WO2021093543A1 - Scanner and operation method, apparatus and system therefor, and storage medium and processor - Google Patents

Abstract

A scanner and an operation method, apparatus and system therefor, and a storage medium and a processor. The method comprises: detecting action information of a scanner (S102); determining whether the action information relates to a trigger action, wherein the trigger action is used for triggering the display of a menu interface of the scanner (S104); after the menu interface is displayed on the basis of the trigger action, continuing to detect action information, and determining whether the action information relates to a pointing action, wherein the pointing action is used for selecting a menu item in the menu interface (S106); and controlling the scanner on the basis of the trigger action and the pointing action (S108). The technical problem of a scanner not being able to not depend on the control of a physical key is solved.

Description

Scanner, its operation method, device, system, storage medium and processor

Cross reference

The present invention is filed based on a Chinese patent application with an application number of 201911108260.X and an application date of 2019-11-13, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby incorporated by reference into this disclosure.

Technical field

The present invention relates to the field of three-dimensional scanning, in particular, to a scanner, and an operation method, device, system, storage medium and processor thereof.

Background technique

Dental clinic technicians or doctors use the intraoral three-dimensional scanner to scan the patient’s mouth. They need to frequently control the scanner software. Because the technician or doctor wears gloves and holds the scanner in his hand, and there will be contact with the patient’s mouth, it is out of hygiene. Requirement, it is very inconvenient to operate via mouse and keyboard.

In order to make the 3D scanner better adapt to the application scenarios of intraoral scanning, some existing 3D scanners are equipped with foot pedals and fuselage buttons to increase the control method. However, the control functions that can be achieved by a single button are limited. Limited to the control function of start/stop scanning, some complicated control of the 3D scanner cannot be completed.

In view of the above-mentioned problem that the scanner cannot be controlled by the physical buttons, no effective solution has yet been proposed.

Summary of the invention

At least some embodiments of the present invention provide a scanner, and an operation method, device, system, storage medium, and processor thereof, so as to at least solve the technical problem that the scanner cannot be controlled by physical buttons.

In one of the embodiments of the present invention, a method for controlling a scanner is provided, including: detecting the action information of the scanner; determining whether the action information is a trigger action, wherein the trigger action is used to trigger the display of the The menu interface of the scanner; after displaying the menu interface based on the trigger action, continue to detect the action information and determine whether the action information belongs to a pointing action, wherein the pointing action is used to select the menu interface The menu item in; based on the trigger action and the pointing action, control the scanner.

In an optional embodiment, detecting the motion information of the scanner includes: detecting at least one angular velocity component of the scanner in a spatial coordinate system, wherein each angular velocity component is used to indicate that the scanner moves around the x-axis , Y-axis or z-axis movement.

In an optional embodiment, determining whether the action information belongs to a trigger action includes: determining whether the scanner indicated by the action information continuously moves within a predetermined time period based on at least one angular velocity component; In the case that the scanner moves continuously within a predetermined time period, it is determined based on the action information whether there is at least one of the angular velocity components exceeding a predetermined amplitude; when it is determined that the scanner has at least one angular velocity component In the case of exceeding the predetermined amplitude, it is determined that the action information belongs to the trigger action.

In an optional embodiment, judging whether the scanner indicated by the action information continuously moves within a predetermined time period based on at least one of the angular velocity components includes: filtering the at least one angular velocity component according to a predetermined threshold , Determining a threshold starting point and a threshold ending point at which each angular velocity component exceeds the predetermined threshold, wherein the threshold starting point represents the starting time at which the angular velocity component exceeds the predetermined threshold and the numerical value of the starting time, The threshold end point represents the end time at which the angular velocity component exceeds the predetermined threshold and the numerical value of the end time; it is determined whether the number of the threshold start point and the threshold end point within the predetermined time threshold meets the predetermined And whether the numerical value of the threshold starting point and the numerical value of the threshold ending point continuously alternate between positive and negative; the number of the threshold starting point and the threshold ending point meets a predetermined number, and the numerical value of the threshold starting point In the case where the numerical value of the threshold end point continuously alternates between positive and negative, it is determined that the scanner continuously moves within a predetermined time period.

In an optional embodiment, after determining a threshold starting point and a threshold ending point at which each angular velocity component exceeds the predetermined threshold, the method further includes: based on the adjacent threshold ending point and the threshold The angular velocity component between the starting points is subjected to monotonicity judgment; according to the monotonicity judgment result, it is determined whether the motion of the scanner is continuous.

In an optional embodiment, judging whether the action information belongs to a pointing action includes: judging whether the menu interface has been triggered; in the case that the menu interface has been triggered, determining whether the action information is based on at least one of the angular velocity components. The instruction direction of the pointing action; the menu item is selected in the menu interface according to the instruction direction.

In an optional embodiment, determining the indication direction of the pointing action according to at least one of the angular velocity components includes: determining a movement amplitude of at least one movement direction according to at least one of the angular velocity components continuously recorded, wherein the movement direction It includes the direction in which the scanner moves around the x-axis, the y-axis, or the z-axis; it is determined that the movement direction corresponding to the maximum value of the movement amplitude is an indication direction.

In an optional embodiment, the menu interface includes: a selection cursor and at least one of the menu items, and selecting the menu item in the menu interface according to the indication direction includes: controlling the The drop-in relationship between the selection cursor and at least one of the menu items; select the menu item in which the selection cursor falls according to a determination instruction, wherein the determination instruction is triggered by the length of time the selection cursor falls , Or triggered by a specific action.

In an optional embodiment, the menu interface includes a plurality of the menu items, and the plurality of menu item arrangement schemes include one of the following: a plurality of the menu items are arranged in an order, wherein the order arrangement at least includes Arranged in horizontal order and in vertical order; a plurality of the menu items are arranged in a grid in both horizontal and vertical directions; a plurality of the menu items are arranged in layers in a ring, wherein the center of the ring is at least one A circular area of a menu item, where the outside of the circular area is surrounded by at least one of the menu items in a circle; a plurality of the menu items are arranged in a circular single layer, wherein the shape of each menu item includes a circle, Ring and square.

In one of the embodiments of the present invention, there is also provided a scanner control device, including: a first detection unit configured to detect motion information of the scanner; and a judging unit configured to determine whether the motion information belongs to a trigger action , Wherein the trigger action is used to trigger the display of the menu interface of the scanner; the second detection unit is configured to continue to detect the action information after displaying the menu interface based on the trigger action, and determine the Whether the action information belongs to a pointing action, wherein the pointing action is used to select a menu item in the menu interface; the control unit is configured to control the scanner based on the trigger action and the pointing action.

In one of the embodiments of the present invention, a scanner is also provided, including: an inertial measurement sensor configured to collect motion information; a processing device, which communicates with the inertial measurement sensor, configured to receive the motion information; Whether the action information belongs to a trigger action; after displaying the menu interface based on the trigger action, continue to receive the action information and determine whether the action information belongs to a pointing action; display the menu interface of the scanner based on the trigger action , Selecting a menu item in the menu interface based on the pointing action, and controlling the scanner.

In one of the embodiments of the present invention, a scanner control system is also provided, which includes: a scanner, which is set to collect action information; a computer, which communicates with the scanner and is set to receive the action information; Whether the action information belongs to a trigger action; after displaying the menu interface based on the trigger action, continue to receive the action information and determine whether the action information belongs to a pointing action; display the menu interface of the scanner based on the trigger action , Selecting a menu item in the menu interface based on the pointing action, and controlling the scanner.

In one of the embodiments of the present invention, a storage medium is further provided, the storage medium includes a stored program, wherein, when the program is running, the device where the storage medium is located is controlled to execute the aforementioned scanner control method.

In one of the embodiments of the present invention, a processor is further provided, the processor is configured to run a program, and the above-mentioned scanner control method is executed when the program is running.

In at least some embodiments of the present invention, the action information of the scanner is detected; it is determined whether the action information is a trigger action, wherein the trigger action is used to trigger the display of the menu interface of the scanner; after the menu interface is displayed based on the trigger action, continue to detect Action information, and determine whether the action information belongs to a pointing action, where the pointing action is used to select menu items in the menu interface; based on the trigger action and the pointing action, to control the scanner, the menu interface can be started by the trigger action, and the pointing action is in the menu Selecting the menu item in the interface achieves the purpose of completely relying on the user's action information to control the scanner, thereby achieving the technical effect of controlling the scanner without the physical button, and solving the problem that the scanner cannot be controlled by the physical button. technical problem.

Description of the drawings

The drawings described here are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:

FIG. 1 is a schematic diagram of a control method of a scanner according to an embodiment of the present invention;

Fig. 2 is a schematic diagram of a control process of a scanner according to an embodiment of the present invention;

Fig. 3 is a first schematic diagram of a triggering action according to an embodiment of the present invention;

Fig. 4 is a second schematic diagram of a triggering action according to an embodiment of the present invention;

Fig. 5 is a first schematic diagram showing an angular velocity component of a trigger action according to an embodiment of the present invention;

Fig. 6 is a second schematic diagram showing the angular velocity component of a trigger action according to an embodiment of the present invention,

FIG. 7 is a schematic diagram of a vertical sequential arrangement of menu items according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of a type of menu items arranged in a grid in horizontal and vertical directions according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of a kind of menu items arranged in multiple layers in a ring according to an embodiment of the present invention;

Fig. 10 is a schematic diagram of a single layer arrangement of menu items in a ring according to an embodiment of the present invention;

Figure 11 is a schematic diagram of a scanner control device according to an embodiment of the present invention;

Figure 12 is a schematic diagram of a scanner according to an embodiment of the present invention;

Fig. 13 is a schematic diagram of a control system of a scanner according to an embodiment of the present invention.

Detailed ways

In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only It is a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

It should be noted that the terms “first” and “second” in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and not necessarily used to describe a specific sequence or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations of them are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those clearly listed. Those steps or units may include other steps or units that are not clearly listed or are inherent to these processes, methods, products, or equipment.

According to an embodiment of the present invention, an embodiment of a method for controlling a scanner 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 sequence is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than here.

Fig. 1 is a schematic diagram of a method for controlling a scanner according to an embodiment of the present invention. As shown in Fig. 1, the method includes the following steps:

Step S102, detecting the action information of the scanner;

Step S104, judging whether the action information belongs to a trigger action, where the trigger action is used to trigger a menu interface of the display scanner;

Step S106: After displaying the menu interface based on the triggered action, continue to detect the action information, and determine whether the action information belongs to a pointing action, where the pointing action is used to select a menu item in the menu interface;

In step S108, the scanner is controlled based on the trigger action and the pointing action.

In the embodiment of the present invention, the action information of the scanner is detected; it is determined whether the action information is a trigger action, wherein the trigger action is used to trigger the display of the menu interface of the scanner; after the menu interface is displayed based on the trigger action, continue to detect the action information , And determine whether the action information belongs to a pointing action, where the pointing action is used to select menu items in the menu interface; based on the trigger action and the pointing action, to control the scanner, the menu interface can be started by the trigger action, and the pointing action is in the menu interface Selecting the menu item achieves the purpose of completely relying on the user's action information to control the scanner, thereby achieving the technical effect of controlling the scanner without the physical button, and solving the technical problem that the scanner cannot be controlled by the physical button .

It should be noted that the scanner may be a three-dimensional scanner, which is set to scan three-dimensional data of the object; the scanner may be a hand-held scanner, which has the characteristics of being small in size and convenient for the user to hold and move. In this embodiment, the scanner is a hand-held intraoral scanner, which is set to scan the three-dimensional data of the teeth in the patient’s mouth, so that when the doctor performs intraoral scanning of the patient, the required operations can be performed by simply swinging, and no changes are required at all. Holding posture.

Optionally, the foregoing step S104 and step S106 can be performed simultaneously, and the specific manner is as follows:

In step S102, after detecting the action information of the scanner, it is determined whether the action information belongs to a trigger action or a pointing action, wherein if the action information meets the trigger condition set by the trigger action, it is determined that the action information belongs to the trigger action; if The menu item at the current moment is turned on, it is determined whether the action information at the current moment meets the pointing condition of the pointing action, and the action information that meets the pointing condition is determined as the pointing action.

Optionally, the trigger condition is used to determine whether the action information indicates that the scanner rotates back and forth 2 times quickly and regularly after a pause.

Optionally, the pointing condition is used to determine whether the action information belongs to a pointing action according to whether the menu interface is triggered.

Optionally, in a case where it is determined that the action information belongs to pointing information, the direction and amplitude of the action indicated by the action information are determined.

As an optional embodiment, detecting the action information of the scanner includes: detecting at least one angular velocity component of the scanner in a spatial coordinate system, where each angular velocity component is used to indicate that the scanner is around the x-axis, y-axis, or z-axis. Axis movement.

In the above-mentioned embodiment of the present invention, the scanner can be used as the center to establish a three-dimensional space rectangular coordinate system, and the user can operate the scanner to move in space, which can be expressed based on the angular velocity components of the x-axis, y-axis and z-axis in the three-dimensional space coordinate system Movement information of the user operating the scanner.

For example, the center of gravity of the scanner can be used as the origin of the three-dimensional rectangular coordinate system, the x-axis is determined according to the horizontal direction, the y-axis is determined according to the vertical direction, and the z-axis is determined according to the right-hand rule based on the holding posture of the scanner.

For another example, the center of gravity of the scanner is used as the origin of the three-dimensional rectangular coordinate system, and the axial direction of the scanner is used as an axis in the three-dimensional rectangular coordinate system to establish a three-dimensional rectangular coordinate system.

As an optional embodiment, judging whether the action information belongs to a trigger action includes: judging whether the scanner indicated by the action information continuously moves within a predetermined time period based on at least one angular velocity component; and determining whether the scanner continues within a predetermined time period In the case of motion, it is determined whether the scanner has at least one angular velocity component exceeding the predetermined amplitude based on the action information; when it is determined that the scanner has at least one angular velocity component exceeding the predetermined amplitude, it is determined that the action information is a trigger action.

In the above-mentioned embodiment of the present invention, after the user holds the scanner and performs an action, the scanner can acquire the action information of the scanner based on the angular velocity components of each axial direction in the three-dimensional rectangular coordinate system, and then obtain the action information of the scanner according to at least one of the action information. The angular velocity component can be used to reversely determine whether the scanner has performed continuous movement within a predetermined time period, and when it is determined that the scanner has performed continuous movement within a predetermined time period, it can be further determined whether the various angular velocity components of the scanner exceed A predetermined amplitude, and when at least one angular velocity component in each angular velocity component of the scanner exceeds the predetermined amplitude, it can be determined that the action information generated by the movement of the scanner is a trigger action.

As an optional embodiment, judging whether the scanner indicated by the action information continuously moves within a predetermined time period based on at least one angular velocity component includes: filtering at least one angular velocity component according to a predetermined threshold, and determining that each angular velocity component exceeds a predetermined threshold The threshold starting point and the threshold ending point of the threshold value, where the threshold starting point represents the starting time and the numerical value of the starting time when the angular velocity component exceeds the predetermined threshold, and the threshold ending point represents the ending time and the numerical value of the ending time when the angular velocity component exceeds the predetermined threshold; judging the predetermined time Whether the number of threshold starting points and threshold ending points within the threshold meets the predetermined number, and whether the numerical value of the threshold starting point and the threshold ending point alternate in positive and negative; the number of threshold starting points and threshold ending points meets the predetermined number, and In the case where the numerical value of the threshold starting point and the numerical value of the threshold ending point alternate between positive and negative, it is determined that the scanner continuously moves within a predetermined time period.

In the above embodiment of the present invention, in the process of judging whether the scanner is continuously moving in a predetermined time period, at least one angular velocity component can be filtered according to a predetermined threshold to determine the threshold starting point and the threshold ending point at which each angular velocity component exceeds the predetermined threshold, and then Determine whether the number of threshold starting points and threshold ending points within the predetermined time threshold meets the predetermined number, and whether the numerical value of the threshold starting point and the threshold ending point are continuously alternating positive and negative; and the number of threshold starting points and threshold ending points are consistent In the case of a predetermined number, and the numerical value of the threshold starting point and the numerical value of the threshold ending point continuously alternate positive and negative, it is determined that the scanner continuously moves within a predetermined time period.

It should be noted that every time the scanner rotates and swings back and forth, a certain angular velocity component of the scanner will generate a sine signal similar to a cycle. Using a predetermined threshold to filter the angular velocity component will generate four threshold points. , Including a positive threshold starting point and a positive threshold ending point, as well as a negative threshold starting point and a negative threshold ending point.

Optionally, when the trigger action is specified in advance for the scanner to perform two consecutive back and forth rotations, the trigger action may cause the angular velocity component of a certain axis to form a sinusoidal signal similar to two cycles, and then use a predetermined threshold to at least One angular velocity component is filtered, and the angular velocity components of the two-period sinusoidal signal will generate two sets of threshold points, where each set of threshold points includes four threshold points, that is, each set of threshold points includes a positive threshold starting point and A positive threshold end point, and a negative threshold start point and a negative threshold end point.

As an optional embodiment, after determining the threshold starting point and the threshold ending point at which each angular velocity component exceeds a predetermined threshold, the method further includes: monotonically performing angular velocity components based on adjacent threshold ending points and threshold starting points. Judgment of sex; according to the result of monotonic judgment, determine whether the movement of the scanner is continuous.

In the above-mentioned embodiment of the present invention, after determining the threshold starting point and the threshold ending point at which each angular velocity component exceeds a predetermined threshold, monotonic judgment can be made based on the angular velocity components between the adjacent threshold ending point and the threshold starting point to determine the scan Whether the movement of the meter between the end point of the threshold and the start point of the threshold is consistent.

As an optional embodiment, judging whether the action information belongs to a pointing action includes: judging whether the menu interface has been triggered; in the case that the menu interface has been triggered, determining the direction of the pointing action according to at least one angular velocity component; Direction Select a menu item in the menu interface.

In the above-mentioned embodiment of the present invention, after the action information is detected, it can be judged whether the menu interface has been triggered, and in the case that the menu interface has been triggered, it is judged whether the action information is a pointing action according to the angular velocity component of the action information. When the information is a pointing action, determine the instruction direction of the pointing action, and then select a menu item in the menu interface according to the instruction direction.

As an optional embodiment, determining the indication direction of the pointing action according to the at least one angular velocity component includes: determining the movement amplitude of the at least one movement direction according to the continuously recorded at least one angular velocity component, where the movement direction includes the scanner around the x-axis, The direction of the movement of the y-axis or the z-axis; the movement direction corresponding to the maximum value of the movement amplitude is determined as the indicated direction.

Optionally, by continuously recording the angular velocity components of the x-axis, y-axis or z-axis, the movement amplitude of the scanner in the x-axis, y-axis or z-axis direction can be determined, and the magnitude of the angular velocity components in any two directions can be determined. Or the magnitude of the motion amplitude determines the direction of the motion information.

As an optional embodiment, the menu interface includes: a selection cursor and at least one menu item, and selecting a menu item in the menu interface according to an indication direction includes: controlling a drop relationship between the selection cursor and the at least one menu item according to the indication direction ; According to the confirm instruction, select the menu item that the selection cursor falls into, where the confirm instruction is triggered by the length of time the selection cursor falls into, or is triggered by a specific action.

The above embodiments of the present invention can indicate the selection of a menu item based on the instruction direction of the pointing action. After the selection is completed, the confirmation instruction can be triggered to realize the determination of the menu item that the cursor falls into.

Optionally, the determination instruction may be triggered by the length of time that the selection cursor falls. For example, if the duration of the selection cursor falling into a certain menu item exceeds a predetermined time period, it is determined that the user completes the triggering of the determination instruction.

Optionally, the confirmation instruction can be triggered by a specific action. For example, after the cursor is selected and falls into a certain menu item, the scanner is based on the action. If the action of the scanner at this time belongs to a predetermined specific action, the confirmation instruction is completed trigger.

Optionally, the specific action used to trigger the confirmation instruction may be a special action such as drawing a circle, or may be an action in which the relationship between the selection cursor and the menu item cannot be changed according to the direction of the pointing action.

Optionally, the corresponding relationship (or drop-in relationship) between the cursor and the menu item can be changed by moving the selection cursor based on the pointing action; the relationship between the moving cursor and the menu item can also be changed by moving the menu item in the menu interface based on the pointing action. Correspondence between (or fall into the relationship).

As an optional embodiment, the menu interface includes multiple menu items, and the multiple menu item arrangement scheme includes one of the following: the multiple menu items are arranged in order, wherein the order arrangement includes at least a horizontal order arrangement and a vertical order arrangement; The menu items are arranged in a grid in both horizontal and vertical directions; multiple menu items are arranged in a ring layered manner, where the center of the ring is a circular area of at least one menu item, and at least one menu item is ringed outside the circular area Surround; multiple menu items are arranged in a circular single layer, where the shape of each menu item includes a circle, a circle, and a square.

The present invention also provides a preferred embodiment, which provides a method for controlling an intraoral three-dimensional scanner completely based on somatosensory actions.

The technical solution provided by the present invention utilizes the built-in inertial measurement sensor (IMU) in the body of the scanner, and operates through motion somatosensory to realize some functions such as menu selection and rotating model.

The three-dimensional scanner provided by the present invention can be separated from the mouse and the keyboard, and the physical buttons on the body of the three-dimensional scanner can be set, and the control of the three-dimensional scanner can be realized only by the inertial measurement sensor (IMU) in the body of the scanner.

Fig. 2 is a schematic diagram of a control flow of a scanner according to an embodiment of the present invention. As shown in Fig. 2, the whole method implementation scheme mainly includes: built-in IMU data processing and motion detection of the scanner, and related user interface menus in the scanning software (UI menu for short), the control flow is as follows: In the initial state, after detecting a special action on the scanner (hereinafter referred to as a trigger action), the UI menu is displayed in the software, and then the direction and direction of the scanner action are displayed in the software. Continuous detection of amplitude (referred to as pointing action hereinafter) is used to select menu items in the UI menu, and finally, confirm the selected menu item through the confirmation mechanism of the UI menu item. After the menu item is confirmed, the function corresponding to this menu item can be executed. The possible functions include but are not limited to start scan, stop scan, complete scan, reset, previous step, next step, enter IMU view control mode, etc.

It should be noted that the IMU view control mode refers to continuously detecting the motion direction and amplitude (pointing motion) of the scanner, and controlling the rotation, translation, or zooming of the 3D model view accordingly.

It should be noted that the built-in IMU data processing and motion detection of the scanner means that through continuous detection of the motion of the handheld scanner, the motion is processed and parsed into a trigger action and a pointing action.

FIG. 3 is a schematic diagram of a triggering action according to an embodiment of the present invention, and FIG. 4 is a schematic diagram of a triggering action according to an embodiment of the present invention. As shown in FIG. 3 and FIG. 4, the triggering action means that the scanner is on After a pause, the scanner rotates back and forth 2 times quickly and regularly, mainly including 2 rapid back and forth rotations in the up and down direction after a pause, 2 rapid swings in the left and right directions after a pause, and 2 rotations of the scanner itself after a pause.

Optionally, the pointing action means that the original IMU data of the scanner filters out noise, and the pointing action includes both the direction and amplitude of the action.

It should be noted that at any time, the above two types of actions may exist at the same time.

Optionally, the detection principle of the trigger action is: starting from a stationary state, make a continuous motion of the scanner with a rapid back and forth rotation and swing. During this continuous action, the angular velocity of the scanner around the corresponding axis of rotation will change rapidly, and the angular velocity value will change. After the change process of increase, decrease, zero crossing, reverse increase, and decrease, these numerical change processes can be obtained by real-time measurement of the IMU integrated in the scanner. Therefore, the real-time measurement data of the IMU can be used to realize the real-time detection of the scanning back and forth rotation and swing motion. The IMU can measure the angular velocity components of the scanner body around the x, y, and z axes, and perform the above-mentioned motion law detection on the three components. As long as one component passes the detection, the motion is considered to be detected, so as to achieve any direction Motion detection. In order to ensure the reliability of detection, the trigger action requires two consecutive swings, and must pause for more than 0.4 seconds before the action, and the entire action time period is required to be greater than 0.8 seconds to ensure that the IMU obtains enough data samples for Perform the detection processing of the above-mentioned actions.

Fig. 5 is a schematic diagram showing the angular velocity component of a trigger action according to an embodiment of the present invention, and Fig. 6 is a schematic diagram showing the angular velocity component of a trigger action according to an embodiment of the present invention, as shown in Figs. 5 and 6 From the data curves in Fig. 5 and Fig. 6, it can be seen that the angular velocity component data of the three axes is obviously less than 0.5 degrees/sec during the pause, and an effective action will form a two-period similar to the angular velocity component curve of a certain axis. Sinusoidal signal, and the signal amplitude is generally greater than 20 degrees/second; therefore, the following processing is performed on the data collected by the IMU:

1) First, filter with a set predetermined threshold, detect and record the threshold start point and threshold end point that exceed the predetermined threshold, determine the start time and start time value, and the end time and end time value, an effective trigger The action will form 4 consecutive positive and negative alternating records exceeding the predetermined threshold. A positive record exceeding the predetermined threshold includes a positive threshold starting point and a positive threshold ending point, and a negative record exceeding the predetermined threshold includes a negative The threshold starting point and a negative threshold ending point;

2) In order to further improve the rigor of the action detection (ie trigger action), the data between the threshold end point of the previous threshold exceeding the predetermined threshold and the starting point of the next threshold crossing is also subjected to monotonic judgment, that is, each one-way is required The swing is done coherently.

Optionally, the trigger action can be confirmed as a successful and effective triggering action after passing the above two detection processes at the same time and meeting the time period requirement. In addition, by adjusting the size of the predetermined threshold, the sensitivity of the action detection can be controlled.

Optionally, the detection principle of the pointing action is: continuously obtain the original data collected by the inertial measurement sensor (IMU) (and filter out slight jitter), including the angular velocity in 3 directions and the acceleration in 3 directions, which are selected according to the current application scenario Required data. Take the menu selection process as an example. At this time, only the angular velocities in two directions are needed. By continuously recording and comparing the magnitudes of these two angular velocities, the direction and amplitude of the current scanner rotation can be judged, and then up, down, and left can be selected. , The menu in the four directions on the right. After the menu is selected, the data is still continuously recorded and compared to execute the subsequent menu confirmation mechanism.

Fig. 7 is a schematic diagram of a vertical arrangement of menu items in order according to an embodiment of the present invention. As shown in Fig. 7, the menu items are arranged in order vertically; in the process of menu item selection, a menu item is initially selected, and then The menu selection is performed according to the pointing action of the scanner. When the scanner rotates upward, the menu above the current menu item is selected, and when the scanner rotates downward, the menu below the current menu item is selected.

Optionally, after selecting a menu item, confirm the menu item according to the pointing action of the scanner plus a countdown, as follows: the scanner rotates to the right (or left), and the current menu item also moves to the right ( Or move to the left). When the menu item moves beyond a predetermined range, it enters the countdown area and starts a countdown of a predetermined time (such as 1 second). Keep this state until the countdown is completed, and the menu item is successfully confirmed. If the menu item moves in the opposite direction with the pointing action of the scanner before the countdown is completed, and moves out of the countdown area, the countdown will stop.

Optionally, the menu items can also be arranged in order horizontally, the left and right pointing actions of the scanner are used to select the menu items, and the up and down pointing actions of the scanner are used to confirm the menu items.

Fig. 8 is a schematic diagram of a grid arrangement of menu items in horizontal and vertical directions according to an embodiment of the present invention. As shown in Fig. 8, the menu items are arranged in a grid in both horizontal and vertical directions; in the process of menu item selection , Initially select a menu item, and then select the menu according to the pointing action of the scanner. When the scanner rotates to the left (right), then the menu on the left (right) of the current menu item is selected, and the scanner rotates up (down), Then select the menu above (below) the current menu item.

Optionally, after selecting a certain menu item, confirm the menu item according to the countdown, as follows: After selecting a certain menu item, the countdown of a predetermined time (for example, 3 seconds) will start, and this state will be maintained until the countdown is completed. The item was successfully confirmed. If another menu item is selected before the countdown is completed, this menu item will stop the countdown and the newly selected menu item will start the countdown.

Fig. 9 is a schematic diagram of a kind of menu items arranged in a ring in multiple layers according to an embodiment of the present invention. As shown in Fig. 9, the menu items are arranged in a ring and the menu item at the center position is added; in the menu item selection process Select the menu item in the center initially, and then select the menu according to the pointing action of the scanner. When the scanner rotates to the left (right), the menu item on the left (right) of the current menu item is selected, and the scanner moves up (down) ) Turn to select the menu above (below) the current menu item.

Optionally, after selecting the menu item in the center position, confirm the menu item according to the countdown, as follows: After the center menu item is selected, the countdown of a predetermined time (for example, 3 seconds) starts, and this state is maintained until the countdown is completed, The menu item was successfully confirmed. If another menu item is selected before the countdown is completed, this menu item will stop the countdown.

Optionally, after a certain menu item in the outer ring, according to the pointing action of the scanner plus a countdown, the menu item is confirmed, and the menu item on the right is described: after the menu item on the right is selected, the scanner rotates to the right , The current menu item also moves to the right. When the menu item moves beyond the predetermined range, it enters the countdown area and starts the countdown for a predetermined time (such as 1 second). Keep this state until the countdown is completed, and the menu item is successfully confirmed. If the menu item moves in the opposite direction with the pointing action of the scanner before the countdown is completed, and moves out of the countdown area, the countdown will stop.

Fig. 10 is a schematic diagram of a single layer arrangement of menu items in a ring according to an embodiment of the present invention. As shown in Fig. 10, the menu items are arranged in a ring, where each menu item can be a circle, a ring, a square, etc. Various shapes; in the process of menu item selection, you can select a fixed point first, adjust the position of the menu item by pointing to the action, so that the menu item at the fixed point is selected, take the fixed point to the bottom as an example : Always select the bottom menu item, and then rotate the entire ring menu according to the pointing action of the scanner. When the scanner rotates to the left, the ring menu rotates clockwise. When the scanner rotates to the right, the ring menu rotates counterclockwise. Each menu item has the opportunity to be located at a fixed point.

Optionally, the fixed point can also be placed at the top, left, right, etc.

Optionally, after selecting a menu item, confirm the menu item according to the pointing action of the scanner plus a countdown. The details are as follows: the scanner rotates in the direction of the center of the circle (or away from the center of the circle), and the current menu item also follows the direction of the center of the circle. It moves toward the center of the circle (or away from the center of the circle). When the menu item moves beyond the predetermined range, it enters the countdown area and starts the countdown for a predetermined time (such as 1 second). Keep this state and after the countdown is completed, the menu item is successfully confirmed. If the menu item moves in the opposite direction with the pointing action of the scanner before the countdown is completed, and moves out of the countdown area, the countdown will stop.

The three-dimensional scanner provided by the present invention can completely scan control based on somatosensory actions without the need to design the fuselage buttons, so there is no need to set physical buttons or other supporting hardware for the scanner, and reduce the design cost of the scanner; and By setting the arrangement mode, selection mode, and confirmation mechanism of the menu items in the menu interface, it is more convenient for the user to control the scanner.

According to yet another embodiment of the present invention, there is also provided a storage medium, the storage medium including a stored program, wherein the scanner control method described in any one of the above is executed when the program is running.

According to another embodiment of the present invention, there is also provided a processor, the processor is configured to run a program, wherein the scanner control method described in any one of the above is executed when the program is running.

According to the embodiment of the present invention, an embodiment of a scanner control device is also provided. It should be noted that the control device of the scanner can be used to execute the scanner control method in the embodiment of the present invention. The control method of the scanner in can be executed in the control device of the scanner.

Fig. 11 is a schematic diagram of a scanner control device according to an embodiment of the present invention. As shown in Fig. 11, the device may include: a first detection unit 1102 configured to detect the action information of the scanner; To determine whether the action information is a trigger action, the trigger action is used to trigger the display of the menu interface of the scanner; the second detection unit 1106 is set to continue to detect the action information after displaying the menu interface based on the trigger action, and determine whether the action information is It belongs to a pointing action, where the pointing action is used to select menu items in the menu interface; the control unit 1108 is set to control the scanner based on the trigger action and the pointing action.

It should be noted that the first detection unit 1102 in this embodiment can be configured to perform step S102 in the embodiment of the present application, and the judgment unit 1104 in this embodiment can be configured to perform step S104 in the embodiment of the present application. The second detection unit 1106 in the embodiment may be configured to perform step S106 in the embodiment of the present application, and the control unit 1108 in this embodiment may be configured to perform step S108 in the embodiment of the present application. The examples and application scenarios implemented by the foregoing units and corresponding steps are the same, but are not limited to the content disclosed in the foregoing embodiments.

In the embodiment of the present invention, the action information of the scanner is detected; it is determined whether the action information is a trigger action, wherein the trigger action is used to trigger the display of the menu interface of the scanner; after the menu interface is displayed based on the trigger action, continue to detect the action information , And determine whether the action information belongs to a pointing action, where the pointing action is used to select menu items in the menu interface; based on the trigger action and pointing action, to control the scanner, you can start the menu interface by triggering the action, and in the menu interface by triggering the action Selecting the menu item achieves the purpose of completely relying on the user's action information to control the scanner, thereby achieving the technical effect of controlling the scanner without the physical button, and solving the technical problem that the scanner cannot be controlled by the physical button .

As an optional embodiment, the first detection unit and the second detection unit include: a detection module configured to detect at least one angular velocity component of the scanner in the spatial coordinate system, wherein each angular velocity component is used to represent the scanner Move around the x-axis, y-axis, or z-axis.

As an optional embodiment, the judging unit includes: a first judging module configured to judge whether there is at least one angular velocity component whose continuous variation amplitude exceeds a predetermined threshold within a predetermined time period; the first determining module is configured to When the continuous change amplitude of at least one angular velocity component in the period exceeds the predetermined threshold, it is determined that the action information is a trigger action; the second determining module is set to not exist within the predetermined time period, and the continuous change amplitude of at least one angular velocity component exceeds the predetermined threshold. In the case, it is determined that the action information does not belong to the trigger action.

As an optional embodiment, the first judgment module includes: a recording module configured to record the threshold starting point and the threshold ending point of each angular velocity component within a predetermined time period, wherein the threshold starting point indicates that the angular velocity component exceeds the predetermined threshold The threshold end point represents the end time and end time value of the angular velocity component exceeding the predetermined threshold; the first judgment sub-module is set to judge whether the number of threshold start point and threshold end point meets the predetermined number, And whether the numerical value of the threshold starting point and the threshold ending point are continuously alternating between positive and negative; the second judgment sub-module is set to set the threshold starting point and the threshold ending point to meet the predetermined number, and the threshold starting point’s numerical value and the threshold ending point When the value of is continuously alternating between positive and negative, it is judged whether the action indicated by the action information is continuous according to the adjacent threshold end point and threshold starting point; the third determination module is set to be set when the action indicated by the action information is continuous , It is determined that the angular velocity component continuously changes more than a predetermined threshold within a predetermined time period.

As an optional embodiment, the judging unit includes: a first judging module configured to judge whether the scanner indicated by the action information continuously moves within a predetermined time period based on at least one angular velocity component; and a second judging module configured to When it is determined that the scanner is continuously moving within a predetermined time period, it is determined based on the action information whether at least one angular velocity component of the scanner exceeds the predetermined amplitude; the fourth determining module is configured to determine that the scanner has at least one angular velocity component that exceeds the predetermined amplitude In the case of the value, it is determined that the action information belongs to the trigger action.

As an optional embodiment, the first judgment module includes: a filtering module configured to filter at least one angular velocity component according to a predetermined threshold, and determine a threshold starting point and a threshold ending point at which each angular velocity component exceeds the predetermined threshold, wherein the threshold The starting point represents the starting time and the numerical value of the starting time when the angular velocity component exceeds the predetermined threshold, and the threshold ending point represents the ending time and the numerical value of the ending time when the angular velocity component exceeds the predetermined threshold; the third judgment module is set to judge the threshold within the predetermined time threshold. Whether the number of start point and threshold end point meets the predetermined number, and whether the numerical value of the threshold start point and the threshold end point continuously alternate positive and negative; the fifth determining module is set to meet the predetermined number at the threshold start point and threshold end point , And when the numerical value of the threshold starting point and the numerical value of the threshold ending point continuously alternate positive and negative, it is determined that the scanner continuously moves within a predetermined time period.

As an optional embodiment, the device further includes: a fourth judgment module configured to determine the threshold starting point and the threshold ending point at which each angular velocity component exceeds a predetermined threshold, based on the adjacent threshold ending points and threshold starting points. The angular velocity component between the starting points is subjected to monotonicity judgment; the sixth determining module is set to determine whether the motion of the scanner is continuous according to the monotonicity judgment result.

As an optional embodiment, the second detection unit includes: a fifth determining module, configured to determine whether the menu interface has been triggered; a seventh determining module, configured to determine whether the menu interface has been triggered according to at least one The angular velocity component determines the pointing direction of the action; the selection module is set to select menu items in the menu interface according to the pointing direction.

As an optional embodiment, the seventh determining module includes: an eighth determining module configured to determine the motion amplitude of at least one motion direction according to the continuously recorded at least one angular velocity component, where the motion direction includes the scanner around the x-axis, The direction of movement of the y-axis or the z-axis; the ninth determining module is set to determine the direction of movement corresponding to the maximum value of the movement amplitude as the indicated direction.

As an optional embodiment, the menu interface includes: a selection cursor and at least one menu item, and the selection module includes: a control module configured to control the falling relationship between the selection cursor and the at least one menu item according to an indication direction; and the selection module , Is set to select the menu item where the selection cursor falls according to the confirm instruction, where the confirm instruction is triggered by the length of time the selection cursor falls, or is triggered by a specific action.

As an optional embodiment, the menu interface includes multiple menu items, and the multiple menu item arrangement scheme includes one of the following: the multiple menu items are arranged in order, wherein the order arrangement includes at least a horizontal order arrangement and a vertical order arrangement; The menu items are arranged in a grid in both horizontal and vertical directions; multiple menu items are arranged in a ring layered manner, where the center of the ring is a circular area of at least one menu item, and at least one menu item is ringed outside the circular area Surround; multiple menu items are arranged in a circular single layer, where the shape of each menu item includes a circle, a circle, and a square.

Fig. 12 is a schematic diagram of a scanner according to an embodiment of the present invention. As shown in Fig. 12, the device may include: an inertial measurement sensor 1202 configured to collect action information; and a processing device 1204, which communicates with the inertial measurement sensor, Set to receive the action information; determine whether the action information belongs to a trigger action; after displaying the menu interface based on the trigger action, continue to receive the action information, and determine whether the action information belongs to a pointing action; based on The trigger action displays a menu interface of the scanner, and based on the pointing action, a menu item in the menu interface is selected to control the scanner.

In the embodiment of the present invention, the action information of the scanner is detected; it is determined whether the action information is a trigger action, wherein the trigger action is used to trigger the display of the menu interface of the scanner; after the menu interface is displayed based on the trigger action, continue to detect the action information , And determine whether the action information belongs to a pointing action, where the pointing action is used to select menu items in the menu interface; based on the trigger action and pointing action, to control the scanner, you can start the menu interface by triggering the action, and in the menu interface by triggering the action Selecting the menu item achieves the purpose of completely relying on the user's action information to control the scanner, thereby achieving the technical effect of controlling the scanner without the physical button, and then solving the technology that the scanner cannot be separated from the physical button control. problem.

Fig. 13 is a schematic diagram of a scanner control system according to an embodiment of the present invention. As shown in Fig. 13, the device may include: a scanner 1302, configured to collect action information; and a computer 1304, communicating with the scanner, Set to receive the action information; determine whether the action information belongs to a trigger action; after displaying the menu interface based on the trigger action, continue to receive the action information, and determine whether the action information belongs to a pointing action; based on The trigger action displays a menu interface of the scanner, and based on the pointing action, a menu item in the menu interface is selected to control the scanner.

In the embodiment of the present invention, the action information of the scanner is detected; it is determined whether the action information is a trigger action, wherein the trigger action is used to trigger the display of the menu interface of the scanner; after the menu interface is displayed based on the trigger action, continue to detect the action information , And determine whether the action information belongs to a pointing action, where the pointing action is used to select menu items in the menu interface; based on the trigger action and pointing action, to control the scanner, you can start the menu interface by triggering the action, and in the menu interface by triggering the action Selecting the menu item achieves the purpose of completely relying on the user's action information to control the scanner, thereby achieving the technical effect of controlling the scanner without the physical button, and then solving the technology that the scanner cannot be separated from the physical button control. problem.

The sequence numbers of the foregoing embodiments of the present invention are only for description, and do not represent the superiority or inferiority of the embodiments.

In the above-mentioned embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in an embodiment, reference may be made to related descriptions of other embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units may be a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or may be Integrate into another system, or some features can be ignored or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, units or modules, and may be in electrical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.

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 invention essentially or the part that contributes to the existing 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 several instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage media include: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program code .

The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications are also Should be regarded as the protection scope of the present invention.

Claims (14)

1. A control method of a scanner includes:

   Detect the movement information of the scanner;

   Judging whether the action information belongs to a trigger action, wherein the trigger action is used to trigger the display of the menu interface of the scanner;

   After displaying the menu interface based on the trigger action, continue to detect the action information and determine whether the action information belongs to a pointing action, wherein the pointing action is used to select a menu item in the menu interface;

   Based on the trigger action and the pointing action, the scanner is controlled.
2. The method according to claim 1, wherein detecting the action information of the scanner comprises:

   At least one angular velocity component of the scanner in the spatial coordinate system is detected, where each angular velocity component is used to represent the movement of the scanner around the x-axis, y-axis, or z-axis.
3. The method according to claim 2, wherein determining whether the action information belongs to a trigger action comprises:

   Judging whether the scanner indicated by the motion information continuously moves within a predetermined time period based on at least one of the angular velocity components;

   In the case where it is determined that the scanner is continuously moving within a predetermined time period, judging whether there is at least one angular velocity component of the scanner that exceeds a predetermined amplitude based on the motion information;

   In a case where it is determined that at least one angular velocity component of the scanner exceeds the predetermined amplitude, it is determined that the action information belongs to the trigger action.
4. The method according to claim 3, wherein determining whether the scanner indicated by the motion information continuously moves within a predetermined time period based on at least one of the angular velocity components comprises:

   The at least one angular velocity component is filtered according to a predetermined threshold, and a threshold starting point and a threshold ending point at which each angular velocity component exceeds the predetermined threshold are determined, wherein the threshold starting point indicates that the angular velocity component exceeds the A starting time of a predetermined threshold and a numerical value of the starting time, and the threshold ending point represents the ending time of the angular velocity component exceeding the predetermined threshold and the numerical value of the ending time;

   Determining whether the number of the threshold starting point and the threshold ending point within the predetermined time threshold meets a predetermined number, and whether the numerical value of the threshold starting point and the threshold ending point continuously alternate positive and negative;

   In the case that the number of the threshold starting point and the threshold ending point meets a predetermined number, and the numerical value of the threshold starting point and the numerical value of the threshold ending point continuously alternate positive and negative, it is determined that the scanner is at the predetermined time Continuous movement during the cycle.
5. The method according to claim 4, wherein, after determining a threshold starting point and a threshold ending point at which each of the angular velocity components exceeds the predetermined threshold, the method further comprises:

   Making a monotonicity judgment based on the angular velocity component between the adjacent threshold end point and the threshold starting point;

   According to the monotonicity judgment result, it is determined whether the motion of the scanner is continuous.
6. The method according to claim 2, wherein determining whether the action information belongs to a pointing action comprises:

   Determine whether the menu interface has been triggered;

   In the case that the menu interface has been triggered, determining the indication direction of the pointing action according to at least one of the angular velocity components;

   Select the menu item in the menu interface according to the indication direction.
7. The method according to claim 6, wherein determining the indication direction of the pointing action according to at least one of the angular velocity components comprises:

   Determining the motion amplitude of at least one motion direction according to at least one of the angular velocity components continuously recorded, wherein the motion direction includes the direction in which the scanner moves around the x-axis, the y-axis, or the z-axis;

   It is determined that the movement direction corresponding to the maximum value of the movement amplitude is an indication direction.
8. The method according to claim 6, wherein the menu interface comprises: a selection cursor and at least one of the menu items, and selecting the menu item in the menu interface according to the indication direction comprises:

   Controlling the falling relationship between the selection cursor and at least one of the menu items according to the indication direction;

   The menu item into which the selection cursor falls is selected according to a determination instruction, wherein the determination instruction is triggered by the length of time the selection cursor falls, or is triggered by a specific action.
9. 8. The method according to any one of claims 1 to 8, wherein the menu interface includes a plurality of the menu items, and the plurality of menu item arrangement schemes include one of the following:

   A plurality of the menu items are arranged in order, wherein the order arrangement includes at least a horizontal order arrangement and a vertical order arrangement;

   A plurality of said menu items are arranged in a grid in both horizontal and vertical directions;

   The plurality of menu items are arranged hierarchically in a ring, wherein the center of the ring is a circular area of at least one of the menu items, and the outside of the circular area is surrounded by at least one of the menu items in a ring;

   The plurality of the menu items are arranged in a circular single layer, wherein the shape of each of the menu items includes a circle, a circle, and a square.
10. A control device for a scanner includes:

    The first detection unit is configured to detect the action information of the scanner;

    A judging unit, configured to judge whether the action information belongs to a trigger action, wherein the trigger action is used to trigger the display of the menu interface of the scanner;

    The second detection unit is configured to continue to detect the action information after displaying the menu interface based on the trigger action, and determine whether the action information belongs to a pointing action, wherein the pointing action is used to select the menu Menu items in the interface;

    The control unit is configured to control the scanner based on the trigger action and the pointing action.
11. A scanner including:

    Inertial measurement sensor, set to collect action information;

    The processing device communicates with the inertial measurement sensor and is configured to receive the action information; determine whether the action information is a trigger action; after displaying the menu interface based on the trigger action, continue to receive the action information, and determine Whether the action information belongs to a pointing action; displaying a menu interface of the scanner based on the trigger action, selecting a menu item in the menu interface based on the pointing action, and controlling the scanner.
12. A scanner control system, including:

    Scanner, set to collect action information;

    The computer communicates with the scanner and is configured to receive the action information; determine whether the action information is a trigger action; after displaying the menu interface based on the trigger action, continue to receive the action information and determine the action Whether the information belongs to a pointing action; displaying the menu interface of the scanner based on the trigger action, selecting a menu item in the menu interface based on the pointing action, and controlling the scanner.
13. A storage medium including a stored program, wherein the program executes the scanner control method according to any one of claims 1 to 9.
14. A processor configured to run a program, wherein the scanner control method according to any one of claims 1 to 9 is executed when the program is running.

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