Three-dimensional scanning control system and three-dimensional scanner

Abstract

The utility model relates to a three-dimensional scanning control system and a three-dimensional scanner. The three-dimensional scanning control system comprises a first circuit board which is provided with a main control chip and a DDR (Double Data Rate) memory; wherein the main control chip comprises a programmable logic unit and a multi-core processing unit; the DDR memory is respectively connected with the programmable logic unit and the multi-core processing unit; the main control chip comprises a plurality of expansion interfaces, and the expansion interfaces comprise color sensing interfaces used for being connected with color sensing units. According to the invention, the problem of complex design of a three-dimensional scanning control system in the prior art is solved, and the software design of the system is simplified.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of three-dimensional scanning, and in particular, to a three-dimensional scanning control system and a three-dimensional scanner. BACKGROUND

[0002] A full-color three-dimensional scanner in the related art adopts a hardware architecture of a finished product color camera, a single-chip microcomputer control chip, and a USB (Universal Serial Bus) chip, cooperates with a light supplement lamp and a laser speckle synchronous trigger to realize image acquisition and data transmission, so as to realize full-color three-dimensional scanning of an object. The camera is triggered by the single-chip microcomputer, the light supplement lamp and the laser speckle perform image acquisition, and the image signal is processed and then transmitted to a computer end through the USB.

[0003] In the related art, the hardware complexity of the three-dimensional scanning control system is high, more circuit modules are needed, different connection modes are needed between modules, the PCB (Printed Circuit Board) design is more complex, and the EMC (Electromagnetic Compatibility) performance of the whole machine needs to be considered, and problems such as heat dissipation affect the system stability, and have a high development cost.

[0004] At present, there is no effective solution to the problem of complex design of the three-dimensional scanning control system in the related art. CONTENT OF THE INVENTION

[0005] Embodiments of the present application provide a three-dimensional scanning control system and a three-dimensional scanner to at least solve the problem of complex design of the three-dimensional scanning control system in the related art.

[0006] In a first aspect, the embodiments of the present application provide a three-dimensional scanning control system, comprising: a first circuit board, wherein a main control chip and a DDR memory are arranged on the first circuit board; and wherein

[0007] The main control chip comprises a programmable logic unit and a multi-core processing unit.

[0008] The DDR memory is connected with the programmable logic unit and the multi-core processing unit respectively.

[0009] The main control chip comprises a plurality of expansion interfaces, and the plurality of expansion interfaces comprise a color sensing interface for connecting with a color sensing unit.

[0010] In some embodiments, the first circuit board further comprises a storage unit connected with the main control chip.

[0011] In some embodiments, the three-dimensional scanning control system further comprises a second circuit board connected with the first circuit board, and a power module is arranged on the second circuit board and connected with the first circuit board.

[0012] In some embodiments, the second circuit board further comprises a buzzer and a posture sensor.

[0013] In some embodiments, the second circuit board further comprises a fan driving circuit.

[0014] In a second aspect, the embodiments of the present application provide a three-dimensional scanner, comprising: a sensing module, a laser module, and the three-dimensional scanning control system of the first aspect; wherein,

[0015] The sensing module and the laser module are connected with the three-dimensional scanning control system respectively, and the sensing module comprises a plurality of color sensing units.

[0016] In some embodiments, the three-dimensional scanner further comprises a third circuit board connected with the three-dimensional scanning control system, and a power interface and a data interface are arranged on the third circuit board, the power interface is used for connecting an external power supply, and the data interface is used for connecting a computer device.

[0017] In some embodiments, the three-dimensional scanner further comprises a battery module connected with the third circuit board.

[0018] In some embodiments, the three-dimensional scanner further comprises a fill light module connected with the three-dimensional scanning control system.

[0019] In some embodiments, the three-dimensional scanner further comprises a touch screen connected with the three-dimensional scanning control system.

[0020] Compared with the related art, the three-dimensional scanning control system and the three-dimensional scanner provided by the embodiments of the present application, the master control chip integrating the programmable logic unit and the multi-core processing unit is adopted, and the programmable logic unit and the multi-core processing unit are connected by the DDR memory to realize data communication between the two, without the need to set a plurality of programmable logic units and color sensing units in one-to-one correspondence connection, which simplifies the circuit design and reduces the system software complexity. Through the embodiments, the problem of complex design of the three-dimensional scanning control system in the related art is solved, and the system software design is simplified.

[0021] Details of one or more embodiments of the present application are presented in the following drawings and description to make other features, objects and advantages of the present application more clear and easy to understand. BRIEF DESCRIPTION OF DRAWINGS

[0022] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

[0023] Figure 1 is a block diagram of internal circuit structure of a three-dimensional scanner according to the related art;

[0024] Figure 2 is a block diagram of a three-dimensional scanning control system according to an embodiment;

[0025] Figure 3 is a block diagram of a three-dimensional scanning control system according to another embodiment;

[0026] Figure 4 is a block diagram of a three-dimensional scanning control system according to another embodiment;

[0027] Figure 5 is a block diagram of a three-dimensional scanner according to an embodiment;

[0028] Figure 6 is a block diagram of a three-dimensional scanner according to another embodiment;

[0029] Figure 7 is a block diagram of a three-dimensional scanner according to another embodiment.

[0030] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings: S, sensing module; S1, color sensing unit; 001, three-dimensional scanning control system; 1, first circuit board; 11, main control chip; 12, DDR memory; 13, storage unit; 111, programmable logic unit; 112, multi-core processing unit; 113, color sensing interface; 2, second circuit board; 21, power module; 22, buzzer; 23, attitude sensor; 24, fan driving circuit; 3, third circuit board; 4, laser module; 41, laser; 42, laser speckle driving circuit; 43, cross laser driving circuit; 5, battery module; 6, fill light module; 7, touch screen; 8, fan. DETAILED DESCRIPTION

[0031] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be described and explained in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application and should not be used to limit the present application. Based on the embodiments provided by the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of the present application. In addition, it should be understood that, although the efforts made in this development process can be complex and lengthy, some design, manufacture or production changes made on the basis of the technical content disclosed in the present application by those of ordinary skill in the art related to the content disclosed in the present application are only routine technical means and should not be understood as insufficient disclosure of the present application.

[0032] In the present application, the term "embodiment" means that the specific features, structures or properties described in conjunction with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment to other embodiments. It is explicitly and implicitly understood by those of ordinary skill in the art that the embodiments described in the present application can be combined with other embodiments without conflict.

[0033] Unless otherwise defined, the technical terms or scientific terms involved in the present application should be understood as the usual meaning understood by those of ordinary skill in the art to which the present application belongs. The terms "one", "a", "an", "the", and the like similar words involved in the present application do not represent quantity limitation, but can represent singular or plural. The terms "include", "contain", "have", and any variations thereof involved in the present application are intended to cover non-exclusive inclusion; for example, a process, method, system, product or device including a series of steps or modules (units) is not limited to the listed steps or units, but can also include steps or units not listed, or can also include other steps or units inherent to these processes, methods, products or devices. The terms "connected", "connected", "coupled" and the like similar words involved in the present application are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The term "multiple" involved in the present application means greater than or equal to two. The term "and / or" describes the association between the associated objects, which means that there can be three relationships, for example, "A and / or B" can represent the existence of A alone, the existence of A and B together, and the existence of B alone. The terms "first", "second", "third" and the like involved in the present application are only to distinguish similar objects, and do not represent a specific order for the objects.

[0034] Figure 1 The internal circuit structure block diagram of the three-dimensional scanner in the related art is as follows: Figure 1As shown, the circuit includes: a single-chip microcomputer control chip (MCU), a USB hub chip (HUB), a plurality of programmable logic units (FPGA), and a plurality of color sensing units (SENSOR).

[0035] The USB hub chip is connected with the single-chip microcomputer control chip and the plurality of programmable logic units respectively, and is responsible for receiving data from the plurality of programmable logic units and performing aggregation and coordination. The single-chip microcomputer control chip is also connected with other functional components of the scanner, and is used for data communication with the other functional components. The single-chip microcomputer control chip is also connected with a computer (PC) and performs data communication with the computer. The plurality of programmable logic units are connected with the plurality of color sensing units one by one. The number of programmable logic units is determined according to the number of color sensing units, and each programmable logic unit is connected with a color sensing unit. The color sensing unit is used for data collection, and each programmable logic unit is used for receiving and processing the collected data and sending the processed data to the USB hub chip.

[0036] The internal circuit of the three-dimensional scanner described above, because a programmable logic unit needs to be configured for each color sensing unit, and the plurality of programmable logic units are connected with the plurality of color sensing units one by one, results in complex hardware circuit design and high cost. Once the hardware circuit is complex, EMC performance, heat dissipation and other problems of the whole machine need to be considered, which affects the system stability and has a high development cost.

[0037] Moreover, the internal circuit of the three-dimensional scanner described above, because the whole machine includes more subsystems, results in complex software functions, and increases the workload and difficulty in the development, testing, maintenance and other stages. The product development stage is limited, and the use of finished cameras results in constraints in hardware design and computing resources during the development process, which limits the product in terms of cost control and functional requirements.

[0038] Based on the analysis of the above situation, in one embodiment, a three-dimensional scanning control system is provided.

[0039] Figure 2 The structure diagram of the three-dimensional scanning control system is shown in FIG. 1. Figure 2 As shown, the system includes:

[0040] A first circuit board 1, on which a master control chip 11 and a DDR memory 12 are arranged; wherein the master control chip 11 includes a programmable logic unit 111 and a multi-core processing unit 112; the DDR memory 12 is connected with the programmable logic unit 111 and the multi-core processing unit 112 respectively; the master control chip 1 includes a plurality of expansion interfaces, and the plurality of expansion interfaces include a color sensing interface 113, which is used for connection with a color sensing unit S1.

[0041] The main control chip 11 is used for controlling the operation of the whole three-dimensional scanning control system. The programmable logic unit 111 is used for controlling the color sensing unit S1. The multi-core processing unit 112 is used for parameter configuration of the peripheral device, implementation of power-on self-test, and mode switching. The DDR memory 12 is connected with the programmable logic unit 111 and the multi-core processing unit 112 respectively, and is used for realizing data communication between the programmable logic unit 111 and the multi-core processing unit 112.

[0042] Optionally, the first circuit board 1 can be connected with an external computer device (PC). The programmable logic unit 111 receives and processes image digital signals collected by the color sensing unit S1, writes the processed image digital signals into the DDR memory 12, and then receives the image digital signals in the DDR memory 12 by the multi-core processing unit 112, and transmits the data processed by the multi-core processing unit 112 to the external PC end.

[0043] The main control chip 11 can be an on-chip storage system, and specifically, a Zynq UltraScale MPSoC (Multi-Processing System on Chip) chip can be used. The DDR memory 12 can be implemented by using LPDDR4 (Low Power Double Data Rate 4, fourth generation low power double data rate memory). The use of LPDDR4 can provide high performance while maintaining low power consumption.

[0044] The embodiment uses the main control chip 11 integrating the programmable logic unit 111 and the multi-core processing unit 112, and connects the programmable logic unit 111 and the multi-core processing unit 112 by the DDR memory 12 to realize data communication between the two, without the need to set multiple programmable logic units and color sensing units S1 to be connected one by one, thereby simplifying the circuit design and reducing the complexity of the system software. Through the embodiment, the problem of complex design of the three-dimensional scanning control system in the related art is solved, and the system software design is simplified.

[0045] In one embodiment, Figure 3 Another structural block diagram of a three-dimensional scanning control system is provided, as shown in Figure 3 The first circuit board 1 further includes a storage unit 13 connected with the main control chip 11.

[0046] The storage unit 12 is used for storing programs, such as programs running in the programmable logic unit 11 and / or the multi-core processing unit 112 of the main control chip 11. Optionally, when the function of the main control chip needs to be configured or updated, a new program can be burned in the storage unit 12. The storage unit 13 can be implemented by using an EMMC chip.

[0047] In one embodiment, Figure 4 A structural diagram of another three-dimensional scanning control system is provided, as shown in Figure 4 The three-dimensional scanning control system further includes a second circuit board 2, the second circuit board 2 is connected with the first circuit board 1, and a power module 21 is arranged on the second circuit board 2, and the power module 21 is connected with the first circuit board 1.

[0048] The second circuit board 2 and the first circuit board 1 can be connected with each other, and the power module 21 arranged on the second circuit board 2 is used to provide power supply for the first circuit board 1. Optionally, the second circuit board 2 is provided with an external connector, and the respective functions are realized by cooperating with the control signal introduced from the master control chip 11.

[0049] In one embodiment, the second circuit board 2 can be provided with a module power supply circuit, an expansion interface and other small driving circuits. For example, continuing to refer to Figure 4 The second circuit board 2 further includes a buzzer 22 and a posture sensor 23. The buzzer 22 is used to prompt abnormal operation and abnormal conditions of the three-dimensional scanner. The posture sensor 23 can be used to collect the inclination angle and rotation state of the three-dimensional scanner. For example, the posture sensor 23 can help the three-dimensional scanner to monitor the attitude change in real time, so as to dynamically compensate the error caused by unstable hand holding or device movement in the scanning process. Further, in the mobile scanning process, the posture information can be used to synchronize the scanning data with the position and direction of the device, so as to ensure that each point cloud data has correct spatial coordinates.

[0050] Optionally, continuing to refer to Figure 4 The second circuit board 2 further includes a fan driving circuit 24. The fan driving circuit 24 is used to drive an external fan to dissipate heat for the three-dimensional scanning control system.

[0051] In one embodiment, the power module 21 of the second circuit board 2 can provide power supply for other functional components of the three-dimensional scanner, such as a laser module and a light supplement lamp, in addition to providing power supply for the first circuit board 1.

[0052] In one embodiment, a three-dimensional scanner is provided. Figure 5 A structural diagram of the three-dimensional scanner is provided, as shown in Figure 5 The device includes a sensing module S, a laser module 4 and the three-dimensional scanning control system 001 in any one of the above embodiments. The sensing module S and the laser module 4 are connected with the three-dimensional scanning control system 001 respectively, and the sensing module S includes a plurality of color sensing units S1.

[0053] The sensing module S is connected with the first circuit board 1 of the three-dimensional scanning control system 1. Specifically, a plurality of color sensing units S1 in the sensing module S are connected with the main control chip 11 of the first circuit board 1. The color sensing unit S1 is used for collecting image data. The color sensing unit S1 can include two black-and-white sensing units and one color sensing unit. The three color sensing units are directly connected to the first circuit board 1 through a wire harness, and are controlled by the main control chip 11 to realize triggering control, parameter configuration and image data processing of the color sensing unit S1.

[0054] The laser module 4 includes a laser 41, a laser speckle driving circuit 42 and a cross laser driving circuit 43. Specifically, two laser speckle driving circuits, two blue cross laser driving circuits and two infrared cross driving circuits can be provided. In some embodiments, the power supply and the laser control signals of each channel can be introduced by the terminal lines of the second circuit board 2, and the main control chip 11 is configured to enable and configure the parameters of the laser, and the full-color three-dimensional scanning function is realized by cooperating with the camera triggering.

[0055] In one embodiment, Figure 6 Another structural block diagram of a three-dimensional scanner is provided. As Figure 6 shown, the device further includes a third circuit board 3 connected with the three-dimensional scanning control system. Specifically, the third circuit board 3 is connected with the second circuit board 2 of the three-dimensional scanning control system. The third circuit board 3 is provided with a power supply interface and a data interface. The power supply interface is used for connecting an external power supply P, and the data interface is used for connecting a computer device. Optionally, the third circuit board 3 is connected with the second circuit board 2 through a wire harness, and is connected with the computer device (PC) and the total power supply input through a Type-c interface. The power supply and USB data transmission of the three-dimensional scanner are realized.

[0056] In one embodiment, continuing to refer to Figure 6 , the three-dimensional scanner further includes a battery module 5 connected with the third circuit board 3. The battery module 5 is used for supplying power to the three-dimensional scanner in a wireless mode, and realizes wireless transmission in cooperation with a wireless network card.

[0057] In one embodiment, continuing to refer to Figure 6 , the three-dimensional scanner further includes a fill light module 6 connected with the three-dimensional scanning control system. The fill light module includes fill light beads and a fill light driving circuit. Specifically, the fill light beads can include six white beads, six blue beads and six infrared beads, which are controlled by three fill light driving circuits respectively. The power supply and the fill light control signals of each channel of the fill light module 6 can be introduced by the terminal lines of the second circuit board 2, and the main control chip 11 is configured to enable and configure the parameters of the fill light module 6, and the full-color three-dimensional scanning function is realized by cooperating with the camera triggering.

[0058] In one embodiment, with continued reference to Figure 6 The three-dimensional scanner further comprises a touch screen 7 connected with the three-dimensional scanning control system. The touch screen 7 is used to provide interaction with the user, and to switch and control the functions of the device. In some embodiments, the three-dimensional scanner further comprises a fan 8 connected with the fan driving circuit 24.

[0059] In one embodiment, Figure 7 Another structural block diagram of a three-dimensional scanner is provided, as shown in Figure 7 The three-dimensional scanner comprises a three-dimensional scanning control system 001, a sensing module S, a laser module 4, a battery module 5, a light supplementing lamp module 6, a touch screen 7, and a fan 8. The sensing module S comprises a plurality of color sensing units S1. The three-dimensional scanning control system 001 comprises a first circuit board 1, a second circuit board 2, and a third circuit board 3.

[0060] The first circuit board is provided with a main control chip 11, a DDR memory 12, and a storage unit 13. The main control chip 11 comprises a programmable logic unit 111 and a multi-core processing unit 112. The DDR memory 12 is connected with the programmable logic unit 111 and the multi-core processing unit 112, respectively. The main control chip 1 comprises a plurality of expansion interfaces, including a color sensing interface 113, which is used to connect with the color sensing unit S1. The storage unit 13 is connected with the main control chip 11. The main control chip 11 is implemented by a Zynq UltraScale MPSOC chip, the programmable logic unit 111 is implemented by an ASIC-level FPGA, the multi-core processing unit 112 is implemented by an ARM, the DDR memory 12 is implemented by an LPDDR4, and the storage unit 13 is implemented by an EMMC.

[0061] The second circuit board 2 is connected with the first circuit board 1, and is provided with a power module 21, a buzzer 22, an attitude sensor 23, and a fan driving circuit 24. The power module 21 is connected with the first circuit board 1 to supply power to it. In addition, the power module 21 is also connected with the laser module 4 and the light supplementing lamp module 6, respectively, to supply power to the laser module 4 and the light supplementing lamp module 6.

[0062] The third circuit board 3 is connected with the second circuit board 2 and the battery module 5, respectively. The third circuit board 3 can supply power to the second circuit board 2 by being connected with an external power source P.

[0063] In this embodiment, the first circuit board 1 serves as the core board, the second circuit board 2 as the base board, and the third circuit board as the tail plug board. The core board and the base board are interlocked, and the tail plug board is connected to the base board via a ribbon cable, and then connected to the computer and the main power input via a Type-C interface. The core board, where the MPSOC chip is located, expands the interface types required by each module by interlocking with the base board, and then connects to the sensing module S, the laser module 4, and the fill light module 6 via electrical wiring. The MPSOC chip controls and triggers the sensing module S to collect image data, which, in conjunction with the laser speckle trigger in the laser module 4, triggers the LED in the fill light module 6 to provide fill light for the scanned object. Finally, the image data returned to the MPSOC chip is calculated and processed, and then transmitted to the computer PC via a USB interface to realize full-color 3D scanning of the object. Specifically, in this process, the MPSOC chip controls two monochrome cameras, an infrared fill light, and a laser speckle light, all triggered in the same frame. The monochrome cameras capture the light characteristics of the object's surface and transmit the image information to the MPSOC chip. Through data processing and calculation, the three-dimensional model of the object is reconstructed. The color camera and a white fill light are triggered simultaneously. The color camera captures the color information of the object's surface and transmits the image information to the MPSOC chip. Through computation and processing, the color information is stitched onto the three-dimensional model to achieve full-color three-dimensional scanning.

[0064] This embodiment employs a full-color 3D scanning architecture based on an MPSOC chip, reducing hardware design complexity, lowering design costs, and improving system stability. The simplified hardware circuitry also reduces software design complexity, decreases the number of subsystems in the overall system, and simplifies software functionality, thus reducing workload and difficulty in development, testing, and maintenance. Product development becomes more flexible, allowing for customized design and parameter configuration, further reducing design costs.

[0065] Those skilled in the art should understand that the technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments have been described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0066] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A three-dimensional scanning control system, characterized in that, include: The first circuit board contains a main control chip and DDR memory; wherein... The main control chip includes a programmable logic unit and a multi-core processing unit; The DDR memory is connected to the programmable logic unit and the multi-core processing unit, respectively. The main control chip includes multiple expansion interfaces, including a color sensing interface for connecting to a color sensing unit. The programmable logic unit is used to receive and process the image digital signal collected by the color sensing unit, and write the processed image digital signal into the DDR memory. The multi-core processing unit is used to receive and process the image digital signal in the DDR memory. The three-dimensional scanning control system also includes a second circuit board, which is interlocked with the first circuit board. The second circuit board is provided with a power module and external connectors. The power module is connected to the first circuit board, and the external connectors are used to cooperate with the control signals introduced from the main control chip to realize corresponding functions.

2. The three-dimensional scanning control system according to claim 1, characterized in that, The first circuit board further includes a storage unit, which is connected to the main control chip.

3. The three-dimensional scanning control system according to claim 1, characterized in that, The second circuit board also includes a buzzer and an attitude sensor.

4. The three-dimensional scanning control system according to claim 1, characterized in that, The second circuit board also includes a fan drive circuit.

5. A three-dimensional scanner, characterized in that, include: The sensing module, the laser module, and the three-dimensional scanning control system according to any one of claims 1 to 4; wherein, The sensing module and the laser module are respectively connected to the three-dimensional scanning control system, and the sensing module includes multiple color sensing units.

6. The three-dimensional scanner according to claim 5, characterized in that, Also includes: The third circuit board is connected to the three-dimensional scanning control system. The third circuit board is provided with a power interface and a data interface. The power interface is used to connect to an external power source, and the data interface is used to connect to computer equipment.

7. The three-dimensional scanner according to claim 6, characterized in that, Also includes: A battery module, which is connected to the third circuit board.

8. The three-dimensional scanner according to claim 5, characterized in that, Also includes: A fill light module is provided, which is connected to the three-dimensional scanning control system.

9. The three-dimensional scanner according to claim 6, characterized in that, Also includes: A touchscreen is connected to the three-dimensional scanning control system.

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