Method and apparatus for generating scanning reconstruction data, and non-volatile storage medium

Abstract

The present application relates to the field of three-dimensional scanning. Disclosed are a method and apparatus for generating scanning reconstruction data. The method comprises: by means of a first scanning module, collecting a plurality of frames of first scanning reconstruction data of a scene where an object to be scanned is located, and by means of a second scanning module, synchronously collecting a plurality of frames of second scanning reconstruction data of said object; splicing the plurality of frames of first scanning reconstruction data, so as to obtain a first splicing result of said object; and splicing the plurality of frames of second scanning reconstruction data on the basis of extrinsic parameters between the first scanning module and the second scanning module and the first splicing result, so as to obtain a second splicing result of said object, wherein the first splicing result is used for providing positioning information for the process of splicing the plurality of frames of second scanning reconstruction data.

Description

Scanning reconstruction data generation method, device, and non-volatile storage medium

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on May 29, 2024, with application number 202410682973.1 and application name “Scanning and Reconstruction Data Generation Method, Device, and Non-volatile Storage Medium”, the Chinese patent application filed with the China Patent Office on December 15, 2023, with application number 202311738843.7 and application name “Scanning and Reconstruction Data Generation Method, Device, and Non-volatile Storage Medium”, and the Chinese patent application filed with the China Patent Office on May 14, 2024, with application number 202410598194.3 and application name “Scanning and Reconstruction Data Generation Method, Device, and Non-volatile Storage Medium”, all of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of three-dimensional scanning, and more specifically, to a method and device for generating scanning and reconstruction data, and a non-volatile storage medium. Background Art

[0003] In current scanning techniques, in order to obtain high-precision scan reconstruction data, markers must be attached to the object before scanning, making the scanning process time-consuming and labor-intensive. Furthermore, this marker-assisted scanning method also involves issues with marker calibration and station transfer and splicing, making the operation cumbersome and placing high demands on the scanner user.

[0004] To address the above-mentioned problems, no effective solutions have been proposed so far. Summary of the Invention

[0005] The embodiments of the present application provide a method, device, and non-volatile storage medium for generating scan reconstruction data, so as to at least solve the technical problem that the scanning process is time-consuming and labor-intensive due to the method of sticking marking points on the surface of the scanned object used in the related art.

[0006] According to one aspect of an embodiment of the present application, a method for generating scanning and reconstruction data is provided, including: collecting multiple frames of first scanning and reconstruction data of a scene where an object to be scanned is located through a first scanning module, and synchronously collecting multiple frames of second scanning and reconstruction data of the object to be scanned through a second scanning module; splicing the multiple frames of first scanning and reconstruction data to obtain a first splicing result of the object to be scanned; splicing the multiple frames of second scanning and reconstruction data based on external parameters between the first scanning module and the second scanning module, and the first splicing result to obtain a second splicing result of the object to be scanned, wherein the first splicing result is used to provide positioning information for the splicing process of splicing the multiple frames of second scanning and reconstruction data.

[0007] Optionally, stitching multiple frames of second scan reconstruction data based on the first stitching result to obtain a second stitching result of the object to be scanned includes: determining a first stitching matrix based on the first stitching result, wherein the first stitching result includes target features, which are common features between multiple frames of first scan reconstruction data; and stitching multiple frames of second scan reconstruction data based on the first stitching matrix to obtain a second stitching result.

[0008] Optionally, stitching multiple frames of second scan reconstruction data according to the first stitching matrix to obtain a second stitching result includes: determining external parameters between the first scanning module and the second scanning module, wherein the external parameters are used to determine the conversion relationship between the data collected by the first scanning module and the second scanning module; obtaining a second stitching matrix based on the external parameters and the first stitching matrix; and stitching the second scan reconstruction data according to the second stitching matrix to obtain a second stitching result.

[0009] Optionally, the scanning and reconstruction data generation method also includes: before collecting multiple frames of first scanning and reconstruction data of the scene where the object to be scanned is located through the first scanning module, and synchronously collecting multiple frames of second scanning and reconstruction data of the object to be scanned through the second scanning module, calibrating the first scanning module and the second scanning module, determining the external parameters between the first scanning module and the second scanning module, so that the first scanning module and the second scanning module have a unified coordinate system.

[0010] Optionally, the scanning and reconstruction data generation method also includes: stitching multiple frames of second scanning and reconstruction data based on the first stitching result, and after obtaining the second stitching result, performing iterative nearest point optimization processing on the second stitching result to obtain a third stitching result, wherein the data accuracy of the third stitching result is greater than the data accuracy of the second stitching result.

[0011] Optionally, stitching multiple frames of first scan reconstruction data to obtain a first stitching result of the object to be scanned includes: using a third stitching matrix to stitch multiple frames of first scan reconstruction data to obtain a first stitching result, wherein the third stitching matrix is ​​an initial stitching matrix in the first scanning module, and the initial stitching matrix is ​​a stitching matrix determined based on an initial posture provided by an inertial measurement unit in the first scanning module.

[0012] Optionally, the first scanning module includes a lidar scanning module or a time-of-flight scanning module, the second scanning module includes a structured light scanning module, and the first scanning reconstruction data and the second scanning reconstruction data are three-dimensional point cloud data generated based on the synchronous acquisition of the first scanning module and the second scanning module.

[0013] Optionally, the scanning distance of the first scanning module is not less than the scanning distance of the second scanning module, wherein the scanning distance of the first scanning module is in the range of 2-5 meters, and the scanning distance of the second scanning module is in the range of 0.5-2 meters.

[0014] Optionally, the scanning ranges of the first scanning module and the second scanning module do not overlap, and the first scanning module scans a peripheral area of ​​the object to be scanned.

[0015] Optionally, when the scanning ranges of the first scanning module and the second scanning module overlap, the scanning reconstruction data generation method also includes: splicing the first scanning reconstruction data and the second scanning reconstruction data acquired synchronously based on common features to obtain third scanning reconstruction data; and splicing multiple frames of the third scanning reconstruction data to obtain a splicing result of the object to be scanned.

[0016] According to another aspect of an embodiment of the present application, a three-dimensional scanner is also provided, including a first scanning module, a second scanning module, and a control module, wherein the first scanning module includes a lidar scanning module, and the second scanning module includes a structured light scanning module; the control module is used to control the three-dimensional scanner to operate in a scanning mode, wherein the scanning mode of the three-dimensional scanner includes: a combined scanning mode; in the combined scanning mode, the control module controls the first scanning module and the second scanning module to operate synchronously, and the first scanning module is used to assist the second scanning module in positioning.

[0017] Optionally, the scanning mode includes multiple scanning modes, and the control module controls the scanning mode switching and controls the three-dimensional scanner to work according to the selected scanning mode.

[0018] Optionally, the scanning mode includes a lidar scanning mode, in which the control module controls the lidar scanning module to work and the structured light scanning module not to work; the scanning mode includes a structured light scanning mode, in which the control module controls the structured light scanning module to work and the lidar scanning module not to work.

[0019] Optionally, the three-dimensional scanner also includes a processing module, which is used to obtain multiple frames of first scanning reconstruction data of the object to be scanned through the first scanning module, and to obtain multiple frames of second scanning reconstruction data of the object to be scanned through the second scanning module. In the combined scanning mode, the module is used to splice the multiple frames of first scanning reconstruction data to obtain a first splicing result of the object to be scanned, and to splice the multiple frames of second scanning reconstruction data based on the first splicing result to obtain a second splicing result of the object to be scanned.

[0020] Optionally, the scanning distance of the first scanning module is not less than the scanning distance of the second scanning module, wherein the scanning distance of the first scanning module is in the range of 2-5 meters, and the scanning distance of the second scanning module is in the range of 0.5-2 meters.

[0021] Optionally, when the scanning ranges of the first scanning module and the second scanning module overlap, the scanning bands of the first scanning module and the second scanning module are different.

[0022] Optionally, the scanning ranges of the first scanning module and the second scanning module do not overlap, and the scanning directions of the first scanning module and the second scanning module are different.

[0023] Optionally, the scanning directions of the first scanning module and the second scanning module are perpendicular.

[0024] Optionally, the first scanning module includes a time-of-flight scanning module.

[0025] Optionally, the three-dimensional scanner further includes a display module, and the display module is used to display the scanning and reconstruction data acquired by the first scanning module and the second scanning module.

[0026] According to another aspect of an embodiment of the present application, a scanning and reconstruction data generating device is also provided, including: an acquisition module, configured to acquire multiple frames of first scanning and reconstruction data of a scene where an object to be scanned is located through a first scanning module, and synchronously acquire multiple frames of second scanning and reconstruction data of the object to be scanned through a second scanning module; a first processing module, configured to splice the multiple frames of first scanning and reconstruction data to obtain a first splicing result of the object to be scanned; and a second processing module, configured to splice the multiple frames of second scanning and reconstruction data based on external parameters between the first scanning module and the second scanning module, and the first splicing result to obtain a second splicing result of the object to be scanned, wherein the first splicing result is used to provide positioning information for the splicing process of splicing the multiple frames of second scanning and reconstruction data.

[0027] According to another aspect of an embodiment of the present application, a non-volatile storage medium is provided, in which a program is stored. When the program is executed, the device where the non-volatile storage medium is located is controlled to execute the scanning and reconstruction data generation method.

[0028] According to another aspect of an embodiment of the present application, an electronic device is provided, including: a memory and a processor, wherein the processor is configured to run a program stored in the memory, wherein the scanning and reconstruction data generating method is executed when the program is run.

[0029] In an embodiment of the present application, a first scanning module is used to collect multiple frames of first scan reconstruction data of a scene where an object to be scanned is located, and a second scanning module is used to synchronously collect multiple frames of second scan reconstruction data of the object to be scanned, wherein the scanning range of the first scanning module when collecting each frame of the first scan reconstruction data is larger than the scanning range of the second scanning module when collecting each frame of the second scan reconstruction data; the multiple frames of the first scan reconstruction data are spliced ​​to obtain a first splicing result of the object to be scanned; and the multiple frames of the second scan reconstruction data are spliced ​​based on external parameters between the first scanning module and the second scanning module and the first splicing result to obtain a second splicing result of the object to be scanned, wherein the first splicing result is used to provide positioning information for the splicing process of the multiple frames of the second scan reconstruction data. By using the splicing result of the first scanning module to provide positioning for the splicing process of the second scanning module, the purpose of using the splicing result of the first scanning module to assist the splicing process of the second scanning module is achieved, thereby achieving the technical effect of obtaining high-precision scan reconstruction data without affixing marker points, thereby solving the technical problem of the time-consuming and labor-intensive scanning process caused by the method of affixing marker points on the surface of the scanned object in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0031] FIG1 is a schematic structural diagram of a three-dimensional scanner provided according to an embodiment of the present application;

[0032] FIG2 is a schematic diagram of a workflow of a three-dimensional scanner provided according to an embodiment of the present application;

[0033] FIG3 is a flow chart of a method for generating scan reconstruction data according to an embodiment of the present application;

[0034] FIG4 is a schematic structural diagram of a scanning and reconstruction data generating device according to an embodiment of the present application;

[0035] FIG5 is a schematic structural diagram of an electronic device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0037] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0038] In the related art, when scanning an object, it is often necessary to manually attach multiple markers to the surface of the object, resulting in a lengthy and labor-intensive scanning process. Furthermore, the multiple markers increase the scanning cost, and there are issues with marker calibration and station transfer, making the scanning process cumbersome. To address this issue, the present application provides a solution, which is described in detail below.

[0039] According to an embodiment of the present application, a method embodiment of a method for generating scanning reconstruction data is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0040] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. For example, it can be executed in a scanner as shown in Figure 1. Figure 1 is a structural schematic diagram of a scanner with two scanning modules. As can be seen from Figure 1, the scanner includes a first scanning module 10, a second scanning module 12 and a control module 14. Among them, the first scanning module includes a laser radar scanning module, and the second scanning module includes a structured light scanning module; the control module 14 is used to control the three-dimensional scanner to work in a scanning mode, wherein the scanning mode of the three-dimensional scanner includes: a combined scanning mode; in the combined scanning mode, the control module controls the first scanning module 10 and the second scanning module 12 to work synchronously, and the first scanning module 10 is used to assist the second scanning module 12 in positioning.

[0041] In some embodiments of the present application, the scanning mode includes multiple scanning modes, and the control module controls the switching of the scanning modes and controls the operation of the three-dimensional scanner according to the selected scanning mode.

[0042] As an optional implementation mode, the scanning mode includes a lidar scanning mode, in which the control module controls the lidar scanning module to work and the structured light scanning module not to work; the scanning mode includes a structured light scanning mode, in which the control module controls the structured light scanning module to work and the lidar scanning module not to work.

[0043] In some embodiments of the present application, the three-dimensional scanner also includes a processing module, which is used to obtain multiple frames of first scanning reconstruction data of the object to be scanned through a first scanning module, and to obtain multiple frames of second scanning reconstruction data of the object to be scanned through a second scanning module. In a combined scanning mode, the module is used to splice the multiple frames of first scanning reconstruction data to obtain a first splicing result of the object to be scanned, and to splice the multiple frames of second scanning reconstruction data based on the first splicing result to obtain a second splicing result of the object to be scanned.

[0044] In some embodiments of the present application, the scanning distance of the first scanning module 10 is not less than the scanning distance of the second scanning module 12 , wherein the scanning distance of the first scanning module 10 ranges from 2 to 5 meters, and the scanning distance of the second scanning module 12 ranges from 0.5 to 2 meters.

[0045] When the scanning ranges of the first scanning module 10 and the second scanning module 12 overlap, the scanning bands of the first scanning module 10 and the second scanning module 12 are different.

[0046] In some embodiments of the present application, the scanning ranges of the first scanning module 10 and the second scanning module 12 do not overlap, and the scanning directions of the first scanning module 10 and the second scanning module 12 are different. The scanning directions of the first scanning module 10 and the second scanning module 12 can be opposite or vertical or other angles that make the scanning ranges of the first scanning module 10 and the second scanning module 12 non-overlap. For example, the first scanning module 10 scans the upper area of ​​the three-dimensional scanner, and the second scanning module 12 scans the front area of ​​the three-dimensional scanner, or the first scanning module 10 scans the front area, and the second scanning module 12 scans the upper area.

[0047] Specifically, the front area of ​​the 3D scanner can be set by yourself. For example, the direction of the 3D scanner facing the object to be scanned can be set as the front of the 3D scanner.

[0048] In some embodiments of the present application, the scanning ranges of the first scanning module 10 and the second scanning module 12 do not overlap, and the first scanning module 10 scans the front area of ​​the three-dimensional scanner and the second scanning module 12 scans the rear area of ​​the three-dimensional scanner, or the first scanning module 10 scans the rear area and the second scanning module 12 scans the front area.

[0049] In some embodiments of the present application, the first scanning module 10 includes a time-of-flight scanning module.

[0050] In some embodiments of the present application, the three-dimensional scanner further includes a display module, and the display module is used to display the scanning and reconstruction data acquired by the first scanning module 10 and the second scanning module 12 .

[0051] As an optional embodiment, in a combined scanning mode, when scanning an object to be scanned, the first scanning module 10 and the second scanning module 12 will scan synchronously, with the first scanning module 10 scanning the scene where the object to be scanned is located, and the second scanning module scanning the object to be scanned. The scanned and reconstructed data of the first scanning module 10 will then be spliced, and a more accurate splicing matrix will be constructed based on the splicing results. The scanned and reconstructed data of the second scanning module will then be spliced ​​based on the newly obtained splicing matrix. It should be noted that the first scanning module and the second scanning module are relatively fixed during the scanning process, but their acquisition fields of view are different to reduce interference between the first scanning module and the second scanning module. For example, the first scanning module is oriented toward the scene surrounding the object to be scanned, while the second scanning module is oriented toward the object to be scanned. In this case, the bands used by the first scanning module and the second scanning module are not restricted, and the same band or different bands can be used. Of course, the first scanning module and the second scanning module may also have the same collection field of view, or have overlapping collection fields of view. In this case, the first scanning module and the second scanning module may use bands that do not interfere with each other. For example, the first scanning module uses invisible infrared light, and the second scanning module uses visible light to reduce interference between the first scanning module and the second scanning module.

[0052] In some embodiments of the present application, the complete workflow of the above-mentioned scanner is shown in FIG2 , including the following steps:

[0053] Step S202 , performing system calibration on the first scanning module and the second scanning module, so as to unify the scanned and reconstructed data of the first scanning module and the second scanning module into a unified coordinate system;

[0054] Step S204: the first scanning module and the second scanning module perform scanning synchronously;

[0055] Step S206 , performing initial splicing on the scanned and reconstructed data of the first scanning module according to the initial conversion matrix provided by the inertial measurement unit IMU in the first scanning module;

[0056] Step S208, performing ICP optimization on the initial splicing result, and obtaining an accurate transformation matrix based on the optimized initial splicing result;

[0057] In step S210 , the precise transformation matrix is ​​used to stitch the scanned and reconstructed data of the second scanning module. That is, during the stitching process of the scanned and reconstructed data of the second scanning module, positioning is performed according to the stitching result of the first scanning module.

[0058] In the above operating environment, an embodiment of the present application provides a method for generating scan reconstruction data, as shown in FIG3 , the method comprising the following steps:

[0059] Step S302, collecting multiple frames of first scan and reconstruction data of a scene where the object to be scanned is located by a first scanning module, and synchronously collecting multiple frames of second scan and reconstruction data of the object to be scanned by a second scanning module;

[0060] In some embodiments of the present application, the first scanning module includes a lidar scanning module or a time-of-flight (TOF) scanning module, and the second scanning module includes a structured light scanning module. The first scanning module also has a built-in inertial measurement unit IMU, and the initial posture information provided by the IMU can be used to determine the initial stitching matrix to roughly stitch the scanning and reconstruction data of the first scanning module. It should be noted that the first scanning reconstruction data and the second scanning reconstruction data are scanning and reconstruction data (i.e., 3D images) generated by three-dimensional reconstruction of the 2D images synchronously collected by the first scanning module and the second scanning module, i.e., three-dimensional point cloud data. The data collected by the first scanning module includes the first scanning reconstruction data and the 2D image, and the data collected by the second scanning module includes the second scanning reconstruction data and the 2D image. The multiple frames of first scanning reconstruction data collected by the first scanning module include the three-dimensional point cloud data of the object to be scanned and the scene where the object to be scanned is located, and the multiple frames of second scanning reconstruction data collected by the second scanning module include the three-dimensional point cloud data of the object to be scanned.

[0061] In the technical solution provided in step S302, before collecting multiple frames of first scanning reconstruction data of the scene where the object to be scanned is located through the first scanning module, and collecting multiple frames of second scanning reconstruction data of the object to be scanned through the second scanning module, the first scanning module and the second scanning module can also be calibrated. After calibration, the external parameters between the first scanning module and the second scanning module can be determined, so that the first scanning module and the second scanning module have a unified coordinate system.

[0062] Specifically, the first scanning module and the second scanning module are calibrated, and the external parameters between the first scanning module and the second scanning module are obtained through calibration, which are used to determine the conversion relationship between the scanning and reconstruction data collected by the first scanning module and the second scanning module, that is, to unify the scanning and reconstruction data of the first scanning module and the second scanning module into a unified coordinate system, so as to facilitate the subsequent use of the scanning and reconstruction data of the first scanning module to construct the stitching matrix of the second scanning module.

[0063] As an optional embodiment, the scanning distance of the first scanning module is greater than the scanning distance of the second scanning module. For example, the scanning distance of the first scanning module may be in the range of 2-5 meters, and the scanning distance of the second scanning module may be in the range of 0.5-2 meters.

[0064] Step S304, stitching multiple frames of first scan reconstruction data to obtain a first stitching result of the object to be scanned;

[0065] In the technical solution provided in step S304, stitching multiple frames of first scan reconstruction data to obtain a first stitching result includes: stitching the multiple frames of first scan reconstruction data using a third stitching matrix to obtain a first stitching result, wherein the third stitching matrix is ​​an initial stitching matrix of the multiple frames of first scan reconstruction data collected and generated by the first scanning module, and the initial stitching matrix is ​​a stitching matrix determined based on the inertial measurement unit IMU in the first scanning module, that is, the inertial measurement unit IMU continuously collects multiple postures of the first scanning module during the scanning movement, and determines the corresponding stitching matrix between the multiple frames of first scan reconstruction data based on the multiple postures as the initial stitching matrix between the multiple frames of first scan reconstruction data. For example, the first scanning module is moved to a first posture, the inertial measurement unit IMU of the first scanning module collects and generates the first posture and the first scanning reconstruction data A is collected and generated by the first scanning module, the first scanning module is moved to a second posture, the inertial measurement unit IMU of the first scanning module collects and generates the second posture and the first scanning reconstruction data B is collected and generated by the first scanning module, based on the first posture and the second posture collected and generated by the inertial measurement unit IMU, the posture change matrix of the first scanning module during the mobile scanning process can be determined, and the posture change matrix is ​​used as the initial splicing matrix between the first scanning reconstruction data A and the first scanning reconstruction data B.

[0066] As an optional implementation, the first scan reconstruction data is three-dimensional point cloud data obtained by three-dimensional reconstruction based on the 2D image acquired by the first scanning module, i.e., scan reconstruction data. After obtaining multiple frames of three-dimensional point cloud data, coarse stitching can be performed based on multiple initial stitching matrices generated by the acquisition data of the IMU built into the first scanning module to obtain a first stitching result. After the coarse stitching, the first stitching result is refined by ICP (Iterative Closest Point Processing) to improve the data accuracy of the coarse stitching result (i.e., the first stitching result), thereby obtaining multiple first stitching matrices between the multiple frames of first scan reconstruction data, i.e., the final stitching matrix obtained after coarse stitching and refinement optimization between the multiple frames of first scan reconstruction data.

[0067] It's important to note that the LiDAR scanning module's first scan reconstruction data is a collection or partial collection of points generated by a single scan of the entire FOV. When stitching two adjacent first scan reconstruction data frames, the pose information provided by the IMU is used to determine the initial stitching matrix and perform the stitching.

[0068] Specifically, when scanning, the LiDAR scanning module emits multiple laser points to form a laser line, and renders it in a preset exposure cycle so that the laser line scans a certain area to obtain a surface. In other words, the data collected by the LiDAR scanning module in one exposure cycle can be regarded as the data corresponding to multiple laser lines stitched together. And when the LiDAR stitches the data collected in the same exposure cycle, it can rely on the mechanical optical devices of the LiDAR scanning module itself to stitch the data. For the scanned and reconstructed data corresponding to different exposure cycles, the posture information provided by the IMU can be used to determine the initial stitching matrix and stitch it together, and then perform subsequent optimization, such as iterative nearest point optimization.

[0069] Step S306: stitching multiple frames of second scan reconstruction data based on the external parameters between the first scanning module and the second scanning module and the first stitching result to obtain a second stitching result of the object to be scanned, wherein the first stitching result is used to provide positioning information for the stitching process of stitching multiple frames of second scan reconstruction data.

[0070] In the technical solution provided in step S306, stitching the second scanned reconstructed data based on the extrinsic parameters between the first scanning module and the second scanning module and the first stitching result to obtain the second stitching result includes: determining a first stitching matrix based on the first stitching result, wherein the first stitching result includes target features, which are common features between multiple frames of the first scanned reconstructed data; and stitching the second scanned reconstructed data based on the first stitching matrix to obtain the second stitching result. It should be noted that the target features are generally target geometric features.

[0071] Specifically, since the first stitching result contains rich geometric features that facilitate stitching optimization, the geometric features of the first stitching result can be used to further optimize the first stitching result to determine the final stitching matrix between multiple frames of first scan reconstructed data, namely the first stitching matrix, which is then used to stitch the second scan reconstructed data, thereby providing positioning during the stitching process of the second scan reconstructed data.

[0072] As an optional implementation, the second scan reconstruction data is stitched based on the extrinsic parameters between the first scan module and the second scan module, and the first stitching matrix to obtain a second stitching result, including: determining the extrinsic parameters between the first scan module and the second scan module, wherein the extrinsic parameters are used to determine the conversion relationship between the data collected by the first scan module and the second scan module; obtaining a second stitching matrix based on the extrinsic parameters and the first stitching matrix; and stitching the second scan reconstruction data based on the second stitching matrix to obtain a second stitching result.

[0073] Specifically, the above-mentioned external parameters characterize the relative position relationship between the first scanning module and the second scanning module. The above-mentioned conversion relationship refers to the conversion relationship between the data collected by the first scanning module and the data collected by the second scanning module. By determining the conversion relationship between the data collected by the two scanning modules, the conversion relationship between the splicing matrix of the multi-frame data collected by the first scanning module and the splicing matrix of the multi-frame data collected by the second scanning module can be determined. In this way, through the calibration data (i.e., external parameters) of each of the two scanning modules, the first splicing matrix corresponding to the first scanning module can be converted into the second splicing matrix corresponding to the second scanning module.

[0074] When determining the second stitching matrix, the pose matrix of the first scanning module relative to the reference coordinate system can be determined based on the external parameters and the first stitching matrix. It should be noted that the first scanning module and the second scanning module correspond to the same reference coordinate system. Then, the pose transformation relationship of the second scanning module relative to the reference coordinate system can be determined based on the external parameters. Then, based on the pose matrix of the first scanning module and the pose transformation relationship of the second scanning module relative to the reference coordinate system, the transformation relationship of the stitching matrix between the first scanning module and the second scanning module is determined, and then the second stitching matrix is ​​obtained based on the transformation relationship of the stitching matrix between the first scanning module and the second scanning module and the first stitching matrix.

[0075] As an optional embodiment, the data collected by the second scanning module includes a structured light image modulated by the object to be scanned. Specifically, the second scanning module projects a preset structured light image onto the object to be scanned, and then collects the structured light image after being modulated and deformed by the object to be scanned. Three-dimensional point cloud data can then be obtained based on the deformation of the structured light image. After obtaining the three-dimensional point cloud data, a second stitching matrix is ​​called to stitch the three-dimensional point cloud data to obtain a second stitching result. It should be noted that the structured light image can be a point structured light image, a line structured light image, or a surface structured light image, for example, a grating image.

[0076] In some embodiments of the present application, the second scan reconstructed data is stitched based on the first stitching result to obtain the second stitching result, and then the second stitching result can be subjected to iterative closest point optimization processing (ICP) to obtain a third stitching result, wherein the data accuracy of the third stitching result is greater than the data accuracy of the second stitching result.

[0077] As an optional implementation, when the first scanning module and the second scanning module adopt TOF (Time of flight) technology, stitching can be achieved without the need for an IMU. Specifically, during the scanning process of the target object, after the first scanning module collects the data, it can directly perform 3D matching and stitching with the previous frame data or the overall frame data of the scanned object to obtain a coarse stitching matrix M0, and perform real-time ICP optimization based on the geometric features of the target object contained in the collected data to obtain a more accurate scene stitching matrix M1. M1 is then calculated with the calibration data to convert it into the stitching matrix M2 of the second scanning module.

[0078] When stitching the acquired scan data, the second scanning module first performs a real-time rough stitching based on the stitching matrix M2. It then performs ICP refinement on the stitching result based on the acquired data to achieve a more precise stitching result. After all data scanning and acquisition is complete, the second scanning module's stitching results are globally optimized and fused. This enables a complete, highly detailed scan of the target object without requiring points to be placed on the surface, ensuring the detailed integrity and high accuracy of the scan result.

[0079] In addition, because TOF scanning has a closer scanning depth than radar, data quality is also higher. Therefore, when the overall data detail requirements are low, but the detail and accuracy of a certain area are high, the scan data from the second scanning module can be directly used to replace the data of the corresponding area in the first scanning module, thus achieving detailed local data.

[0080] It should be noted that when the TOF scanning module and the radar scanning module acquire a frame of scanning and reconstruction data, they all continuously collect the scanning and reconstruction data of the object to be scanned multiple times within a preset time period, and then splice all the data within the time period into a frame of scanning and reconstruction data. The splicing referred to in the embodiment of the present application refers to the splicing of the scanning and reconstruction data between different frames, and does not involve the splicing of data within the frame. In summary, in the scanning and reconstruction data generation method provided in the embodiment of the present application, the scanning and reconstruction data of a large scene (such as the scene where the object to be scanned is located) and a small scene (such as the object to be scanned) are synchronously collected by a first scanning module and a second scanning module, and the scanning and reconstruction data collected by the first scanning module are coarsely spliced ​​according to the initial splicing matrix determined based on the measurement data of the built-in IMU of the first scanning module, and then the coarse splicing result is subjected to real-time ICP optimization according to the geometric features of the object to be scanned in the coarse splicing result, that is, a splicing matrix M1 with higher accuracy than the initial splicing matrix is ​​obtained according to the optimized coarse splicing result, and M1 represents the final splicing matrix of the scanning and reconstruction data collected by the first scanning module. After obtaining M1, calculations are performed based on the calibration data (i.e., extrinsic parameters) of the first and second scanning modules and M1 to obtain a stitching matrix M2 corresponding to the scanned and reconstructed data collected by the second scanning module. The stitching matrix M2 is then used to stitch the scanned and reconstructed data collected by the second scanning module. The stitching result is then refined using ICP to obtain high-precision 3D scanned and reconstructed data of the small scene. Global optimization and fusion of all the 3D reconstructed data for the small scene are then performed to obtain high-precision 3D scanned and reconstructed data.

[0081] In some embodiments of the present application, in addition to determining the stitching matrix for stitching the second scanning reconstruction data collected by the second scanning module using the first scanning reconstruction data collected by the first scanning module, different methods can be used to use the first scanning reconstruction data to guide the stitching of the second scanning reconstruction data based on whether the scanning ranges of the first scanning module and the second scanning module overlap.

[0082] Specifically, when the scanning ranges of the first scanning module and the second scanning module do not overlap, and the first scanning module scans the peripheral area of ​​the object to be scanned, and the second scanning module scans the belt scanning object, the first position change relationship of the first scanning module when acquiring the first scanning reconstruction data of different frames can be determined during the splicing of the first scanning data; based on the relative position relationship between the first scanning module and the second scanning module, the second position change relationship of the second scanning module when acquiring the second scanning reconstruction data of different frames can be determined; and based on the second position change relationship, multiple frames of second scanning reconstruction data are spliced ​​to obtain a second splicing result of the object to be scanned.

[0083] It should be noted that the above position change relationship can be represented by a splicing matrix. For example, the first position change relationship can be represented by a first splicing matrix, and the second position change relationship can be represented by a second splicing matrix.

[0084] When the scanning ranges of the first scanning module and the second scanning module overlap, the first scanning reconstruction data and the second scanning reconstruction data acquired synchronously can be spliced ​​based on common features to obtain third scanning reconstruction data; and multiple frames of third scanning reconstruction data can be spliced ​​to obtain the splicing result of the object to be scanned.

[0085] In addition, it should be noted that the scan reconstruction data finally obtained may include the first scan reconstruction data obtained by scanning with the first scanning module and the second scan reconstruction data obtained by scanning with the second scanning module, or may only include the second scan reconstruction data obtained by scanning with the second scanning module. In the case of non-overlapping, the scan reconstruction data can be obtained by splicing the second scan reconstruction data obtained by scanning with the second scanning module. In the case of overlapping, the scan reconstruction data can be obtained by splicing the first scan reconstruction data obtained by scanning with the first scanning module and the second scan reconstruction data obtained by scanning with the second scanning module. Optionally, in the case of overlapping, the common feature area in the first scan reconstruction data and the second scan reconstruction data is replaced by the second scan reconstruction data.

[0086] As an optional implementation, when the scanning ranges of the first scanning module and the second scanning module overlap, the first scanning module and the second scanning module may have different scanning bands to avoid mutual interference between the first scanning module and the second scanning module.

[0087] It can be seen that by adopting the scanning and reconstruction data generation method provided in the embodiment of the present application, high-precision scanning and reconstruction data can still be obtained without the need to stick marker points, thereby reducing the manpower consumption and scanning cost of the scanning process.

[0088] And by using a first scanning module to collect multiple frames of first scanning reconstruction data of the scene where the object to be scanned is located, and by using a second scanning module to collect multiple frames of second scanning reconstruction data of the object to be scanned; the multiple frames of first scanning reconstruction data are spliced ​​to obtain a first splicing result of the object to be scanned; based on the external parameters between the first scanning module and the second scanning module, and the first splicing result, the multiple frames of second scanning reconstruction data are spliced ​​to obtain a second splicing result of the object to be scanned, wherein the first splicing result is used to provide positioning information for the splicing of multiple frames of second scanning reconstruction data, and by using the splicing result of the first scanning module to provide positioning for the splicing of the second scanning module, the purpose of using the first scanning module to assist the splicing of the second scanning module is achieved, thereby realizing the technical effect of obtaining high-precision scanning reconstruction data without pasting marking points, thereby solving the technical problem of time-consuming and labor-intensive scanning process caused by the method of pasting marking points on the surface of the scanned object in the related art.

[0089] An embodiment of the present application provides a scanning and reconstruction data generation device, and FIG4 is a schematic structural diagram of the device. As shown in FIG4, the device includes: an acquisition module 40 configured to acquire multiple frames of first scanning and reconstruction data of a scene containing an object to be scanned via a first scanning module, and to synchronously acquire multiple frames of second scanning and reconstruction data of the object to be scanned via a second scanning module; a first processing module 42 configured to splice the multiple frames of first scanning and reconstruction data to obtain a first splicing result of the object to be scanned; and a second processing module 44 configured to splice the multiple frames of second scanning and reconstruction data based on external parameters between the first scanning module and the second scanning module and the first splicing result to obtain a second splicing result of the object to be scanned, wherein the first splicing result is used to provide positioning information for the splicing of the multiple frames of second scanning and reconstruction data.

[0090] In some embodiments of the present application, the first scanning module includes a lidar scanning module or a time-of-flight scanning module, the second scanning module includes a structured light scanning module, and the first scanning reconstruction data and the second scanning reconstruction data are three-dimensional point cloud data generated based on the synchronous acquisition of the first scanning module and the second scanning module.

[0091] In some embodiments of the present application, before collecting multiple frames of first scanning reconstruction data of the object to be scanned through the first scanning module, and collecting multiple frames of second scanning reconstruction data of the object to be scanned through the second scanning module, the scanning reconstruction data generating device is also configured to: calibrate the first scanning module and the second scanning module, determine the external parameters between the first scanning module and the second scanning module, so that the first scanning module and the second scanning module have a unified coordinate system.

[0092] In some embodiments of the present application, the first processing module 42 stitches multiple frames of first scan reconstruction data to obtain a first stitching result of the object to be scanned, including: using a third stitching matrix to stitch multiple frames of first scan reconstruction data to obtain a first stitching result, wherein the third stitching matrix is ​​the initial stitching matrix in the first scanning module, and the initial stitching matrix is ​​a stitching matrix determined based on the initial posture provided by the inertial measurement unit in the first scanning module.

[0093] In some embodiments of the present application, the second processing module 44 stitches multiple frames of second scan reconstruction data based on the external parameters between the first scanning module and the second scanning module, and the first stitching result to obtain a second stitching result of the object to be scanned, including: determining a first stitching matrix based on the first stitching result, wherein the first stitching result includes target features, which are common features between multiple frames of first scan reconstruction data; stitching multiple frames of second scan reconstruction data based on the external parameters between the first scanning module and the second scanning module, and the first stitching matrix to obtain a second stitching result.

[0094] In some embodiments of the present application, the second processing module 44 stitches multiple frames of second scan reconstruction data based on the external parameters between the first scanning module and the second scanning module, and the first stitching matrix to obtain a second stitching result, including: determining the external parameters between the first scanning module and the second scanning module, wherein the external parameters are used to determine the conversion relationship between the data collected by the first scanning module and the second scanning module; obtaining a second stitching matrix based on the external parameters and the first stitching matrix; and stitching the second scan reconstruction data based on the second stitching matrix to obtain a second stitching result.

[0095] In some embodiments of the present application, the second processing module 44 stitches multiple frames of second scan reconstruction data based on the first stitching result to obtain the second stitching result, and is further used to perform iterative nearest point optimization processing on the second stitching result to obtain a third stitching result, wherein the data accuracy of the third stitching result is greater than the data accuracy of the second stitching result.

[0096] In some embodiments of the present application, the scanning distance of the first scanning module is not less than the scanning distance of the second scanning module, wherein the scanning distance of the first scanning module ranges from 2 to 5 meters, and the scanning distance of the second scanning module ranges from 0.5 to 2 meters.

[0097] In some embodiments of the present application, the scanning ranges of the first scanning module and the second scanning module do not overlap, and the first scanning module scans the surrounding area of ​​the object to be scanned; the scanning and reconstruction data generating device is further configured to: in the process of splicing the first scanning data, determine the first position change relationship of the first scanning module when acquiring the first scanning and reconstruction data of different frames; based on the relative position relationship between the first scanning module and the second scanning module, determine the second position change relationship of the second scanning module when acquiring the second scanning and reconstruction data of different frames; based on the second position change relationship, splice multiple frames of second scanning and reconstruction data to obtain a second splicing result of the object to be scanned.

[0098] In some embodiments of the present application, when the scanning ranges of the first scanning module and the second scanning module overlap, the scanning reconstruction data generating device is further configured to: splice the synchronously acquired first scanning reconstruction data and the second scanning reconstruction data based on common features to obtain third scanning reconstruction data; and splice multiple frames of the third scanning reconstruction data to obtain a splicing result of the object to be scanned.

[0099] It should be noted that the various modules in the above-mentioned scanning and reconstruction data generating device can be program modules (for example, a set of program instructions that implement a certain specific function) or hardware modules. For the latter, it can be expressed in the following forms, but is not limited to this: the expression form of each of the above-mentioned modules is a processor, or the functions of each of the above-mentioned modules are implemented by a processor.

[0100] FIG5 shows a hardware block diagram of an electronic device for implementing a method for generating scanned and reconstructed data. The electronic device can be a computer terminal or a mobile device. As shown in FIG5 , the computer terminal 50 (or mobile device 50) can include one or more processors 502 (illustrated as 502a, 502b, ..., 502n) (the processor 502 can include, but is not limited to, a microprocessor (MCU) or a programmable logic device (FPGA), a processing device), a memory 504 for storing data, and a transmission device 506 for communication functions. In addition, the device can also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which can be included as one of the ports of a BUS bus), a network interface, a power supply, and / or a camera. Those skilled in the art will appreciate that the structure shown in FIG5 is merely illustrative and does not limit the structure of the electronic device described above. For example, the computer terminal 50 can include more or fewer components than shown in FIG5 , or have a configuration different from that shown in FIG5 .

[0101] It should be noted that the one or more processors 502 and / or other data processing circuits described above may generally be referred to herein as "data processing circuitry". The data processing circuitry may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuitry may be a single independent processing module, or may be incorporated in whole or in part into any of the other components in the computer terminal 50 (or mobile device). As described in the embodiments of the present application, the data processing circuitry serves as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0102] The memory 504 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the scanning and reconstruction data generation method in the embodiment of the present application. The processor 502 executes various functional applications and data processing by running the software programs and modules stored in the memory 504, that is, implementing the above-mentioned scanning and reconstruction data generation method. The memory 504 may include a high-speed random access memory and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 504 may further include a memory remotely located relative to the processor 502, and these remote memories may be connected to the computer terminal 50 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0103] The transmission device 506 is used to receive or send data via a network. Specific examples of the aforementioned network may include a wireless network provided by the communications provider of the computer terminal 50. In one embodiment, the transmission device 506 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, the transmission device 506 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0104] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computer terminal 50 (or mobile device).

[0105] According to an embodiment of the present application, a non-volatile storage medium is further provided. The non-volatile storage medium stores a program, wherein when the program is executed, the following scanning and reconstruction data generation method is executed: collecting multiple frames of first scanning and reconstruction data of an object to be scanned by a first scanning module, and collecting multiple frames of second scanning and reconstruction data of the object to be scanned by a second scanning module; splicing the multiple frames of the first scanning and reconstruction data to obtain a first splicing result of the object to be scanned; splicing the multiple frames of the second scanning and reconstruction data based on an external parameter between the first scanning module and the second scanning module and the first splicing result to obtain a second splicing result of the object to be scanned, wherein the first splicing result is used to provide positioning information for the splicing process of splicing the multiple frames of the second scanning and reconstruction data.

[0106] In the above embodiments of the present application, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0107] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0108] The units described as separate components may or may not be physically separate, and 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 units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0109] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0110] If the integrated unit is implemented in the form of 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 the present application is essentially or the part that contributes to the relevant technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0111] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application. Industrial Applicability

[0112] The solution provided by the embodiment of the present disclosure can be applied to the field of three-dimensional scanning. In the embodiment of the present disclosure, a first scanning module is used to collect multiple frames of first scanning and reconstruction data of the scene where the object to be scanned is located, and a second scanning module is used to synchronously collect multiple frames of second scanning and reconstruction data of the object to be scanned; the multiple frames of first scanning and reconstruction data are spliced ​​to obtain a first splicing result of the object to be scanned; and the multiple frames of second scanning and reconstruction data are spliced ​​based on the external parameters between the first scanning module and the second scanning module and the first splicing result to obtain a second splicing result of the object to be scanned. This method achieves the technical effect of obtaining high-precision scanning and reconstruction data without pasting marking points.

Claims

1. A method for generating scanning reconstruction data, comprising: Collecting multiple frames of first scanning and reconstruction data of the scene where the object to be scanned is located by the first scanning module, and synchronously collecting multiple frames of second scanning and reconstruction data of the object to be scanned by the second scanning module; splicing multiple frames of the first scan and reconstruction data to obtain a first splicing result of the object to be scanned; Multiple frames of the second scanning and reconstruction data are spliced ​​according to the external parameters between the first scanning module and the second scanning module and the first splicing result to obtain a second splicing result of the object to be scanned.

2. The scanning reconstruction data generation method according to claim 1, wherein: Splicing multiple frames of the second scan reconstruction data according to the external parameters between the first scan module and the second scan module and the first splicing result to obtain a second splicing result of the object to be scanned, including: Determining a first stitching matrix according to a first stitching result, wherein the first stitching result includes a target feature, and the target feature is a common feature between multiple frames of first scan reconstruction data; A plurality of frames of the second scanning reconstruction data are spliced ​​according to the external parameters between the first scanning module and the second scanning module and the first splicing matrix to obtain the second splicing result.

3. The scanning reconstruction data generation method according to claim 2, wherein: Splicing multiple frames of the second scan reconstruction data according to the external parameters between the first scan module and the second scan module and the first splicing matrix to obtain the second splicing result includes: Determining an external parameter between the first scanning module and the second scanning module, wherein the external parameter is used to determine a conversion relationship between data collected by the first scanning module and the second scanning module; Obtaining a second splicing matrix according to the external parameters and the first splicing matrix; The second scanned and reconstructed data are spliced ​​according to the second splicing matrix to obtain the second splicing result.

4. The scanning reconstruction data generation method according to claim 1, wherein: The scanning and reconstruction data generation method further includes: A plurality of frames of first scanning and reconstruction data of a scene where the object to be scanned is located are collected by the first scanning module, and a plurality of frames of second scanning and reconstruction data of the object to be scanned are collected synchronously by the second scanning module.

5. The scanning reconstruction data generation method according to claim 1, wherein: The scanning and reconstruction data generation method further includes: The multiple frames of the second scan reconstructed data are stitched together according to the first stitching result to obtain a second stitching result, and then the second stitching result is iteratively optimized at the nearest point to obtain a third stitching result, wherein the data accuracy of the third stitching result is greater than the data accuracy of the second stitching result.

6. The scanning reconstruction data generation method according to claim 1, wherein: Splicing multiple frames of the first scan reconstruction data to obtain a first splicing result of the object to be scanned, including: A third stitching matrix is ​​used to stitch multiple frames of the first scan reconstruction data to obtain a first stitching result, wherein the third stitching matrix is ​​an initial stitching matrix in the first scanning module, and the initial stitching matrix is ​​a stitching matrix determined according to an initial posture provided by an inertial measurement unit in the first scanning module.

7. The scanning reconstruction data generation method according to claim 1, wherein: The first scanning module includes a lidar scanning module or a time-of-flight scanning module, the second scanning module includes a structured light scanning module, and the first scanning reconstruction data and the second scanning reconstruction data are three-dimensional point cloud data generated based on synchronous acquisition by the first scanning module and the second scanning module.

8. The scanning reconstruction data generation method according to claim 1, wherein: The scanning distance of the first scanning module is not less than the scanning distance of the second scanning module, wherein the scanning distance of the first scanning module ranges from 2 to 5 meters, and the scanning distance of the second scanning module ranges from 0.5 to 2 meters.

9. The scanning reconstruction data generation method according to claim 1, wherein: The scanning ranges of the first scanning module and the second scanning module do not overlap, and the first scanning module scans the peripheral area of ​​the object to be scanned.

10. The scanning reconstruction data generation method according to claim 1, wherein: In the case where the scanning ranges of the first scanning module and the second scanning module overlap, the scanning reconstruction data generating method further includes: The first scan reconstruction data and the second scan reconstruction data acquired synchronously are spliced ​​based on common features to obtain third scan reconstruction data; Multiple frames of the third scan reconstruction data are spliced ​​to obtain a splicing result of the object to be scanned.

11. A three-dimensional scanner, comprising a first scanning module, a second scanning module, and a control module, wherein: The first scanning module includes a laser radar scanning module, and the second scanning module includes a structured light scanning module; The control module is used to control the three-dimensional scanner to work in a scanning mode, wherein the scanning mode of the three-dimensional scanner includes: a combined scanning mode; In the combined scanning mode, the control module controls the first scanning module and the second scanning module to work synchronously, and the first scanning module is used to assist the second scanning module in positioning.

12. The three-dimensional scanner according to claim 11, wherein: The scanning mode includes multiple scanning modes, and the control module controls the scanning mode switching and controls the three-dimensional scanner to work according to the selected scanning mode.

13. The three-dimensional scanner according to claim 11, wherein: The scanning mode includes a lidar scanning mode, in which the control module controls the lidar scanning module to work and the structured light scanning module not to work; the scanning mode includes a structured light scanning mode, in which the control module controls the structured light scanning module to work and the lidar scanning module not to work.

14. The three-dimensional scanner according to claim 11, wherein: The three-dimensional scanner also includes a processing module, which is used to obtain multiple frames of first scanning and reconstruction data of the object to be scanned through a first scanning module, and to obtain multiple frames of second scanning and reconstruction data of the object to be scanned through a second scanning module. In a combined scanning mode, the processing module is used to splice multiple frames of the first scanning and reconstruction data to obtain a first splicing result of the object to be scanned, and to splice multiple frames of the second scanning and reconstruction data based on the first splicing result to obtain a second splicing result of the object to be scanned.

15. The three-dimensional scanner according to claim 11, wherein: The scanning distance of the first scanning module is not less than the scanning distance of the second scanning module, wherein the scanning distance of the first scanning module ranges from 2 to 5 meters, and the scanning distance of the second scanning module ranges from 0.5 to 2 meters.

16. The three-dimensional scanner according to claim 11, wherein: When the scanning ranges of the first scanning module and the second scanning module overlap, the scanning bands of the first scanning module and the second scanning module are different.

17. The three-dimensional scanner according to claim 11, wherein: The scanning ranges of the first scanning module and the second scanning module do not overlap, and the scanning directions of the first scanning module and the second scanning module are different.

18. The three-dimensional scanner according to claim 17, wherein: The scanning directions of the first scanning module and the second scanning module are perpendicular.

19. The three-dimensional scanner according to claim 11, wherein: The first scanning module includes a time-of-flight scanning module.

20. The three-dimensional scanner according to claim 11, wherein: The three-dimensional scanner also includes a display module, and the display module is used to display the scanning and reconstruction data acquired by the first scanning module and the second scanning module.

21. A scanning reconstruction data generating device, comprising: An acquisition module is configured to acquire multiple frames of first scanning and reconstruction data of a scene where the object to be scanned is located through a first scanning module, and to synchronously acquire multiple frames of second scanning and reconstruction data of the object to be scanned through a second scanning module; A first processing module is configured to splice multiple frames of the first scan reconstruction data to obtain a first splicing result of the object to be scanned; The second processing module is configured to stitch multiple frames of the second scanning and reconstruction data according to the external parameters between the first scanning module and the second scanning module and the first stitching result to obtain a second stitching result of the object to be scanned.

22. A non-volatile storage medium, wherein a program is stored in the non-volatile storage medium, wherein: When the program is running, the device where the non-volatile storage medium is located is controlled to execute the scanning and reconstruction data generation method according to any one of claims 1 to 10.

23. An electronic device, comprising: A memory and a processor, wherein the processor is used to run a program stored in the memory, wherein the program executes the scanning and reconstruction data generating method according to any one of claims 1 to 10 when running.

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