CN-122015690-A - Three-dimensional scanner, control method, laser, scanning system, device and medium

CN122015690ACN 122015690 ACN122015690 ACN 122015690ACN-122015690-A

Abstract

The application provides a three-dimensional scanner, a control method, a laser, a scanning system, equipment and a medium. The method comprises the steps of obtaining current distance information of a three-dimensional scanner and a measured object, wherein the current distance information is used for representing the distance between the three-dimensional scanner and the measured object, and adjusting a laser focus projected by the three-dimensional scanner to a target focus position corresponding to the current distance information under the condition that the current distance information is larger than a specified distance threshold value. The position of the measured object is tracked in real time, and under the condition that the position exceeds a specified distance threshold value, the laser focus projected by the three-dimensional scanner is adjusted to the target focus position corresponding to the current distance information, so that continuous and stable high-precision data acquisition is realized in the whole measurement space.

Inventors

CHEN SHANGJIAN
LI XIAONING
WANG JIANGFENG
ZHENG JUN
JIN FENGXIN

Assignees

思看科技(杭州)股份有限公司

Dates

Publication Date: 20260512
Application Date: 20251226

Claims (11)

1. A method of controlling a three-dimensional scanner, the method comprising: Acquiring current distance information of the three-dimensional scanner and a measured object, wherein the current distance information is used for representing the measured distance between the three-dimensional scanner and the measured object; And under the condition that the current distance information is larger than a specified distance threshold value, adjusting the laser focus projected by the three-dimensional scanner to the target focus position corresponding to the current distance information.
2. The method according to claim 1, wherein, in the case where the current distance information is greater than a specified distance threshold, adjusting the laser focus projected by the three-dimensional scanner to a target focus position corresponding to the current distance information includes: Acquiring a line width value of a laser line formed on the surface of the measured object by laser projected by the three-dimensional scanner, wherein the line width value is used for representing the distance of the laser line in the width direction; And adjusting the position of the laser focus so that the value of the line width value falls into a specified value range, wherein the line width value in the specified value range is smaller than the line width value outside the specified value range.
3. The method according to claim 1, wherein, in the case where the current distance information is greater than a specified distance threshold, adjusting the laser focus projected by the three-dimensional scanner to a target focus position corresponding to the current distance information, further comprises: Calculating a target focusing distance based on the distance between the laser and the measured object under the condition that the current distance information is larger than a specified distance threshold; adjusting the focal length position of the three-dimensional scanner according to the target focusing distance so as to enable the current distance information to be smaller than a specified distance threshold, wherein when the current distance information is smaller than the specified distance threshold, the value of the line width value falls into a first specified value range; And adjusting the laser focus to move in the first appointed value range so that the value of the line width value falls into a second appointed value range, wherein the second appointed value range is positioned in the first appointed value range, and the line width value in the second appointed value range is smaller than the line width value outside the second appointed value range.
4. The control method of a three-dimensional scanner according to any one of claims 2 or 3, wherein the three-dimensional scanner comprises at least one laser and at least two cameras, the laser comprises a laser light source, a focusing lens and a driving motor, the laser light source and the focusing lens are sequentially arranged along a light-emitting direction, and the driving motor is arranged on an outer peripheral side of the focusing lens and can drive the focusing lens to move along an optical axis direction; the method comprises the following steps: Acquiring current distance information of the three-dimensional scanner and the measured object through the camera, wherein the current distance information is used for representing the measured distance between the three-dimensional scanner and the measured object; and under the condition that the current distance information is larger than a specified distance threshold value, adjusting the focusing lens through the driving motor so as to enable the laser focus projected by the three-dimensional scanner to reach a target focus position corresponding to the current distance information.
5. The control method of the three-dimensional scanner according to claim 4, characterized in that the method comprises: Acquiring a linewidth value of a laser line formed on the surface of the measured object by the laser of the laser through the camera; and driving the focusing lens through the driving motor to adjust the position of the laser focus, so that the value of the line width value falls into a specified value range.
6. The laser is characterized by comprising a laser light source, a focusing lens and a driving motor, wherein the laser light source and the focusing lens are sequentially arranged along the light emitting direction, and the driving motor is arranged on the periphery side of the focusing lens and can drive the focusing lens to move relative to the laser light source.
7. The laser of claim 6, wherein the drive motor comprises a holder and a carrier, the holder is disposed in the laser, the carrier is movably connected to the holder along an optical axis, the focusing lens is fixed on the carrier, a first magnetic member is disposed on the holder, the carrier is disposed with a second magnetic member, and the second magnetic member is configured to cooperate with the first magnetic member to drive the carrier to move relative to the holder.
8. A three-dimensional scanner comprising at least two cameras and the laser of any one of claims 6 or 7, said laser being disposed between two of said cameras.
9. A laser scanning system, comprising: the acquisition module is used for acquiring current distance information of the three-dimensional scanner and the measured object, wherein the current distance information is used for representing the measured distance between the three-dimensional scanner and the measured object; And the adjusting module is used for adjusting the laser focus projected by the three-dimensional scanner to the target focus position corresponding to the current distance information under the condition that the current distance information is larger than a specified distance threshold value.
10. An electronic device comprising a memory and a processor, wherein the memory stores at least one computer program, the at least one computer program being loaded and executed by the processor to implement the method of controlling a three-dimensional scanner according to any one of claims 1 to 5.
11. A computer-readable storage medium, characterized in that at least one computer program is stored in the computer-readable storage medium, which, when being executed by a processor, enables the control method of the three-dimensional scanner according to any one of claims 1 to 5.

Description

Three-dimensional scanner, control method, laser, scanning system, device and medium Technical Field The application relates to the technical field of computer vision, in particular to a three-dimensional scanner, a control method, a laser, a scanning system, equipment and a medium. Background At present, with the wide application of the laser scanning technology in the fields of industrial element detection, cultural relic digital reconstruction, robot vision guidance and the like, the precision and efficiency problems of the laser scanning technology are increasingly focused. However, to expand the scanning range, it is generally necessary to increase the number of lasers. Each laser needs to be independently focused according to the working distance, so that the integration complexity of the system is increased, and the hardware cost and the debugging time are obviously increased. Disclosure of Invention The application provides a three-dimensional scanner, a control method, a laser, a scanning system, equipment and a medium, and aims to solve the problems of high focusing difficulty of the laser and low scanning precision caused by increased line width of a laser line. In a first aspect, the present application provides a control method of a three-dimensional scanner, the method comprising: Acquiring current distance information of the three-dimensional scanner and a measured object, wherein the current distance information is used for representing the measured distance between the three-dimensional scanner and the measured object; And under the condition that the current distance information is larger than a specified distance threshold value, adjusting the laser focus projected by the three-dimensional scanner to the target focus position corresponding to the current distance information. Optionally, when the current distance information is greater than a specified distance threshold, adjusting the laser focus projected by the three-dimensional scanner to the target focus position corresponding to the current distance information includes: Acquiring a line width value of a laser line formed on the surface of the measured object by laser projected by the three-dimensional scanner, wherein the line width value is used for representing the distance of the laser line in the width direction; And adjusting the position of the laser focus so that the value of the line width value falls into a specified value range, wherein the line width value in the specified value range is smaller than the line width value outside the specified value range. Optionally, when the current distance information is greater than a specified distance threshold, adjusting the laser focus projected by the three-dimensional scanner to a target focus position corresponding to the current distance information, and further including: Calculating a target focusing distance based on the distance between the laser and the measured object under the condition that the current distance information is larger than a specified distance threshold; adjusting the focal length position of the three-dimensional scanner according to the target focusing distance so as to enable the current distance information to be smaller than a specified distance threshold, wherein when the current distance information is smaller than the specified distance threshold, the value of the line width value falls into a first specified value range; And adjusting the laser focus to move in the first appointed value range so that the value of the line width value falls into a second appointed value range, wherein the second appointed value range is positioned in the first appointed value range, and the line width value in the second appointed value range is smaller than the line width value outside the second appointed value range. Optionally, the three-dimensional scanner includes at least one laser and at least two cameras, the laser includes a laser light source, a focusing lens and a driving motor, the laser light source and the focusing lens are sequentially arranged along a light emitting direction, and the driving motor is arranged on the periphery side of the focusing lens and can drive the focusing lens to move along an optical axis direction; the method comprises the following steps: Acquiring current distance information of the three-dimensional scanner and the measured object through the camera, wherein the current distance information is used for representing the measured distance between the three-dimensional scanner and the measured object; and under the condition that the current distance information is larger than a specified distance threshold value, adjusting the focusing lens through the driving motor so as to enable the laser focus projected by the three-dimensional scanner to reach a target focus position corresponding to the current distance information. Optionally, the method includes: Acquiring a linewidth value of a laser line formed on the surface