

[0016] In some of these embodiments, the control strategy includes:

[0017] The supplementary lighting duration and / or the supplementary lighting frame rate are adjusted based on the image acquisition distance of the image sensor. In some embodiments, the control strategy includes:

[0018] The processor is controlled to access all image frames transmitted by the image sensor, and continuously process the target frames that have been illuminated at a preset processing frame rate, and output the effective information in the target frames under different working modes.

[0019] In some of these embodiments, it also includes:

[0020] The processor's output frame rate is adjusted based on real-time bandwidth.

[0021] Secondly, this embodiment provides a power consumption control device for a three-dimensional scanning system, comprising:

[0022] The strategy setting module is used to set corresponding control strategies for each power consumption device in the 3D scanning system; each power consumption device is set with one control strategy; the power consumption devices include a processor, an image sensor, and a fill light.

[0023] The strategy execution module is used to execute the control strategy during the operation of the 3D scanning system so that the power consumption of the 3D scanning system in different working modes remains within a first preset range.

[0024] Thirdly, this embodiment provides a three-dimensional scanning system, including: a processor and at least one image acquisition device; the image acquisition device includes an image sensor and a supplementary light;

[0025] Each power consumption device in the three-dimensional scanning system has a corresponding control strategy, and the control strategy is executed during the operation of the three-dimensional scanning system so that the power consumption of the three-dimensional scanning system in different working modes remains within a first preset range;

[0026] Each of the power consumption devices is configured with a corresponding control strategy; the power consumption devices include a processor, an image sensor, and a fill light.

[0027] In some embodiments, the fill light illuminates the target frame in the image frame acquired by the image sensor at a preset trigger frame rate at a fill light frame rate, thereby obtaining the illuminated target frame; the product of the fill light duration and the fill light frame rate is kept within a second preset range.

[0028] Fourthly, this embodiment provides a storage medium storing a computer program that, when executed by a processor, implements the power consumption control method of the three-dimensional scanning system described in the first aspect.

[0029] Compared with related technologies, the power consumption control method, apparatus, and 3D scanning system provided in this embodiment include: setting corresponding control strategies for each power-consuming device in the 3D scanning system; setting one control strategy for each power-consuming device; the power-consuming devices include a processor, an image sensor, and a supplementary light; and executing the control strategies during the operation of the 3D scanning system to keep the power consumption of the 3D scanning system within a first preset range under different operating modes. Through this embodiment, by executing control strategies under different operating modes throughout the entire operation of the 3D scanning system, the overall power consumption of the system can be kept as consistent as possible, thereby reducing temperature fluctuations and solving the problem of large temperature fluctuations affecting measurement results.

[0030] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0031] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0032] Figure 1 This is a hardware structure block diagram of a terminal for a power consumption control method in one embodiment;

[0033] Figure 2 This is a structural block diagram of a 3D scanning system in one embodiment;

[0034] Figure 3This is a schematic diagram of the structure of a binocular tracking device in one embodiment;

[0035] Figure 4 This is a flowchart of a power consumption control method in one embodiment;

[0036] Figure 5 This is a flowchart of a power consumption control method in another embodiment;

[0037] Figure 6 This is a structural block diagram of a power consumption control device in one embodiment.

[0038] In the diagram: 102, processor; 104, memory; 106, transmission device; 108, input / output device; 10, policy setting module; 20, policy execution module. Detailed Implementation

[0039] To better understand the purpose, technical solution, and advantages of this application, the application is described and illustrated below in conjunction with the accompanying drawings and embodiments.

[0040] Unless otherwise defined, the technical or scientific terms used in this application shall have the general meaning as understood by one of ordinary skill in the art to which this application pertains. Words such as “a,” “an,” “an,” “the,” “the,” and “these,” used in this application, do not indicate quantitative limitation and may be singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that comprises a series of steps or modules (units) is not limited to the listed steps or modules (units) but may include steps or modules (units) not listed, or may include other steps or modules (units) inherent to such processes, methods, products, or devices. The terms “connected,” “linked,” and “coupled,” used in this application, are not limited to physical or mechanical connections but may include electrical connections, whether direct or indirect. The term “multiple” used in this application refers to two or more. The "and / or" operator describes the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: A alone, A and B simultaneously, and B alone. Typically, the character " / " indicates that the objects before and after it are in an "or" relationship. The terms "first," "second," and "third," etc., used in this application are merely for distinguishing similar objects and do not represent a specific ordering of the objects.

[0041] The method embodiments provided in this example can be executed on a terminal, computer, or similar computing device. For example, it can run on a terminal. Figure 1 This is a hardware structure block diagram of the terminal for the power consumption control method in this embodiment. For example... Figure 1 As shown, a terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 and a memory 104 for storing data are also included. The processor 102 may be, but is not limited to, a microprocessor (MCU) or a programmable logic device (FPGA). The terminal may also include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that… Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the terminal described above. For example, the terminal may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown are illustrated.

[0042] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the power consumption control method in this embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the aforementioned method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0043] The transmission device 106 is used to receive or send data via a network. This network includes a wireless network provided by the terminal's communication provider. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 can be a Radio Frequency (RF) module used for wireless communication with the Internet.

[0044] In the field of 3D scanning, a new type of tracking 3D scanning technology can be achieved by using scanners and tracking devices together. During the scanning process, the tracking device tracks the spatial position of the scanner in real time, and calculates the 3D coordinates and shape of the object's surface by combining the light deformation or reflection information captured by the scanner.

[0045] With the continuous upgrading of the performance of 3D scanning systems, the scanning distance, resolution, and image acquisition frame rate of tracking devices have been greatly improved, resulting in greater power consumption. In particular, during the operation of 3D scanning systems, significant temperature variations occur between different operating modes. However, tracking devices are very sensitive to temperature changes, and large temperature fluctuations can affect measurement results.

[0046] This embodiment provides a three-dimensional scanning system. Figure 2 This is a structural block diagram of the 3D scanning system in this embodiment, as shown below. Figure 2 As shown, it includes: a processor and at least one image acquisition device; the image acquisition device includes an image sensor and a fill light;

[0047] Each power consumption device in the 3D scanning system has a corresponding control strategy, and the control strategy is executed during the operation of the 3D scanning system to keep the power consumption of the 3D scanning system within a first preset range under different working modes; wherein, each power consumption device is configured with a corresponding control strategy; the power consumption devices include the processor, image sensor and fill light.

[0048] Specifically, a 3D scanning system can be a scanner (including scanning head and light pen, etc.) in a tracking scan, a tracking device, a tracking-scanning all-in-one machine, or an entire system consisting of a scanner and a tracking device, or other systems with scanning functions. This includes, but is not limited to, power-consuming devices such as processors, image sensors, and supplementary lighting. Furthermore, there are no specific restrictions on the number and type of other power-consuming devices in a 3D scanning system. Typically, supplementary lighting is used to provide additional light when the image sensor acquires images, and the processor then processes the acquired images. Power consumption analysis shows that the processor, image sensor, and supplementary lighting are the main power-consuming devices. Under different operating modes, they are prone to significant temperature fluctuations, leading to deformation in the 3D scanning system. Therefore, strategic control can primarily target these power-consuming devices.

[0049] Each power consumption device is assigned a corresponding control strategy, with each device corresponding to a separate control strategy. For example, if a 3D scanning system includes multiple supplementary lights, each supplementary light corresponds to the same control strategy. If the 3D scanning system consists of a scanner and a tracking device, it may include multiple processors, each corresponding to the same control strategy. The control strategy specifies the detailed operating parameters of each power consumption device in different operating modes, including but not limited to the processor's processing frame rate, the supplementary light's illumination frame rate, and the image sensor's exposure frame rate.

[0050] Taking 3D scanning as an example, different working modes are applied to different stages of the work process. For tracking devices, after power-on and warm-up, their working modes can include calibration, standby, scanner head tracking, light pen tracking, wireless transmission, and wired transmission. In calibration mode, one or more fixed calibration points are typically set in the scene. Then, by moving the scanner head or light pen, the calibration points change within the tracking device's field of view. Simultaneously, the device records these changes and uses algorithms to calculate the precise position and orientation of the tracking device. After calibration, the tracking device can accurately track the target object based on these parameters. Scanner head tracking and light pen tracking modes are determined by the tracking target. When a scanner head is used as the scanner, the corresponding mode is scanner head tracking; when a light pen is used as the scanner, the corresponding mode is light pen tracking. Images obtained by the tracking device can be output via wireless or wired transmission, and the working mode can be selected based on the real-time network transmission status.

[0051] For scanners, after power-on and warm-up, their operating modes can include calibration, standby, scanning, wireless transmission, and wired transmission.

[0052] By implementing a control strategy, each power consumption device operates according to the strategy during the operation of the 3D scanning system. This ensures that the power consumption of each device remains as consistent as possible across different operating modes, thereby maintaining overall system power consumption consistency across all operating modes. Considering potential changes in the operating environment of the 3D scanning system, such as equipment temperature and ambient temperature, which can affect the overall power consumption and cause slight fluctuations across different operating modes, a first preset range is set as the power consumption tolerance range. This means that power consumption remains within this first preset range across different operating modes, and any fluctuations are permissible.

[0053] The overall power consumption of the 3D scanning system in different working modes is determined by the sum of the power consumption values ​​preset by each power consumption device according to its own control strategy and an initial overall power consumption value. The actual power consumption of the 3D scanning system in different working modes can fluctuate within a first preset range based on the overall initial power consumption value. In one embodiment, the first preset range can be ±5%. This embodiment does not limit the first preset range.

[0054] It should be noted that the 3D scanning system is typically preheated after power-on to reach a working range with better linearity before executing the different working modes and control strategies described above. Additionally, external heat dissipation conditions and heat conduction methods can be configured based on the above embodiments to minimize overall temperature fluctuations in the 3D scanning system.

[0055] The three-dimensional scanning system provided in this embodiment sets control strategies for each power consumption device and executes the corresponding control strategies throughout the entire working process, so that the power consumption of the three-dimensional scanning system in different working modes remains as consistent as possible and within a first preset range. This reduces temperature fluctuations and temperature-induced deformation problems, improves the measurement accuracy of the measurement results, and facilitates temperature compensation calibration.

[0056] In one embodiment, Figure 3 This is a schematic diagram of the binocular tracking device in this embodiment, as shown below. Figure 3 As shown in the example, in this embodiment, a binocular tracking device in a 3D scanning system includes a main body and a left module, a right module, and a central module mounted on the main body. The left and right modules include image acquisition devices, which are used together to scan the surface information of the object being measured and to track and capture features on the scanner surface. The central module includes a processor, which processes the image frames output by the image acquisition devices. Power consumption analysis shows that the main power-consuming components are the processor, the image sensor, and the supplementary light. Therefore, corresponding control strategies are set for the processor, the image sensor, and the supplementary light to ensure that the power consumption of the left, right, and central modules remains as consistent as possible under different operating modes during the operation of the binocular tracking device, ultimately keeping the power consumption of the entire binocular tracking device within a preset range.

[0057] In some of these embodiments, the fill light illuminates the target frame in the image frame acquired by the image sensor at a preset trigger frame rate at a fill light frame rate, thereby obtaining the illuminated target frame; the product of the fill light duration and the fill light frame rate remains within a second preset range.

[0058] Specifically, the fill light is controlled to fill the target frame in the acquired image frame with a fill light frame rate to obtain the target frame after fill light; the product of the fill light duration and the fill light frame rate is kept within a second preset range.

[0059] Specifically, to reduce power consumption fluctuations of the fill light in different operating modes, the fill light is controlled to illuminate target frames in the acquired image frames at a fill light frame rate. The fill light frame rate is less than or equal to a preset trigger frame rate, resulting in illuminated target frames. This can be understood as follows: when the image sensor acquires images at a preset trigger frame rate, the fill light selects a fixed proportion of target frames for illumination. As long as the product of the fill light duration and the fill light frame rate remains as consistent as possible, the fill light duration and fill light frame rate can be dynamically adjusted. The target frames can be selected evenly from all acquired image frames, and the number of target frames is determined by the fill light frame rate.

[0060] Considering that the power consumption of the fill light may fluctuate slightly when the fill light duration and frame rate are dynamically adjusted, a second preset range is set as the tolerance range for the fill light's power consumption. That is, the power consumption of the fill light in different working modes remains within the second preset range, and fluctuations are permissible. The initial power consumption of the fill light is determined based on the preset fill light duration and frame rate. When the fill light duration and frame rate are dynamically adjusted, the actual power consumption of the fill light can fluctuate within the second preset range based on the initial power consumption.

[0061] In this embodiment, the fill light is controlled to fill the target frame in the acquired image frame at the fill light frame rate, and the product of the fill light duration and the fill light frame rate is kept within a second preset range. In this way, even if the fill light duration and the fill light frame rate are dynamically adjusted in different working modes to adapt to environmental changes, the power consumption of the fill light can be kept within a small fluctuation range.

[0062] This embodiment provides a power consumption control method. Figure 4 This is a flowchart of the power consumption control method in this embodiment, such as... Figure 4 As shown, the method includes the following steps:

[0063] Step S401: Set corresponding control strategies for each power consumption device in the 3D scanning system; each power consumption device has a corresponding control strategy; the power consumption devices include the processor, image sensor and fill light.

[0064] Specifically, a 3D scanning system can be a scanner (including scanning head and light pen, etc.) in a tracking scan, a tracking device, a tracking-scanning all-in-one machine, or an entire system consisting of a scanner and a tracking device, or other systems with scanning functions. This includes, but is not limited to, power-consuming devices such as processors, image sensors, and supplementary lighting. Furthermore, there are no specific restrictions on the number and type of other power-consuming devices in a 3D scanning system. Typically, supplementary lighting is used to provide additional light when the image sensor acquires images, and the processor then processes the acquired images. Power consumption analysis shows that the processor, image sensor, and supplementary lighting are the main power-consuming devices. Under different operating modes, they are prone to significant temperature fluctuations, leading to deformation in the 3D scanning system. Therefore, strategic control can primarily target these power-consuming devices.

[0065] Each power consumption device is assigned a corresponding control strategy, with each device corresponding to a separate control strategy. For example, if a 3D scanning system includes multiple supplementary lights, each supplementary light corresponds to the same control strategy. If the 3D scanning system consists of a scanner and a tracking device, it may include multiple processors, each corresponding to the same control strategy. The control strategy specifies the detailed operating parameters of each power consumption device in different operating modes, including but not limited to the processor's processing frame rate, the supplementary light's illumination frame rate, and the image sensor's exposure frame rate.

[0066] Step S402: During the operation of the 3D scanning system, a control strategy is executed to keep the power consumption of the 3D scanning system within a first preset range under different operating modes.

[0067] Specifically, taking 3D scanning as an example, different working modes are applied to different stages of the work process. For tracking devices, after power-on and warm-up, their working modes can include calibration, standby, scanning head tracking, light pen tracking, wireless transmission, and wired transmission. For scanners, after power-on and warm-up, their working modes can include calibration, standby, scanning, wireless transmission, and wired transmission.

[0068] By implementing a control strategy, each power consumption device operates according to the strategy during the operation of the 3D scanning system. This ensures that the power consumption of each device remains as consistent as possible across different operating modes, thereby maintaining overall system power consumption consistency across all operating modes. Considering potential changes in the operating environment of the 3D scanning system, such as equipment temperature and ambient temperature, which can affect the overall power consumption and cause slight fluctuations across different operating modes, a first preset range is set as the power consumption tolerance range. This means that power consumption remains within this first preset range across different operating modes, and any fluctuations are permissible.

[0069] The overall power consumption of the 3D scanning system in different working modes is determined by the sum of the power consumption values ​​preset by each power consumption device according to its own control strategy and an initial overall power consumption value. The actual power consumption of the 3D scanning system in different working modes can fluctuate within a first preset range based on the overall initial power consumption value. In one embodiment, the first preset range can be ±5%. This embodiment does not limit the first preset range.

[0070] It should be noted that the 3D scanning system is typically preheated after power-on to reach a working range with better linearity before executing the different working modes and control strategies described above. Additionally, external heat dissipation conditions and heat conduction methods can be configured based on the above embodiments to minimize overall temperature fluctuations in the 3D scanning system.

[0071] Through the above steps, control strategies are set for each power consumption device, and by executing the corresponding control strategies throughout the entire working process, the power consumption of the 3D scanning system in different working modes is kept as consistent as possible and kept within the first preset range. This reduces temperature fluctuations and temperature-induced deformation problems, improves the measurement accuracy of the measurement results, and facilitates temperature compensation calibration.

[0072] In some of these embodiments, the control strategy includes:

[0073] In different working modes, the image sensor is controlled to continuously acquire images with the same preset trigger frame rate, and all acquired image frames are transmitted to the processor.

[0074] Specifically, the power consumption of an image sensor is primarily related to its different operating frame rates. That is, the image sensor's power consumption fluctuates significantly depending on the exposure frame rate it acquires image frames in different operating modes. Generally, image sensors use a higher exposure frame rate in calibration and tracking modes to meet the requirements of these tasks. However, in standby mode, the image sensor can acquire fewer image frames, or even stop acquiring them altogether, resulting in a significant reduction in power consumption. Therefore, to reduce power consumption fluctuations across different operating modes, the image sensor is continuously acquiring images using the same preset trigger frame rate in all modes. Even in operating modes where image acquisition is not required, the image sensor continues to acquire images at the preset trigger frame rate, which is the actual exposure frame rate, and all acquired image frames are transmitted to the processor's FPGA algorithm module. For example, the preset trigger frame rate can be 200 fps (Frames Per Second), which can be set according to the application scenario and overall power consumption, without specific limitations.

[0075] In this embodiment, the image sensor is controlled to continuously acquire images under the same preset trigger frame rate in different working modes without changing or adjusting the actual exposure frame rate of the image sensor. This allows the power consumption of the image sensor to be kept within a small fluctuation range.

[0076] In some of these embodiments, the control strategy includes:

[0077] The fill light is controlled to illuminate the target frame in the image frame acquired by the image sensor at a preset trigger frame rate at a fill light frame rate, so as to obtain the target frame after fill light; the product of the fill light duration and the fill light frame rate is kept within a second preset range.

[0078] Specifically, the fill light is turned on to provide supplementary illumination during image sensor acquisition. Its power consumption is related to the fill light duration and the fill light frame rate. Generally speaking, when the image sensor acquires images at a higher exposure frame rate, the power consumption of the fill light will also increase. In addition, affected by environmental factors such as light and acquisition distance, the fill light frame rate and fill light duration will be dynamically adjusted in different working modes to adapt to different environments and make the brightness of image frames obtained at different acquisition distances similar, thus resulting in large fluctuations in the power consumption of the fill light.

[0079] To minimize power consumption fluctuations of the fill light in different operating modes, the fill light is controlled to illuminate target frames within the acquired image frames at a fill light frame rate. This fill light frame rate is less than or equal to a preset trigger frame rate, resulting in illuminated target frames. Essentially, when the image sensor acquires images at the preset trigger frame rate, the fill light selects a fixed proportion of target frames for illumination. As long as the product of the fill light duration and the fill light frame rate remains as consistent as possible, both can be dynamically adjusted. The target frames can be evenly selected from all acquired image frames, and the number of target frames is determined by the fill light frame rate.

[0080] The second preset range is set as the tolerance range for the power consumption of the fill light. That is, if the power consumption of the fill light in different working modes remains within the second preset range, fluctuations are permissible. In one embodiment, the second preset range can be ±5%. This embodiment does not limit the second preset range.

[0081] In this embodiment, the fill light is controlled to fill the target frame in the acquired image frame at the fill light frame rate, and the product of the fill light duration and the fill light frame rate is kept within a second preset range. In this way, even if the fill light duration and the fill light frame rate are dynamically adjusted in different working modes to adapt to environmental changes, the power consumption of the fill light can be kept within a small fluctuation range.

[0082] In some embodiments, the above-mentioned control of the fill light to illuminate the target frame in the acquired image frame at a fill light frame rate, to obtain the illuminated target frame, includes the following steps:

[0083] The target frame is determined based on the supplementary lighting frame rate, and the target frames are evenly grouped. By configuring the register, each group of target frames is supplemented with light in a cyclic mode to obtain the supplemented target frame.

[0084] Specifically, target frames can be selected evenly from all acquired image frames, with the number of target frames determined by the supplementary lighting frame rate. Considering that cross-beam scanning is commonly used in 3D scanning, there may be two, three, or four beams of light. After determining the target frames and their quantity, the target frames can be evenly grouped, and the supplementary lighting can be controlled by configuring registers. Taking four-beam cross-beam scanning as an example, the image frames scanned by each of the four beams form a group, and this must be ensured when selecting target frames. Based on this, assuming there are 100 target frames, they can be divided into 4 groups, each containing 25 target frames. Correspondingly, 25 low-level 0s and high-level 1s can be configured in 4 registers to cyclically enable the supplementary lighting to illuminate the target frames. Target frames illuminated by the supplementary lighting are considered valid frames.

[0085] In this embodiment, by grouping the target frames and configuring the register to control the fill light for fill light, the processing efficiency can be improved and the fill light effect can be guaranteed.

[0086] In some of these embodiments, the control strategy includes:

[0087] Adjusting the duration and / or frame rate of supplementary lighting based on the image acquisition distance of the image sensor.

[0088] Specifically, environmental factors such as light and acquisition distance affect the image quality. For example, in a 3D scanning system, the tracking device follows the scanner during scanning. During this process, the image acquisition distance between the tracking device and the scanner may continuously change; the farther the distance, the dimmer the light. Therefore, the supplementary lighting duration needs to be dynamically adjusted to ensure the quality of the image acquired by the image sensor. In the above embodiments, the product of the supplementary lighting duration and the supplementary lighting frame rate is kept within a second preset range. While ensuring that the product of the supplementary lighting duration and the supplementary lighting frame rate remains within the second preset range, the supplementary lighting duration or the supplementary lighting frame rate can be adjusted independently, or they can be adjusted simultaneously. This way, even when the supplementary lighting duration and frame rate are dynamically adjusted in different operating modes to adapt to environmental changes such as different acquisition distances, the power consumption of the supplementary lighting can be kept within a small fluctuation range.

[0089] In some of these embodiments, the control strategy includes:

[0090] The control processor receives all image frames transmitted from the image sensor and continuously processes the target frames that have been illuminated at a preset processing frame rate, outputting the effective information in the target frames under different working modes.

[0091] Specifically, all image frames acquired by the image sensor are transmitted to the algorithm module inside the FPGA of the processor SOC, and the target frames that have been illuminated are continuously processed at a preset processing frame rate in different working modes. In the processor, effective information such as marker points and encoded points of the output image frames can be identified. The actual processing models include original image transmission mode, matting mode, ellipse equation mode, and laser line extraction mode, all of which are implemented through the internal layout and routing of the FPGA.

[0092] By controlling the processor to access all image frames transmitted by the image sensor in this embodiment, and continuously processing the target frames that have been illuminated at a preset processing frame rate, the power consumption fluctuation of the algorithm module in the processor under different working modes can be weakened, so that the power consumption of the processor is kept within a small fluctuation range.

[0093] In some of these embodiments, it also includes:

[0094] Adjust the processor's output frame rate based on real-time bandwidth.

[0095] Specifically, for both wired and wireless transmission, the processor's output frame rate is dynamically adjusted based on real-time bandwidth, and this output frame rate is not affected by power consumption control strategies. Generally, the output frame rate is less than or equal to the image sensor's preset trigger frame rate, and greater than or equal to the scanning frame rate, which is the frame rate at which the 3D scanning system operates relatively smoothly.

[0096] By adjusting the processor's output frame rate based on real-time bandwidth in this embodiment, bandwidth utilization can be optimized and resource consumption reduced.

[0097] The present embodiment will now be described and illustrated through preferred embodiments.

[0098] Figure 5 This is a flowchart of the power consumption control method in this embodiment, as shown below. Figure 5 As shown, the method includes the following steps:

[0099] Step S501: Set corresponding control strategies for each power consumption device in the 3D scanning system; each power consumption device has a corresponding control strategy; the power consumption devices include the processor, image sensor and fill light.

[0100] In step S502, under different working modes, the image sensor is controlled to continuously acquire images with the same preset trigger frame rate, and all acquired image frames are transmitted to the processor.

[0101] Step S503: Control the fill light to illuminate the target frame in the image frame acquired by the image sensor at the fill light frame rate to obtain the illuminated target frame; the product of the fill light duration and the fill light frame rate is kept within a second preset range; the fill light duration and / or fill light frame rate are dynamically adjusted based on different image acquisition distances.

[0102] Step S504: Control the processor to access all image frames transmitted by the image sensor, continuously process the target frames that have been illuminated at a preset processing frame rate, and output the effective information in the target frames under different working modes.

[0103] Step S505: By executing the control strategy, the power consumption of each power consumption device in the 3D scanning system is kept within a small fluctuation range, so that the power consumption of the 3D scanning system in different working modes is kept within the first preset range.

[0104] By setting control strategies for each power consumption device in this embodiment and executing the corresponding control strategies throughout the entire working process, the power consumption of the 3D scanning system in different working modes can be kept as consistent as possible and kept within the first preset range. This reduces temperature fluctuations and temperature-induced deformation problems, improves the measurement accuracy of the measurement results, and facilitates temperature compensation calibration.

[0105] It should be noted that the steps shown in the above process or in the flowchart of the accompanying figures can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0106] For example, this embodiment also provides a power consumption control device for implementing the above embodiments and preferred embodiments, which will not be repeated hereafter. The terms "module," "unit," "subunit," etc., used below can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0107] Figure 6 This is a structural block diagram of the power consumption control device in this embodiment, as shown below. Figure 6 As shown, the device includes:

[0108] The strategy setting module 10 is used to set corresponding control strategies for each power consumption device in the 3D scanning system; each power consumption device is set with one control strategy; the power consumption devices include the processor, image sensor and fill light;

[0109] The strategy execution module 20 is used to execute control strategies during the operation of the 3D scanning system so that the power consumption of the 3D scanning system in different working modes remains within a first preset range.

[0110] It should be noted that the above modules can be functional modules or program modules, and can be implemented through software or hardware. For modules implemented through hardware, the above modules can reside in the same processor; or the above modules can be located in different processors in any combination.

[0111] With the device provided in this embodiment, each power consumption device is configured with a control strategy, and by executing the corresponding control strategy throughout the entire working process, the power consumption of the 3D scanning system in different working modes is kept as consistent as possible and kept within a first preset range. This reduces temperature fluctuations and temperature-induced deformation problems, improves the measurement accuracy of the measurement results, and facilitates temperature compensation calibration.

[0112] This embodiment also provides a computer device, including a memory and a processor, wherein the memory stores a computer program and the processor is configured to run the computer program to perform the steps in any of the above method embodiments.

[0113] Optionally, the computer device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0114] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated in this embodiment.

[0115] Furthermore, in conjunction with the power consumption control method for the three-dimensional scanning system provided in the above embodiments, this embodiment can also provide a storage medium for implementation. The storage medium stores a computer program; when executed by a processor, the computer program implements any of the power consumption control methods for the three-dimensional scanning system described in the above embodiments.

[0116] It should be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. All other embodiments derived by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0117] Obviously, the accompanying drawings are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar situations based on these drawings without any creative effort. Furthermore, it is understood that although the work done in this development process may be complex and lengthy, for those skilled in the art, certain design, manufacturing, or production modifications made based on the technical content disclosed in this application are merely conventional technical means and should not be considered as insufficient disclosure of this application.

[0118] The term "embodiment" in this application refers to a specific feature, structure, or characteristic described in connection with an embodiment that may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily imply the same embodiment, nor does it imply that it is mutually exclusive with or alternative to other embodiments. It will be clearly or implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0119] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of patent protection. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims

1. A power consumption control method for a three-dimensional scanning system, characterized in that, include: Each power consumption device in the 3D scanning system is configured with a corresponding control strategy; each power consumption device is configured with one control strategy; the power consumption devices include a processor, an image sensor, and a fill light. The control strategy is executed during the operation of the 3D scanning system to keep the power consumption of the 3D scanning system within a first preset range under different operating modes.

2. The power consumption control method for the three-dimensional scanning system according to claim 1, characterized in that, The control strategy includes: In different working modes, the image sensor is controlled to continuously acquire images at the same preset trigger frame rate, and all acquired image frames are transmitted to the processor.

3. The power consumption control method for the three-dimensional scanning system according to claim 1, characterized in that, The control strategy includes: The fill light is controlled to fill the target frame in the image frame acquired by the image sensor at a preset trigger frame rate at a fill light frame rate, so as to obtain the target frame after fill light; the product of the fill light duration and the fill light frame rate is kept within a second preset range.

4. The power consumption control method for the three-dimensional scanning system according to claim 3, wherein controlling the supplementary light to supplement the target frame in the acquired image frame at a supplementary light frame rate to obtain the supplemented target frame, includes: The target frame is determined based on the supplementary lighting frame rate, and the target frame is then uniformly grouped. By configuring the register, each group of target frames is illuminated in a cyclic mode to obtain the illuminated target frames.

5. The power consumption control method for the three-dimensional scanning system according to claim 3, characterized in that, The control strategy includes: The duration of the supplementary lighting and / or the frame rate of the supplementary lighting are adjusted based on the image acquisition distance of the image sensor.

6. The power consumption control method for the three-dimensional scanning system according to claim 1, characterized in that, The control strategy includes: The processor is controlled to access all image frames transmitted by the image sensor, and continuously process the target frames that have been illuminated at a preset processing frame rate, and output the effective information in the target frames under different working modes.

7. The power consumption control method for the three-dimensional scanning system according to claim 1, characterized in that, Also includes: The processor's output frame rate is adjusted based on real-time bandwidth.

8. A power consumption control device for a three-dimensional scanning system, characterized in that, include: The strategy setting module is used to set corresponding control strategies for each power consumption device in the 3D scanning system; each power consumption device is set with one control strategy; the power consumption devices include a processor, an image sensor, and a fill light. The strategy execution module is used to execute the control strategy during the operation of the 3D scanning system so that the power consumption of the 3D scanning system in different working modes remains within a first preset range.

9. A three-dimensional scanning system, characterized in that, include: A processor and at least one image acquisition device; the image acquisition device includes an image sensor and a fill light; Each power consumption device in the three-dimensional scanning system has a corresponding control strategy, and the control strategy is executed during the operation of the three-dimensional scanning system so that the power consumption of the three-dimensional scanning system in different working modes remains within a first preset range; Each of the power consumption devices is configured with a corresponding control strategy; the power consumption devices include a processor, an image sensor, and a fill light.

10. The three-dimensional scanning system according to claim 9, characterized in that, The fill light illuminates the target frame in the image frame acquired by the image sensor at a preset trigger frame rate at a fill light frame rate, thereby obtaining the target frame after fill light; the product of the fill light duration and the fill light frame rate is kept within a second preset range.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the power consumption control method of the three-dimensional scanning system according to any one of claims 1 to 7.

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