Three-dimensional scanning system and method, and storage medium and electronic device

Abstract

A three-dimensional scanning system and method, and a storage medium and an electronic device. The system comprises a processing terminal (101), a control terminal (102), a scanner (103) and at least two pattern projectors (104), wherein each pattern projector (104) is provided with a signal receiver, which is configured to receive a control signal from the control terminal (102); projection wavelengths of the pattern projectors (104) are different from each other; the scanner (103) is configured to scan an object to be scanned, so as to obtain a scanned image, and to transmit the scanned image to the control terminal (102); each pattern projector (104) is configured to project a pattern onto the surface of said object; the control terminal (102) is configured to control the scanner (103) and each pattern projector (104) to operate collaboratively, and to send to the processing terminal (101) the scanned image transmitted by the scanner (103); and the processing terminal (101) is configured to perform three-dimensional data stitching on the basis of the received scanned image. Therefore, by means of obtaining a scanned image having a projected pattern, the three-dimensional scanning system achieves three-dimensional data stitching without performing marker attachment, such that the scanning efficiency can be effectively improved.

Description

Three-dimensional scanning system and method, storage medium and electronic device

[0001] The present application claims priority from a Chinese patent application with application number 202510179862.3 and title "Three-dimensional scanning system and method, storage medium and electronic device" filed on February 18, 2025, before the China Patent Office, the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of three-dimensional scanning, in particular to a three-dimensional scanning system and method, a storage medium and an electronic device. BACKGROUND

[0003] A handheld laser scanner is one of the common scanning devices in a three-dimensional scanning scene. In the application scenario of the handheld laser scanner, the three-dimensional data measured on different scanning visual angles usually needs to be spliced to construct a final three-dimensional model.

[0004] At present, a plurality of mark points with certain identification are manually deployed on the surface of the object to be scanned, and a tracker is set in the scanning scene. When the object is scanned, the position of each mark point is located by the tracker. When the three-dimensional data on different scanning visual angles are spliced, the three-dimensional data on different scanning visual angles are spliced according to the positions of the same mark points captured under different scanning visual angles.

[0005] In the existing three-dimensional data splicing process, mark point pasting operation is needed. In actual application scenarios, objects with large surface area or complex shape structure are often encountered. The pasting operation is usually very complex, which makes the process of three-dimensional scanning work more complicated and the efficiency of scanning work lower. In addition, the device cost of the tracker is high. SUMMARY

[0006] Therefore, the embodiments of the present application provide a three-dimensional scanning system and method, a storage medium and an electronic device to solve the problems in the existing three-dimensional scanning method that the three-dimensional data splicing needs to rely on the tracker and the mark points pasted on the object, the complex pasting operation needs to be performed, the efficiency is low, and the device cost is high.

[0007] To achieve the above object, the embodiment of the present application provides the following technical scheme: a three-dimensional scanning system, comprising: a processing end, a control end, a scanner and at least two pattern projectors; each pattern projector is provided with a signal receiver; the projection wavelengths of the respective pattern projectors are different from each other; the scanner is configured to scan a to-be-scanned object, obtain a scanning image, and transmit the scanning image to the control end; each pattern projector is configured to project a pattern to the surface of the to-be-scanned object; the signal receiver on each pattern projector is configured to receive a control signal of the control end; the control end is configured to control the scanner and the respective pattern projectors to work cooperatively, and send the scanning image transmitted by the scanner to the processing end; and the processing end is configured to perform three-dimensional data splicing according to the received scanning image.

[0008] Optionally, the process of performing three-dimensional data splicing according to the received scanning image comprises: performing three-dimensional reconstruction based on the scanning image corresponding to the current frame to obtain three-dimensional data of the current frame; performing projection pattern recognition based on the scanning image corresponding to the current frame to obtain the projection pattern of each current frame; determining the pattern matching relationship between the projection pattern of each current frame and the projection pattern of each other frame that has been obtained; determining the relative position relationship between the three-dimensional data of the current frame and the three-dimensional data of the other frame that has been obtained according to the pattern matching relationship; and performing data splicing on the three-dimensional data of the current frame and the three-dimensional data of the other frame according to the relative position relationship.

[0009] Optionally, the process of performing three-dimensional reconstruction based on the scanning image corresponding to the current frame to obtain three-dimensional data of the current frame comprises: performing image separation on the scanning image corresponding to the current frame to obtain a first image and a second image corresponding to each pattern projector; the wavelength range of the first image matches the laser wavelength projected by the scanner, and the wavelength range of each second image matches the projection wavelength of the pattern projector corresponding to the second image; performing laser measurement processing based on the first image to obtain the three-dimensional coordinates of each laser imaging point; and determining the three-dimensional data of the current frame based on the three-dimensional coordinates of each laser imaging point.

[0010] Optionally, the process of performing projection pattern recognition based on the scanning image corresponding to the current frame to obtain the projection pattern of each current frame comprises: performing pattern recognition on each second image respectively to obtain the projection pattern in each second image; and taking the projection pattern in each second image as the projection pattern of each current frame.

[0011] Optionally, the above system determines the pattern matching relationship between each current frame projection pattern and each acquired other frame projection pattern, including: for each current frame projection pattern, comparing the current frame projection pattern with each other frame projection pattern to obtain the pattern comparison result corresponding to the current frame projection pattern; and determining the pattern matching relationship based on the pattern comparison result corresponding to each current frame projection pattern.

[0012] Optionally, the system described above determines the relative positional relationship between the 3D data of the current frame and the 3D data of other acquired frames based on pattern matching relationships. This includes: determining a target projection pattern in each current frame projection pattern and determining an associated projection pattern corresponding to the target projection pattern in each other frame projection pattern based on pattern matching relationships; determining the center 3D coordinates of the target projection pattern in the 3D data of the current frame; determining the center 3D coordinates of the associated projection pattern in the 3D data of other frames; and determining the relative positional relationship between the 3D data of the current frame and the 3D data of other frames based on the center 3D coordinates of the target projection pattern and the center 3D coordinates of the associated projection pattern.

[0013] Optionally, in the above-described system, determining the center three-dimensional coordinates of the target projection pattern in the three-dimensional data of the current frame includes: determining a first mapping relationship between the three-dimensional data of the current frame and the pixels in the scanned image corresponding to the current frame; determining a second mapping relationship between the center point of the target projection pattern and the pixels in the scanned image corresponding to the current frame; and, based on the first and second mapping relationships, determining the three-dimensional coordinates mapped to the center point of the target projection pattern in the three-dimensional data of the current frame, and using the three-dimensional coordinates mapped to the center point of the target projection pattern as the center three-dimensional coordinates of the target projection pattern.

[0014] A three-dimensional scanning method is disclosed, which is applied to a three-dimensional scanning system. The three-dimensional scanning system includes a processing end, a control end, a scanner, and at least two pattern projectors. The three-dimensional scanning method includes: controlling each pattern projector to project a pattern onto the surface of the object to be scanned; the projection wavelengths of each pattern projector are different; controlling the scanner to scan the object to be scanned, obtaining a scanned image, and transmitting the scanned image to the control end; sending the scanned image transmitted by the scanner to the processing end through the control end; and enabling the processing end to perform three-dimensional data stitching based on the received scanned image.

[0015] A storage medium includes stored instructions, wherein, when the instructions are executed, the device on which the storage medium resides executes the three-dimensional scanning method described above.

[0016] An electronic device includes a memory and one or more instructions, wherein one or more instructions are stored in the memory and configured to be executed by one or more processors as described above in the three-dimensional scanning method.

[0017] A three-dimensional scanning system based on the above embodiments of the present invention includes: a processing end, a control end, a scanner, and at least two pattern projectors; each pattern projector is equipped with a signal receiver; the projection wavelengths of each pattern projector are different; the scanner is configured to scan an object to be scanned, obtain a scanned image, and transmit the scanned image to the control end; each pattern projector is configured to project a pattern onto the surface of the object to be scanned; the signal receiver on each pattern projector is configured to receive a control signal from the control end; the control end is configured to control the scanner and each pattern projector to work together, and send the scanned image transmitted by the scanner to the processing end; the processing end is configured to perform three-dimensional data stitching based on the received scanned image. Using the system provided by the embodiments of the present invention, patterns can be projected onto the object to be scanned through multiple pattern projectors with different projection wavelengths during the scanning process, and three-dimensional data stitching can be performed based on the scanned image during data processing. The key feature points for data stitching can be identified by utilizing the pattern matching relationship between the projected pattern of the current frame scanned image and the projected patterns of other frames scanned images, thereby achieving three-dimensional data stitching. The scanning process is simpler, eliminating the need for complex point-marking operations and improving scanning efficiency and user experience. Secondly, the elimination of the need for a tracking device helps reduce scanning costs. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0019] Figure 1 is a schematic diagram of the system structure of a three-dimensional scanning system provided in an embodiment of the present invention.

[0020] Figure 2 is a schematic diagram of a three-dimensional data stitching process provided in an embodiment of the present invention.

[0021] Figure 3 is a schematic diagram of the deployment of a three-dimensional scanning system provided in an embodiment of the present invention.

[0022] Figure 4 is a flowchart of a three-dimensional scanning method provided in an embodiment of the present invention.

[0023] Figure 5 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] In this application, the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0026] This invention provides a three-dimensional scanning system, the structural schematic of which is shown in Figure 1. The system includes: a processing terminal 101, a control terminal 102, a scanner 103, and at least two pattern projectors 104; each pattern projector 104 is provided with a signal receiver; and the projection wavelengths of each pattern projector 104 are different from each other.

[0027] The scanner 103 is configured to scan the object to be scanned, obtain a scanned image, and transmit the scanned image to the control terminal 102.

[0028] Each of the pattern projectors 104 is configured to project a pattern onto the surface of the object to be scanned.

[0029] The signal receiver on each of the pattern projectors 104 is configured to receive the control signal from the control terminal 102.

[0030] The control terminal 102 is configured to control the scanner 103 and each of the pattern projectors 104 to work together, and to send the scanned images transmitted by the scanner 103 to the processing terminal 101.

[0031] The processing terminal 101 is configured to perform three-dimensional data stitching based on the received scanned images.

[0032] This invention provides a three-dimensional scanning system, comprising a processing terminal, a control terminal, a scanner, and multiple pattern projectors. Each pattern projector is equipped with a signal receiver, which can communicate with the control terminal via wired or wireless means. The pattern projectors project random patterns such as dots using beams of a specific wavelength. Each pattern projector projects a different wavelength; for example, two pattern projectors may be used, one projecting red light and the other green light. The patterns projected by each projector may be the same or different. During scanning, each pattern projector can be activated to project onto the surface of the object to be scanned, and the projected pattern will be projected onto the surface of the object.

[0033] In the system provided by this invention, the scanner can be a laser scanner, which can emit scanning signals to a control terminal, enabling the control terminal to control each pattern projector to project a pattern onto the surface of the object to be scanned. The user can hold the scanner and scan the object surface projected by each pattern projector. During scanning, the scanner projects a laser of a certain wavelength onto the current scanning area of ​​the object and acquires an image of the object surface in that area; the acquired image is the scanned image. It is understood that the object surface in the scanned image contains both the laser beam emitted by the scanner and the pattern projected by the pattern projectors. The scanned image acquired by the scanner can be sent to a processing terminal via the control terminal. The camera on the scanner can acquire patterns of different wavelengths.

[0034] The processing unit can be deployed on a computing terminal, while the control unit can be integrated into the scanner or set up on peripherals such as computers. The processing unit can process the image data acquired in real time during the scanning process. After receiving the corresponding scanned image, it processes each frame of the scanned image to obtain the corresponding 3D data for each frame, and stitches the 3D data of each frame together according to the matching relationship of the projected patterns of each frame. For example, when the first frame of the scanned image is acquired after the scan begins, laser measurement can be performed based on the first frame to obtain the corresponding 3D data. When the second frame of the scanned image is received, laser measurement is performed based on the second frame to obtain the corresponding 3D data, and the 3D data of the first and second frames are stitched together. Similarly, when a new scanned image is acquired subsequently, new 3D data can be obtained through processing, and the new 3D data can be stitched together with the existing 3D data.

[0035] The three-dimensional scanning system provided by this invention includes: a processing terminal, a control terminal, a scanner, and at least two pattern projectors; each pattern projector is equipped with a signal receiver; the projection wavelengths of each pattern projector are different; the scanner is configured to scan the object to be scanned, obtain a scanned image, and transmit the scanned image to the control terminal; each pattern projector is configured to project a pattern onto the surface of the object to be scanned; the signal receiver on each pattern projector is configured to receive a control signal from the control terminal; the control terminal is configured to control the scanner and each pattern projector to work collaboratively, and send the scanned image transmitted by the scanner to the processing terminal; the processing terminal is configured to perform three-dimensional data stitching based on the received scanned image. Using the system provided by this invention, patterns can be projected onto the object to be scanned through multiple pattern projectors with different projection wavelengths during the scanning process, and three-dimensional data stitching can be performed based on the scanned image during data processing. The key feature points for data stitching can be identified by utilizing the pattern matching relationship between the projected pattern of the current frame scanned image and the projected patterns of other frames scanned images, thereby achieving three-dimensional data stitching. The scanning process is simpler, eliminating the need for complex point-marking operations and improving scanning efficiency and user experience. Secondly, the elimination of the need for a tracking device helps reduce scanning costs.

[0036] Based on the system shown in Figure 1, as shown in Figure 2, the process of the processing end performing three-dimensional data stitching based on the received scanned image in the system provided by the embodiment of the present invention includes the following steps.

[0037] S201: Perform 3D reconstruction based on the scanned image corresponding to the current frame to obtain the 3D data of the current frame.

[0038] In the system provided by this invention, when the processing end needs to process a certain frame of scanned image, that frame can be taken as the current frame. Based on the laser beams in the scanned image corresponding to the current frame, the three-dimensional coordinates of the object surface in the scanned image are measured using the principle of laser measurement to obtain the three-dimensional data corresponding to the current frame, that is, the various three-dimensional coordinates measured at the moment. In one embodiment, the relevant data of the laser beams can be directly extracted from the scanned image for three-dimensional reconstruction. Alternatively, the scanned image can be further processed, and three-dimensional reconstruction can be performed on the processed image. For example, an image with a wavelength range matching the laser wavelength can be separated from the scanned image, and the relevant data of the laser beams can be extracted from the separated image for three-dimensional reconstruction.

[0039] S202: Based on the scanned image corresponding to the current frame, perform projection pattern recognition to obtain the projection pattern of each current frame.

[0040] In the system provided by this invention, during the processing of the scanned image of the current frame, it is necessary to identify the projected pattern of the scanned image corresponding to the current frame. That is, to identify the pattern projected by the pattern projector on the object surface from the scanned image, and to use each projected pattern on the scanned image as the projected pattern of the current frame. Regarding the identification of the projected pattern of the current frame, the specific information identified may include the image of the projected pattern of the current frame and the position of the pattern on the scanned image. Pattern recognition can be performed directly on the scanned image, or the scanned image can be further processed, and pattern recognition can be performed on the processed image. For example, an image with a wavelength range matching the projection wavelength of the pattern projector can be separated from the scanned image, and image analysis can be performed on the separated image to identify the pattern projected by the pattern projector.

[0041] S203: Determine the pattern matching relationship between each current frame projection pattern and each other acquired frame projection patterns.

[0042] In the system provided by this invention, the processing end can acquire the 3D data of other frames that need to be stitched together with the 3D data of the current frame, and acquire the projection patterns of each other frame that match the 3D data of the other frames. It can be understood that when processing the scanned images corresponding to other frames, the processing end will perform 3D reconstruction based on the scanned images of the other frames to obtain the 3D data of the other frames, and perform projection pattern recognition based on the scanned images of the other frames to obtain the projection patterns of each other frame, that is, the patterns projected by the pattern projector identified in the scanned images of the other frames.

[0043] When processing the data of the current frame, each current frame projection pattern can be matched with each other frame projection pattern to obtain the pattern matching relationship between the current frame projection pattern and other frame projection patterns. That is, it represents whether each current frame projection pattern matches each other frame projection pattern. Whether the current frame projection pattern matches other frame projection patterns refers to whether the two patterns belong to the same pattern.

[0044] S204: Based on the pattern matching relationship, determine the relative positional relationship between the current frame's 3D data and the acquired 3D data of other frames.

[0045] In the system provided by this invention, the projection pattern that appears repeatedly in the current frame scan image and other frame scan images can be determined based on the pattern matching relationship between the projection pattern of the current frame and the projection pattern of other frames. The center point of the repeated projection pattern is taken as the key feature point. The three-dimensional coordinates corresponding to the key feature point are determined in the three-dimensional data of the current frame and the three-dimensional data of other frames respectively. Based on the three-dimensional coordinates of the key feature point in the current frame and the three-dimensional data of other frames respectively, the coordinate transformation relationship between the three-dimensional data of the current frame and the three-dimensional data of other frames can be obtained, that is, the relative positional relationship between the three-dimensional data of the current frame and the three-dimensional data of other frames.

[0046] S205: Based on the relative positional relationship, perform data stitching on the three-dimensional data of the current frame and the three-dimensional data of other frames.

[0047] In the system provided by this invention, the coordinate transformation of the three-dimensional data of the current frame can be performed according to the relative position relationship, and the transformed three-dimensional data can be fused with the three-dimensional data of other frames to realize the data splicing of the three-dimensional data of the current frame with the three-dimensional data of other frames.

[0048] Based on the system provided in this embodiment of the invention, during data processing, 3D reconstruction and projection pattern recognition can be performed on scanned images. According to the pattern matching relationship between each projection pattern corresponding to the current frame and each projection pattern corresponding to other frames, key feature points for data stitching are identified, thereby determining the relative positional relationship between the 3D data of the current frame and the 3D data of other frames to be stitched, thus achieving 3D data stitching. No complex point-attaching operations are required during the scanning process, making the scanning process simpler, which helps improve scanning efficiency and enhances user experience. Furthermore, the absence of a tracker reduces scanning costs.

[0049] Based on the three-dimensional data stitching process shown in Figure 2, in this embodiment of the invention, the process of performing three-dimensional reconstruction based on the scanned image corresponding to the current frame to obtain the three-dimensional data of the current frame mentioned in step S201 includes: performing image separation on the scanned image corresponding to the current frame to obtain a first image and a second image corresponding to each of the pattern projectors; the wavelength range of the first image matches the laser wavelength projected by the scanner, and the wavelength range of each second image matches the projection wavelength of the pattern projector corresponding to the second image.

[0050] In the system provided by this invention, the scanner is a laser scanner with the function of capturing spectral or color images. The laser wavelength projected by the scanner is different from the projection wavelength of each pattern projector. During the 3D reconstruction process, image separation can be performed on the scanned image corresponding to the current frame, decomposing the scanned image into images of different wavelength ranges. Each wavelength range image is an independent image, or the scanned image can be split into channel images of different wavelength ranges of the original image. That is, after image separation of the scanned image of the current frame, images of different wavelength ranges will be obtained. Each wavelength range of the image separation corresponds one-to-one with the laser wavelength projected by the laser scanner and the projection wavelength of each pattern projector. Among the images obtained from the image separation, the image whose wavelength range matches the laser wavelength projected by the laser scanner is taken as the first image, and the image whose wavelength range matches the projection wavelength of the pattern projector is taken as the second image corresponding to that pattern projector.

[0051] Laser measurement processing is performed on the first image to obtain the three-dimensional coordinates of each laser imaging point; based on the three-dimensional coordinates of each laser imaging point, the three-dimensional data of the current frame is determined.

[0052] In the system provided by this invention, laser line data is extracted based on a first image. Applying the principle of laser triangulation, the three-dimensional coordinates of the object surface corresponding to each laser imaging point in the first image are calculated to obtain the three-dimensional coordinates of each laser imaging point. The three-dimensional coordinates of each laser imaging point can be directly used as the three-dimensional data of the current frame, or further data optimization processing can be performed on the three-dimensional coordinates of each laser imaging point, and the optimized three-dimensional coordinates can be used as the three-dimensional data of the current frame.

[0053] Based on the system provided in this embodiment of the invention, an image matching the wavelength range of the laser wavelength can be separated from the scanned image, and laser lines can be extracted from the image to complete three-dimensional reconstruction. This can reduce the mutual interference between the laser beam and the beam projected by the pattern projector in the image, improve the accuracy of three-dimensional reconstruction, and thus improve the precision of three-dimensional scanning.

[0054] Based on the system provided in the above embodiments, in this embodiment of the invention, the process of performing projection pattern recognition based on the scanned image corresponding to the current frame to obtain the projection pattern of each current frame mentioned in step S202 includes: performing pattern recognition on each second image to obtain the projection pattern in each second image; and using the projection pattern in each second image as the projection pattern of each current frame.

[0055] The system provided in this embodiment of the invention performs image separation during the processing of scanned images to obtain individual images whose wavelength ranges correspond one-to-one with the laser wavelength of the scanner and the projection wavelengths of each pattern projector. Laser lines are extracted from the images whose wavelength ranges correspond to the laser wavelengths, thereby performing three-dimensional reconstruction. The recognition of the projected patterns is performed on the images whose wavelength ranges match the projection wavelengths of the pattern projectors.

[0056] In one embodiment, each second image obtained from the scanned image separation corresponds one-to-one with each pattern projector. For each second image corresponding to a pattern projector, the projection pattern corresponding to that pattern projector is identified in the second image; specifically, the image of the projection pattern and its location in the second image are obtained. The projection pattern identified in each second image is used as the projection pattern for the current frame.

[0057] Based on the system provided in this embodiment of the invention, images with wavelength ranges matching the projection wavelength of the pattern projector can be separated from the scanned image. The projected pattern is identified on these images to extract the projected pattern and its location in the current frame. This reduces the mutual interference between the laser beam and the projection beam of the pattern projector, improves the accuracy of pattern recognition, and thus improves the precision of three-dimensional scanning.

[0058] Based on the three-dimensional data stitching process shown in Figure 2, in this embodiment of the invention, the process of determining the pattern matching relationship between each current frame projection pattern and each other acquired frame projection pattern mentioned in step S203 includes: for each current frame projection pattern, comparing the current frame projection pattern with each other frame projection pattern to obtain the pattern comparison result corresponding to the current frame projection pattern.

[0059] In the system provided by the embodiments of the present invention, for each current frame projection pattern, the current frame projection pattern can be compared with each other frame projection pattern to identify whether the other frame projection patterns and the current frame projection pattern belong to the same projection pattern, and the pattern comparison results of the current frame projection pattern and each other frame projection pattern are obtained, that is, the pattern comparison results corresponding to the current frame projection pattern. The pattern comparison results indicate whether there are other frame projection patterns that match the current frame projection pattern.

[0060] Based on the pattern comparison results corresponding to the projected patterns of each current frame, the pattern matching relationship is determined.

[0061] In the system provided by the present invention, the matching relationship between each current frame projection pattern and each other frame projection pattern can be determined according to the pattern comparison results corresponding to each current frame projection pattern. If the pattern comparison result of the current frame projection pattern shows that the current frame projection pattern and a certain other frame projection pattern belong to the same projection pattern, then it is considered that the current frame projection pattern and the other frame projection pattern are matched. Thus, the pattern matching relationship between the mutually matched current frame projection patterns and other frame projection patterns is obtained.

[0062] Based on the three-dimensional data stitching process shown in Figure 2, in this embodiment of the invention, the process of determining the relative positional relationship between the three-dimensional data of the current frame and the three-dimensional data of other frames that have been acquired based on the pattern matching relationship mentioned in step S204 includes: determining a target projection pattern in each of the current frame projection patterns based on the pattern matching relationship, and determining the associated projection pattern corresponding to the target projection pattern in each of the other frame projection patterns.

[0063] In the system provided by this invention, the current frame projection pattern and other frame projection patterns that match each other can be obtained based on the pattern matching relationship. If there are other frame projection patterns that match the current frame projection pattern, then the current frame projection pattern is taken as the target projection pattern, and the other frame projection patterns that match it are taken as their corresponding associated projection patterns.

[0064] In the three-dimensional data of the current frame, determine the center three-dimensional coordinates corresponding to the target projection pattern.

[0065] In the system provided by this invention, the center point of the target projection pattern is used to represent the pattern position. Based on the position mapping of the target projection pattern in the scanned image of the current frame, and the mapping relationship between the three-dimensional data of the current frame and the scanned image of the current frame, the three-dimensional coordinates corresponding to the center point of the target projection pattern can be found in the three-dimensional data of the current frame. These three-dimensional coordinates, which correspond to the position of the center point of the target projection pattern on the object surface, are then used as the center three-dimensional coordinates of the target projection pattern.

[0066] In the other frames of 3D data, determine the center 3D coordinates corresponding to the associated projection pattern.

[0067] In the system provided by the embodiments of the present invention, the center point of the associated projection pattern is used to represent the position of the pattern. Based on the position mapping of the associated projection pattern in other frame scanned images and the mapping relationship between the three-dimensional data of other frames and other frame scanned images, the three-dimensional coordinates corresponding to the center point of the associated projection pattern are found in the three-dimensional data of other frames, and the three-dimensional coordinates are used as the center three-dimensional coordinates corresponding to the associated projection pattern.

[0068] Based on the center three-dimensional coordinates of the target projection pattern and the center three-dimensional coordinates of the associated projection pattern, the relative positional relationship between the three-dimensional data of the current frame and the three-dimensional data of other frames is determined.

[0069] In the system provided by the embodiments of the present invention, the target projection pattern and its corresponding associated projection pattern actually represent the projection pattern at the same position. The coordinate transformation relationship between the center point of the target projection pattern and the center point of the associated projection pattern can be determined according to the center three-dimensional coordinates of the target projection pattern and the center three-dimensional coordinates of the associated projection pattern. Based on the coordinate transformation relationship, the relative positional relationship between the three-dimensional data of the current frame and the three-dimensional data of other frames can be determined.

[0070] It should be noted that in the specific implementation process, there may be only one set of target projection patterns and their corresponding associated projection patterns, or there may be multiple sets. If there are multiple target projection patterns, the relative positional relationship is determined based on the center three-dimensional coordinates of all target projection patterns and the center three-dimensional coordinates of their corresponding associated projection patterns.

[0071] Based on the system provided in the above embodiments, in this embodiment of the invention, the process of determining the center three-dimensional coordinates of the target projection pattern in the three-dimensional data of the current frame includes: determining a first mapping relationship between the three-dimensional data of the current frame and the pixels in the scanned image corresponding to the current frame.

[0072] In the system provided by the embodiments of the present invention, the three-dimensional data of the current frame is obtained by three-dimensional reconstruction based on the scanned image of the current frame. Therefore, each three-dimensional coordinate in the three-dimensional data of the current frame represents the coordinates of the corresponding points on the surface of the object in the scanned image. Thus, the three-dimensional data of the current frame can be mapped onto the scanned image to obtain the mapping relationship between each three-dimensional coordinate in the three-dimensional data of the current frame and each pixel in the scanned image of the current frame. This mapping relationship is used as the first mapping relationship.

[0073] Determine a second mapping relationship between the center point of the target projection pattern and the pixels in the scanned image corresponding to the current frame.

[0074] In the system provided by the embodiments of the present invention, the target projection pattern is a projection pattern identified from the current frame scan image. The scanning image pixel corresponding to the pattern center point of the target projection pattern can be determined according to the position of the target projection pattern in the current frame scan image, and the mapping relationship between the pattern center point of the target projection pattern and the pixel in the current frame scan image can be obtained. This mapping relationship is used as the second mapping relationship.

[0075] Based on the first mapping relationship and the second mapping relationship, the three-dimensional coordinates mapped to the center point of the target projection pattern are determined in the three-dimensional data of the current frame, and the three-dimensional coordinates mapped to the center point of the target projection pattern are used as the center three-dimensional coordinates corresponding to the target projection pattern.

[0076] In the system provided by this invention, the three-dimensional coordinates of each pixel can be determined based on the mapping relationship between the three-dimensional data of the current frame and the pixels in the current frame scanned image. According to the mapping relationship between the center point of the target projection pattern and the pixels of the scanned pattern, the pixel corresponding to the center point of the pattern can be determined. Thus, the three-dimensional coordinates corresponding to the pixel corresponding to the center point of the pattern can be obtained, and the three-dimensional coordinates are used as the center three-dimensional coordinates of the target projection pattern.

[0077] To better illustrate the three-dimensional scanning system provided in this embodiment of the invention, based on the systems provided in the preceding embodiments, further explanation will be given below in conjunction with actual application scenarios. A deployment diagram of the three-dimensional scanning system provided in this embodiment of the invention is shown in Figure 3. Taking the deployment of two pattern projectors as an example, pattern projector 1 (i.e., projector 1) and pattern projector 2 (i.e., projector 2) are set up near the object to be scanned. The projection wavelength of pattern projector 1 is wavelength 1, and the projection wavelength of pattern projector 2 is wavelength 2. Wavelength 1 is the red light wavelength, and wavelength 2 is the green light wavelength. The scanner is a handheld laser scanner. The laser wavelength of the laser scanner's scanning projector, i.e., the laser projector, is the blue light wavelength. The filter of the laser scanner can pass signals of all three wavelengths.

[0078] If the laser scanner has spectral or color imaging capabilities, the acquired scanned images are separated into individual images of different wavelengths, or into a single channel of a color image, such as red, green, and blue channels. On the image matching the projection wavelength of the pattern projector, the projected pattern and its center point are extracted. This is used to identify key feature points for data stitching through pattern matching relationships. On the image matching the laser wavelength, laser line data is extracted for 3D reconstruction. For example, taking the separation into different channels as an example, the center point of the projected pattern is extracted from the red and green channel images, and the laser lines are extracted from the blue channel image for 3D reconstruction.

[0079] It should be noted that if the laser wavelength of the laser scanner is the same as the projection wavelength of a pattern projector, or if the image acquired by the laser scanner does not have the basis for image separation, then 3D reconstruction and pattern recognition can be performed directly on the scanned image.

[0080] The three-dimensional scanning system provided by the embodiments of the present invention does not require complex point-marking operations and does not require the configuration of a tracker, resulting in low equipment cost and convenient operation.

[0081] This invention also provides a three-dimensional scanning method, which is applied to a three-dimensional scanning system. The three-dimensional scanning system includes a processing terminal, a control terminal, a scanner, and at least two pattern projectors, as shown in Figure 4. The three-dimensional scanning method provided by this invention includes the following steps.

[0082] S301: Control each of the pattern projectors to project a pattern onto the surface of the object to be scanned; the projection wavelengths of each of the pattern projectors are different.

[0083] S302: Control the scanner to scan the object to be scanned, obtain a scanned image, and transmit the scanned image to the control terminal.

[0084] S303: The scanned image transmitted by the scanner is sent to the processing terminal via the control terminal.

[0085] S304: The processing terminal performs three-dimensional data stitching based on the received scanned image.

[0086] The method provided in this invention can be applied to a 3D scanning system. The system architecture is shown in Figure 1, specifically including a processing unit, a control unit, a scanner, and at least two pattern projectors, each with a different projection wavelength. During 3D scanning, each pattern projector in the 3D scanning system can be controlled to project a pattern onto the surface of the object to be scanned. With the pattern projected, the scanner is controlled to scan the object, obtaining a scanned image. The scanned image is then sent to the processing unit via the control unit, where it performs 3D data stitching processing based on the received scanned image. The process of the processing unit performing 3D data stitching based on the scanned image can be referred to the description in the embodiments provided in conjunction with Figure 2, and will not be repeated here. The specific implementation of the 3D scanning process can also be referred to the descriptions in the various embodiments provided for the 3D scanning system above, and will not be repeated here.

[0087] The method provided in this invention allows for pattern projection onto the object to be scanned using multiple pattern projectors with different projection wavelengths during the scanning process. During data processing, three-dimensional data stitching is performed based on the scanned images. By utilizing the pattern matching relationship between the projected patterns of the current frame scanned image and those of other frames, key feature points for data stitching can be identified, thereby achieving three-dimensional data stitching. The scanning process is simplified, eliminating the need for complex point-attaching operations, thus improving scanning efficiency and user experience. Furthermore, the elimination of the need for a tracker reduces scanning costs.

[0088] This invention also provides a storage medium that includes stored instructions, wherein when the instructions are executed, the device containing the storage medium is controlled to perform the three-dimensional scanning method described above.

[0089] This invention also provides an electronic device, the structural schematic of which is shown in FIG5. Specifically, it includes a memory 401 and one or more instructions 402, wherein one or more instructions 402 are stored in the memory 401 and configured to be executed by one or more processors 403 to perform the following operations.

[0090] Each pattern projector is controlled to project a pattern onto the surface of the object to be scanned; the projection wavelengths of each pattern projector are different.

[0091] The scanner is controlled to scan the object to be scanned, obtain a scanned image, and transmit the scanned image to the control terminal.

[0092] The control terminal sends the scanned image transmitted by the scanner to the processing terminal.

[0093] The processing unit performs three-dimensional data stitching based on the received scanned images.

[0094] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. Components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0095] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0096] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. Industrial applicability

[0097] The 3D scanning system disclosed herein includes: a processing terminal, a control terminal, a scanner, and at least two pattern projectors; each pattern projector is equipped with a signal receiver; the projection wavelengths of each pattern projector are different; the scanner is configured to scan an object to be scanned, obtain a scanned image, and transmit the scanned image to the control terminal; each pattern projector is configured to project a pattern onto the surface of the object to be scanned; the signal receiver on each pattern projector is configured to receive control signals from the control terminal; the control terminal is configured to control the scanner and each pattern projector to work collaboratively, and send the scanned image transmitted by the scanner to the processing terminal; the processing terminal is configured to perform 3D data stitching based on the received scanned image. Applying the system provided by this invention, patterns can be projected onto the object to be scanned using multiple pattern projectors with different projection wavelengths during the scanning process, and 3D data stitching can be performed based on the scanned image during data processing. The key feature points for data stitching can be identified by utilizing the pattern matching relationship between the projected pattern of the current frame scanned image and the projected patterns of other frames scanned images, thereby achieving 3D data stitching. The scanning process eliminates the need for complex point-marking operations, simplifying the process and improving scanning efficiency and user experience. Furthermore, the elimination of the need for a tracking device reduces scanning costs, making it highly practical for industrial applications.

Claims

1. A three-dimensional scanning system, wherein, include: A processing unit, a control unit, a scanner, and at least two pattern projectors; Each of the pattern projectors is equipped with a signal receiver; The projection wavelengths of each of the aforementioned pattern projectors are different; The scanner is configured to scan the object to be scanned, obtain a scanned image, and transmit the scanned image to the control terminal; Each of the pattern projectors is configured to project a pattern onto the surface of the object to be scanned; The signal receiver on each of the pattern projectors is configured to receive control signals from the control terminal; The control terminal is configured to control the scanner and each of the pattern projectors to work together, and to send the scanned image transmitted by the scanner to the processing terminal; The processing unit is configured to perform three-dimensional data stitching based on the received scanned images.

2. The three-dimensional scanning system according to claim 1, wherein, The process of stitching together 3D data based on the received scanned images includes: Perform 3D reconstruction based on the scanned image corresponding to the current frame to obtain the 3D data of the current frame; Projection pattern recognition is performed based on the scanned image corresponding to the current frame to obtain the projection pattern of each current frame. Determine the pattern matching relationship between each current frame projection pattern and each other acquired frame projection pattern; Based on the pattern matching relationship, the relative positional relationship between the current frame's 3D data and the acquired 3D data of other frames is determined; Based on the relative positional relationship, the 3D data of the current frame and the 3D data of other frames are stitched together.

3. The three-dimensional scanning system according to claim 2, wherein, The step of performing 3D reconstruction based on the scanned image corresponding to the current frame to obtain the 3D data of the current frame includes: Image separation is performed on the scanned image corresponding to the current frame to obtain a first image and a second image corresponding to each of the pattern projectors; the wavelength range of the first image matches the laser wavelength projected by the scanner, and the wavelength range of each second image matches the projection wavelength of the pattern projector corresponding to that second image; Laser measurement processing is performed on the first image to obtain the three-dimensional coordinates of each laser imaging point; The three-dimensional data of the current frame is determined based on the three-dimensional coordinates of each of the laser imaging points.

4. The three-dimensional scanning system according to claim 3, wherein, The step of performing projection pattern recognition based on the scanned image corresponding to the current frame to obtain the projection pattern of each current frame includes: Perform pattern recognition on each of the second images to obtain the projected pattern in each of the second images; The projection pattern in each of the second images is used as the projection pattern of each current frame.

5. The three-dimensional scanning system according to claim 2, wherein, Determining the pattern matching relationship between each current frame projection pattern and each of the other acquired frame projection patterns includes: For each current frame projection pattern, the current frame projection pattern is compared with each of the other frame projection patterns to obtain the pattern comparison result corresponding to the current frame projection pattern; Based on the pattern comparison results corresponding to the projected patterns of each current frame, the pattern matching relationship is determined.

6. The three-dimensional scanning system according to claim 2, wherein, Determining the relative positional relationship between the current frame's 3D data and the acquired 3D data of other frames based on the pattern matching relationship includes: Based on the pattern matching relationship, a target projection pattern is determined in each of the current frame projection patterns, and an associated projection pattern corresponding to the target projection pattern is determined in each of the other frame projection patterns; In the three-dimensional data of the current frame, determine the center three-dimensional coordinates corresponding to the target projection pattern; In the other frames of 3D data, determine the center 3D coordinates corresponding to the associated projection pattern; Based on the center three-dimensional coordinates of the target projection pattern and the center three-dimensional coordinates of the associated projection pattern, the relative positional relationship between the three-dimensional data of the current frame and the three-dimensional data of other frames is determined.

7. The three-dimensional scanning system according to claim 6, wherein, Determining the center three-dimensional coordinates of the target projection pattern in the three-dimensional data of the current frame includes: Determine the first mapping relationship between the three-dimensional data of the current frame and the pixels in the scanned image corresponding to the current frame; Determine a second mapping relationship between the center point of the target projection pattern and the pixels in the scanned image corresponding to the current frame; Based on the first mapping relationship and the second mapping relationship, the three-dimensional coordinates mapped to the center point of the target projection pattern are determined in the three-dimensional data of the current frame, and the three-dimensional coordinates mapped to the center point of the target projection pattern are used as the center three-dimensional coordinates corresponding to the target projection pattern.

8. A three-dimensional scanning method, wherein, The three-dimensional scanning method is applied to a three-dimensional scanning system, which includes a processing terminal, a control terminal, a scanner, and at least two pattern projectors. The three-dimensional scanning method includes: Each of the pattern projectors is controlled to project a pattern onto the surface of the object to be scanned; the projection wavelengths of each of the pattern projectors are different. The scanner is controlled to scan the object to be scanned, obtain a scanned image, and transmit the scanned image to the control terminal; The scanned image transmitted by the scanner is sent to the processing terminal via the control terminal; The processing unit performs three-dimensional data stitching based on the received scanned images.

9. A storage medium, wherein, The storage medium includes stored instructions, wherein, when the instructions are executed, the device containing the storage medium is controlled to perform the three-dimensional scanning method as described in claim 8.

10. An electronic device, wherein, It includes a memory, and one or more instructions, wherein one or more instructions are stored in the memory and configured to be executed by one or more processors as described in claim 8.

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