Splicing method and device of three-dimensional scanning data and three-dimensional scanning system

Abstract

The embodiment of the application provides a kind of splicing method, device and three-dimensional scanning system of three-dimensional scanning data, by the mechanical interface adapter of replaceable, three-dimensional scanning equipment is fixed in the end or measuring seat of the positioning equipment with spatial position measurement function, establish the rigid conversion relationship between three-dimensional scanning equipment coordinate system and the end or measuring seat coordinate system of positioning equipment, the pose relationship between three-dimensional scanning equipment and positioning equipment is characterized by the rigid conversion relationship, then the spatial pose information output by positioning equipment is acquired to make initial scanning data and corresponding spatial pose information be associated, initial scanning data collected by three-dimensional scanning equipment can be accurately converted to the global coordinate system of positioning equipment and be uniformly spliced, to reduce the dependence on external pose acquisition condition in scanning process, improve the precision, stability and adaptability to complex field environment of three-dimensional scanning data splicing.

Description

Technical Field

[0001] This application relates to the fields of optical measurement and three-dimensional scanning, and in particular to a method, apparatus and system for stitching three-dimensional scanning data. Background Technology

[0002] In industrial manufacturing, 3D inspection typically uses handheld 3D scanners, articulated laser probes, or coordinate measuring machine laser probes to acquire point cloud data of the workpiece surface.

[0003] However, while articulated arms or coordinate measuring machine probes offer high positioning accuracy, they are typically dependent on the equipment and have limited adaptability in the field. Handheld 3D scanners, on the other hand, rely heavily on marker point recognition or external tracking to obtain pose information. When scanning large workpieces, complex curved surfaces, or smooth surfaces, they are easily affected by factors such as occlusion, field of view, and environment, leading to a decrease in stitching accuracy and stability.

[0004] Therefore, how to reduce the dependence on external part pose acquisition conditions while ensuring the accuracy of 3D scanning and the stability of stitching has become an urgent technical problem to be solved. Summary of the Invention

[0005] This application provides a method, apparatus, and system for stitching three-dimensional scan data to solve the aforementioned technical problems.

[0006] In a first aspect, embodiments of this application provide a data stitching method for a three-dimensional scanning device. The three-dimensional scanning device is fixed to the end or measuring base of a positioning device with spatial position measurement function. The positioning device outputs the spatial pose information of its end or measuring base in real time. The method includes:

[0007] A rigid transformation relationship between the first coordinate system and the second coordinate system is established through a calibration device. The first coordinate system is the coordinate system of the three-dimensional scanning device, and the second coordinate system is the coordinate system of the end or measuring base of the positioning device.

[0008] Acquire the spatial pose information output by the positioning device, and trigger the 3D scanning device to collect initial scanning data based on the spatial pose information, so that the initial scanning data is associated with the corresponding spatial pose information;

[0009] Based on the rigid transformation relationship and the spatial pose information associated with the initial scan data, the initial scan data is transformed from the first coordinate system to the third coordinate system to achieve stitching. The third coordinate system is the global coordinate system of the positioning device.

[0010] In one possible embodiment, establishing a rigid transformation relationship between the first coordinate system and the second coordinate system includes:

[0011] The control and positioning equipment drives the three-dimensional scanning equipment to observe the standard device from different postures, and obtain observation geometric data;

[0012] Based on the observed geometric data and the spatial pose information output by the positioning device, the rigid transformation relationship between the first coordinate system and the second coordinate system is solved.

[0013] In one possible embodiment, spatial pose information output by the positioning device is acquired, and a 3D scanning device is triggered to collect initial scanning data based on the spatial pose information, including:

[0014] The 3D scanning device receives spatial pose information output by the positioning device through a synchronous interface;

[0015] When the positioning device reaches the designated position, the spatial pose information triggers the 3D scanning device to perform exposure acquisition; or, the 3D scanning device is continuously triggered to perform exposure acquisition according to the predetermined position interval.

[0016] In one possible embodiment, the initial scan data is transformed from a first coordinate system to a third coordinate system to achieve stitching, based on a rigid transformation relationship and spatial pose information associated with the initial scan data, including:

[0017] Based on the rigid transformation relationship, the initial scan data is transformed from the first coordinate system to the second coordinate system to obtain the reference scan data;

[0018] Based on the spatial pose information associated with the initial scan data, the reference scan data is transformed from the second coordinate system to the third coordinate system, thereby achieving stitching.

[0019] In one possible embodiment, the positioning device is an articulated arm measuring machine or a coordinate measuring machine;

[0020] Spatial pose information is output by the joint encoder of the articulated arm measuring machine or the grating ruler system and rotary encoder of the coordinate measuring machine.

[0021] Secondly, embodiments of this application provide a data stitching device for a three-dimensional scanning device. The three-dimensional scanning device is fixed to the end or measuring base of a positioning device with spatial position measurement function. The positioning device outputs the spatial pose information of its end or measuring base in real time. The device includes:

[0022] The calibration module is used to establish a rigid transformation relationship between the first coordinate system and the second coordinate system through the calibration device. The first coordinate system is the coordinate system of the three-dimensional scanning device, and the second coordinate system is the coordinate system of the end or measuring base of the positioning device.

[0023] The data acquisition module is used to acquire the spatial pose information output by the positioning device, and trigger the 3D scanning device to acquire initial scanning data based on the spatial pose information, so that the initial scanning data is associated with the corresponding spatial pose information.

[0024] The data stitching module is used to transform the initial scanning data from the first coordinate system to the third coordinate system to achieve stitching, based on the rigid transformation relationship and the spatial pose information associated with the initial scanning data. The third coordinate system is the global coordinate system of the positioning device.

[0025] Thirdly, embodiments of this application provide a three-dimensional scanning system, the system comprising:

[0026] 3D scanning equipment is used to acquire initial scanning data of the object being measured;

[0027] The positioning device has a spatial position measurement function, which is used to output the spatial pose information of its end or measuring base in real time;

[0028] Mechanical interface, used to detachably fix the 3D scanning device to the end of the positioning device or the measuring base;

[0029] The position synchronization interface is used to receive spatial pose information output by the positioning device and trigger the 3D scanning device to collect initial scanning data based on the spatial pose information.

[0030] The data processing unit is used to establish a rigid transformation relationship between the first coordinate system and the second coordinate system, and to transform the initial scanning data from the first coordinate system to the third coordinate system and stitch it together based on the rigid transformation relationship and the spatial pose information associated with the initial scanning data.

[0031] Among them, the first coordinate system is the coordinate system of the 3D scanning device, the second coordinate system is the coordinate system of the end point or measuring base of the positioning device, and the third coordinate system is the global coordinate system of the positioning device.

[0032] In one possible embodiment, the mechanical interface is a modular and replaceable interface, including a handheld grip adapter, an articulated arm adapter, and a coordinate measuring machine adapter. The 3D scanning device can achieve handheld independent use mode, articulated arm use mode, and coordinate measuring machine use mode through different adapters.

[0033] In one possible embodiment, the mechanical interface is also used to transmit power signals, data signals, and position synchronization signals;

[0034] The adapter has a built-in identification chip. The 3D scanning device reads the identification chip to identify the type of the currently installed adapter and switches to the corresponding working mode.

[0035] In one possible embodiment, the positioning device is an articulated arm measuring machine, and the spatial pose information is output by the encoders of each joint of the articulated arm measuring machine.

[0036] In one possible embodiment, the positioning device is a coordinate measuring machine (CMM), and the spatial pose information is output by the CMM's grating ruler system and the measuring base rotary encoder.

[0037] In one possible embodiment, the location synchronization interface supports both wired and wireless transmission methods.

[0038] In one possible embodiment, the 3D scanning device includes a multi-line laser projection module and a binocular or multi-view camera module. The multi-line laser projection module is used to project multiple parallel laser lines onto the surface of the object being measured, and the binocular or multi-view camera module is used to acquire deformed images of the laser lines to obtain initial scanning data.

[0039] This application provides a method, apparatus, and system for stitching three-dimensional scanning data. A replaceable mechanical interface adapter is used to fix a three-dimensional scanning device to the end or base of a positioning device with spatial position measurement capabilities. A rigid transformation relationship is established between the coordinate system of the three-dimensional scanning device and the coordinate system of the end or base of the positioning device. This rigid transformation relationship characterizes the pose relationship between the three-dimensional scanning device and the positioning device. Then, the spatial pose information output by the positioning device is acquired to associate the initial scanning data with the corresponding spatial pose information. This allows the initial scanning data collected by the three-dimensional scanning device to be accurately converted to the global coordinate system of the positioning device for unified stitching, thereby reducing the dependence on external pose acquisition conditions during the scanning process and improving the accuracy, stability, and adaptability of three-dimensional scanning data stitching to complex field environments. Attached Figure Description

[0040] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0041] Figure 1 A schematic diagram of the structure of the three-dimensional scanning system provided in this application;

[0042] Figure 2 Flowchart of the method for stitching 3D scan data provided in this application Figure 1 ;

[0043] Figure 3 Flowchart of the method for stitching 3D scan data provided in this application Figure 2 ;

[0044] Figure 4 Flowchart of the method for stitching 3D scan data provided in this application Figure 3 ;

[0045] Figure 5 A schematic diagram of the structure of the stitching device for the three-dimensional scanning data provided in this application;

[0046] Figure 6 A schematic diagram of the structure of the computer device provided in this application.

[0047] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0048] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application.

[0049] In industrial manufacturing, 3D inspection and digital modeling are widely used for dimensional measurement, quality analysis, and model reconstruction of automotive parts, aerospace components, molds, and precision assemblies. These operations typically rely on positioning equipment such as 3D scanning machines, articulated arm measuring machines, or coordinate measuring machines to form a measurement system, acquiring point cloud data of the workpiece surface in the workshop or metrology environment.

[0050] In existing solutions, handheld 3D scanning devices typically determine the pose information during the scanning process through marker point recognition or external tracking, and then stitch together multiple frames of scan data. Articulated arm measuring machines or coordinate measuring machines rely on the pose measurement capabilities of their end effector or probe to convert the acquired data into a unified coordinate system to complete the measurement. Their basic principle is to simultaneously acquire surface data and device pose during the scanning process, and then perform coordinate transformation and data integration accordingly.

[0051] However, in applications involving large workpieces, complex curved surfaces, or smooth surfaces, marker points are easily obstructed, detached, or difficult to place. External tracking is also easily affected by the field of view, ambient light, and on-site interference, leading to discontinuous pose acquisition, which in turn causes the accumulation of stitching errors, data drift, or even scanning interruption. On the other hand, although positioning devices can stably output high-precision spatial pose information, existing solutions often fail to establish a close correspondence between this pose information and the scanning data, meaning that the high-precision positioning capability is not fully utilized to improve stitching stability and overall measurement efficiency.

[0052] The aforementioned defects directly affect the reliability of full-size inspection of large parts and modeling of complex surfaces, increasing the burden of repeated scanning, post-processing registration, and on-site operations, making it difficult to simultaneously achieve accuracy, stability, and flexibility. Therefore, how to reduce the dependence on external part pose acquisition conditions and achieve stable stitching using the existing spatial pose information of the positioning equipment has become an urgent technical problem to be solved.

[0053] In view of this, a data stitching method for a 3D scanning device is provided. When the 3D scanning device is fixed to the end or measuring base of a positioning device with spatial position measurement function, a rigid transformation relationship between the coordinate system of the 3D scanning device and the coordinate system of the end or measuring base of the positioning device is first established through a calibration device. Then, the spatial pose information output by the positioning device in real time is acquired, and the 3D scanning device is triggered to collect initial scanning data based on this spatial pose information, so that the initial scanning data is associated with the corresponding spatial pose information. Finally, the initial scanning data is transformed into the global coordinate system of the positioning device according to the rigid transformation relationship to achieve stitching. This technical approach is based on a system architecture in which the 3D scanning device and the positioning device work together, which can reduce the dependence on marker point recognition or external tracking and improve the accuracy and stability of data stitching.

[0054] This application provides a three-dimensional scanning system, such as Figure 1 As shown, the system includes a 3D scanning device 101, a positioning device 102, a mechanical interface 103, a position synchronization interface 104, and a data processing unit 105; wherein,

[0055] The 3D scanning device 101 is used to acquire initial scanning data of the object being measured;

[0056] Positioning device 102 has a spatial position measurement function and is used to output the spatial pose information of its end or measuring base in real time;

[0057] The mechanical interface 103 is used to detachably fix the three-dimensional scanning device 101 to the end of the positioning device 102 or the measuring base;

[0058] The position synchronization interface 104 is used to receive the spatial pose information output by the positioning device 102 and trigger the three-dimensional scanning device 101 to collect initial scanning data based on the spatial pose information;

[0059] The data processing unit 105 is used to establish a rigid transformation relationship between the first coordinate system and the second coordinate system, and according to the rigid transformation relationship and the spatial pose information associated with the initial scanning data, transform the initial scanning data from the first coordinate system to the third coordinate system and realize stitching. The first coordinate system is the coordinate system of the three-dimensional scanning device, the second coordinate system is the end or measuring coordinate system of the positioning device, and the third coordinate system is the global coordinate system of the positioning device.

[0060] The 3D scanning device 101 refers to an optical measuring device used to scan the surface of the object being measured and output initial scanning data. Its function is to acquire raw surface data that can be used for subsequent coordinate transformation and stitching processing. The 3D scanning device 101 is installed on the mechanical interface 103 and forms an electrical or signal connection with the positioning device 102 and the data processing unit 105 through the position synchronization interface 104, so that the acquired data can be sent to the stitching process when the pose triggering conditions are met. In one possible embodiment, the 3D scanning device can be a handheld scanning head, an articulated arm probe scanning head, or a probe-fixed scanning head, and the scanning principle can be optical scanning. Its external dimensions can be designed to match portability and installation stability to ensure the stability of the scanning reference during the movement of the positioning device.

[0061] The positioning device 102 refers to a high-precision positioning device with spatial position measurement function and capable of outputting the spatial pose information of the end effector or measuring base in real time. Its function is to provide a pose reference for the 3D scanning device 101, so that the initial scanning data can be associated with the spatial position corresponding to the scanning time. The positioning device 102 and the mechanical interface 103 together constitute the scanning carrier. The 3D scanning device 101 is fixed to its end effector or measuring base through the mechanical interface 103. The output end of the positioning device 102 is connected to the position synchronization interface 104 so as to transmit the real-time pose data to the 3D scanning device 101 or the data processing unit 105. Its measurement range should meet the scanning coverage requirements of the measured object, and the matching relationship between the end effector mounting reference and the mounting reference of the 3D scanning device 101 should be consistent with the establishment result of the rigid transformation relationship, so as to ensure that the spatial pose information can be accurately mapped to the third coordinate system.

[0062] Mechanical interface 103 refers to the mounting mechanism used to achieve a detachable connection between the 3D scanning device and the positioning device. Its function is to provide mechanical support, positional constraints, and reference consistency for the 3D scanning device 101 during repeated assembly. Mechanical interface 103 is located at the bottom, side, or back of the housing of the 3D scanning device 101 and is connected to the end flange, probe connection seat, or mounting base of the positioning device 102 to form a detachable fixed relationship. Its dimensions can be designed to match the weight of the 3D scanning device 101, the end size of the positioning device 102, and the installation space, thereby maintaining a balance between ease of disassembly and assembly and installation rigidity.

[0063] The position synchronization interface 104 is a communication interface used to receive spatial pose information output by the positioning device 102 and trigger the 3D scanning device 101 to acquire initial scan data based on this spatial pose information. Its function is to achieve time alignment between the pose signal and the scanning acquisition process, so that the acquired point cloud frame is associated with the corresponding spatial pose. The position synchronization interface 104 can be arranged in the communication port area of ​​the 3D scanning device 101 and electrically connected to the output of the positioning device 102. If necessary, it can also be synchronously connected to the internal control circuit of the 3D scanning device 101 to achieve the correspondence between the pose information and the scanning acquisition process.

[0064] The data processing unit 105 is a computational processing module used to perform coordinate transformation and stitching output. Its function is to establish a rigid transformation relationship between the first and second coordinate systems, and based on this rigid transformation relationship and the spatial pose information associated with the initial scan data, to transform the initial scan data from the first coordinate system to the third coordinate system and perform stitching. The data processing unit 105 can be located inside the 3D scanning device 101 or in an external control device, and is connected to both the 3D scanning device 101 and the position synchronization interface 104 to receive initial scan data, pose information, and related parameters. Its size can be configured as an integrated or external layout according to computing power requirements and heat dissipation conditions to complete the continuous mapping from the 3D scanning device coordinate system to the positioning device coordinate system and then to the global coordinate system. The first coordinate system refers to the coordinate system of the 3D scanning device, the second coordinate system refers to the end-effector or measuring base coordinate system of the positioning device, and the third coordinate system refers to the global coordinate system of the positioning device. It should be understood that the above coordinate system names and their corresponding relationships can be equivalently replaced according to the device structure and calibration habits. The exemplary definitions are for illustration only and not limitation.

[0065] Based on the above analysis, the three-dimensional scanning system provided in this application, during operation, after the three-dimensional scanning device is fixed to the end or measuring base of the positioning device through a mechanical interface, the data processing unit establishes a rigid transformation relationship between the first coordinate system and the second coordinate system. Subsequently, the positioning device continuously outputs the spatial pose information of the end or measuring base during movement. After the spatial pose information is transmitted to the three-dimensional scanning device or the data processing unit through the position synchronization interface, it triggers the three-dimensional scanning device to perform sampling and point cloud output under the corresponding pose, so that each frame of initial scanning data is temporally correlated with the spatial pose at the time of acquisition. The data processing unit then maps each frame of initial scanning data to the third coordinate system of the positioning device frame by frame according to the spatial pose information and the established rigid coordinate transformation relationship, and splices them according to the spatial coincidence relationship to form a continuous point cloud or surface model under a unified coordinate reference. By directly mounting the 3D scanning device onto a positioning device with spatial position measurement capabilities, and utilizing a position synchronization interface to complete pose triggering and data alignment, pose acquisition during the scanning process no longer relies on external marker placement or external visual tracking conditions. Furthermore, the initial scan data is correlated with the real-time pose before entering the stitching stage. Therefore, it can maintain a stable data stitching relationship even when the measured object is large, the surface continuity is strong, or there are many occlusions in the field, and reduces the cumulative deviation caused by pose interruptions. Since the spatial pose output by the positioning device itself directly participates in coordinate transformation, the multi-frame data acquired by the 3D scanning device can be integrated under a unified global coordinate system, thereby reducing the workload of repeated scanning, manual registration, and post-processing corrections. It should be understood that the above example is merely illustrative and not limiting. Without departing from this application, the relevant interface forms and data processing unit implementation methods can be equivalently replaced according to actual applications.

[0066] Based on the aforementioned embodiments, the mechanical interface 103 is further modular and replaceable, including a handheld grip adapter, an articulated arm adapter, and a coordinate measuring machine adapter. The 3D scanning device 101 can realize a handheld independent use mode, a use mode in conjunction with an articulated arm, and a use mode in conjunction with a coordinate measuring machine through different adapters.

[0067] In one possible embodiment, the modular replaceable interface is an intermediate interface component for quickly switching connection relationships between different mounting platforms. Its function is to enable the 3D scanning device 101 to select different mechanical support methods according to the operating scenario, while maintaining consistent assembly references between the 3D scanning device 101 and the external platform. This modular replaceable interface is typically located between the mounting end of the 3D scanning device 101 body and the external mounting platform, and mates with the device housing, flange, or mounting base through a unified connection interface, thus eliminating the need for structural modifications to the main body of the 3D scanning device 101 when replacing the adapter.

[0068] A handheld grip adapter is a connecting component that allows the operator to directly hold and control the posture of a 3D scanning device 101. Its function is to enable the 3D scanning device 101 to be used independently, detached from the positioning device 102. It is suitable for scanning in confined spaces, temporary measurement areas, or scenarios requiring flexible movement. The adapter can be installed on the lower or side of the 3D scanning device, adjacent to the trigger button area, battery compartment, or control handle area, allowing the operator to simultaneously start, stop, or adjust the posture while holding the device. The handheld grip adapter can be of three types: straight handle, pistol grip, or ring grip. A straight handle facilitates regular one-handed use, a pistol grip helps distribute hand load during prolonged scanning, and a ring grip provides more stable support when the 3D scanning device 101 needs to be rotated at multiple angles. Its material can be a metal frame covered with soft rubber, fiberglass-reinforced plastic, or a non-slip rubber coating. The load-bearing areas are preferably made of aluminum alloy or steel to ensure strength, while the gripping areas are preferably made of engineering plastics or elastomers to improve comfort and slip resistance. The adapter is typically sized to fit the grip size of an adult's hand. The circumference, length, and angle of the grip can be ergonomically set, for example, the grip length can be 100 mm to 180 mm, the outer diameter of the grip can be 25 mm to 45 mm, and the angle can be 10 degrees to 30 degrees, to balance stability and operational flexibility.

[0069] An articulated arm adapter is an interface conversion component used to install a 3D scanning device 101 onto the end flange of an articulated arm measuring machine. Its function is to rigidly connect the 3D scanning device 101 to the kinematic chain of the articulated arm, enabling the 3D scanning device 101 to move synchronously with the pose changes of the articulated arm and providing a stable mechanical reference for the correspondence between subsequent pose information and scanning data. This adapter is typically located between the 3D scanning device 101 and the end connection of the articulated arm, and is fixedly connected to the end mounting base of the articulated arm via a flange face, locating pins, or bolt hole group. It works in conjunction with the spatial pose information output by the encoder at the end of the articulated arm to ensure the deterministic relationship between the scanning center and the measured coordinates of the articulated arm. The adapter can be in the form of a disc flange, a square flange, or a quick-change block with locating pins. Disc flanges facilitate coaxial positioning, square flanges increase torsional stiffness, and quick-change blocks with locating pins facilitate rapid disassembly and repositioning. Its material can be high-strength aluminum alloy, steel alloy, or titanium alloy. Aluminum alloy is suitable for reducing end load, steel alloy is suitable for increasing rigidity, and titanium alloy is suitable for balancing strength and lightweight. The adapter's hole spacing, thickness, and locating pin diameter are typically adapted to the standard interface at the end of the articulated arm. For example, the flange thickness can be 8 mm to 25 mm, the locating pin diameter can be 4 mm to 12 mm, and the connection hole spacing can be set according to the standard at the end of the articulated arm, thereby reducing installation errors while ensuring connection strength.

[0070] A coordinate measuring machine (CMM) adapter is an interface conversion component used to mount a 3D scanning device 101 onto the CMM's probe mount or probe position. Its function is to enable the 3D scanning device 101 to form a consistent measurement reference with the high-precision motion platform of the CMM, maintaining high attitude repeatability and geometric stability during the scanning process. This adapter is typically positioned between the 3D scanning device 101 and the CMM probe mount, connecting to the probe mount via a planar mounting surface, guide surface, or fastening holes. It also engages with the CMM's guide rail system or rotary encoder output to ensure accurate mapping of the device's spatial pose to the global coordinate system. The adapter can be shaped like a columnar connector, a flat flange, or an eccentric adjustment seat. A columnar connector is suitable for increasing the degree of freedom in the height direction, a flat flange is suitable for improving the flatness of the mounting surface, and an eccentric adjustment seat is suitable for fine-tuning the scanning center and the probe mount center. Its material can be stainless steel, aluminum alloy, or high-rigidity composite material. Stainless steel is suitable for improving deformation resistance, aluminum alloy is suitable for reducing weight, and high-rigidity composite material is suitable for balancing stiffness and vibration suppression. The geometry of this adapter typically places greater emphasis on flatness, perpendicularity, and repeatability accuracy compared to articulated arm adapters. For example, the flatness of the mounting surface can be controlled within the range of 0.02 mm to 0.05 mm, and the connection thickness can be 10 mm to 30 mm to meet the high-precision assembly requirements in a coordinate measuring machine (CMM) environment. All three types of adapters can be connected to the 3D scanning equipment body using quick-release modules, snap-fit ​​modules, or screw-fit modules. Alternatively, they can be replaced with a unified quick-change disc, magnetic base, dovetail joint connection, flange connection, or snap-fit ​​connection. In practical applications, replacement is completed through insertion, positioning, locking, and unlocking. The connection reference between each adapter and the 3D scanning equipment body remains consistent to maintain consistency in optical center, mechanical reference, and pose relationship after switching between different modes. It should be understood that the above examples are for demonstration purposes only and are not limiting.

[0071] When the system is started, the operator can select the appropriate adapter according to the size of the workpiece to be measured, the installation conditions, and the available space, and assemble the adapter onto the unified connection end of the 3D scanning device 101, thus establishing a corresponding connection between the 3D scanning device 101 and the handheld handle, the end of the articulated arm, or the coordinate measuring machine (CMM) mount. In handheld independent use mode, the handheld handle adapter provides direct grip support for the 3D scanning device 101. The operator can stably control the scanning head posture and move it along the workpiece surface through the handle, enabling flexible scanning of local areas or areas that are inconvenient to clamp. In articulated arm use mode, the articulated arm adapter rigidly fixes the 3D scanning device 101 to the end of the articulated arm, allowing the 3D scanning device 101 to continuously output spatial pose information as the joints of the articulated arm move, facilitating smooth trajectory scanning over a large area. In CMM use mode, the CMM adapter mounts the 3D scanning device 101 onto the CMM mount, allowing the 3D scanning device 101 to perform positioning scanning based on high-precision guide rails and a motion control system, thereby improving measurement repeatability and coordinate consistency. Since all three adapters connect to the 3D scanning device via a unified interface reference, the installation position and reference datum of the 3D scanning device remain consistent even after changing different adapters. This reduces the complexity of recalibration and minimizes cumulative errors caused by interface conversion. Based on the above process, this modular, replaceable interface allows the 3D scanning device to quickly switch between three working modes: handheld, articulated arm collaboration, and coordinate measuring machine (CMM). This improves the device's applicability and on-site deployment flexibility. Furthermore, the unified reference connection and reusable assembly structure enhance the stability of pose relationships during scanning, which is beneficial for improving the consistency of subsequent data stitching and the reliability of measurement results.

[0072] Based on the aforementioned embodiments, the mechanical interface is further used to transmit power signals, data signals, and position synchronization signals; the adapter has a built-in identification chip, and the 3D scanning device 101 identifies the type of the currently installed adapter by reading the identification chip and switches the corresponding working mode.

[0073] In one possible embodiment, the mechanical interface is also used to transmit power signals, data signals, and position synchronization signals. It is a composite connection interface that combines mechanical fixation and electrical transmission, establishing a stable assembly connection between the 3D scanning device 101 and the positioning device 102 while simultaneously exchanging information for power supply, communication, and synchronization triggering. This allows the 3D scanning device 101 to obtain continuous power, upload or receive scanning data, and receive synchronization signals corresponding to the spatial pose of the positioning device 102 under different installation scenarios. The mechanical interface 103 is typically located between the adapter and the connection surface of the 3D scanning device 101, or directly at the coupling interface between the adapter and the end of the positioning device 102, or the probe base. It is electrically connected to the power management unit, data communication unit, and position synchronization unit inside the 3D scanning device 101 to ensure reliable conduction of various signals under mechanical locking conditions.

[0074] Based on the above analysis, the mechanical interface 103 can be shaped as a multi-pin connector, a contact-type quick-change disc, a conductive slip ring, a spring pin header, or a composite pin header / female header structure. The power contacts, data contacts, and synchronization contacts can be arranged in a ring, matrix, or partitioned pattern to achieve isolation and anti-interference design for different signal channels within a limited installation space. Its materials may include copper alloy conductors, gold-plated contacts, an insulating plastic base, and a metal shielding shell to improve conductivity, wear resistance, and repeated insertion / removal life. The size and proportions of the interface can be configured according to current carrying capacity, data transmission rate, and trigger timing accuracy. For example, the contact area of ​​the power contacts can be relatively large, while the spacing between data contacts and synchronization contacts can be appropriately reduced while maintaining a predetermined insulation distance to avoid crosstalk and breakdown risks between adjacent channels. In possible embodiments, the interface height, contact spacing, and guide section length can be set to a range matching the wall thickness and positioning accuracy of the adapter body to achieve automatic alignment and reliable clamping during assembly. During use, this mechanical interface can enable real-time power connection, data link establishment, and position synchronization signal transmission with the plugging action. It can also disconnect each signal loop simultaneously during disassembly, thereby reducing the number of external cables and reducing the complexity of on-site wiring. It should be understood that the above example is only for demonstration and is not a limitation.

[0075] The adapter has a built-in identification chip, which is an electronic identification module used to identify the current adapter's identity and type. It can store adapter category, interface parameters, operating mode number, or other identification information related to the configuration of the 3D scanning device 101. This information is read by the data processing unit after the 3D scanning device 101 is assembled, automatically determining whether a handheld grip adapter, articulated arm adapter, or coordinate measuring machine adapter is installed. The function of this identification chip is to enable the 3D scanning device 101 to automatically switch to the corresponding operating mode based on the adapter's identity information, thereby matching different power supply strategies, data link configurations, position synchronization methods, and acquisition parameters, avoiding scanning anomalies caused by manual selection errors or inconsistent mode settings. This identification chip is typically embedded in the adapter's internal circuit board, connector tail, or encapsulation slot near the mechanical interface. It is electrically connected to data contacts or dedicated identification contacts in the mechanical interface, or communicates with the 3D scanning device 101 via near-field or radio frequency methods. After the adapter is inserted, the identification chip can passively power on and output a unique identification code, or it can return preset model information when 3D scanning device 101 queries it.

[0076] Based on the general design of mechanical structure and electronic packaging, the identification chip can adopt EEPR (Rotation Memory), monolithic identification memory, RFID (Radio Frequency Identification) chip, NFC (Near Field Communication) chip, or a memory device with a unique number. Its carrier can be a flexible circuit board, a rigid circuit board, or an integrated package module. The packaging form can be surface mount, embedded, or potted to adapt to the limited internal space of the adapter and meet vibration and shock resistance requirements. Its external dimensions are typically small, allowing it to be placed in a position that does not affect mechanical locking and assembly guidance. The chip body and its surrounding pad area can be designed with a low-profile structure according to the thickness of the adapter housing to avoid interference with other components. In some embodiments, sufficient insulation and protective distance can be maintained between the identification chip and the edge of the housing, and positioning posts or slots can be used for limiting to improve assembly consistency and long-term reliability. When in operation, the identification chip automatically completes identification when plugged into the adapter. After the 3D scanning device 101 reads the identification code, it matches the identification code with the pre-stored pattern table and calls the corresponding parameter group to complete the initialization. This allows the device to quickly switch between different adapters without repeated manual configuration, thereby improving on-site deployment efficiency and reducing the probability of misoperation.

[0077] During operation, after the 3D scanning device 101 is assembled with the corresponding adapter, the mechanical interface 103 first completes the structural positioning and locking fixation. Simultaneously, the power contacts, data contacts, and position synchronization contacts are sequentially established in a conductive state. The spatial pose information output by the positioning device 102 is then transmitted to the 3D scanning device 101 via the position synchronization interface. While receiving a stable power supply, the 3D scanning device 101 begins to read the identity information in the adapter's built-in identification chip and determines whether the current adapter is used independently, in conjunction with an articulated arm, or in conjunction with a coordinate measuring machine. Based on this determination, the corresponding working mode is automatically switched, and the scanning frequency, trigger threshold, synchronization cycle, data caching method, and pose association strategy are configured. This ensures that the initial scanning data is collected and the corresponding pose information is marked at the same time as the position synchronization signal. Subsequently, the data processing unit, in conjunction with the pre-established coordinate rigid transformation relationship, uniformly transforms the data into the global coordinate system of the positioning device to achieve stitching. Because power, data signals, and position synchronization signals are all transmitted stably through the same mechanical interface, and mode switching is automatically completed by the recognition chip, the system can reduce external cables and manual configuration steps, and decrease data interruptions and stitching deviations caused by poor contact, adapter misinstallation, or mode mismatch, thereby improving the continuity, stability, and adaptability of the 3D scanning process. It should be understood that the above example is for illustrative purposes only and is not limiting.

[0078] Based on the aforementioned embodiments, the positioning device is further defined as an articulated arm measuring machine, and the spatial pose information is output by the encoders of each joint of the articulated arm measuring machine.

[0079] When the system starts, the articulated arm measuring machine supports its multi-joint arm structure via a base. Each joint encoder works synchronously with its corresponding rotating axis and continuously collects joint angle information. The controller calculates the real-time spatial position and orientation of the end effector relative to the base based on the output of each encoder and sends this spatial orientation information to the position synchronization interface. Since the 3D scanning device 101 is fixed to the end effector of the articulated arm measuring machine, the relationship between the first coordinate system of the 3D scanning device 101 and the coordinate system of the end effector of the articulated arm measuring machine remains caliable. Therefore, after acquiring the encoder output, the data processing unit can, in conjunction with the pre-established coordinate rigid transformation relationship, promptly associate the initial scanning data collected by the 3D scanning device with the corresponding pose moment and further transform it into the global coordinate system of the articulated arm measuring machine. As the articulated arm rotates and extends in multiple degrees of freedom, the end effector scanning head changes its spatial orientation accordingly, and the encoder output is continuously updated, thus ensuring that scanning triggering, pose recording, and point cloud stitching are consistent in time. Since the spatial pose information comes directly from the encoders of each joint of the articulated arm measuring machine, without relying on external marker point recognition or additional visual tracking devices, it can still maintain continuous and stable pose acquisition even in the presence of occlusion, reflection, or changes in lighting in the workshop environment. This reduces the cumulative error and data drift during multi-frame scanning and stitching, and improves the reliability of continuous measurement of large workpieces and complex curved surfaces. It should be understood that the above examples are merely illustrative and not limiting. The number of joints, encoder type, data format, and communication method can all be adjusted accordingly without departing from the overall concept of this application.

[0080] In one possible implementation, the positioning device 102 is a coordinate measuring machine (CMM), and the spatial pose information is output by the CMM's grating ruler system and the measuring base rotary encoder.

[0081] In one possible embodiment, the coordinate measuring machine (CMM) is adapted to the high-precision pose acquisition requirements in industrial inspection scenarios. Its grating ruler system and the probe rotary encoder together form a position feedback link. The grating ruler system is used to detect the linear position changes of the X, Y, and Z axes respectively, while the probe rotary encoder is used to detect the rotation angle of the probe relative to the frame or adapter plate. This converts the motion state of the 3D scanning device 101 after installation into spatial pose data that can be used for stitching calculations in real time. The grating ruler system can be arranged in a closed structure on the side of each linear guide rail or in an internal protective cavity. The reading head moves with the slider and collects the etched line period signal, which is then interpolated and counted to form the displacement value of each axis. The probe rotary encoder can be installed at the rotation center of the probe or connected to the probe shaft via a coupling to output absolute or incremental angle information. The probe of the CMM is typically located at the lower end of the Z-axis slider. The 3D scanning device 101 is rigidly connected to the probe via a dedicated mounting base, quick-change flange, or locating pin, allowing the pose changes of the 3D scanning device body to be synchronously recorded by the encoder and grating ruler. The travel range of the three-axis structure can be determined according to the size of the workpiece being measured, for example, it can cover a measurement range of hundreds of millimeters to several meters, with a measurement resolution of micrometers or higher, and a probe rotation resolution of arcseconds or equivalent high-precision angle units. Based on this structural configuration, the spatial pose information in this application can be continuously output during the scanning process, and a time or trigger relationship can be established one-to-one with the initial scanning data. This allows each frame of the scanned point cloud to be transformed into a unified global coordinate system based on the corresponding three-dimensional coordinate position and probe posture, avoiding pose interruptions caused by missing external markers, occlusion, or environmental interference, thereby reducing stitching drift and improving the consistency of repeated positioning. It should be understood that the above example is only illustrative and not limiting.

[0082] In one possible implementation, the location synchronization interface supports both wired and wireless transmission methods.

[0083] When the system starts, the position synchronization interface 104 establishes a connection with the positioning device according to a preset communication method. If it is wired transmission, continuous access to spatial pose information is achieved through the cable port or synchronization cable; if it is wireless transmission, pairing, handshaking, and data exchange of the wireless link are achieved through the antenna or wireless communication module. Subsequently, the spatial pose information output by the positioning device 102 enters the data processing unit 105 inside the 3D scanning device 101 in real time and drives the scanning acquisition action, so that each frame of initial scan data is synchronously associated with the spatial pose information at the corresponding moment. Since the wired method can provide more stable link quality and the wireless method can provide a higher degree of installation freedom, the position synchronization interface can be selected according to the on-site installation environment, cable layout conditions, and anti-interference requirements, thereby ensuring the continuity of spatial pose information transmission while reducing the impact of external deployment constraints on the scanning operation. Based on this synchronous transmission and triggering mechanism, the 3D scanning device 101 can continuously acquire scanning data corresponding to the spatial pose during the movement of the positioning device 102, and the data processing unit 105 can further convert it to the third coordinate system to achieve stitching. Therefore, it can reduce data misalignment and stitching drift caused by pose loss, asynchronous triggering or communication interruption, and improve the continuity, stability and overall measurement efficiency of scanning operations on complex curved surfaces and large workpieces.

[0084] Based on the aforementioned embodiments, the three-dimensional scanning device 101 further includes a multi-line laser projection module and a binocular or multi-view camera module. The multi-line laser projection module is used to project multiple parallel laser lines onto the surface of the object being measured, and the binocular or multi-view camera module is used to acquire deformed images of the laser lines, thereby obtaining initial scanning data.

[0085] In one possible embodiment, a multi-line laser projection module is an optical projection component used to emit multiple parallel laser lines onto the surface of a measured object. Its function is to form laser stripes with predetermined spacing and direction, thereby creating a deformable contour on the object surface that can be recognized as an image, thus providing stable raw measurement information for subsequent 3D reconstruction and coordinate stitching. This module is typically installed in the front scanning head area of ​​a 3D scanning device and fixedly arranged with a binocular or multi-view camera module along a preset reference relationship, so that the laser line projection plane and the camera's field of view form a calibrable spatial relationship. Mechanically, it can be connected to the scanning head housing via screws, locating pins, or clips, and the optical path is stabilized by an internal support, while also being electrically connected to the power supply unit and control circuit board. Based on the above analysis, a multi-line laser projection module can be composed of a semiconductor laser chip, a collimating lens, a beam-splitting optics component, and a projection window. The laser chip can be a single high-brightness semiconductor laser emitting unit or an array of laser emitting units. The collimating lens can be a glass lens, a resin lens, or a composite lens. The beam-splitting optics component can be a prism group, a diffractive optical element, or a microstructure grating. The projection window can be a glass window, a wear-resistant plastic window, or a transparent protective sheet with an anti-reflective coating. In terms of form, this module can be configured as a strip light source module, an array light source module, or a multi-channel laser emitting module. The number of laser lines can be configured as three, five, or more parallel lines depending on the measurement width. The spacing between adjacent laser lines can be set from a few millimeters to tens of millimeters, and the projection coverage width can be set from tens of millimeters to hundreds of millimeters depending on the size of the workpiece being measured, to ensure sufficient depth and lateral features within a single acquisition area. It should be understood that the number, spacing, and coverage width of the laser lines can be adjusted according to the surface curvature, reflective properties, and scanning accuracy requirements of the workpiece being measured. The above examples are for illustrative purposes only and are not limiting.

[0086] In one possible embodiment, a binocular or multi-view camera module is an imaging measurement component used to acquire laser line deformation images and output image data. Its function is to synchronously image the position, shape, and offset of stripes formed on the surface of a measured object after laser irradiation, and to convert the image information into initial scan data that can be used for three-dimensional calculations. This module is typically fixed within the same scanning head as a multi-line laser projection module and arranged at a predetermined baseline distance on either side or around the laser line projection area to form an imaging geometry with parallax. Internally, it may include an image sensor, lens assembly, synchronous trigger circuit, image interface circuit, and housing structure. The image sensor can be connected to the control motherboard via a flexible circuit board, and the lens assembly is mounted at the opening of the housing via a lens barrel and can be calibrated in conjunction with a focus adjustment mechanism. The image sensor can be a CMOS (Complementary Metal-Oxide-Semiconductor) image sensor, a CCD (Charge-Coupled (Light Emitting Diode) Device) image sensor, or a high dynamic range image sensor. The lens assembly can be a fixed-focus lens, a wide-angle lens, or a telecentric lens. The housing can be made of aluminum alloy, engineering plastic, or magnesium alloy to balance strength, heat dissipation, and electromagnetic shielding performance. When using a binocular arrangement, the cameras are typically two image acquisition units set in parallel, and the baseline distance can be set from tens to hundreds of millimeters depending on the workpiece size and accuracy requirements. When using a multi-eye arrangement, three, four, or more image acquisition units can be arranged in a ring or fan shape to expand the observable range and improve the visibility of complex curved surfaces. The field of view, focal length, and mounting angle of the camera module are usually matched with the projection angle of the multi-line laser projection module so that the deformed image formed by the laser line on the object surface is within the effective imaging area of ​​the camera, thereby improving the stability of fringe extraction and reconstruction accuracy. It should be understood that the number of cameras, the arrangement, and the optical parameters can be adjusted according to the actual application scenario. The above examples are for demonstration purposes only and are not limiting.

[0087] During operation, when the system starts, the multi-line laser projection module, driven by the control circuit, outputs multiple parallel laser lines, which are then irradiated onto the surface of the object being measured at a predetermined angle. The binocular or multi-view camera module, under the action of a synchronous trigger signal, exposes and acquires the deformed fringes formed by the laser lines on the object's surface. The image data acquired by each camera is then transmitted to the data processing unit. The data processing unit, based on fringe center extraction, parallax calculation, triangulation, and distortion correction, converts the image deformation relationship of the laser lines into corresponding spatial coordinate information, forming the initial scanning data for the 3D scanning device. In this process, multiple parallel laser lines can provide multiple depth profiles within a single acquisition range, and the binocular or multi-view camera module can compensate for occlusion and improve the observability of complex curved surfaces through different perspectives. Therefore, the continuity and integrity of the initial scanning data are improved. Furthermore, combined with the spatial pose information output by the aforementioned positioning device and the rigid coordinate transformation relationship, the initial scanning data can be stably transformed into the global coordinate system of the positioning device for stitching, thereby reducing data drift caused by insufficient surface features, limited single field of view, or missing external markers, and improving the overall measurement consistency of large workpieces, curved workpieces, and precision assemblies. It should be understood that the above examples are merely illustrative and not limiting. Without departing from the concept of this application, the specific number, arrangement, and parameter configuration of the multi-line laser projection module and the binocular or multi-view camera module can be adapted accordingly.

[0088] To address the aforementioned 3D scanning system, a data stitching method for a 3D scanning device is provided. In one possible implementation, such as... Figure 2 As shown, the data stitching method of a 3D scanning device includes:

[0089] Step 201: Establish a rigid transformation relationship between the first coordinate system and the second coordinate system through a calibration device. The first coordinate system is the coordinate system of the three-dimensional scanning device, and the second coordinate system is the coordinate system of the end or measuring base of the positioning device.

[0090] In this step, the 3D scanning device, as the initial scanning data acquisition unit, is fixedly installed on the end of the positioning device or on the measuring base. The positioning device is used to output the spatial pose information of this installation position in space. The first coordinate system corresponds to the body coordinate reference system inside the 3D scanning device used to express the initial scanning data. The second coordinate system corresponds to the coordinate reference system of the end of the positioning device or on the measuring base. The calibration device is used to establish a fixed rigid transformation relationship between the above two coordinate systems. This fixed rigid transformation relationship can be represented by any of the following methods: transformation matrix, rotation matrix, and translation vector. Based on the above analysis, it can be seen that this step establishes a corresponding rigid mapping between the coordinate system of the 3D scanning device and the coordinate system of the end of the positioning device or on the measuring base through the calibration device. This allows the initial scanning data acquired at any subsequent moment to be accessed through the spatial pose information link of the positioning device using this rigid transformation relationship. This is the basis for converting the scanning data to a unified coordinate system. It should be understood that the above example is only for demonstration and is not limiting.

[0091] Step 202: Obtain the spatial pose information output by the positioning device, and trigger the 3D scanning device to collect initial scanning data based on the spatial pose information, so that the initial scanning data is associated with the corresponding spatial pose information.

[0092] In this step, the positioning device outputs the spatial pose information of the end effector or measuring base in real time. This spatial pose information includes at least spatial position parameters and spatial attitude parameters. The third coordinate system is the global coordinate system of the positioning device. Each set of spatial pose information output by the positioning device actually corresponds to the current transformation relationship between the second coordinate system and the third coordinate system. Upon receiving the acquisition trigger, the 3D scanning device outputs initial scan data. This initial scan data consists of local point clouds, contour data, depth data, or other surface sampling data that can be used for 3D reconstruction, acquired by the 3D scanning device from the surface of the workpiece at the current moment. The term "association" means that each frame of initial scan data is bound to a corresponding set of spatial pose information both temporally and structurally, allowing for accurate referencing of this spatial pose information during subsequent transformations.

[0093] In practice, the positioning device continuously outputs spatial pose information based on its own measurement system. After acquiring the spatial pose information output by the positioning device, the 3D scanning device is triggered to collect data based on the spatial pose information, and a binding relationship is established between the current spatial pose information and the returned initial scan data. After the initial scan data is returned, associated data containing the initial scan data and its corresponding spatial pose information can be generated for subsequent stitching.

[0094] Step 203: Based on the rigid transformation relationship and the spatial pose information associated with the initial scan data, the initial scan data is transformed from the first coordinate system to the third coordinate system to achieve stitching. The third coordinate system is the global coordinate system of the positioning device.

[0095] In this step, the rigid transformation relationship between the first and second coordinate systems has been obtained through step 201, and the binding result of each frame's initial scan data and corresponding spatial pose information has been obtained through step 202. Therefore, coordinate transformation can be performed on each frame's initial scan data. The third coordinate system, as the global coordinate system of the positioning device, is the unified reference coordinate system throughout the entire measurement process. All local scan data acquired at different times are transformed into this coordinate system for expression. In this way, data from different scanning positions and different scanning spatial poses will be superimposed under a unified spatial reference, naturally forming a complete workpiece's spliced ​​point cloud or three-dimensional surface model.

[0096] In practice, for any frame's initial scan data, the spatial position of the initial scan data in the third coordinate system can be determined based on the rigid transformation relationship and the spatial pose information bound to that frame, and the initial scan data of that frame can be converted into a data representation in the third coordinate system. The initial scan data of the current frame can be processed according to the above relationship to obtain the target data of that frame in the third coordinate system.

[0097] After completing the single-frame conversion, the conversion result is written to the global stitching dataset. For multiple consecutively acquired initial scan data frames, the associated data are read sequentially according to the frame order, and the data of each frame is converted to the third coordinate system to achieve stitching naturally. If the 3D scanning device outputs surface sampling data in different forms, they can also be superimposed after being uniformly converted to the third coordinate system to form a complete stitching result. Since the spatial position of each frame data is determined by the spatial pose information output by the positioning device, the stitching process can achieve stable placement of multiple frame scan data based on a unified global coordinate relationship.

[0098] Based on the above analysis, this step combines the calibrated rigid transformation relationship with real-time spatial pose information, mapping each frame of initial scan data into a third coordinate system to form a stitched result based on the global coordinates of the positioning device. The core of this processing principle lies in the fact that the relative installation relationship between the 3D scanning device and the positioning device remains fixed after calibration, while the spatial pose information of the positioning device at each moment during the scanning process can be acquired in real time. Therefore, the spatial placement of the initial scan data can be determined by the rigid transformation relationship and the spatial pose information. Thus, the initial scan data from different regions can maintain a consistent relative position in the third coordinate system, and subsequent processing can output a complete 3D scan result. It should be understood that the above example is merely illustrative and not limiting.

[0099] Based on the above analysis, this application provides a data stitching method for a 3D scanning device, comprising: establishing a rigid transformation relationship between a first coordinate system and a second coordinate system through a calibration device; acquiring spatial pose information output by a positioning device; triggering the 3D scanning device to collect initial scanning data based on the spatial pose information; associating the initial scanning data with the corresponding spatial pose information; and transforming the initial scanning data from the first coordinate system to a third coordinate system according to the rigid transformation relationship and the spatial pose information associated with the initial scanning data to achieve stitching. In this application, a fixed rigid mapping is first established between the coordinate system of the 3D scanning device and the coordinate system of the end point or measuring base of the positioning device; then, each frame of scanning data is bound to the spatial pose information at the corresponding sampling time; and finally, each frame of scanning data is uniformly transformed to the global coordinate system of the positioning device to form a unified stitching of multiple frames of local scanning data. Based on this technical approach, the existing spatial position measurement capability of the positioning device is directly used for scanning data placement, enabling the scanning data to be integrated under a unified coordinate reference, maintaining continuity in the overall measurement process and ensuring consistent coordinate results. It should be understood that the above examples are merely illustrative and not limiting.

[0100] In one possible implementation, such as Figure 3 As shown, a rigid transformation relationship is established between the first coordinate system and the second coordinate system, including:

[0101] Step 301: Control the positioning device to drive the three-dimensional scanning device to observe the standard device from different postures and obtain observation geometric data;

[0102] Step 302: Based on the observed geometric data and the spatial pose information output by the positioning device, solve the rigid transformation relationship between the first coordinate system and the second coordinate system.

[0103] In practical implementation, when the control positioning device drives the 3D scanning device to observe the standard device from different postures, the 3D scanning device can form cross-observations relative to the standard device in multiple spatial directions to obtain observational geometric data covering different surfaces of the standard device. The raw point cloud acquired by the 3D scanning device is filtered, registered, and feature-extracted to form a geometric data set for calibration, and the spatial pose information corresponding to each observation is recorded synchronously. Subsequently, the feature coordinates extracted from the observation geometric data are matched with the corresponding spatial pose information output by the positioning device, and the rotation and translation parameters of the first coordinate system relative to the second coordinate system are obtained using least squares, thus establishing a rigid transformation relationship between the two coordinate systems. The calibration device is a calibrator with known geometric features, such as a calibration sphere or calibration plate. If a calibration sphere is used as the standard device, the observational geometric data can be obtained by fitting the sphere's center; if a calibration plate with known spatial relationships is used, geometric data can be extracted through corner points, hole positions, or plane normal vectors. In practical applications, other models of the standard device can also be selected, and this application does not limit this.

[0104] Once established, this rigid transformation relationship can be used as a fixed extrinsic parameter between the 3D scanning device and the positioning device. This allows the observation results acquired by the 3D scanning device under different postures to establish a unified correspondence with the spatial pose information output by the positioning device, providing a foundation for subsequent coordinate transformations. Since the rigid transformation relationship is obtained by jointly solving the observation geometric data of the standard device and the high-precision spatial pose information of the positioning device, the calibration results can be kept consistent with the actual installation state of the equipment, thus providing a stable coordinate mapping for subsequent data stitching. Using this method, the coordinate relationship establishment process relies on the spatial pose information output of the positioning device itself, without relying on the continuous recognition of external tracking markers, which improves the consistency of coordinate transformations and the stability of the stitching results.

[0105] Based on the foregoing embodiments, further, spatial pose information output by the positioning device is acquired, and a 3D scanning device is triggered to collect initial scanning data based on the spatial pose information, including:

[0106] The 3D scanning device receives spatial pose information output by the positioning device through a synchronous interface;

[0107] When the positioning device reaches the designated position, the spatial pose information triggers the 3D scanning device to perform exposure acquisition; or, the 3D scanning device is continuously triggered to perform exposure acquisition according to a predetermined position interval.

[0108] In its implementation, the positioning device continuously outputs the spatial pose information of the end effector or probe during movement. The 3D scanning device receives this information in real time through a synchronization interface and writes it into the acquisition buffer. When the current spatial pose information meets the preset position conditions, the data processing unit immediately outputs an exposure control signal to drive the image sensor to complete one exposure acquisition, thereby obtaining one frame of initial scan data. When continuous triggering is performed at a predetermined position interval, the data processing unit judges based on the change in spatial pose information between two adjacent intervals. When the cumulative displacement reaches the set interval value, a trigger signal is output, and continuous exposure acquisition is completed sequentially to form an initial scan data sequence corresponding to the position change. This position interval can be set as a fixed threshold according to the workpiece size, scanning resolution, and movement speed. In practical applications, this parameter can also be adjusted according to the scanning scenario, which is not limited in this application.

[0109] After receiving spatial pose information via a synchronous interface and triggering exposure acquisition at a specified location or predetermined interval, the 3D scanning device can precisely correlate each frame of initial scan data with the corresponding spatial pose information, thus providing a stable data foundation for subsequent coordinate transformation and data stitching. Since the acquisition time is directly driven by the spatial pose information of the positioning device, the correspondence between the scan data and the positioning information is clear and unambiguous, maintaining acquisition synchronization and data consistency during continuous scanning, thereby forming an initial scan data sequence that can be used for stitching processing.

[0110] In one possible implementation, such as Figure 4 As shown, based on the rigid transformation relationship and the spatial pose information associated with the initial scan data, the initial scan data is transformed from the first coordinate system to the third coordinate system to achieve stitching, including:

[0111] Step 401: Based on the rigid transformation relationship, the initial scan data is transformed from the first coordinate system to the second coordinate system to obtain the reference scan data;

[0112] Step 402: Based on the spatial pose information associated with the initial scan data, the reference scan data is transformed from the second coordinate system to the third coordinate system, thereby achieving stitching.

[0113] In practical implementation, the initial scan data can be represented as point cloud data, depth data, or scan frame data composed of multi-point coordinates. The rigid transformation relationship between the first coordinate system and the second coordinate system is determined by the calibration results and can be represented as a coordinate transformation matrix containing rotation and translation vectors. During processing, the coordinates of each point in the initial scan data are first transformed to the second coordinate system according to the rigid transformation relationship to obtain reference scan data corresponding to the geometric position of the end of the positioning device or the measuring base. Then, the spatial pose information synchronously associated with the initial scan data is introduced into the coordinate transformation process to map the reference scan data to the third coordinate system, so that multiple frames of reference scan data formed at different acquisition times for the same workpiece are under a unified coordinate reference.

[0114] This method, based on the established rigid transformation relationship, segments the coordinates of the 3D scanning device and the positioning device, and uses spatial pose information associated with the data to achieve final global coordinate unification. This allows the stitching result to directly reflect the workpiece's true spatial distribution in the third coordinate system. After this processing, the initial scanning data can be stably converted into a stitching result under unified coordinates, reducing the impact of coordinate aliasing on registration accuracy. Furthermore, it enables data integration based on the spatial pose information output by the positioning device to become a directly executable implementation.

[0115] Based on the aforementioned embodiments, the positioning device is further defined as an articulated arm measuring machine or a coordinate measuring machine; the spatial pose information is output by the joint encoder of the articulated arm measuring machine or the grating ruler system and the rotary encoder of the measuring base of the coordinate measuring machine.

[0116] In practical implementation, when the positioning device uses an articulated arm measuring machine, the joint encoder can be an absolute or incremental encoder. The encoder signal is acquired by the joint controller and output to the data processing unit. The data processing unit then generates spatial pose information corresponding to the end effector's spatial posture and sends it to the 3D scanning device. The joint encoder and the joint axis can be connected via coaxial mounting or gear transmission to ensure that angle sampling and mechanical rotation remain synchronized.

[0117] When the positioning device uses a coordinate measuring machine, the grating ruler system forms a linear displacement detection loop through the grating ruler and reading head set along the guide rail. The rotary encoder of the measuring base outputs the rotation angle through the encoder disk and reading component set on the rotating shaft. The control system combines the displacement and angle into spatial pose information and outputs it.

[0118] The aforementioned spatial pose information can be sent to the control terminal of the 3D scanning equipment via a synchronization interface, ensuring a temporal correspondence between the scan acquisition and positioning data. During operation, this structure relies on the positioning equipment's own high-precision motion measurement unit to directly output spatial pose information. The 3D scanning equipment then uses this information to perform data association and coordinate transformation, ensuring that the stitching of scan data is based on the positioning equipment's internal measurement results rather than external markers or tracking results. Since the joint encoder, grating ruler system, and probe rotary encoder all directly reflect the motion state of the positioning equipment, the output spatial pose information can stably characterize the spatial position and attitude at the moment of scanning.

[0119] By adopting the above method, the 3D scanning equipment can directly use the spatial pose information output by the positioning equipment to establish a data correspondence and complete the stitching in conjunction with the calibrated coordinate rigid transformation relationship. This reduces the dependence on the acquisition conditions of external spatial pose information, reduces the risk of data drift caused by the interruption of spatial pose information, and improves the stitching stability and measurement consistency when detecting large workpieces and complex curved surfaces.

[0120] This application relates to a data stitching method for a 3D scanning device. The 3D scanning device is fixedly installed on the end effector or probe of a positioning device with spatial position measurement function. The positioning device can be an articulated arm measuring machine or a coordinate measuring machine (CMM). The positioning device outputs the spatial pose information of the end effector or probe in real time. The spatial pose information is output by the joint encoder of the articulated arm measuring machine, or by the grating ruler system and the rotary encoder of the probe of the CMM. In actual execution, a rigid transformation relationship between the coordinate system of the 3D scanning device and the coordinate system of the end effector or probe is first established using a calibration device. The coordinate system of the 3D scanning device is used as the first coordinate system, and the coordinate system of the end effector or probe is used as the second coordinate system. During the calibration process, the positioning device is controlled to drive the 3D scanning device to observe the standard device in different postures, continuously obtaining the corresponding observation geometric data. At the same time, the spatial pose information output by the positioning device in each observation posture is recorded. Then, the rigid transformation relationship between the first coordinate system and the second coordinate system is obtained by solving the observation geometric data and the spatial pose information corresponding to each posture.

[0121] After calibration, the 3D scanning device receives spatial pose information output by the positioning device through a synchronization interface, and associates each received spatial pose information with the corresponding acquisition time during the scanning process. When the positioning device moves to a designated position, the current spatial pose information directly triggers the 3D scanning device to perform an exposure acquisition, obtaining initial scan data; or, as the positioning device moves along the scanning path, it continuously outputs trigger signals at predetermined position intervals, causing the 3D scanning device to continuously perform exposure acquisitions at interval positions, and associates each frame of initial scan data with the spatial pose information corresponding to the trigger time.

[0122] When stitching together the acquired initial scan data, the initial scan data is first transformed from the first coordinate system to the second coordinate system based on the rigid transformation relationship between the first and second coordinate systems, resulting in reference scan data. Then, based on the spatial pose information associated with each initial scan data, the reference scan data is transformed from the second coordinate system to the global coordinate system of the positioning device, i.e., the third coordinate system. As the reference scan data obtained at different positions and orientations are sequentially transformed to the third coordinate system, the scan data of each frame are aligned and stitched together under the same global coordinate reference.

[0123] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0124] Based on the same inventive concept, this application also provides a data stitching device for a three-dimensional scanning device. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more data stitching device embodiments for three-dimensional scanning devices provided below can be found in the limitations of the data stitching method for three-dimensional scanning devices described above, and will not be repeated here.

[0125] Figure 5 This is a schematic diagram of the data stitching device for the 3D scanning equipment provided in this application. The 3D scanning equipment is fixed to the end or probe of a positioning device with spatial position measurement function. The positioning device outputs the spatial pose information of its end or probe in real time, such as... Figure 5 As shown, the data stitching device of the 3D scanning equipment provided in this embodiment includes:

[0126] The calibration module 501 is used to establish a rigid transformation relationship between the first coordinate system and the second coordinate system through the calibration device. The first coordinate system is the coordinate system of the three-dimensional scanning device, and the second coordinate system is the coordinate system of the end or measuring base of the positioning device.

[0127] The data acquisition module 502 is used to acquire the spatial pose information output by the positioning device, and trigger the three-dimensional scanning device to acquire initial scanning data based on the spatial pose information, so that the initial scanning data is associated with the corresponding spatial pose information.

[0128] The data stitching module 503 is used to transform the initial scanning data from the first coordinate system to the third coordinate system to achieve stitching based on the rigid transformation relationship and the spatial pose information associated with the initial scanning data. The third coordinate system is the global coordinate system of the positioning device.

[0129] In one possible implementation, the calibration module 501 is used for:

[0130] The control and positioning equipment drives the three-dimensional scanning equipment to observe the standard device from different postures, and obtain observation geometric data;

[0131] Based on the observed geometric data and the spatial pose information output by the positioning device, the rigid transformation relationship between the first coordinate system and the second coordinate system is solved.

[0132] In one possible implementation, the data acquisition module 502 is specifically used for:

[0133] The 3D scanning device receives spatial pose information output by the positioning device through a synchronous interface;

[0134] When the positioning device reaches the designated position, the spatial pose information triggers the 3D scanning device to perform exposure acquisition; or, the 3D scanning device is continuously triggered to perform exposure acquisition according to a predetermined position interval.

[0135] In one possible implementation, the data stitching module 503 is specifically used for:

[0136] Based on the rigid transformation relationship, the initial scan data is transformed from the first coordinate system to the second coordinate system to obtain the reference scan data;

[0137] Based on the spatial pose information associated with the initial scan data, the reference scan data is transformed from the second coordinate system to the third coordinate system, thereby achieving stitching.

[0138] In one possible implementation, the positioning device is an articulated arm measuring machine or a coordinate measuring machine;

[0139] Spatial pose information is output by the joint encoder of the articulated arm measuring machine or the grating ruler system and rotary encoder of the coordinate measuring machine.

[0140] The data stitching device of the three-dimensional scanning equipment provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0141] Figure 6 A schematic diagram of the structure of the computer device provided in this application. Figure 6 As shown, the computer device 60 provided in this embodiment includes at least one processor 601 and a memory 602. Optionally, the computer device 60 further includes a communication component 603. The processor 601, memory 602, and communication component 603 are connected via a bus 604.

[0142] In the specific implementation process, at least one processor 601 executes computer execution instructions stored in memory 602, causing at least one processor 601 to execute the data stitching method of the three-dimensional scanning device described above.

[0143] The specific implementation process of processor 601 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0144] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0145] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0146] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0147] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the data stitching method of the three-dimensional scanning device described above.

[0148] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the data stitching method of the aforementioned three-dimensional scanning device.

[0149] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0150] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0151] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0152] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0153] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0154] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0155] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0156] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope.

Claims

1. A data stitching method for a three-dimensional scanning device, characterized in that, A 3D scanning device is fixed to the end or probe of a positioning device with spatial position measurement function. The positioning device outputs the spatial pose information of its end or probe in real time. The method includes: A rigid transformation relationship between a first coordinate system and a second coordinate system is established through a calibration device. The first coordinate system is the coordinate system of the three-dimensional scanning device, and the second coordinate system is the coordinate system of the end or measuring base of the positioning device. The spatial pose information output by the positioning device is obtained, and the three-dimensional scanning device is triggered to collect initial scanning data based on the spatial pose information, so that the initial scanning data is associated with the corresponding spatial pose information; Based on the rigid transformation relationship and the spatial pose information associated with the initial scan data, the initial scan data is transformed from the first coordinate system to the third coordinate system to achieve stitching. The third coordinate system is the global coordinate system of the positioning device.

2. The method according to claim 1, characterized in that, The process of establishing a rigid transformation relationship between the first coordinate system and the second coordinate system through a calibration device includes: The positioning device is controlled to drive the three-dimensional scanning device to observe the standard device from different postures to obtain observation geometric data; Based on the observed geometric data and the spatial pose information output by the positioning device, the rigid transformation relationship between the first coordinate system and the second coordinate system is solved.

3. The method according to claim 1, characterized in that, The step of acquiring the spatial pose information output by the positioning device and triggering the 3D scanning device to collect initial scanning data based on the spatial pose information includes: The 3D scanning device receives the spatial pose information output by the positioning device through a synchronization interface; When the positioning device reaches the designated position, the spatial pose information triggers the three-dimensional scanning device to perform exposure acquisition; or, the three-dimensional scanning device is continuously triggered to perform exposure acquisition at predetermined position intervals.

4. The method according to claim 1, characterized in that, The step of transforming the initial scan data from the first coordinate system to the third coordinate system to achieve stitching, based on the rigid transformation relationship and the spatial pose information associated with the initial scan data, includes: Based on the rigid transformation relationship, the initial scan data is transformed from the first coordinate system to the second coordinate system to obtain reference scan data; Based on the spatial pose information associated with the initial scan data, the reference scan data is transformed from the second coordinate system to the third coordinate system, thereby achieving stitching.

5. The method according to any one of claims 1-4, characterized in that, The positioning device is an articulated arm measuring machine or a coordinate measuring machine; The spatial pose information is output by the joint encoder of the articulated arm measuring machine or the grating ruler system and the rotary encoder of the measuring base of the coordinate measuring machine.

6. A data stitching device for a three-dimensional scanning equipment, characterized in that, A 3D scanning device is fixed to the end or probe of a positioning device with spatial position measurement function. The positioning device outputs the spatial pose information of its end or probe in real time. The device includes: The calibration module is used to establish a rigid transformation relationship between a first coordinate system and a second coordinate system through a calibration device. The first coordinate system is the coordinate system of the three-dimensional scanning device, and the second coordinate system is the coordinate system of the end or measuring base of the positioning device. The data acquisition module is used to acquire the spatial pose information output by the positioning device, and trigger the three-dimensional scanning device to acquire initial scanning data based on the spatial pose information, so that the initial scanning data is associated with the corresponding spatial pose information; The data stitching module is used to transform the initial scanning data from the first coordinate system to the third coordinate system to achieve stitching based on the rigid transformation relationship and the spatial pose information associated with the initial scanning data. The third coordinate system is the global coordinate system of the positioning device.

7. A three-dimensional scanning system, characterized in that, The system includes: 3D scanning equipment is used to acquire initial scanning data of the object being measured; The positioning device has a spatial position measurement function, which is used to output the spatial pose information of its end or measuring base in real time; A mechanical interface for detachably fixing the 3D scanning device to the end or measuring base of the positioning device; A position synchronization interface is used to receive spatial pose information output by the positioning device and trigger the three-dimensional scanning device to collect the initial scanning data based on the spatial pose information. The data processing unit is used to establish a rigid transformation relationship between the first coordinate system and the second coordinate system, and to transform the initial scanning data from the first coordinate system to the third coordinate system and stitch it together according to the rigid transformation relationship and the spatial pose information associated with the initial scanning data. Wherein, the first coordinate system is the coordinate system of the three-dimensional scanning device, the second coordinate system is the coordinate system of the end point or measuring base of the positioning device, and the third coordinate system is the global coordinate system of the positioning device.

8. The three-dimensional scanning system according to claim 7, characterized in that, The mechanical interface is a modular and replaceable interface, including a handheld grip adapter, an articulated arm adapter, and a coordinate measuring machine adapter. The 3D scanning device can achieve handheld independent use mode, articulated arm use mode, and coordinate measuring machine use mode through different adapters.

9. The three-dimensional scanning system according to claim 8, characterized in that, The mechanical interface is also used to transmit power signals, data signals, and position synchronization signals; The adapter has a built-in identification chip, and the 3D scanning device identifies the type of the currently installed adapter by reading the identification chip and switches the corresponding working mode.

10. The three-dimensional scanning system according to claim 7, characterized in that, The positioning device is an articulated arm measuring machine, and the spatial pose information is output by the encoders of each joint of the articulated arm measuring machine.

11. The three-dimensional scanning system according to claim 7, characterized in that, The positioning device is a coordinate measuring machine (CMM), and the spatial pose information is output by the CMM's grating ruler system and the measuring base rotary encoder.

12. The three-dimensional scanning system according to claim 7, characterized in that, The location synchronization interface supports both wired and wireless transmission methods.

13. The three-dimensional scanning system according to claim 7, characterized in that, The 3D scanning device includes a multi-line laser projection module and a binocular or multi-view camera module. The multi-line laser projection module is used to project multiple parallel laser lines onto the surface of the object being measured, and the binocular or multi-view camera module is used to acquire deformed images of the laser lines, thereby obtaining the initial scanning data.

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