3D Scanning Path Planning for Reusable Multi-Object Measurement
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Solution Overview
Problem
Existing three-dimensional scanning systems face inefficiencies and inaccuracies when measuring objects of different sizes and shapes, as previous scanning paths are not reusable due to changes in object position, requiring reconfiguration and adjustment of new paths.
Innovation Solution
A three-dimensional scanning system that determines a planned scanning path based on historical data of the object type, using a control apparatus to adjust the rotary table's pose and simulate collision avoidance and model acquisition to optimize the scanning path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the rotary table position is changed to adapt to objects with different sizes and shapes, then the scanning system can measure various objects, but the previous scanning path becomes unusable and requires reconfiguration
Solution Approach 1:
The system pre-stores multiple scanning paths corresponding to different object types in advance. When measuring an object, the system identifies the object type and directly retrieves the corresponding pre-configured scanning path, eliminating the need for real-time reconfiguration and adjustment of the scanning path.
Solution Approach 2:
The system transforms the scanning path selection from a continuous adjustment problem into a discrete parameter selection problem by categorizing objects into different types. Each object type has associated scanning path parameters stored in advance, allowing rapid switching between different scanning configurations based on object type identification.
2Ease of operation
If the rotary table does not return to the same position as previous measurements, then the system can accommodate position changes, but the previous scanning path cannot be reused
Solution Approach 1:
The system creates and stores copies of scanning paths for different object types and rotary table positions. When measuring an object, the system retrieves the appropriate copied scanning path that matches the current rotary table position and object type, allowing reuse of proven scanning paths without requiring the rotary table to return to exact previous positions.
Solution Approach 2:
The scanning path database is designed to store multiple scanning paths that can serve different object types and rotary table positions. A single scanning path storage system handles multiple functions by selecting the appropriate path based on object type and position, making the system universally applicable to various measurement scenarios.
3Measurement precision
If manual reconfiguration of scanning paths is performed for each measurement, then accurate scanning can be achieved, but measurement efficiency decreases
Solution Approach 1:
The system performs automatic identification of object type and automatic selection of the corresponding scanning path from the database. The control apparatus autonomously completes the scanning path configuration without requiring manual intervention, thereby maintaining measurement precision while significantly improving measurement efficiency.
Solution Approach 2:
The system uses feedback from object type identification to automatically select and configure the appropriate scanning path. The control apparatus receives information about the object being measured, retrieves the corresponding pre-stored scanning path, and automatically applies it, creating a closed-loop system that ensures both accuracy and efficiency.
Data Source
AI summary
A three-dimensional scanning system, a scanning path planning method, and a three-dimensional scanning method are provided. The three-dimensional scanning system includes a control apparatus configured to determine a planned scanning path for a to-be-measured object based on a historical scanning path of an object type to which the current to-be-measured object belongs and according to a historical pose and a current pose of a rotary table carrying the to-be-measured object. The three-dimensional scanning system further includes a mechanical arm that includes a gripping end for gripping a scanner to drive the scanner to scan the to-be-measured object according to the planned scanning path under control of the control apparatus.