WO2021138763A1

WO2021138763A1 - Three-dimensional scanning apparatus and method

Info

Publication number: WO2021138763A1
Application number: PCT/CN2020/070438
Authority: WO
Inventors: 罗一俊
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-01-06
Filing date: 2020-01-06
Publication date: 2021-07-15
Also published as: CN113366280A

Abstract

A three-dimensional scanning apparatus, comprising: a distance measuring module (11) and a motor module (12), wherein the distance measuring module (11) is installed on the motor module (12); the field of view of the distance measuring module (11) in a specific direction is less than 180 degrees; the motor module (12) is used to rotate a specific angle in a specific direction every specified time, and the specific angle is less than the field of view in the specific direction; the distance measuring module (11) is used to scan a target environment within the specified time to obtain point cloud data; and the three-dimensional scanning apparatus is also used to fuse the angle of the motor module (12) and the point cloud data when the motor module (12) stops rotating to obtain a three-dimensional point cloud image. Further disclosed is a three-dimensional scanning method, which achieves the real-time outputting of a modeling effect corresponding to each specified time. Further, the process of modeling while scanning helps to shorten the modeling duration, thus optimizing the use experience of a user.

Description

Three-dimensional scanning device and method

Technical field

This application relates to the field of three-dimensional scanning, and in particular to a three-dimensional scanner and method.

Background technique

Three-dimensional scanners are used to detect and analyze the shape (geometric structure) and appearance data (such as color, surface albedo, etc.) of objects or environments in the real world. In the application process, the 3D scanner collects the data of the object or environment in the real world for 3D reconstruction, that is, creates a point cloud of the geometric surface of the object. These points can be used to interpolate the surface shape of the object to create the actual object in the virtual world. Digital model. In related technologies, a 3D scanner needs to scan a complete object or environment before modeling, and it needs to wait a long modeling time to obtain modeling results, and the user experience is not good.

Summary of the invention

In view of this, one of the objectives of the embodiments of the present application is to provide a three-dimensional scanner and method.

First, according to the first aspect of the embodiments of the present application, there is provided a three-dimensional scanning device, including a ranging module and a motor module; the ranging module is installed on the motor module; The angle of view is less than 180 degrees;

The motor module is configured to rotate a specific angle in the specific direction every specific time, and the specific angle is smaller than the angle of view in the specific direction;

The ranging module is used to scan the target environment within the specified time to obtain point cloud data;

The three-dimensional scanning device is also used to fuse the angle of the motor module when the motor module stops rotating and the point cloud data to obtain a three-dimensional point cloud image.

According to a second aspect of the embodiments of the present application, a three-dimensional scanning method is provided, which is applied to a three-dimensional scanning device, the three-dimensional scanning device includes a ranging module and a motor module, the ranging module is installed on the motor module, The angle of view of the ranging module in a specific direction is less than 180 degrees, and the method includes:

Controlling the motor module to rotate a specific angle in the specific direction every specific time; the specific angle is smaller than the angle of view in the specific direction; and,

Within the specified time, scan the target through the ranging module to obtain point cloud data;

The angle of the motor module when the motor module stops rotating and the point cloud data are fused to obtain a three-dimensional point cloud image.

The embodiments of the present application have the following beneficial effects:

In this embodiment, the motor module is used to rotate a specific angle in the specific direction every specified time, and the specific angle is smaller than the angle of view in the specific direction, and the ranging module is used to rotate in the specified direction. Scan the target environment within time to obtain point cloud data, and then only need to synchronize the point cloud data obtained from each scan of the motor module, without the need for the angle of the motor module and the point of the ranging module The process of real-time synchronization between cloud data does not require high hardware configuration, which is conducive to reducing the cost of hardware expenditure. The process of real-time synchronization also effectively saves operating resources, and while saving operating resources, the ranging module is The motor module fully scans the target environment within its field of view within a specified time each time it stops rotating, ensuring the accuracy of the obtained three-dimensional point cloud image, and this embodiment achieves the modeling effect corresponding to each specified time Further, the process of modeling while scanning is also beneficial to shorten the modeling time and optimize the user experience.

It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the application.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative labor.

Fig. 1 is a structural diagram of a first three-dimensional scanning device 10 according to an exemplary embodiment of the present application.

Fig. 2A is a scanning trajectory of a laser radar in 0.1s according to an exemplary embodiment of the present application.

Fig. 2B shows the scanning trajectory of the lidar within 0.2s according to an exemplary embodiment of the present application.

Fig. 3 is a structural diagram of a second three-dimensional scanning device 10 according to an exemplary embodiment of the present application.

Fig. 4 is a structural diagram of a third three-dimensional scanning device 10 according to an exemplary embodiment of the present application.

Fig. 5 is a structural diagram of a fourth three-dimensional scanning device 10 according to an exemplary embodiment of the present application.

Fig. 6 is a structural diagram of a fifth three-dimensional scanning device 10 according to an exemplary embodiment of the present application.

Fig. 7 is a structural diagram of a sixth three-dimensional scanning device 10 according to an exemplary embodiment of the present application.

Fig. 8 is a flowchart of a three-dimensional scanning method according to an exemplary embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

In response to problems in related technologies, this application provides a three-dimensional scanning device. The motor module includes a distance measuring module and a motor module. In the process of scanning the target environment, the motor module rotates every specified time. The distance measuring module scans the target environment within a specified time to obtain point cloud data, and the three-dimensional scanning device merges the point cloud data scanned within the specified time with the angle when the motor module stops rotating to obtain a three-dimensional point cloud image , The real-time output of the modeling effect corresponding to each specified time is realized, and the process of modeling while scanning is also conducive to shortening the modeling time, thereby optimizing the user experience.

Please refer to FIG. 1, which is a structural diagram of a first three-dimensional scanning device 10 according to an exemplary embodiment of this application. The three-dimensional scanning device 10 includes a ranging module 11 and a motor module 12; the ranging module 11 is installed On the motor module 12; the field angle of the ranging module 11 in a specific direction is greater than 0 degrees and less than 180 degrees.

The motor module 12 is configured to rotate a specific angle in the specific direction every specific time, and the specific angle is smaller than the angle of view in the specific direction.

The ranging module 11 is used to scan the target environment within the specified time to obtain point cloud data.

The three-dimensional scanning device 10 is also used to fuse the angle of the motor module 12 when the motor module 12 stops rotating and the point cloud data to obtain a three-dimensional point cloud image.

Wherein, the ranging module 11 can only scan the target environment within its field of view. Since the field of view of the ranging module 11 in a specific direction is greater than 0 degrees and less than 180 degrees, in the specific direction In the direction, if the range of the target environment to be acquired is greater than the angle of view of the ranging module 11, the motor module 12 needs to be used to change the range of the ranging module 11 by the rotation of the motor module 12 The position is scanned, so that the ranging module 11 can scan to various positions in the target environment.

In an embodiment, the distance measuring device includes a distance measuring module and a scanning module, the distance measuring module is used to transmit a light pulse sequence to the scanning module, and the scanning module is used to change the The light pulse sequence is emitted after the transmission direction, and the light pulse sequence reflected by the target environment passes through the scanning module and then enters the ranging module, and the ranging module is used to obtain the light pulse sequence based on the reflected light pulse sequence. Point cloud data; in the scanning process, the scanning module moves relative to the ranging module, so that the ranging module 11 performs an all-round scan of the target environment within the field of view.

It is understandable that the embodiment of the present application does not impose any restrictions on the specific type of the distance measuring device, and specific selections can be made according to actual application scenarios.

In an exemplary embodiment, the ranging module 11 is a lidar, and the lidar scans the target environment in a non-repetitive scanning manner to obtain point cloud data; among them, please refer to FIG. 2A (FIG. 2A is a lidar The scanning trajectory within 0.1s) and Figure 2B (Figure 2B is the scanning trajectory of the lidar within 0.2s). Figures 2A and 2B take the same view angle of the lidar in any direction as an example for illustration. The scanning result is presented as a circular area, and the non-repetitive scanning mode means that during the scanning process, the laser radar scanning track will not repeat; within the field of view of the ranging module 11, the area of the area irradiated by the laser It will increase over time, and the scanning coverage will increase significantly over time. The non-repetitive scanning method can reduce the probability of missed detection of the target environment within the field of view, which helps to detect more details in the field of view.

In addition, those skilled in the art can understand that the field of view angle of the ranging module 11 can be set based on actual requirements, and the embodiment of the present application does not impose any limitation on this. In an example, the ranging module 11 The angle of view in any direction is the same, such as 40 degrees; or the angle of view of the ranging module 11 in any direction can also be different, for example, the angle of view in the horizontal direction is 50 degrees, and the angle of view in the vertical direction is 50 degrees. The angle of view in the straight direction is 40 degrees.

In one embodiment, considering that the process of scanning the target environment within its field of view by the distance measuring module 11 takes a certain amount of time, the motor module 12 is configured to scan the target environment at regular intervals. The specific direction is rotated by a specific angle, so as to ensure that the scanning position of the ranging module 11 is changed after the ranging module 11 completes scanning of the target environment within its field of view, so that in a specific direction, the ranging module 11 The module 11 can scan different positions of the target environment, and the specific angle at which the motor module 12 rotates is smaller than the angle of view of the ranging module 11 in a specific direction, so as to prevent a certain position of the target environment from being missed. Check to ensure the completeness and accuracy of the three-dimensional scanned image generated for the target environment in a specific direction.

In each specified time, the ranging module 11 scans the target environment within its field of view to obtain point cloud data, and then each time the motor module 12 stops rotating, the three-dimensional The scanning device 10 fuses the angle when the motor module 12 stops rotating and the point cloud data scanned by the distance measuring module 11 within a specified time when the motor module 12 stops rotating to obtain a three-dimensional point cloud image.

In this embodiment, it is only necessary to synchronize the fusion of the angle each time the motor module 12 stops rotating with the point cloud data scanned by the distance measuring module 11 within a specified time corresponding to each stop rotating. The process of real-time synchronization between the angle of the motor module 12 and the point cloud data of the ranging module 11 is not required, and the hardware configuration requirements are not high, which is beneficial to reduce the cost of hardware expenditure, and the process of real-time synchronization is also effective. Operating resources, and while saving operating resources, the ranging module 11 fully scans the target environment within its field of view within the specified time each time the motor module 12 stops rotating, ensuring that the three-dimensional point cloud image is obtained Moreover, this embodiment realizes the real-time output of the modeling effect corresponding to each specified time. Further, the process of modeling while scanning is also beneficial to shorten the modeling time and optimize the user experience.

It should be noted that in order to shorten the scanning and modeling time, the motor module 12 is required to complete the task of rotating a specific angle in the shortest possible time, that is, the time required for each rotation of the motor module 12 is extremely short. If the scanning function of the ranging module 11 is turned on and off during each rotation period of the motor module 12, the motor module 12 must be rotated and turned off each time the ranging module 11 is turned on. The time of the scanning function, the time when the motor module 12 finishes rotating, and the time when the scanning function of the distance measuring module 11 is turned on are synchronized. Not only is the operation cumbersome and complicated, but also requires additional control resources. The frequent switching process also causes electricity. The waste of resources, therefore, in order to avoid the frequent opening and closing of the scanning function of the distance measuring module 11 during multiple rotation periods of the motor module 12, the loss of control resources and power resources is caused. 12 During the rotation, the ranging module 11 does not stop scanning, that is to say, in the process of scanning the target environment, regardless of whether the motor module 12 is in a rotating state or a stationary state, the ranging module 11 is always Perform the task of scanning the target environment until the end of the scanning task, and in the embodiment of the present application, only the angle of the motor module 12 each time it stops rotating and the specified time when the motor module 12 stops rotating are used by the distance measuring module 11 The point cloud data obtained by scanning can be synchronized and merged.

Of course, those skilled in the art can understand that the embodiment of the present application may also include turning off the scanning function of the distance measuring module 11 during the rotation of the motor module 12, and turning on the measuring function when the motor module 12 stops rotating. The scanning function of the distance module 11, and the technical solution of scanning the point cloud data by the distance measuring module 11 within the specified time when the motor module 12 stops rotating. The selection and application of specific implementation methods can be carried out according to actual application scenarios. For specific selection, the embodiment of this application does not impose any restriction on this.

It is understandable that the embodiment of the present application does not impose any restriction on the specified time, and can be specifically set according to actual needs. In an example, during the scanning process, the scanning density of the ranging module 11 within the field of view gradually increases. Based on the actual requirements, the requirements for the scanning density are different, and the specified time may be based on The scanning density is determined, thereby ensuring the accuracy of the determined designated time.

As a possible implementation, the specified time may be set to be greater than half of the time required for the scanning density to reach the peak value. As another possible implementation manner, within the specified time, the scanning density of the ranging module 11 reaches at least half of the peak value, that is, the specified time is the scanning density of the ranging module 11 at least The time required to reach half of the peak value.

Please refer to FIG. 3, which is a structural diagram of a second three-dimensional scanning device 10 according to an exemplary embodiment of the present application. The distance measuring module 11 is connected to the motor module 12, and the motor module 12 is also used to collect data. And send its own posture information to the ranging module 11; the ranging module 11 is also used to receive the posture information of the motor module 12, and determine the angle when the motor module 12 stops rotating according to the posture information, The angle and the point cloud data obtained within the specified time of stopping the rotation of this time are fused to obtain a three-dimensional point cloud image; in the embodiment of the present application, the motor module 12 and the distance measuring module 11 can obtain the data. The three-dimensional point cloud image has a simple structure, which is beneficial to reduce hardware costs.

Wherein, the posture information may include the rotation angle of the motor module 12, the motor module 12 collects its own rotation angle in real time and sends it to the ranging module 11, and the ranging module 11 can be based on multiple rotation angles. The acquisition time corresponding to it determines the actual rotation speed of the motor module 12, and further, the angle at which the actual rotation speed of the motor module 12 is zero can be determined according to the rotation angle of the motor module 12, and then the angle and the current The point cloud data obtained within the specified time when the actual rotation speed is zero is synchronized and fused to obtain a three-dimensional point cloud image; in the embodiment of the present application, the motor module 12 and the ranging module 11 can realize the three-dimensional point cloud image The real-time output, simple structure, is conducive to reducing hardware costs.

In an embodiment, please refer to FIG. 4, which is a structural diagram of a third three-dimensional scanning device 10 according to an exemplary embodiment of this application. The ranging module 11 includes a processing unit 111, and the motor module 12 includes The motor 121 and the encoder 122, the processing unit 111 is respectively connected to the motor 121 and the encoder 122, and the processing unit 111 is configured to send control instructions to the motor 121 at intervals of the specified time; The control instruction is used to control the motor 121 to rotate in the specific direction at a specified speed at the specified angle; the motor 121 is used to rotate in the specified direction at a specified speed according to the control instruction until the motor is rotated. The specific angle; wherein, the working state of the motor 121 is a process of rotating and stationary alternately, and the specified rotation speed represents the maximum rotation speed that the motor module 12 needs to reach during each rotation, that is, every time During the second rotation, the rotation speed of the motor 121 changes from 0 to the specified rotation speed, and then from the specified rotation speed to 0.

The encoder 122 is used to detect the rotation angle of the motor 121 and send it to the processing unit 111, and the processing unit 111 is used to receive the rotation angle of the motor 121 sent by the encoder 122, and then can The actual rotation speed of the motor 121 is determined according to multiple rotation angles and their respective detection times. Further, the angle at which the motor stops rotating (the actual rotation speed is zero) can be determined according to the rotation angle of the motor 121, and then the The angle when the actual rotation speed of the motor 121 is zero and the point cloud data obtained at the specified time when the actual rotation speed is zero this time are merged to obtain a three-dimensional point cloud image; The angle at the second stop of rotation and the point cloud data scanned by the ranging module 11 within the specified time of each stop of rotation can be synchronized and merged, without the need for the angle of the motor module 12 to scan with the ranging module 11 The process of real-time synchronization between the obtained point cloud data does not require high hardware configuration, which is conducive to reducing the cost of hardware expenditure. The process of real-time synchronization also effectively saves operating resources, and while saving operating resources, the measurement The distance module 11 fully scans the target environment within its field of view within the specified time each time the motor module 12 stops rotating, ensuring the accuracy of the obtained three-dimensional point cloud image, and this embodiment implements each specified time The real-time output of the corresponding modeling effect, and further, the process of modeling while scanning is also beneficial to shorten the modeling time and optimize the user experience.

Please refer to FIG. 5, which is a structural diagram of a fourth type of three-dimensional scanning device 10 according to an exemplary embodiment of this application. The three-dimensional scanning device 10 further includes a processing module 13, which is connected to the distance measuring device. The module 11 and the motor module 12 are connected, and the processing module 13 is used to obtain the point cloud data from the ranging module 11 when the motor module 12 stops rotating, and when the motor module 12 stops rotating The point cloud data obtained at the specified time when the rotation is stopped is fused to obtain a three-dimensional point cloud image; the embodiment of the present application consists of the motor module 12, the ranging module 11, and the processing module 13 The three-dimensional point cloud image can be obtained, and the structure is simple, which is beneficial to reducing hardware costs.

It can be understood that the embodiment of the present application does not impose any restrictions on the connection manner of the processing module 13 with the ranging module 11 and the motor module 12, and specific settings can be made according to actual application scenarios. In an example, the distance measurement module 11 and the processing module 13 may be connected through a network cable, and the motor module 12 and the processing module 13 may be connected through a bus.

Please refer to FIG. 6, which is a structural diagram of a fifth three-dimensional scanning device 10 according to an exemplary embodiment of this application. The motor module 12 includes a motor 121 and an encoder 122, and the distance measuring module 11 is installed in the On the motor 121, the processing module 13 sends a control instruction to the motor 121 at intervals of the specified time, and the control instruction is used to control the motor 121 to rotate the specified angle in the specified direction at a specified speed; Then the motor 121 rotates in the specific direction at a specified speed according to the control instruction until the specific angle is rotated; the encoder 122 is used to detect the rotation angle of the motor 121 and send it to the Processing module 13; then the processing module 13 receives the rotation angle of the motor 121 sent by the encoder 122, and then can determine the actual rotation speed of the motor 121 according to the detection times corresponding to the multiple rotation angles, and further , The angle when the actual rotation speed of the motor 121 is zero may be determined according to the rotation angle of the motor 121, and the point cloud data sent by the ranging module 11 may be received, and the angle and the actual rotation speed of the motor 121 may be combined. The point cloud data obtained within a specified time of zero are fused to obtain a three-dimensional point cloud image.

Wherein, the processing module 13 may send a point cloud data acquisition instruction to the distance measurement module 11 when the actual rotation speed of the motor 121 is zero, so that the distance measurement module 11 can use the point cloud data acquisition instruction according to the point cloud data acquisition instruction. The point cloud data obtained within the specified time is sent to the processing module 13, so that the processing module 13 can synchronize and fuse the angle when the actual rotation speed of the motor 121 is zero with the point cloud data obtained within the specified time. , To obtain a three-dimensional point cloud image; in this embodiment, it is only necessary to synchronize the angle each time the motor 121 stops rotating with the point cloud data scanned by the ranging module 11 within the specified time each time it stops rotating Integration is sufficient, and there is no need for a real-time synchronization process between the angle of the motor module 12 and the point cloud data scanned by the ranging module 11. Therefore, the hardware configuration requirements are not high, which is beneficial to reduce the cost of hardware expenditures. The real-time synchronization process also effectively saves operating resources, and while saving operating resources, the ranging module 11 fully scans the target environment within its field of view within the specified time each time the motor module 12 stops rotating to ensure The accuracy of the obtained three-dimensional point cloud image is obtained, and this embodiment realizes the real-time output of the modeling effect corresponding to each specified time. Furthermore, the process of modeling while scanning is also beneficial to shorten the modeling time and optimize users Experience.

Wherein, the working state of the motor 121 is a process of alternately rotating and stationary, and the specified rotation speed represents the maximum rotation speed that the motor module 12 must reach during each rotation, that is, during each rotation The rotation speed of the motor is increased from 0 to the specified rotation speed, and then reduced from the specified rotation speed to 0. In order to further shorten the scanning and modeling time, the specified rotation speed is required to be as large as possible to ensure that the motor module 12 The task of rotating in a specific direction can be completed as soon as possible, but the specific rotation speed setting can be set according to actual application scenarios. The embodiment of the present application does not impose any limitation on this. In an example, the specified rotation speed and the specific angle In a positive correlation, as the specific angle of rotation of the motor increases, the specified rotation speed also increases, so that the motor can complete the rotation of the specific angle faster, so that the ranging module 11 can perform the target environment The next position of the scan is helpful to shorten the scan and modeling time.

Wherein, in order to further shorten the modeling time and improve the modeling efficiency, when the distance measurement module 11 is installed on the motor 121, the rotation axis of the motor 121 and the origin of the distance measurement module 11 should be on the same straight line , The origin of the distance measurement module 11 is determined based on the midpoint of its lens, so that the external parameter calibration steps of the distance measurement module 11 can be reduced, directly based on the angle when the motor 121 stops rotating and the current stop The point cloud data obtained within the specified time of rotation are synchronized and merged to obtain a three-dimensional point cloud image.

Of course, in actual application scenarios, if the rotation axis of the motor 121 and the origin of the distance measurement module 11 are not on the same line, it can be pre-calibrated based on the rotation axis of the motor 121 and the origin of the distance measurement module 11 The external parameters of the ranging module 11, and the processing module 13 may be based on the angle when the motor 121 stops rotating, and the point obtained by the external participation of the ranging module 11 within the specified time when the rotation is stopped. The cloud data is synchronized and merged to obtain a three-dimensional point cloud image.

In one embodiment, the three-dimensional scanning device 10 further includes a universal joint, the motor is installed on the universal joint, and the universal joint is used to change the rotation direction of the rotating shaft of the motor, so that The distance measuring module 11 is not limited to scanning the target environment in one direction, but can scan the target environment in different directions, and obtain three-dimensional point cloud images of the target environment in different directions, which is beneficial to improve the user experience.

In an implementation manner, the field of view angles of the distance measuring module 11 in at least two different specific directions are both greater than 0 degrees and less than 180 degrees, and the universal joint is specifically used to rotate a preset angle to change the The rotation direction of the rotating shaft of the motor, the preset angle is the value of the angle between any two different specific directions of the distance measuring module 11, and the universal joint can make the motor move in different specific directions Rotate to obtain three-dimensional point cloud images of the target environment in different specific directions. Further, the three-dimensional point cloud images of the target environment in different specific directions can be fused to obtain three-dimensional point cloud images showing different directions of the target environment , Which is conducive to optimizing the user experience.

As an example, the field of view of the distance measuring module 11 in the horizontal direction and the field of view in the vertical direction is greater than 0 degrees and less than 180 degrees, the universal joint is specifically used to rotate 90 degrees, and the motor The rotation direction of the rotation axis is changed from the horizontal direction to the vertical direction or from the vertical direction to the horizontal direction, so that the ranging module 11 can scan the point cloud data in the horizontal direction and the point cloud data in the vertical direction. , To obtain three-dimensional point cloud images of the target environment in two directions, and further, it is possible to fuse the three-dimensional point cloud images of the target environment in two directions to obtain three-dimensional point cloud images showing different directions of the target environment. Conducive to optimizing the user experience.

Please refer to FIG. 7, which is a structural diagram of a sixth three-dimensional scanning device 10 according to an exemplary embodiment of this application. The three-dimensional scanning device 10 further includes a display module 14, the display module 14 and the processing module 13 Connected, the processing module 13 is also used to: send the three-dimensional point cloud image to the display module 14; the display module 14 is used to: display the three-dimensional point cloud image; The modeling effect within a specified time is conducive to optimizing the user experience; it is understandable that the embodiment of the present application does not impose any restrictions on the specific type of the display module 14, and specific settings can be made according to actual application scenarios, such as The display module 14 may be an LCD (Liquid Crystal Display) display module 14, an LED (Light Emitting Diode, light emitting diode) display module 14, or an OLED (Organic Light-Emitting Diode, organic light emitting diode) display module 14.

In the embodiment shown in FIG. 7, the three-dimensional scanning device 10 further includes an input module 15 connected to the processing module 13; the input module 15 is used to obtain and send at least one of the following input information: To the processing module 13: the total angle of rotation of the motor module 12, the specific angle, and the specified rotation speed; in this embodiment, the user can input corresponding parameters according to actual needs to achieve a personalized scanning process. The scanning process can be implemented based on preset default information; it is understandable that the embodiment of the present application does not impose any restrictions on the specific type of the input module 15, and can be specifically set according to actual application scenarios, for example, the input module 15 It can be a five-dimensional key, a virtual key, or a touch screen.

In the embodiment shown in FIG. 7, the three-dimensional scanning device 10 further includes a power module 16; the power module 16 is connected to the distance measuring module 11, the motor module 12, and the processing module 13 respectively; the power module 16 is used for Yu provides voltages for the distance measuring module 11, the motor module 12, and the processing module 13 respectively.

In the embodiment shown in FIG. 7, the three-dimensional scanning device 10 further includes a storage module 17, which is connected to the processing module 13; the processing module 13 is also used to: convert the three-dimensional point cloud image It is stored in the storage module 17 for subsequent use.

The device embodiments described above are merely illustrative. 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 it can be distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the objectives of the solutions of the embodiments. Those of ordinary skill in the art can understand and implement without creative work.

Correspondingly, please refer to FIG. 8, which is a flowchart of a three-dimensional scanning method according to an exemplary embodiment of this application. The method is applied to a three-dimensional scanning device, and the three-dimensional scanning device includes a distance measuring module and a motor module. The distance measurement module is installed on the motor module, and the field angle of the distance measurement module in a specific direction is less than 180 degrees, and the method includes:

In step S101, the motor module is controlled to rotate a specific angle along the specific direction at a specific time interval; the specific angle is smaller than the angle of view in the specific direction.

In step S102, within the specified time, the target is scanned by the ranging module to obtain point cloud data.

In step S103, the angle of the motor module when the motor module stops rotating and the point cloud data are fused to obtain a three-dimensional point cloud image.

In an embodiment, during the scanning process, the scanning density of the ranging module within the field of view angle gradually increases, and the specified time is greater than half of the time required for the scanning density to reach a peak value.

In an embodiment, within the specified time, the scanning density of the ranging module reaches at least half of the peak value.

In an embodiment, the distance measuring module is connected to the motor module.

Then, the step S103 includes:

The posture information of the motor module is received by the distance measuring module, and the angle when the motor module stops rotating is determined according to the posture information.

The angle and the point cloud data are fused to obtain a three-dimensional point cloud image.

In an embodiment, the device further includes a processing module, and the processing module is respectively connected to the ranging module and the motor module.

Then, the step S103 includes:

When the motor module stops rotating, the processing module obtains the point cloud data from the ranging module.

The angle when the motor module stops rotating and the point cloud data are merged to obtain a three-dimensional point cloud image.

In an embodiment, the distance measurement module and the processing module are connected through a network cable; the motor module and the processing module are connected through a bus.

In an embodiment, the motor module includes a motor.

The method further includes:

At intervals of the specified time, a control instruction is sent to the motor through the processing module.

The motor is controlled to rotate the specific angle in the specific direction at a specific speed according to the control instruction.

In an embodiment, the motor module further includes an encoder.

The method also includes:

The rotation angle of the motor is detected by the encoder.

Then, the step S103 includes:

The angle at which the motor stops rotating is determined according to the rotation angle of the motor.

The point cloud data sent by the ranging module is received by the processing module, and the angle and the point cloud data are merged to obtain a three-dimensional point cloud image.

In an embodiment, the specified rotation speed is in a positive correlation with the specified angle.

In an embodiment, the rotation axis of the motor and the origin of the distance measuring module are on the same straight line; the origin of the distance measuring module is determined based on the midpoint of the lens.

In an embodiment, it further includes:

The rotation direction of the rotating shaft of the motor is changed by a universal joint; the motor is installed on the universal joint.

In an embodiment, the angle of view of the distance measuring module in at least two different specific directions is less than 180 degrees.

The changing the rotation direction of the rotating shaft of the motor through the universal joint includes:

The universal joint is rotated by a preset angle to change the rotation direction of the rotating shaft of the motor; the preset angle is the value of the included angle between any two different specific directions of the distance measuring module.

The universal joint is rotated by 90 degrees, and the rotation direction of the rotating shaft of the motor is changed from a horizontal direction to a vertical direction or from a vertical direction to a horizontal direction.

In an embodiment, it further includes:

The three-dimensional point cloud image is displayed through the display module.

In an embodiment, it further includes:

At least one of the following input information is acquired through the input module: the total angle of rotation of the motor module, the specific angle, and the specified rotation speed.

In an embodiment, the input module includes a five-dimensional key, a virtual key or a touch screen.

In an embodiment, a power supply module is used to respectively provide voltages for the distance measurement module, the motor module, and the processing module.

In an embodiment, the method further includes: storing the three-dimensional point cloud image in the storage module.

For the method embodiment, since it basically corresponds to the device embodiment, the relevant part can refer to the part of the description of the device embodiment.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply one of these entities or operations. There is any such actual relationship or order between. The terms "including", "including" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed. Elements, or also include elements inherent to such processes, methods, articles, or equipment. If there are no more restrictions, the element defined by the sentence "including a..." does not exclude the existence of other identical elements in the process, method, article, or equipment that includes the element.

The methods and devices provided by the embodiments of the present invention are described in detail above. Specific examples are used in this article to illustrate the principles and implementations of the present invention. The descriptions of the above embodiments are only used to help understand the methods and methods of the present invention. Core idea; At the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation and the scope of application. In summary, the content of this specification should not be construed as a limitation of the present invention .

Claims

A three-dimensional scanning device, characterized in that it comprises a distance measurement module and a motor module; the distance measurement module is installed on the motor module; the field angle of the distance measurement module in a specific direction is less than 180 degrees;

The motor module is configured to rotate a specific angle in the specific direction every specific time, and the specific angle is smaller than the angle of view in the specific direction;

The ranging module is used to scan the target environment within the specified time to obtain point cloud data;

The three-dimensional scanning device is also used to fuse the angle of the motor module when the motor module stops rotating and the point cloud data to obtain a three-dimensional point cloud image.
The device according to claim 1, wherein, during the scanning process, the scanning density of the ranging module within the field of view angle gradually increases, and the specified time is greater than the scanning density reaches the peak value. It takes half the time.
The device according to claim 1, wherein the scanning density of the ranging module reaches at least half of the peak value within the specified time.
The device according to claim 1, wherein the distance measuring module is connected to the motor module;

The distance measuring module is also used to receive posture information of the motor module, determine the angle when the motor module stops rotating according to the posture information, and fuse the angle and the point cloud data to obtain a three-dimensional point cloud image.
The device according to claim 1, wherein the device further comprises a processing module, and the processing module is respectively connected to the ranging module and the motor module;

The processing module is configured to: when the motor module stops rotating, obtain the point cloud data from the distance measuring module, and merge the angle when the motor module stops rotating and the point cloud data to obtain a three-dimensional Point cloud image.
The device according to claim 5, wherein the distance measurement module and the processing module are connected through a network cable; the motor module and the processing module are connected through a bus.
The device according to claim 5, wherein the motor module comprises a motor;

The processing module is further configured to: send a control instruction to the motor every specified time; the control instruction is used to control the motor to rotate the specific angle along the specific direction at a specified speed;

The motor is used to rotate in the specific direction at a specified speed according to the control instruction until the specific angle is rotated.
The device according to claim 7, wherein the motor module further comprises an encoder, and the encoder is used to detect the rotation angle of the motor and send it to the processing module;

The processing module is specifically configured to: receive the rotation angle of the motor sent by the encoder, and determine the angle when the motor stops rotating according to the rotation angle of the motor; and receive all the rotation angles sent by the ranging module The point cloud data is merged with the angle and the point cloud data to obtain a three-dimensional point cloud image.
8. The device according to claim 7, wherein the specified rotation speed is in a positive correlation with the specified angle.
7. The device according to claim 7, wherein the rotation axis of the motor and the origin of the distance measuring module are on the same straight line; the origin of the distance measuring module is determined based on the midpoint of the lens.
The device according to claim 7, further comprising a universal joint; the motor is installed on the universal joint;

The universal joint is used to change the rotation direction of the rotating shaft of the motor.
The device according to claim 11, wherein the field of view angles of the distance measuring module in at least two different specific directions are both less than 180 degrees;

The universal joint is specifically used for: rotating a preset angle to change the rotation direction of the rotating shaft of the motor; the preset angle is the value of the included angle between any two different specific directions of the distance measuring module .
The device according to claim 11, wherein the field angle in the horizontal direction and the field angle in the vertical direction of the distance measuring module are less than 180 degrees;

The universal joint is specifically used to rotate 90 degrees to change the rotation direction of the rotating shaft of the motor from a horizontal direction to a vertical direction or from a vertical direction to a horizontal direction.
The device according to claim 5, further comprising a display module; the display module is connected to the processing module;

The processing module is further configured to: send the three-dimensional point cloud image to the display module;

The display module is used for displaying the three-dimensional point cloud image.
8. The device according to claim 7, further comprising an input module; said input module is connected to the processing module;

The input module is configured to obtain inputted at least one of the following information: the total angle of rotation of the motor module, the specific angle, and the specified rotational speed.
The device according to claim 15, wherein the input module comprises a five-dimensional key, a virtual key or a touch screen.
The device according to claim 5, further comprising a power supply module; the power supply module is respectively connected with the ranging module, the motor module, and the processing module;

The power supply module is used to provide voltages for the distance measurement module, the motor module, and the processing module respectively.
The device according to claim 5, further comprising a storage module, the storage module being connected to the processing module;

The processing module is further configured to store the three-dimensional point cloud image in the storage module.
A three-dimensional scanning method, characterized in that it is applied to a three-dimensional scanning device, the three-dimensional scanning device includes a ranging module and a motor module, the ranging module is installed on the motor module, and the ranging module is installed in a specific The angle of view in the direction is less than 180 degrees, and the method includes:

Controlling the motor module to rotate a specific angle in the specific direction every specific time; the specific angle is smaller than the angle of view in the specific direction; and,

Within the specified time, scan the target through the ranging module to obtain point cloud data;

The angle of the motor module when the motor module stops rotating and the point cloud data are merged to obtain a three-dimensional point cloud image.
The method according to claim 19, characterized in that, during the scanning process, the scanning density of the ranging module within the angle of view gradually increases, and the specified time is greater than the scanning density reaches the peak value. It takes half the time.
The method according to claim 19, wherein the scanning density of the ranging module reaches at least half of the peak value within the specified time.
The method according to claim 19, wherein the distance measuring module is connected to the motor module;

The fusion of the angle of the motor module when the motor module stops rotating and the point cloud data to obtain a three-dimensional point cloud image includes:

Receiving the posture information of the motor module through the ranging module, and determining the angle when the motor module stops rotating according to the posture information;

The angle and the point cloud data are fused to obtain a three-dimensional point cloud image.
The method according to claim 19, wherein the device further comprises a processing module, and the processing module is respectively connected with the ranging module and the motor module;

The fusion of the angle of the motor module when the motor module stops rotating and the point cloud data to obtain a three-dimensional point cloud image includes:

When the motor module stops rotating, obtain the point cloud data from the ranging module through the processing module;

The angle when the motor module stops rotating and the point cloud data are merged to obtain a three-dimensional point cloud image.
The method of claim 23, wherein the motor module comprises a motor;

The method further includes:

Sending a control instruction to the motor through the processing module every the specified time;

The motor is controlled to rotate the specific angle in the specific direction at a specific speed according to the control instruction.
The method according to claim 24, wherein the motor module further comprises an encoder;

The method also includes:

Detecting the rotation angle of the motor by the encoder;

The fusion of the angle of the motor module when the motor module stops rotating and the point cloud data to obtain a three-dimensional point cloud image includes:

Determining the angle when the motor stops rotating according to the rotation angle of the motor;

The point cloud data sent by the ranging module is received by the processing module, and the angle and the point cloud data are merged to obtain a three-dimensional point cloud image.
The method according to claim 24, wherein the specified rotation speed is in a positive correlation with the specified angle.
The method according to claim 24, wherein the rotation axis of the motor and the origin of the distance measuring module are on the same straight line; the origin of the distance measuring module is determined based on the midpoint of the lens.
The method according to claim 24, further comprising:

The rotation direction of the rotating shaft of the motor is changed by a universal joint; the motor is installed on the universal joint.
The method according to claim 28, wherein the field of view angles of the ranging module in at least two different specific directions are both less than 180 degrees;

The changing the rotation direction of the rotating shaft of the motor through the universal joint includes:

The universal joint is rotated by a preset angle to change the rotation direction of the rotating shaft of the motor; the preset angle is the value of the included angle between any two different specific directions of the distance measuring module.
The method according to claim 23, further comprising:

The three-dimensional point cloud image is displayed through the display module.
The method according to claim 24, further comprising:

At least one of the following input information is acquired through the input module: the total angle of rotation of the motor module, the specific angle, and the specified rotation speed.
The method according to claim 31, wherein the input module comprises a five-dimensional key, a virtual key or a touch screen.