CN112867136A - Three-dimensional scanning system and three-dimensional scanning method based on wireless peer-to-peer network - Google Patents
Three-dimensional scanning system and three-dimensional scanning method based on wireless peer-to-peer network Download PDFInfo
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- CN112867136A CN112867136A CN202011637620.8A CN202011637620A CN112867136A CN 112867136 A CN112867136 A CN 112867136A CN 202011637620 A CN202011637620 A CN 202011637620A CN 112867136 A CN112867136 A CN 112867136A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W56/00—Synchronisation arrangements
- H04W56/001—Synchronization between nodes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
Abstract
The application relates to a three-dimensional scanning system and a three-dimensional scanning method based on a wireless peer-to-peer network, wherein the three-dimensional scanning system comprises: at least one computer device, at least one three-dimensional scanner, and at least one tracker; the three-dimensional scanner, the tracker and the computer equipment comprise a wireless ad hoc network module and a clock synchronization unit; the wireless peer-to-peer network is established based on the wireless ad hoc network module, the three-dimensional scanner and the tracker transmit data to the computer equipment through the wireless peer-to-peer network, and clock synchronization units in the three-dimensional scanner, the tracker and the computer equipment perform clock synchronization through the wireless peer-to-peer network. Through the method and the device, the problem that the three-dimensional scanning system is inconvenient to operate due to the fact that the three-dimensional scanning system is connected through cables in the related art is solved, and the operation convenience of the three-dimensional scanning system is improved.
Description
Technical Field
The present application relates to the field of three-dimensional scanning, and in particular, to a three-dimensional scanning system and a three-dimensional scanning method based on a wireless peer-to-peer network.
Background
Current three-dimensional scanner equipment uses wired data transmission usually, and this type of scheme leads to the inconvenient operation of equipment in the use, and the life and the service environment of cable also can bring extra cost loss and reduce and use experience simultaneously, still can lead to the unable normal use of equipment to some special environment.
Disclosure of Invention
The embodiment of the application provides a three-dimensional scanning system and a method based on a wireless peer-to-peer network, which at least solve the problem of inconvenient operation caused by the fact that a three-dimensional scanning system uses cable connection in the related art.
In a first aspect, an embodiment of the present application provides a three-dimensional scanning system, including: at least one computer device, at least one three-dimensional scanner, and at least one tracker; the three-dimensional scanner, the tracker and the computer device comprise a wireless ad hoc network module and a clock synchronization unit; and constructing a wireless peer-to-peer network based on the wireless ad hoc network module, wherein the three-dimensional scanner and the tracker transmit data to the computer equipment through the wireless peer-to-peer network, and clock synchronization units in the three-dimensional scanner, the tracker and the computer equipment perform clock synchronization through the wireless peer-to-peer network.
In some of these embodiments, the three-dimensional scanner includes a structured light projector, a first wireless ad hoc network module, at least two first cameras, and a first clock synchronization unit; the structured light projector and the first camera are both connected with the first clock synchronization unit, and clock synchronization signals are obtained through the first clock synchronization unit; the three-dimensional scanner is used for synchronously working with the structured light projector, the first camera and the tracker according to the acquired clock synchronization signal so as to acquire at least two synchronous two-dimensional images of a scanned object with a surface projected with a wired structured light pattern, obtain scanning data and transmit the scanning data to the computer equipment through the wireless peer-to-peer network.
In some of these embodiments, the tracker includes a second wireless ad hoc network module, at least two second cameras, and a second clock synchronization unit; the second camera is connected with the second wireless ad hoc network module and acquires a clock synchronization signal through the second clock synchronization unit; the tracker is configured to control the second camera to work synchronously with the three-dimensional scanner according to the acquired clock synchronization signal, so as to track pose information of the three-dimensional scanner, obtain tracking data, and transmit the tracking data to the computer device through the wireless peer-to-peer network.
In some of these embodiments, the system further comprises: a relay device comprising a third wireless ad hoc network module; the relay device joins the wireless peer-to-peer network through the third wireless ad hoc network module and serves as a relay node for data transmission in the wireless peer-to-peer network.
In some embodiments, the number of the computer devices is multiple, a plurality of the computer devices are distributed in the wireless peer-to-peer network, and data transmission is performed between the plurality of the computer devices through a wired network.
In some of these embodiments, the three-dimensional scanner and the tracker are configured to determine an optimal computer device among the plurality of computer devices in the wireless peer-to-peer network based on a transmission rate and a transmission quality, and to transmit data to the optimal computer device; the optimal computer equipment is also used for judging whether the optimal computer equipment is a home owner of the data sent by the three-dimensional scanner and the tracker; and if so, reconstructing a three-dimensional model according to the data sent by the three-dimensional scanner and the tracker, otherwise, forwarding the data sent by the three-dimensional scanner and the tracker to a data owner through a wired network.
In a second aspect, an embodiment of the present application provides a three-dimensional scanning method applied to a three-dimensional scanning system including at least one computer device, at least one three-dimensional scanner, and at least one tracker, where the three-dimensional scanner, the tracker, and the computer device each include a wireless ad hoc network module and a clock synchronization unit, including: the wireless ad hoc network module of the computer equipment, the wireless ad hoc network module of the three-dimensional scanner and the wireless ad hoc network module of the tracker spontaneously establish a wireless peer-to-peer network; the three-dimensional scanner and the tracker perform clock synchronization through the wireless peer-to-peer network; the three-dimensional scanner and the tracker work synchronously according to the clock synchronization signal generated by the clock synchronization unit, the three-dimensional scanner acquires scanning data of a scanned object, the tracker acquires tracking data of the three-dimensional scanner, and the scanning data and the tracking data are transmitted to the computer equipment through the wireless peer-to-peer network; and the computer equipment processes the scanning data and the tracking data and reconstructs a three-dimensional model of the scanned object.
In some of these embodiments, after the wireless ad hoc network module of the computer device, the wireless ad hoc network module of the three-dimensional scanner, and the wireless ad hoc network module of the tracker spontaneously establish a wireless peer-to-peer network, the method further comprises: under the condition that a node device with a wireless ad hoc network module joins and/or exits the wireless peer-to-peer network and/or the transmission quality of at least one transmission path in the wireless peer-to-peer network is lower than a set threshold, recalculating the topology of the wireless peer-to-peer network according to the node device existing in the wireless peer-to-peer network, wherein the node device comprises at least one of the following components: three-dimensional scanner, tracker, computer equipment, relay equipment.
In some of these embodiments, before the wireless ad hoc network module of the computer device, the wireless ad hoc network module of the three-dimensional scanner, and the wireless ad hoc network module of the tracker spontaneously establish a wireless peer-to-peer network, the method further comprises: and configuring the same access parameters for the wireless ad hoc network module of the computer equipment, the wireless ad hoc network module of the three-dimensional scanner and the wireless ad hoc network module of the tracker, wherein the access parameters are used for determining a wireless peer-to-peer network which can be added or established by the wireless ad hoc network module.
In some of these embodiments, before the three-dimensional scanner and the tracker transmit the scan data and the tracking data to the computer device over the wireless peer-to-peer network, the method further comprises: configuring the three-dimensional scanner, the tracker and the computer device as a same working group, so that the three-dimensional scanner, the tracker and the computer device in the same working group respectively and independently work with the three-dimensional scanner, the tracker and/or the computer device in the wireless peer-to-peer network, which do not belong to the same working group, wherein each three-dimensional scanner at most belongs to one working group, each tracker at most belongs to one working group, and the computer device belongs to one working group or a plurality of working groups.
In some embodiments, the number of the computer devices is multiple, and data transmission is performed among the multiple computer devices through a wired network; the three-dimensional scanner and the tracker transmitting the scan data and the tracking data to the computer device over the wireless peer-to-peer network comprises: the three-dimensional scanner and the tracker, configured as a same workgroup, transmit the scan data and the tracking data to any of the computer devices in the wireless peer-to-peer network over the wireless peer-to-peer network; after receiving the scanning data and the tracking data, the computer equipment judges whether a first working group to which a three-dimensional scanner generating the scanning data belongs and a second working group to which a tracker generating the tracking data belongs are the same as working groups to which the computer equipment per se belongs; and if not, the computer equipment forwards the scanning data and the tracking data to the computer equipment belonging to the first working group and the second working group.
Compared with the related art, the three-dimensional scanning system and the three-dimensional scanning method based on the wireless peer-to-peer network, which are provided by the embodiment of the application, solve the problem of inconvenient operation caused by the fact that the three-dimensional scanning system is connected by using a cable in the related art, and improve the operation convenience of the three-dimensional scanning system.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a schematic diagram of a three-dimensional scanning system according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a network topology of a three-dimensional scanning system according to an embodiment of the present application;
FIG. 3 is a flow chart of a three-dimensional scanning method according to an embodiment of the present application;
fig. 4a, 4b and 4c are schematic diagrams of three networking modes of node devices in a three-dimensional scanning system according to an embodiment of the present application;
fig. 5a and 5b are schematic diagrams of dynamic topologies of wireless peer-to-peer networks according to embodiments of the present application;
FIG. 6 is a schematic structural diagram of a clock synchronization unit according to an embodiment of the present application;
fig. 7 is a schematic diagram of a node device group in a three-dimensional scanning system according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Reference herein to "a plurality" means greater than or equal to two. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.
When three-dimensional scanning is carried out, firstly, linear laser is projected to a scanned object by a structured light projector, the projected linear laser forms a laser projection plane, and when the laser projection plane intersects with the scanned object, a bright scanning line is formed on the surface of the scanned object. Since the scanning line includes all the surface points where the laser projection plane intersects with the object, the three-dimensional coordinates of the corresponding surface points of the object can be obtained from the coordinates of the scanning line. And mapping the three-dimensional coordinates onto a laser projection plane to obtain a two-dimensional image of the scanning line. The three-dimensional coordinates of the corresponding object surface points can be calculated according to the coordinates of the points on the two-dimensional image of the scanning line, which is the basic principle of the structured light visual detection.
The non-contact tracking technology adopts a tracker to capture at least three target characteristics of the surface of the three-dimensional scanner; because the target characteristics of the surface of the three-dimensional scanner and the spatial position relation of binocular cameras (including the first camera and the second camera) of the three-dimensional scanner are calibrated in advance, the computer equipment can obtain the pose of the three-dimensional scanner and the conversion relation between the coordinate system of the three-dimensional scanner and the coordinate system of the tracker according to at least the three-dimensional target characteristics captured by the tracker; and converting the coordinates of the three-dimensional point surface information acquired by the three-dimensional scanner into a coordinate system of the tracker according to the conversion relation, splicing and fusing according to the coordinates of the three-dimensional point surface information, and reconstructing to obtain a complete three-dimensional model.
The present embodiment provides a three-dimensional scanning system. Fig. 1 is a schematic structural diagram of a three-dimensional scanning system according to an embodiment of the present application, and as shown in fig. 1, the three-dimensional scanning system includes: a three-dimensional scanner 11, a tracker 12 and a computer device 13, wherein,
as shown in fig. 1, the three-dimensional scanner 11 is connected to a computer device 13. In the present embodiment, the three-dimensional scanner 11 includes a structured light projector 111, a first camera 1121 and a second camera 1122 for acquiring three-dimensional point-and-plane information of a scanned object, and at least three target features 113.
The first camera 1121 and the second camera 1122 include a camera, a CCD sensor, or a CMOS sensor capable of capturing a visible light band or an invisible light band of a target space. The structured light projector 111 described above comprises a projector, which may be for example a Digital Light Processing (DLP) projector, arranged to sequentially project structured light patterns onto the surface of the scanned object. The structured light projected by the structured light projector 111 may be speckle, fringe, gray code, or other coded structured light.
In this embodiment, the structured light projector 111, the first camera 1121, the second camera 1122, and the at least three target features 113 are mounted on a mounting frame, and their spatial positional relationships are pre-calibrated. Therefore, in the triangulation calculation, information such as the distance and angle between the target features and between the first camera 1121 and the second camera 1122 is known, and information such as the position and projection angle of the structured light projector 111 is known.
In the present embodiment, the at least three target features 113 of the three-dimensional scanner 11 may be self-luminous target features or reflective target features.
The tracker 12 is connected to the computer device 13, and the tracker 12 is configured to track the first pose of the three-dimensional scanner 11 by capturing at least three target features 113 of the three-dimensional scanner 11 when the three-dimensional scanner 11 acquires three-dimensional point-and-plane information.
In this embodiment, the tracker 12 includes at least one tracking camera for capturing at least three target features 113 that are stationary on the surface of the three-dimensional scanner 11. Since the spatial positional relationship between the at least three target features 113 is calibrated in advance, the pose of the three-dimensional scanner 11 can be determined from the at least three target features 113.
And a computer device 13 for reconstructing a three-dimensional model of the scanned object from the scanning data such as the three-dimensional point-and-plane information acquired by the first camera 1121 and the second camera 1122 and from the tracking data such as the pose information acquired by the tracker 12. Among the basic principles of the computer device 13 for reconstructing a three-dimensional model of the scanned object are the trigonometric principle and the epipolar constraint principle.
With the three-dimensional scanning system provided in this embodiment, first, the computer device 13 reconstructs three-dimensional point-plane information in the coordinate system of the camera of the three-dimensional scanner 11 through the two-dimensional image information of the scanned object, which is acquired by the three-dimensional scanner 11 and has the structured light projection pattern projected on the surface, and through the calibrated spatial position relationship of the plurality of cameras acquiring the three-dimensional point-plane information. Then, the computer device 13 converts the three-dimensional point-and-plane information into the coordinate system of the target feature of the three-dimensional scanner 11 according to the conversion relationship between the calibrated camera and the at least three target features fixed on the surface of the three-dimensional scanner 11.
Wherein the tracker 12 synchronously captures at least three target features 113 on the surface of the three-dimensional scanner 11 while the first camera 1121 and the second camera 1122 of the three-dimensional scanner 11 are shooting. Since the spatial positional relationship between the at least three target features 113 is also calibrated in advance, the computer device 13 can obtain the conversion relationship between the coordinate system of the tracker 12 and the coordinate system of the target feature of the three-dimensional scanner 11 based on the captured information of the at least three target features 113 on the surface of the three-dimensional scanner 11 and the known spatial positional relationship between the at least three target features 113. Finally, the computer device 13 obtains the coordinates of the three-dimensional point plane information in the coordinate system of the tracker 12 according to the transformation relationship between the coordinate system of the tracker 12 and the coordinate system of the target feature of the three-dimensional scanner 11, and performs three-dimensional reconstruction of the scanned object in the coordinate system of the tracker 12 according to the coordinates, thereby obtaining a three-dimensional model.
In the present embodiment, the structured light projector 111 is employed to project a structured light pattern on the surface of the scanned object when the three-dimensional scanner 11 collects three-dimensional point-plane information. Compared with the way of posting the feature marks on the surface of the scanned object in the related art, the three-dimensional scanning system with the structured light projector 111 in the embodiment uses the structured light pattern projected by the structured light projector 111 as the feature marks, and thus the workload of posting the feature marks on the surface of the scanned object is avoided.
In some embodiments, to achieve synchronous operation of the three-dimensional scanner 11 and the tracker 12, the three-dimensional scanning system further includes a clock synchronization unit 14, and the clock synchronization unit 14 is connected to the three-dimensional scanner 11 and the tracker 12 respectively. The clock synchronization unit 14 is used to provide a clock synchronization signal. Among them, the structured light projector 111, the first camera 1121, the second camera 1122, and the tracker 12 in the three-dimensional scanner 11 operate synchronously according to the clock synchronization signal. In this embodiment, the clock synchronization unit 14 may be an independent unit independent from the tracker 12, the three-dimensional scanner 11, and the computer device 13, or may be located in any unit or device of the tracker 12, the three-dimensional scanner 11, and the computer device 13.
The synchronous operation of the structured light projector 111, the first camera 1121, the second camera 1122, and the tracker 12 in the three-dimensional scanner 11 according to the clock synchronization signal in the present embodiment includes: the first and second cameras 1121 and 1122 and the tracker 12 simultaneously capture images during projection of the structured light pattern by the structured light projector 111 onto the surface of the scanned object.
In order to get rid of the constraint of the wired cable, in the three-dimensional scanning system provided in the present embodiment, the connection between the three-dimensional scanner 11 and the computer device 13, and the connection between the tracker 12 and the computer device 13 are no longer wired cables, but are connected wirelessly.
Specifically, the three-dimensional scanner 11, the tracker 12, and the computer device 13 each include a wireless ad hoc network module 20 and a clock synchronization unit 30. The three-dimensional scanner 11 and the tracker 12 both transmit data to the computer device via a wireless peer-to-peer network, and the clock synchronization units in the three-dimensional scanner, the tracker and the computer device all perform clock synchronization via the wireless peer-to-peer network.
The wireless peer-to-peer network established by the wireless Ad Hoc network module 20 may be a Mesh network or an Ad _ Hoc network, which has mobility and dynamic topology, and is particularly suitable for flexible deployment of the three-dimensional scanner 11 and the tracker 12 in the three-dimensional scanning system. Data transmitted between the three-dimensional scanner 11 and the tracker 12 and the computer device 13 is transmitted to the destination device through the wireless peer-to-peer network by means of multi-hop routing. In the wireless peer-to-peer network of this embodiment, the identity of each node device is equal, there is no central node similar to a gateway device or a routing device in a conventional network, and data transmission is forwarded or relayed to a destination device by means of an equal node in the wireless peer-to-peer network, so that after a node device in the wireless peer-to-peer network fails or transmission quality of a data transmission path deteriorates, a new data transmission path can be formed by recalculating the topology structure of the wireless peer-to-peer network to transmit data to be transmitted to the destination device, and thus, a three-dimensional scanning system that performs data transmission by using the wireless peer-to-peer network has strong survivability. In addition, a hybrid automatic repeat request (HARQ) mechanism provided by the wireless peer-to-peer network integrates retransmission and forward error correction capabilities, and can improve transmission performance, so that scanning data and tracking data with large data volume can be stably and quickly transmitted to computer equipment, and transmission delay is reduced. The QoS mechanism provided by the wireless peer-to-peer network ensures the scanning data, the tracking data and the control data in a grading way according to types, and ensures that the control data can be reliably transmitted in the wireless peer-to-peer network.
Therefore, the three-dimensional scanning system is provided with the wireless ad hoc network module in the three-dimensional scanner 11, the tracker 12 and the computer device 13, so that data transmission of the three-dimensional scanning system is performed by using a wireless peer-to-peer network, and the constraint of a cable on the three-dimensional scanning system is eliminated. Compared with a three-dimensional scanning system adopting a wireless local area network with a central node for networking, the three-dimensional scanning system provided by the embodiment also improves the survivability and the stability.
The node device in the wireless peer-to-peer network of the three-dimensional scanning system provided by this embodiment at least includes a three-dimensional scanner, a tracker, and a computer device, which is the smallest system unit capable of implementing three-dimensional scanning. In addition, a relay device may be included in the wireless peer-to-peer network, which enhances the coverage and data transmission capabilities of the wireless peer-to-peer network. Likewise, the relay device also includes a wireless ad hoc network module.
In the three-dimensional scanning system provided by this embodiment, the number of the three-dimensional scanners, trackers, and computer devices may be multiple. Multiple three-dimensional scanners, multiple trackers, and multiple computer devices may operate simultaneously to perform three-dimensional reconstruction of the same scanned object in parallel or to perform three-dimensional reconstruction of different scanned objects in parallel. In the three-dimensional scanning system, a three-dimensional scanner and a tracker may be deployed at a plurality of positions according to task needs and need to have certain mobility; the computer device may not have to be mobile, relatively speaking, and may be located in a relatively fixed location, particularly after the wireless peer-to-peer network is used to communicate with the three-dimensional scanner and tracker. Fig. 2 is a schematic diagram of a network topology of a three-dimensional scanning system according to an embodiment of the present application, and as shown in fig. 2, in the three-dimensional scanning system having a plurality of computer devices, data transmission can be performed between the plurality of computer devices through a wired network.
In the network topology shown in fig. 2, when the three-dimensional scanner and the tracker transmit data, the destination node of the data transmitted in the wireless peer-to-peer network may be selected as any one computer device. For example, in a wireless peer-to-peer network, an optimal computer device is determined among a plurality of computer devices according to a transmission rate and a transmission quality, and data is transmitted to the optimal computer device. After receiving the data sent by the three-dimensional scanner and the tracker, the optimal computer equipment judges whether the optimal computer equipment is a home owner of the data sent by the three-dimensional scanner and the tracker according to the identification information of the data; and if so, reconstructing the three-dimensional model according to the data sent by the three-dimensional scanner and the tracker, otherwise, forwarding the data sent by the three-dimensional scanner and the tracker to the data owner through a wired network.
In some of these embodiments, the identification information of the data is a workgroup identification. If the workgroup identification of the computer device is the same as the workgroup identification of the data, then the computer device is the owner of the data.
Through the embodiment, the wireless peer-to-peer network and the wired network are combined, the three-dimensional scanner and the tracker can get rid of the constraint of cables on the premise of ensuring stable and reliable data transmission, and the operation convenience of the three-dimensional scanning system is improved.
The three-dimensional scanning method provided by the present embodiment will be described and explained below.
The embodiment provides a three-dimensional scanning method, which is applied to a three-dimensional scanning system comprising at least one computer device, at least one three-dimensional scanner and at least one tracker, wherein each three-dimensional scanner, each tracker and the computer device comprise a wireless ad hoc network module and a clock synchronization unit. Fig. 3 is a flowchart of a three-dimensional scanning method according to an embodiment of the present application, and as shown in fig. 3, the flowchart includes the following steps:
step S301, the wireless ad hoc network module of the computer device, the wireless ad hoc network module of the three-dimensional scanner and the wireless ad hoc network module of the tracker spontaneously establish a wireless peer-to-peer network.
In order to add each device in the same three-dimensional scanning system to the same wireless peer-to-peer network, before step S301, the same access parameter may be configured for the wireless ad hoc network module of the computer device, the wireless ad hoc network module of the three-dimensional scanner, and the wireless ad hoc network module of the tracker, where the access parameter is used to determine the wireless peer-to-peer network that the wireless ad hoc network module can join or establish.
Fig. 4a, 4b and 4c respectively show three networking modes of a three-dimensional scanner 11, a tracker 12 and a computer device 13, and when there are only three devices in a wireless peer-to-peer network, they can be networked in any one of the modes shown in fig. 4a, 4b and 4c to realize the transmission of scanning data and tracking data to the computer device 13. In the case that the network transmission quality can be ensured, the networking mode shown in fig. 4a is preferably adopted, so that the amount of data transmitted in the wireless peer-to-peer network is minimized, and the low delay of data transmission is ensured.
In the case where other node devices exist in the wireless peer-to-peer network, there may be one or more other node devices between each data transmission path of the three-dimensional scanning system shown in fig. 4a, 4b and 4c, through which the three-dimensional scanner 11 and tracker 12 forward the scanning data and tracking data, and finally still transmit to the computer device 13.
Fig. 5a and 5b are schematic diagrams of dynamic topologies of a wireless peer-to-peer network according to an embodiment of the present application, and as shown in fig. 5a and 5b, after the wireless peer-to-peer network is established, based on dynamic topological characteristics of the wireless peer-to-peer network, when a node device having a wireless ad hoc network module joins and/or leaves the wireless peer-to-peer network, and/or when the transmission quality of at least one transmission path in the wireless peer-to-peer network is lower than a set threshold, the topology structure of the wireless peer-to-peer network is recalculated according to an existing node device in the wireless peer-to-peer network. Wherein the node device includes but is not limited to at least one of: three-dimensional scanner, tracker, computer equipment, relay equipment.
Step S302, the three-dimensional scanner and the tracker perform clock synchronization through a wireless peer-to-peer network.
Fig. 6 is a schematic structural diagram of a clock synchronization unit according to an embodiment of the present application, and as shown in fig. 6, the clock synchronization unit includes a synchronization signal generator 61, a signal amplifier 62, and a signal transmitting unit 63. The synchronizing signal generator generates a suitable synchronizing pulse signal according to system requirements. The signal amplifier processes and amplifies the synchronous pulse signal to increase the transmission distance. The signal transmitting unit carries the synchronization pulse signal on a standard carrier frequency for wireless transmission.
In the clock synchronization unit in the three-dimensional scanning system, a master clock synchronization unit can be selected as a reference standard for synchronization. The basis for electing the master clock synchronization unit comprises the following steps: the position of the wireless ad hoc network module in the wireless peer-to-peer network and/or the transmission quality of a data transmission path between the wireless ad hoc network module and other wireless ad hoc network modules. The master clock synchronization unit may periodically broadcast a master clock synchronization signal to correct clock skew in the wireless peer-to-peer network at any time. When a certain master clock synchronization unit fails or is actively offline, all wireless ad hoc network modules in the wireless peer-to-peer network reselect a new master clock synchronization unit and perform clock synchronization according to master clock synchronization information broadcast by the new master clock synchronization unit.
And step S303, the three-dimensional scanner and the tracker work synchronously according to the clock synchronization signal generated by the clock synchronization unit, the three-dimensional scanner acquires the scanning data of the scanned object, the tracker acquires the tracking data of the three-dimensional scanner, and the scanning data and the tracking data are transmitted to the computer equipment through the wireless peer-to-peer network.
Fig. 7 is a schematic diagram of a working set of a three-dimensional scanning system according to an embodiment of the present application, as shown in fig. 7, in the case of multiple sets of three-dimensional scanners, trackers and computer devices operating independently in the same wireless peer-to-peer network, in order to avoid interference between each set of three-dimensional scanners, trackers and computer devices, prior to step S303, the three-dimensional scanner, tracker and computer device may also be configured as the same workgroup, such that three-dimensional scanners, trackers and computer devices in the same workgroup each operate independently of three-dimensional scanners, trackers and/or computer devices in the wireless peer-to-peer network that do not belong to the same workgroup, wherein, every three-dimensional scanner belongs to a workgroup at most, and every tracker belongs to a workgroup at most, and computer equipment belongs to a workgroup or a plurality of workgroups. When the computer equipment belongs to a plurality of working groups, the plurality of working groups share the computer equipment to carry out three-dimensional reconstruction. In fig. 7, 1#, 2# and 3# are work group identifications, respectively.
With continued reference to FIG. 7, in the event that there are a plurality of computer devices in a wireless peer-to-peer network, the three-dimensional scanner and tracker, configured as the same workgroup, respectively transmit the scan data and the tracking data to any one of the computer devices in the wireless peer-to-peer network via the wireless peer-to-peer network; after receiving the scanning data and the tracking data, the computer equipment judges whether a first working group to which a three-dimensional scanner generating the scanning data belongs and a second working group to which a tracker generating the tracking data belongs are the same as working groups to which the computer equipment per se belongs; if not, the computer device forwards the scan data and the trace data to computer devices belonging to the first workgroup and the second workgroup. Through the mode, the three-dimensional scanner and the tracker can transmit data to the computer equipment with the nearest distance or the best transmission condition, and then the computer equipment transmits the data to the computer equipment of the same working group, so that the total amount of data transmitted by the three-dimensional scanner and the tracker in the wireless peer-to-peer network is reduced, and the consumption of processing resources of the three-dimensional scanner and the tracker is reduced.
And step S304, the computer device processes the scanning data and the tracking data and reconstructs to obtain a three-dimensional model of the scanned object.
It should be noted that the steps illustrated in the above-described flow diagrams or in the flow diagrams of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flow diagrams, in some cases, the steps illustrated or described may be performed in an order different than here.
It should be understood by those skilled in the art that various features of the above-described embodiments can be combined in any combination, and for the sake of brevity, all possible combinations of features in the above-described embodiments are not described in detail, but rather, all combinations of features which are not inconsistent with each other should be construed as being within the scope of the present disclosure.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. A three-dimensional scanning system, comprising: at least one computer device, at least one three-dimensional scanner, and at least one tracker; the three-dimensional scanner, the tracker and the computer device comprise a wireless ad hoc network module and a clock synchronization unit; and constructing a wireless peer-to-peer network based on the wireless ad hoc network module, wherein the three-dimensional scanner and the tracker transmit data to the computer equipment through the wireless peer-to-peer network, and clock synchronization units in the three-dimensional scanner, the tracker and the computer equipment perform clock synchronization through the wireless peer-to-peer network.
2. The system of claim 1, wherein the three-dimensional scanner comprises a structured light projector, a first wireless ad hoc network module, at least two first cameras, and a first clock synchronization unit; the structured light projector and the first camera are both connected with the first clock synchronization unit, and clock synchronization signals are obtained through the first clock synchronization unit; wherein the content of the first and second substances,
the three-dimensional scanner is used for synchronously working with the structured light projector, the first camera and the tracker according to the acquired clock synchronization signal so as to acquire at least two synchronous two-dimensional images of a scanned object with a surface projected with a wired structured light pattern, obtain scanning data and transmit the scanning data to the computer equipment through the wireless peer-to-peer network.
3. The system of claim 1, wherein the tracker comprises a second wireless ad hoc network module, at least two second cameras, and a second clock synchronization unit; the second camera is connected with the second wireless ad hoc network module and acquires a clock synchronization signal through the second clock synchronization unit; wherein the content of the first and second substances,
the tracker is used for controlling the second camera and the three-dimensional scanner to work synchronously according to the acquired clock synchronization signal so as to track the pose information of the three-dimensional scanner, acquire tracking data and transmit the tracking data to the computer equipment through the wireless peer-to-peer network.
4. The system according to any one of claims 1 to 3, further comprising: a relay device comprising a third wireless ad hoc network module; the relay device joins the wireless peer-to-peer network through the third wireless ad hoc network module and serves as a relay node for data transmission in the wireless peer-to-peer network.
5. The system according to any one of claims 1 to 3, wherein the number of the computer devices is plural, a plurality of the computer devices are distributed in the wireless peer-to-peer network, and data transmission is performed between the plurality of the computer devices through a wired network.
6. The system of claim 5,
the three-dimensional scanner and the tracker are used for determining an optimal computer device in the plurality of computer devices according to the transmission rate and the transmission quality in the wireless peer-to-peer network and transmitting data to the optimal computer device;
the optimal computer equipment is also used for judging whether the optimal computer equipment is a home owner of the data sent by the three-dimensional scanner and the tracker; and if so, reconstructing a three-dimensional model according to the data sent by the three-dimensional scanner and the tracker, otherwise, forwarding the data sent by the three-dimensional scanner and the tracker to a data owner through a wired network.
7. A three-dimensional scanning method is applied to a three-dimensional scanning system comprising at least one computer device, at least one three-dimensional scanner and at least one tracker, wherein the three-dimensional scanner, the tracker and the computer device respectively comprise a wireless ad hoc network module and a clock synchronization unit, and the three-dimensional scanning method is characterized by comprising the following steps of:
the wireless ad hoc network module of the computer equipment, the wireless ad hoc network module of the three-dimensional scanner and the wireless ad hoc network module of the tracker spontaneously establish a wireless peer-to-peer network;
the three-dimensional scanner and the tracker perform clock synchronization through the wireless peer-to-peer network;
the three-dimensional scanner and the tracker work synchronously according to the clock synchronization signal generated by the clock synchronization unit, the three-dimensional scanner acquires scanning data of a scanned object, the tracker acquires tracking data of the three-dimensional scanner, and the scanning data and the tracking data are transmitted to the computer equipment through the wireless peer-to-peer network;
and the computer equipment processes the scanning data and the tracking data and reconstructs a three-dimensional model of the scanned object.
8. The method of claim 7, wherein after the wireless ad hoc network module of the computer device, the wireless ad hoc network module of the three-dimensional scanner, and the wireless ad hoc network module of the tracker spontaneously establish a wireless peer-to-peer network, the method further comprises:
under the condition that a node device with a wireless ad hoc network module joins and/or exits the wireless peer-to-peer network and/or the transmission quality of at least one transmission path in the wireless peer-to-peer network is lower than a set threshold, recalculating the topology of the wireless peer-to-peer network according to the node device existing in the wireless peer-to-peer network, wherein the node device comprises at least one of the following components: three-dimensional scanner, tracker, computer equipment, relay equipment.
9. The method of claim 7, wherein before the wireless ad hoc network module of the computer device, the wireless ad hoc network module of the three-dimensional scanner, and the wireless ad hoc network module of the tracker autonomously establish a wireless peer-to-peer network, the method further comprises:
and configuring the same access parameters for the wireless ad hoc network module of the computer equipment, the wireless ad hoc network module of the three-dimensional scanner and the wireless ad hoc network module of the tracker, wherein the access parameters are used for determining a wireless peer-to-peer network which can be added or established by the wireless ad hoc network module.
10. The method of any of claims 7 to 9, wherein prior to the three-dimensional scanner and the tracker transmitting the scan data and the tracking data to the computer device over the wireless peer-to-peer network, the method further comprises:
configuring the three-dimensional scanner, the tracker and the computer device as a same working group, so that the three-dimensional scanner, the tracker and the computer device in the same working group respectively and independently work with the three-dimensional scanner, the tracker and/or the computer device in the wireless peer-to-peer network, which do not belong to the same working group, wherein each three-dimensional scanner at most belongs to one working group, each tracker at most belongs to one working group, and the computer device belongs to one working group or a plurality of working groups.
11. The method according to claim 10, wherein the number of the computer devices is plural, and data transmission is performed between the plural computer devices through a wired network; the three-dimensional scanner and the tracker transmitting the scan data and the tracking data to the computer device over the wireless peer-to-peer network comprises:
the three-dimensional scanner and the tracker, configured as a same workgroup, transmit the scan data and the tracking data to any of the computer devices in the wireless peer-to-peer network over the wireless peer-to-peer network;
after receiving the scanning data and the tracking data, the computer equipment judges whether a first working group to which a three-dimensional scanner generating the scanning data belongs and a second working group to which a tracker generating the tracking data belongs are the same as working groups to which the computer equipment per se belongs;
and if not, the computer equipment forwards the scanning data and the tracking data to the computer equipment belonging to the first working group and the second working group.
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