阅读说明：本技术 监测3d扫描仪的扫描体积 (Monitor the scan volume of 3D scanner ) 是由 卡尔-约瑟夫·霍伦贝克 亨里克·奥杰伦德 拉斯马斯·克耶尔 于 2018-02-14 设计创作，主要内容包括：公开了使用3D扫描仪的3D扫描,该3D扫描仪被配置成检测被扫描对象在3D扫描仪的扫描体积中何时静止。(It discloses and is scanned using the 3D of 3D scanner, it is when static in the scan volume of 3D scanner which is configured to detect scanned object.)

1. a kind of 3D scanner is used to scan the object being placed in the scan volume of the 3D scanner, wherein the 3D Scanner includes:

Light scanning unit, the light scanning unit are configured to record the geometry for the object being placed in the scan volume Data, the light scanning unit include light source and image acquisition unit, and the light source, which is configured to that light beam will be detected, to be projected In the scan volume, described image acquiring unit is configured to record and connect from the object being placed in the scan volume The 2D image of the light of receipts；And

Control unit, described control unit include that data processor and coding have the computer program including readable program code to produce The non-transitory computer-readable medium of product, the readable program code can be executed by the processor so that the processor into The following processing of row:

By analyzing the monitoring data obtained in different time points for the object, object described in the scan volume is detected Movement,

Start 3D scanning when the object is determined to be in static in the scan volume, and

The digital 3D for generating the object from the geometric data recorded is indicated.

2. 3D scanner according to claim 1, wherein the readable program code can be executed simultaneously by the processor And it is configured to carry out the following processing the processor:

Monitoring data are obtained in different time points at least for the foreign peoples's object being present in the scan volume；

By analyzing the monitoring data obtained in different time points at least for foreign peoples's object, detection is present in described The movement of at least described foreign peoples's object in scan volume；And

The starting for preventing the 3D of the object to scan when foreign peoples's object is determined to be in and moves in the scan volume.

3. 3D scanner according to claims 1 and 2, wherein the starting for preventing the 3D of the object from scanning is included in institute It states object and is determined to be in static and described foreign peoples's object in the scan volume and is determined to be in the scan volume and move The starting for preventing the 3D of the object to scan when dynamic.

4. a kind of 3D scanner comprising:

Light scanning unit, the light scanning unit, which is configured to record, to be arranged in the scan volume of the 3D scanner The geometric data of object, the light scanning unit include light source and image acquisition unit, and the light source is configured to detect Light beam projects in the scan volume, and described image acquiring unit is configured to record from being placed in the scan volume The 2D image of the received light of object；And

Control unit, described control unit include that data processor and coding have the computer program including readable program code to produce The non-transitory computer-readable medium of product, the readable program code can be executed by the processor so that the processor into The following processing of row:

Monitoring data are obtained in different time points at least for the foreign peoples's object being present in the scan volume,

By analyzing the monitoring data obtained in different time points for foreign peoples's object, detection is present in the scanning The movement of at least described foreign peoples's object in volume, and

The starting for preventing the 3D of the object to scan when foreign peoples's object is determined to be in and moves in the scan volume.

5. 3D scanner according to claim 3, wherein the readable program code can be executed simultaneously by the processor And it is configured to carry out the following processing the processor:

By analyzing the monitoring data obtained in different time points for the object, object described in the scan volume is detected Movement；

Start 3D scanning when the object is determined to be in static in the scan volume；And

The digital 3D for generating the object from the geometric data recorded is indicated.

6. according to 3D scanner described in claim 4 and 5, wherein the starting for preventing the 3D of the object from scanning is included in institute It states object and is determined to be in static and described foreign peoples's object in the scan volume and is determined to be in the scan volume and move The starting for preventing the 3D of the object to scan when dynamic.

7. according to 3D scanner described in one or more preceding claims, wherein the monitoring data are by capture by putting The environment of foreign peoples's object reflection setting the object in the scan volume and/or being present in the scan volume Light and be recorded.

8. according to 3D scanner described in one or more preceding claims, wherein the monitoring data include when described different The monitoring 2D of the object and foreign peoples's object that class object records in different time points when being present in the scan volume Image.

9. according to claim 1 to one or more 3D scanners in 7, wherein the monitoring data include when described The monitoring 2D image of the object recorded in different time points when foreign peoples's object is not in the scan volume.

10. according to 3D scanner described in one or more preceding claims, wherein for the prison of the object acquisition Measured data indicates position and/or orientation of the object in the scan volume.

11. according to 3D scanner described in one or more preceding claims, wherein analyze the monitoring data include will be The monitoring 2D image of different time points record is compared.

12. 3D scanner according to claim 11, wherein by the monitoring 2D image recorded in different time points into Row relatively includes the pixel value of the pixel in the monitoring 2D image.

13. according to claim 1,3D scanner described in any one of 5 or 12, wherein when between the pixel value compared Difference be lower than the first predefined thresholds when, the object is determined to be in static in the scan volume.

14. the 3D scanner according to any one of claim 2,4 or 12, wherein when between the pixel value compared Difference be higher than the second predefined thresholds when, foreign peoples's object, which is determined to be in the scan volume, to be moved.

15. according to 3D scanner described in one or more preceding claims, wherein analysis is directed to the institute of the object acquisition Stating monitoring data includes exporting the position about the object in the scan volume from acquired monitoring data and/or taking To information and will be compared for information derived from the monitoring data that obtain in different time points.

16. 3D scanner according to claim 7, wherein the comparison includes using described in image analysis algorithm analysis Monitor 2D image.

17. 3D scanner according to claim 16, wherein described image parser includes feature recognition algorithms or side At least one of edge detection algorithm.

18. according to 3D scanner described in one or more preceding claims, wherein described image acquiring unit is configured to Recording needle recorded to the monitoring 2D image of the object and/or foreign peoples's object and during 3D scanning with In the scanning 2D image that the digital 3D for generating the object is indicated.

19. according to 3D scanner described in one or more preceding claims, wherein analyzing the monitoring data includes:

The monitoring number of the object and/or foreign peoples's object is generated from the monitoring data obtained for different time points 3D is indicated；And

What monitoring number 3D more generated was indicated is oppositely arranged.

20. a kind of computer program product realized in non-transitory computer-readable medium, the computer program product packet Computer readable program code is included, the computer readable program code can be executed by hardware data proc-essor so that described hard Part data processor carries out the following processing:

By analyzing the monitoring data obtained in different time points for the object being placed in the scan volume of 3D scanner, inspection Survey the movement of the object；

Determine whether the object is static in the scan volume；

Start 3D scanning when the object is determined to be in static in the scan volume；

The digital 3D for generating the object from the geometric data recorded during 3D scanning is indicated；And

Number 3D generated is indicated to visualize.

21. a kind of computer program product realized in non-transitory computer-readable medium, the computer program product packet Computer readable program code is included, the computer readable program code can be executed by hardware data proc-essor so that described hard Part data processor carries out the following processing:

Monitoring data are obtained in different time points at least for foreign peoples's object in the scan volume for being present in 3D scanner；

By analyzing the monitoring data obtained in different time points at least for foreign peoples's object, detection is present in described The movement of at least described foreign peoples's object in scan volume；And

The starting for preventing the 3D of the object to scan when foreign peoples's object is determined to be in and moves in the scan volume.

22. the computer program product according to claim 20 or 21, wherein the monitoring data include:

The object recorded in different time points when foreign peoples's object is present in the scan volume and the foreign peoples The monitoring 2D image of object；Or

The monitoring 2D image of the object recorded in different time points when foreign peoples's object is not in the scan volume.

23. the computer program product according to claim 20 or 21, the computer readable program code can be by hard Part data processor executes so that the hardware data proc-essor is described right in the scan volume by being placed on by capturing As and/or the environment light of foreign peoples's object reflection that is present in the scan volume record monitoring data.

24. a kind of method for controlling 3D scanner, the 3D scanner is placed on sweeping for the 3D scanner for scanning Retouch the object in volume, wherein the described method includes:

The scan volume is monitored to determine whether the object being placed in the scan volume is static, wherein the monitoring packet Include the 2D image recorded using the 2D image recording sensor monitoring 2D image of the 3D scanner and analysis；And

The instruction for scanning to the object 3D is executed when determining that the object is static in the scan volume.

25. a kind of method for controlling 3D scanner, which comprises

Whether monitoring scan volume is to determine the foreign peoples's object being placed in the scan volume in movement, wherein the monitoring Including using the 2D image that the 2D image recording sensor of the 3D scanner monitors 2D image and analysis is recorded；And

The finger for preventing the 3D of the object from scanning is executed when determining that foreign peoples's object moves in the scan volume It enables.

26. the method according to claim 24 or 25 further comprises by capturing by being placed in the scan volume The object and/or the foreign peoples's object reflection being present in the scan volume environment light come record monitoring 2D figure Picture.

Technical field

This disclosure relates to monitor the scan volume of 3D scanner.More specifically, this disclosure relates to monitor scan volume and Scanning of the automatic starting to the object being placed in scan volume.

Background technique

When using optical means 3D sweep object, the digital 3D expression of object could be from a series of 2D images, often A 2D image provides the surface topography information of a part of subject surface.

3D scanning can be based on several optical detective technologies, such as triangulation or focus scanning.

Many triangulation 3D scanners are using laser beam with detected object surface and using 2D camera to find laser The reflection position of light beam.How far to surface depending on laser irradiation, laser beam appears in the different location in viewing field of camera Place.This technology is referred to as triangulation, because point, camera and the light source of laser beam incidence on the surface are collectively formed three Angle.The topographical information of the major part of subject surface is recorded and making laser beam inswept object.Illuminate such as several squares Centimetre area patterning detection light beam (rather than single laser point) can be used to accelerate acquisition process.

The 3D scanner of several types is of a commercially available, such as the D2000 scanner from 3shape A/S.

With scanner technology maturation, interacting that the required time becomes with 3D scanner manually can be with the actual scanning time It compares.Offer makes user's interaction faster and more efficient 3D scanner and scan method are still a problem.

Summary of the invention

According to one embodiment, a kind of 3D scanner is disclosed, is used to scan the scanning for being placed on the 3D scanner Object in volume.The 3D scanner includes:

Light scanning unit is configured to record the geometric data for the object being placed in the scan volume, described Light scanning unit includes light source and image acquisition unit, and the light source, which is configured to that light beam will be detected, projects the sweep volume In product, described image acquiring unit is configured to record the 2D from the received light of the object being placed in the scan volume Image；And

Control unit comprising data processor and coding have the non-of the computer program product including readable program code Transitory computer-readable medium, the readable program code can be executed by the processor so that processor progress is following Processing:

By analyzing the monitoring data obtained in different time points for the object, detect described in the scan volume The movement of object,

Start 3D scanning when the object is determined to be in static in the scan volume, and

The digital 3D for generating the object from the geometric data recorded is indicated.

According to one embodiment, a kind of method for controlling 3D scanner is disclosed, the 3D scanner is for scanning The object being placed in the scan volume of the 3D scanner.This method comprises:

The scan volume is monitored to determine whether object is static in the scan volume；And

The instruction for scanning to the object 3D is executed when finding that the object is static in the scan volume.

In one embodiment, the readable program code can be executed by the processor and be configured to make described Processor carries out the following processing:

Monitoring data are obtained in different time points at least for the foreign peoples's object being present in the scan volume；

By analyzing the monitoring data obtained in different time points at least for foreign peoples's object, detection is present in The movement of at least described foreign peoples's object in the scan volume；And

Prevent what the 3D of the object scanned to open when foreign peoples's object is determined to be in and moves in the scan volume It is dynamic.

According to one embodiment, a kind of method for controlling 3D scanner is disclosed.This method comprises:

Monitor the scan volume with determine foreign peoples's object for being placed in the scan volume whether in movement, wherein institute Stating monitoring includes the 2D image recorded using the 2D image recording sensor monitoring 2D image of the 3D scanner and analysis； And

It executes when determining that foreign peoples's object moves in the scan volume for preventing the 3D of the object from scanning Instruction.

According to one embodiment, the object disclosed in a kind of scan volume for 3D scanner carries out 3D scanning Method.This method comprises:

The object is placed in the scan volume according to the 3D scanner of any of disclosed embodiment,

Execute for monitor the scan volume with the determination object in the scan volume whether static processing Device executable instruction；And

The processor-executable instruction for scanning to the object 3D is executed when Finding Object is static.

Above-mentioned and following methods some steps can be implemented in software and in data processing system or other processing It is realized on device by executing computer executable instructions.Instruction may be provided as from computer readable storage medium or from another One computer loads the computer in the memory (such as RAM memory cell) of data processing system via computer network Program product.Alternatively, described step can by hard-wired circuitry rather than software implementation or pass through hard-wired circuitry Implement in conjunction with software.

In some embodiments, computer program product includes for finding that the object is quiet in the scan volume Start the instruction of 3D scanning when only.

According to one embodiment, a kind of 3D scanner is disclosed.The 3D scanner includes:

Light scanning unit is configured to record the geometry for the object being arranged in the scan volume of the 3D scanner Data, the light scanning unit include light source and image acquisition unit, and the light source, which is configured to that light beam will be detected, to be projected In the scan volume, described image acquiring unit is configured to record received from the object being placed in the scan volume The 2D image of light；And

Control unit comprising data processor and coding have the non-of the computer program product including readable program code Transitory computer-readable medium, the readable program code can be executed by the processor so that processor progress is following Processing:

Monitoring data are obtained in different time points at least for the foreign peoples's object being present in the scan volume,

By analyzing the monitoring data obtained in different time points for foreign peoples's object, detection is present in described The movement of at least described foreign peoples's object in scan volume, and

Prevent what the 3D of the object scanned to open when foreign peoples's object is determined to be in and moves in the scan volume It is dynamic.

Foreign peoples's object be different from the object to be scanned, and foreign peoples's object usually temporarily (typically Before 3D sweep start) it is present in scan volume, such as during object is located in scan volume.In the disclosure In the case of, foreign peoples's object may include the hand of the operator when object is placed in scan volume.Alternatively, foreign peoples's object can To include robots arm (robotic arm), it is configured to be located in object in scan volume to be used to scan.It is typical Ground determines that the movement of foreign peoples's object executes before determining whether object is static.

In one embodiment, the readable program code can be executed by the processor and be configured to make described Processor carries out the following processing:

By analyzing the monitoring data obtained in different time points for the object, detect described in the scan volume The movement of object；

Start 3D scanning when the object is determined to be in static in the scan volume；And

The digital 3D for generating the object from the geometric data recorded is indicated.

By when foreign peoples's object is still in scan volume for generating the number of object from the geometric data that is recorded The starting needs for the scanning that word 3D is indicated are avoided by.Therefore, according to one embodiment, the starting for preventing the 3D of object from scanning includes It can be configured to be determined to be in processor in object by the readable program code that processor executes static in scan volume And foreign peoples's object is determined to be in the starting for preventing 3D from scanning when moving in scan volume.In other words, the 3D scanning of object can be with In foreign peoples's object not Shi Qidong in (being not present in) scan volume, even if the conclusion of the determination is that object is static.

Within the context of the present disclosure, scan volume can be limited by the circular cone of the visual field of expression image acquisition unit.Scheming It include under the scene more than an imaging sensor, then scan volume includes crossing over more than one image jointly as acquiring unit The entirety or at least part of the visual field (visual field being overlapped) of sensor.

Monitoring scan volume may include the 2D image recording sensor object and/or foreign peoples's object using 3D scanner The 2D image that monitoring 2D image and analysis are recorded.In one embodiment, monitoring data include when foreign peoples's object is deposited The monitoring 2D image of the object and foreign peoples's object that are recorded in different time points when being in the scan volume.Another In one embodiment, monitoring data include the institute recorded in different time points when foreign peoples's object is not in the scan volume State the monitoring 2D image of object.

Analyzing the monitoring data may include that the monitoring 2D image that will be recorded in different time points is compared, example Such as the pixel value by comparing the pixel in the monitoring 2D image.In one embodiment, when between the pixel value compared Difference be lower than the first predefined thresholds when, the object is determined to be in static in the scan volume.In another embodiment In, when the difference between the pixel value compared is higher than the second predefined thresholds, foreign peoples's object is determined to be in described It is moved in scan volume.In different embodiments, the first predefined thresholds and the second predefined thresholds can be identical or not Together.It is illustratively by subtracting the intensity value of respective pixel and determination in monitoring 2D image that one unrestricted as a result, Whether difference, which is lower than predetermined intensity threshold, is come calculating difference index (indicator).Another unrestricted illustrative side Formula may include comparing the image intensity histogram of monitoring 2D image and determining whether difference is lower than predetermined threshold value.

Monitoring 2D image may include two or more the individual 2D images recorded in different time points.In the analysis phase Between, the 2D image of these records is compared to for determining whether object is static or whether foreign peoples's object is in movement.In addition or Alternatively, the image for monitoring 2D may include one or more compound 2D images comprising (open in scanning during the monitoring stage Before dynamic) the average expression of the consecutive image of predefined quantity that records in different time points.Combination picture can be by will be pre- The image for defining quantity is aligned and calculates pixel value for specific pixel to generate, this passes through using from selected from predefined number One pixel value in the image of the consecutive image of amount is calculated for specific pixel from the consecutive image of predefined quantity The average of pixel value is realized.During analysis, these compound 2D images be compared to for determine object it is whether static or Whether foreign peoples's object is in movement.In another embodiment, comparing can carry out between combination picture and non-composite 2D image, non- The 2D image that compound 2D image records during being only the monitoring stage in particular point in time.It can be such as using this combination picture It is beneficial for reducing the noise from the monitoring 2D image recorded, and makes the starting of automatically scanning more reliable.Energy It is enough to may be configured to that processor is made to generate this combination picture by the readable program code that processor executes.Readable program code I) two combined monitoring 2D images, and/or ii can be further configured to compare) combined monitoring 2D image and non-composite monitor 2D image, and/or iii) two non-composite monitor 2D image.

Control unit may be configured to be set in the time interval between the different time points of record monitoring data.Time It is spaced preferably short enough to avoid unnecessary longer wait time (such as the starting scanned for 3D) is caused, and still may be used It is scanned with long enough to avoid 3D and is still just started during object is placed in scan volume in operator.For example, right The single 2D image of elephant can be often obtained in much smaller than 100 milliseconds, and subsequent analysis can also be by data processing System is handled rapidly.The monitoring of scan volume and the automatic starting of scanner program can be thus than human operators and 3D scanner User interface interaction it is faster.

In one embodiment, whether test object moves in scan volume can be related to determining object in scan volume In position and/or orientation whether change over time.Position and/or change in orientation are it is believed that object is static permitted preparatory Determining maximum magnitude can be defined, and object must can also be by the required time interval in this predetermined range It limits.

The monitoring of scan volume during program that object is placed in 3D scanner is provided into following aspect: once operation Person is placed on object is static in scan volume, and 3D scanning can be automatically started, and scans without operator and 3D Instrument control system interaction goes notice object to be ready for being scanned.Due to do not need operator go to such as computer screen go it is defeated Enter the order of starting scanning, scanner program can be started rapidly.Because it is only necessary to object is placed on sweep volume by operator It removes it in product and after the scanning, scanner program becomes more to automate.The scanning sequence of sequential scan is wanted in several objects In column, operator only needs for scanned object to be substituted for next object, when thus significantly reducing the entirety of scanner program Between.

Computer program product may include detection scanned object from scan volume be removed and new object by The instruction for being placed on static instruction in 3D scanner and in scan volume and new object 3D being scanned.Monitor scan volume It is removed to detect scanned object and scan volume can be moved away based on tracking scanned object, or can be by sweeping Retouch for after sky, object be again found in scan volume before some time point writing scan volumes.

New object can be identical as scanned object in principle, for example, if what operator was scanned to the first of object Quality is dissatisfied.

Monitoring data can preferably express position and/or orientation of the object in scan volume.Energy after 3D scanner Enough pass through movement of the research and application Data Detection object in scan volume.Analysis can also relate to determine scan volume in whether There are objects.

In some embodiments, light scanning unit includes light source, and light beam will be detected by, which being configured to, projects sweep volume In product.That is, detection light is projected on object when object is scanned.Detecting light beam may include pattern, for example including multiple The linear pattern of parallel lines.

In some embodiments, light scanning unit includes image acquisition unit, is configured to record and is sweeping from setting Retouch the object in volume and/or the 2D image from the received light of foreign peoples's object being present in scan volume.

In some embodiments, monitoring data include the monitoring 2D image recorded in different time points.Monitor scan volume It later may include recording one or more monitoring 2D images of different time points, and analyzing it includes comparing and/or analyzing The monitoring 2D image recorded.

It is preferably included after computer program product for analyzing one or more monitoring 2D images to export monitoring number According to instruction and for research and application data with test object and/or foreign peoples's object whether in mobile instruction.

Within the context of the present disclosure, phrase " 2D image " can use in following correlation circumstance: be imaged in 2D image The coherent area of subject surface visited by the bright situation of detection light or ambient lighting and object and/or foreign peoples's object by structuring Survey the case where light beam illuminates.When structuring detection light beam by application, 2D image can only comprising one of subject surface or The geometric data of multiple portions, wherein detection light is actually incident in subject surface.That is, 2D image can have dark region Section has the little or no data from surface.For example, for the detection light pattern being made of multiple parallel lines, 2D figure As the data from the subject surface only illuminated by line, and the subject surface between the line from detection light pattern will be provided Section 2D image in will be not present data.

3D scanner can for example with two or more 2D cameras, be arranged to make from different perspectives object and/or The imaging of foreign peoples's object is enable to the movement in detection scan volume on different directions, and/or same 2D phase can be used Machine obtains two or more monitoring 2D images simultaneously substantially.Latter case can make in the case where such as focus scanning instrument With wherein focal plane is swept along optical axis, covers to significant instant scan volume, or work as triangulation 3D scanner The low pixel number 3D table of object is recorded within the time much more shorter than the time between two continuity points sequentially in time When showing, latter case can be used.For each time point several monitoring 2D images record should preferably according to when Between time between two continuity points of dot sequency sub-fraction in complete.For example, being directed to the monitoring 2D image of each time point Record can by two continuous time points be spaced apart time 1/10th in complete.

In some embodiments, research and application data include the monitoring 2D image recorded more in different time points.When two When between a or more continuous monitoring 2D image there is no changing, or when changing lower than predefined maximum value, then infer Object is static.

In some embodiments, object and/or foreign peoples's object during the monitoring of image acquisition unit writing scan volume The scanning 2D image for the object that monitoring 2D image and 3D are recorded during scanning.It provides the advantage that and individual image Acquiring unit is respectively used to record geometric data and compares with monitoring data, and 3D scanner is able to use less component and is made.

In some embodiments, image acquisition unit includes a 2D camera, and record monitoring 2D image is at least partly And scanning 2D image is at least partly.It for the 2D image of the monitoring of scan volume and is used for using same 2D cameras record It determines that the 2D image of the pattern of scanned object provides following aspect: needing less component only to construct 3D scanner, by This 3D scanner can be made more compact and is made with reduced cost.

3D scanner is preferably configured to determine the pattern of scanned object from the geometric data recorded, such as passes through The digital 3D for generating the object of the pattern of expression object is indicated.That is, the digital 3D for generating object indicates to can determine the shape of object Looks, and computer program product can include the instruction for the pattern from the geometric data derived object recorded.

This can be to realize from the independent control unit that 3D scanner receives 2D image and/or geometric data, Huo Zhetong Crossing instruction appropriate includes realizing in the computer program product of the control system of 3D scanner.

The geometric data that 3D is recorded during scanning can be configured to execute from the scanning 2D image recorded by executing The computer-implemented algorithm of this analysis exports.

Environment light is placed on any object therein during being used to illuminate scan volume and monitoring, i.e., some In embodiment, environment light be used to illuminate object when monitoring data (such as monitoring 2D image) are recorded.In this case, The monitoring 2D image capture recorded is from the object being placed in scan volume and/or from the foreign peoples couple being present in scan volume As the environment light of reflection.

By allowing ambient lighting to scan volume with open design, 3D scanner can be configured to permit pair As and/or foreign peoples's object record monitor 2D image when it is bright by ambient lighting.In some embodiments, in the note of monitoring 2D image During record, lighting unit does not enable and detects the intensity of light beam and is reduced.

In some embodiments, analyzing the monitoring data includes exporting sweeping about object from the monitoring data recorded Retouch the position and/or orientation in volume information and will for different time points record monitoring data derived from information into Row compares.If information is different derived from continuous monitoring 2D image, this instruction object is not static.Derived information may include The edge or structure of object or orientation and/or the position of entire object.

When only having a monitoring 2D image for each time point, orientation and/or position of the object in scan volume Setting can directly export for each monitoring 2D image.

In some embodiments, the comparison includes analyzing the monitoring 2D image, such as use image analysis algorithm (example Such as feature recognition algorithms or edge detection algorithm) analysis image.

The image analysis algorithm of computer program product can be by application at least to identify pair being placed in scan volume The boundary of elephant.

Object can be placed on sample holder, which has the uncommon face in scanned object Color, such as the black for dental applications.When the monitoring 2D image comprising colouring information is recorded, the boundary energy of object It is enough to be identified by using this colouring information.

In some embodiments, research and application data include never with time point obtain monitoring data generate object and/ Or the monitoring number 3D of foreign peoples's object is indicated and is compared being oppositely arranged for monitoring number 3D expression of generation.

Computer program product may include processor-executable instruction, be used for:

From monitoring data (such as from multiple monitoring 2D of the object and/or foreign peoples's object recorded at same time point scheme Picture) the monitoring data 3D that generates object and/or foreign peoples's object indicates, and

Detecting two or more monitorings number 3D that the monitoring data recorded from different time points generate indicates any Relative movement, such as by indicating monitoring number 3D different in common coordinate system (such as in the coordinate system of 3D scanner) Setting be compared.

If number 3D indicates to express in (such as in the coordinate system of 3D scanner) the same coordinate system system, any to move Kinetic energy, which is enough detected as two monitoring number 3D of alignment, indicates required displacement.If number 3D expression be directly aligned without It is displaced, then object is static.Displacement is able to use such as iteration closest approach (ICP) algorithm to determine, is indicated with being directed at number 3D.

ICP algorithm is by application to minimize the difference between two clouds.ICP can be used to the part number from object Word 3D indicates that the digital 3D for rebuilding object is indicated, or turns for what determining two number 3D for being directed at same surface were indicated It changes.Algorithm is conceptually simple, and is usually tried out in real time.It is iteratively corrected between the point for minimizing two clouds Distance required for conversion (translate and rotate).Input is the point from two original point clouds (for example, part number 3D table Show), conversion initial valuation and stop iteration standard.Output is through perfect conversion.Substantially, algorithm steps are as follows:

1. making a little to be associated by arest neighbors standard.

2. estimating conversion parameter using square cost function.

3. using the Parameter Switch point of estimation.

4. iteration makes a little to be associated again, and so on.

The present disclosure is not limited to the single pass to an object.If the size and scan volume of object allow, several right As that can be arranged in scan volume.

Scan volume can be continued to monitor in the period between the 3D scanning of two objects.

When object is placed in scan volume by operator using his hand, 3D scans preferably static in object and hand It will not be activated before leaving scan volume again.When the hand of operator is in scan volume, monitoring 2D image can be with Comprising the data about hand, i.e. its position and/or orientation in scan volume.It is provided after the instruction of computer program product Following aspect: any movement of the hand of operator in scan volume by analysis different time points record monitoring 2D image come Detection.For example, continuously the comparison between monitoring 2D image will not only show whether object is static, the hand of also display operation person is being swept Retouching whether there is and is moved in volume.

According to one embodiment, a kind of computer program product is disclosed.The computer program product is with non-transient calculating Machine readable medium is realized, wherein the computer program product includes computer readable program code, it can be by hardware data Processor executes so that the hardware data proc-essor carries out the following processing

It is directed to the monitoring data of object acquisition in different time points by analyzing, detection is placed on the sweep volume of 3D scanner The movement of object in product；

Determine whether the object is static in the scan volume；

Start 3D scanning when the object is determined to be in static in the scan volume；

The digital 3D for generating the object from the geometric data recorded during 3D scanning is indicated；And

Such as number 3D generated is indicated to visualize by being displayed on the screen.

According to one embodiment, a kind of computer program product is disclosed.Computer program product is realized in non-transient meter In calculation machine readable medium, wherein the computer program product includes computer readable program code, can be by hardware data Processor executes so that the hardware data proc-essor carries out the following processing:

Monitoring data are obtained in different time points at least for foreign peoples's object in the scan volume for being present in 3D scanner；

By analyzing the monitoring data obtained in different time points at least described foreign peoples's object, detection is present in The movement of at least described foreign peoples's object in the scan volume；And

Prevent what the 3D of the object scanned to open when foreign peoples's object is determined to be in and moves in the scan volume It is dynamic.

Hardware data proc-essor can also be made to lead to by the computer readable program code that hardware data proc-essor executes Capture is crossed to be remembered by the environment light of the object being placed in scan volume and/or the foreign peoples's object reflection being present in scan volume Record monitoring data.

Computer program product may include further instructing, and be related to any or complete needed for executing disclosed method Portion's step.

Substitution is operated by triangulation technique, and 3D scanner is configured to focus scanning, wherein by The digital 3D of sweep object indicates that the focusing 2D image recorded by different focal point depth is rebuild.Focus scanning technology can By generating detection light and executing this detection light towards scanned object transmitting, so that at least part of object It is illuminated.Scanner has focusing optics, is configured to limit relatively narrow focal plane.The light court returned from object It is launched to camera and is imaged on magazine imaging sensor by optical system, wherein imaging sensor/camera Including arrays of sensor elements.Focal plane on object/changed relative to the position of object by focusing optics, together When focusing 2D image from/obtained by the arrays of sensor elements.

Based on focusing (in-focus) 2D image, in each of multiple sensor elements or multiple groups sensor element The focusing position of each can for a series of intersection point plan-positions determine.Focusing position can be later for example by being directed to Each of multiple sensor elements within the scope of a certain focal plane or each of multiple groups sensor element determine Light shock range and calculated.Opposite digital 3D expression can be exported from focusing position.

This disclosure relates to method and 3D scanner described above and below including and corresponding method and 3D scanning Instrument can each generate and be directed to one or more of benefit and advantage described in mentioned first aspect, and Each have to for described in mentioned first aspect and/or appended claims the disclosed embodiments are corresponding One or more embodiments.

Specifically, being used to scan pair being placed in the scan volume of 3D scanner disclosed herein is 3D scanner As wherein the 3D scanner includes:

Light source, light beam will be detected by, which being configured to, projects in the scan volume；

Image acquisition unit comprising at least one 2D imaging sensor, the 2D imaging sensor are configured to record A series of 2D images of object in the scan volume are set；

Control unit comprising data processing unit and coding have the non-transient computer of computer program product can Storage medium is read, the computer program product includes for operating 3D scanner with monitoring pattern and in the monitoring Have determined that the processor-executable instruction for starting the scan pattern of the 3D scanner when object is static in the scan volume.

In some embodiments, monitoring pattern is configured to provide following aspect: 2D imaging sensor is in a series of times Each time point in point records at least one monitoring 2D image from scan volume.The monitoring 2D image recorded can it After be analyzed, to determine whether object exists and static in scan volume.

In some embodiments, scan pattern is configured to provide following aspect: 2D imaging sensor is being scanned in setting Writing scan 2D image when object in volume is detected illumination.The digital 3D of scanned object indicate can after from being recorded Scanning 2D image generate.

A kind of 3D scanner is disclosed, is used to scan the object that is placed in the scan volume of 3D scanner to record pair The digital 3D of elephant is indicated, wherein the 3D scanner is configured for monitoring the scan volume and in the monitoring Detect the 3D scanning for starting the object when object is static in the scan volume, the 3D scanner includes:

At least one light source, light beam will be detected by, which being configured to, projects on the object；

Image acquisition unit is configured to capture the received light of object from being arranged in the scan volume；

Control unit comprising data processing unit and coding have the non-transient computer of computer program product can Storage medium is read, the computer program product includes the processor-executable instruction for performing the following operation:

I. the monitoring data for expressing orientation and position of the object in the scan volume are received；

Ii. by analyzing the received monitoring data in different time points, determine whether the object is static；And

Iii. start the 3D scanning of the object when the object is found static.

Computer program product preferably further include for execute object 3D scan instruction and for being swept from by 3D Geometric data derived from the one or more 2D images recorded during retouching using image acquisition unit generates the digital 3D table of object The instruction shown.

Control unit can be for example by including the computer of processor and non-transient computer readable storage medium come real It is existing.

The 3D scanner for scanning the object being placed in the scan volume of 3D scanner is disclosed, wherein the 3D is scanned Instrument includes:

Monitoring unit is configured for monitoring scan volume to determine whether object is static in scan volume；

Light scanning unit is configured for object of the 3D scan setting in scan volume；And

Control unit is configured to sweep when monitoring unit detects that object is static in scan volume using optics Retouch the scanner program that unit executes 3D sweep object.

In some embodiments, monitoring unit is carried out by a series of monitoring 2D images of object in record sample volume Operation.The monitoring 2D image recorded can after be compared, be with orientation of the test object in scan volume and/or position It is no to be changed from a monitoring 2D image to another.The comparison may include using image analysis algorithm research and application 2D image, such as use feature recognition algorithms or edge detection algorithm research and application 2D image.This algorithm can be including with In the part of the computer program product of the processor-executable instruction for the step of executing algorithm, wherein instruction be coded in it is non-temporarily It is executed on state computer readable storage medium and by processor.Pocessor and storage media can be the part of control unit.

In some embodiments, monitoring unit and scanning element share at least one 2D imaging sensor, are configured to Record the monitoring 2D image of the object and/or foreign peoples's object for monitoring scan volume and for 3D sweep object to generate pair The 2D image that the 3D of elephant is indicated.

In some embodiments, monitoring unit includes at least one photoelectric detector (such as photodiode), and institute Monitoring is stated to be carried out by detecting when object is placed in 3D scanner by the variation of the received luminous intensity of photoelectric detector Operation.

Photoelectric detector can be set such that and be examined when object support structure is arranged in 3D scanner by photoelectricity The intensity for surveying the received environment light of device reduces.That is, monitoring scan volume includes recording the value from photoelectric detector, Photoelectric Detection Device is configured such that the object of 3D scanner or object support structure when object support structure is placed in 3D scanner At least partly block the reception circular cone of photoelectric detector.When object support structure is mounted in 3D scanner, this can example Such as realized by the way that photoelectric detector is placed on object support structure rear.This allows to determine whether object is placed on object In support construction, it is empty for thereby indicating that scan volume not.

In some embodiments, monitoring unit includes at least one monitoring light source, is configured to towards photoelectric detector Launch monitor light beam, and so that scan volume is placed in object towards the path of the monitoring light beam of photoelectric detector It is blocked when middle.

In some embodiments, monitoring unit includes weight sensor, is provided in object and is placed on 3D scanning It is recorded when on the subject support surface of instrument.

In one embodiment, disclose it is a kind of for test object and/or foreign peoples's object present in the scan volume Method.This method includes obtaining the monitoring data of at least one monitoring 2D image including scan volume；And based on relative to About empty scan volume information analysis at least one obtain 2D image detection object and/or foreign peoples's object in scan volume Presence.

In another embodiment, control unit includes that data processor and coding have the non-transient of computer program product Computer-readable medium, computer program product include the readable program code that can be executed by processor, can be further Obtaining processor includes the monitoring data of at least one monitoring 2D image of scan volume；And based on being swept relative to about sky Retouch 2D image detection object and/or foreign peoples object depositing in scan volume of the information analysis of volume acquired at least one In.

An execution in disclosed embodiment before analysis can be used, such as by by the prison acquired at least one The individual element value for surveying 2D image is compared with information；And object is indicated when the difference of pixel value is more than predefined thresholds And/or the presence of foreign peoples's object.Information can be indicated by the 2D image of empty scan volume and is stored in single by control In the memory of member access.

Whether above-described embodiment is used as determining foreign peoples's object in mobile prior step.

Detailed description of the invention

Embodiment of the disclosure can be combined attached drawing from following illustrative and non-limiting specific descriptions to manage with its advantage Solution, in the accompanying drawings:

Fig. 1 shows the method indicated according to the 3D of the generation object of one embodiment；

Fig. 2 shows the methods indicated according to the 3D of the generation object of one embodiment；

Fig. 3 shows the method indicated according to the 3D of the generation object of one embodiment；

Fig. 4 shows the 3D scanner according to one embodiment；And

Fig. 5 shows the scan volume according to one embodiment.

Specific embodiment

In the following description, referring to the attached drawing, attached drawing shows that the present invention can be how by illustrative mode Practice.

Fig. 1 shows the method (work indicated according to the 3D for generating object (such as tooth model) of one embodiment Make process).3D scanner is configured to monitor scan volume (Fig. 5,508).Workflow 100 includes monitoring part 102 and 3D Sweep test 110.Monitoring part 102 includes the workflow for involving starting up 3D scanning process, and 3D sweep test 110 includes It is related to generating the workflow that the 3D of object is indicated.

104, monitoring data include one or more 2D images of object, are present in scan volume, different It is acquired at time point.106, the image for monitoring 2D is analyzed with the movement for detecting object in scan volume.108, Determine that object in scan volume is static or in movement.Analysis and determination can be handled by the control unit of 3D scanner, should The instruction that control unit executes analysis and compares.108, if it is determined that object records object in movement in an iterative manner Further one or more monitoring 2D images, until determining that object is static.If it is determined that object is static, then workflow after Continuous to proceed to sweep test 110, i.e. the 3D scanning of object is activated.112, the multiple of object being placed in scan volume are swept It retouches 2D image to be recorded, and object-based multiple scanning 2D images, the digital 3D expression of object is generated.

The same image acquisition unit of 3D scanner may be configured to record the monitoring stage during monitoring 2D image with And the scanning 2D image during scan phase.

Fig. 2 shows the methods indicated according to the 3D of the generation object of one embodiment.Typically, foreign peoples's object (such as The hand of operator) it is in scan volume when object is positioned in scan volume.In foreign peoples's object still in scan volume It is beneficial when the starting for avoiding 3D to scan when middle.Therefore, it is possible to use workflow 202.Workflow is included in 204 acquisitions prison Measured data, the monitoring data include the one or more monitoring 2D images for at least foreign peoples object being present in scan volume.This Place is put in the acquisition of kind monitoring data in different times.206, monitoring 2D image is analyzed to detect whether to detect sweep volume The movement of foreign peoples's object in product.208, determine foreign peoples's object whether in movement.If it is, the 3D of object is scanned 210 Starting be prevented from, and in 204 further one or more monitoring 2D images of record in an iterative manner, until to foreign peoples Object is determined in mobile negative of making.Analysis and determination can be handled by the control unit of 3D scanner, which executes The instruction analyzed and compared.

According to one embodiment, method disclosed in aforementioned paragraphs may further include other workflow, wherein The 3D expression for followed by determining whether object is static and generates object 110 102 is determined in negative.Workflow element 102 and 110 include the steps that being explained for Fig. 1 before.The combination of these other workflow elements allows at determining pair The starting for preventing the 3D of object to scan when moving in scan volume as static in scan volume and determining foreign peoples's object.

Fig. 3 shows the method indicated according to the 3D of the generation object of one embodiment.Workflow 300 includes monitoring rank 302 and 3D of section scan phase 312.

When in the scan volume that object is in 3D scanner (such as 3D scanner shown in Figure 2), the figure of scanner As acquiring unit is able to record the 2D image of object.During monitoring, one or more monitoring 2D images are recorded in different time, Different time can by a series of time points (... t_i-1、t_i、t_i+1...) limit.In the scanner of Fig. 2, same image Acquiring unit record monitoring 2D image and scanning 2D image.

Scan volume is monitored when operator is by the position that object is moved in scan volume.304, in different time Point t_iAnd t_i+1Two or more monitoring 2D images of record from scan volume.Divided after these monitoring 2D images 306 Analysis, to determine position and the orientation of object.For example, the circumference of object can be detected in each of monitoring 2D image.

Can determine whether object is static by comparing the position and/or orientation of object 308 later.If there is no Change or change within predefined thresholds, may infer that object is static.It analyzes and compares by the control unit of 3D scanner Processing, the instruction which executes analysis and compare.

A kind of mode for comparing two 2D images is for the solid color channel such as in gray level image or for such as Multiple Color Channels in color image form their difference, and one group of error image can be generated in color image, for Each Color Channel one.

Assess various colors channel error image group a kind of mode be color is converted into another color space (such as Coloration-saturation degree-brightness), and the only one in the color component in the color space or two are subtracted later.If only one A this component is used, which is equivalent to the treatment process for gray level image.

A kind of mode from 2D image calculating difference index is to subtract the intensity value of respective pixel and for whole pixel shapes At average value.

A kind of mode that detection changes (such as object enters scanner) is to be compared difference index with threshold value.Threshold value It can be found and can be set by the user from calibration.

A kind of mode for increasing the robustness for changing detection in 2D image is to consider m image (wherein m > 2), from for every The difference index of a image calculates the m-1 error image of consecutive image and application smoothing filter (such as moving average filter Device).By this mode, it is smaller to forge a possibility that image causes mistake to change detection.

A kind of mode for increasing detectability is to handle several regions of 2D image respectively.For example, when small object is put When setting in scanner and (being especially disposed on a small range for appearing in 2D near image boundaries), the whole of a pair of of error image The overall average of pixel may it is very small and still in threshold value under.For same example, when as complete image but individually When ground handles several regions in the same manner, at least one region will likely show the difference index bigger than threshold value and this can It can be considered as the instruction changed.

If it find that object is in t_iWith t_i+1Between moved or rotated, monitoring step 102,103 and 104 is repeated.This One process continues until inferring that object is static 310, and the 3D sweep test 312 of workflow can star.

In 3D scanning 312, multiple scanning 2D images are recorded 314.When scanner is for example operated by triangulation When, multiple scanning 2D images are recorded, wherein position of the detection light beam in subject surface is different in each image.

In step 316, the digital 3D of object indicates to generate from the series of scans 2D image recorded.This is able to use calculating Machine implements algorithm to complete, such as indicates and will obtain from different views from the part number 3D that scanning 2D image generates object Surface part number 3D expression be stitched together.Splicing is able to use the execution of iteration closest approach (ICP) algorithm, is used With minimize two part number 3D indicate between difference.

Fig. 4 shows the 3D beam scanner system 400 according to one embodiment.

3D scanner includes 3D scanning element 426, and 3D scanning element 426 has lighting unit 402,402 quilt of lighting unit It is configured to provide detection light beam 406, which projects the scanned object 404 being set in the scan volume of 3D scanner On.Lighting unit has light source (such as LED or LED array), is configured to provide detection light.Detecting light can be spatially It is configured to for example with checkerboard pattern or linear pattern, and can be monochromatic or colour.In the example present, it is scanned Object is part tooth model 404.By way of non-limiting example, image acquisition unit includes two 2D cameras 410, is set At the light 408 that reception is reflected from tooth model 404, so that the 2D image of the light reflected is recorded.

3D scanner can have optical system, and light will be detected by being configured for is scanning from lighting unit to setting Tooth model in volume guides and for receiving the light reflected from the tooth model scanned and obtaining it to image single Member guidance.

Control unit 422 includes that data processing unit 414 and coding have the non-transient computer of computer program product can Read medium 416, the computer program product have for research and application 2D image with determine tooth model in scan volume what When it is static and from 3D scanning during record scanning 2D image generate number 3D expression instruction.Readable Jie of non-transient computer Matter 416 can also be to have for research and application 2D image to determine foreign peoples's object in scan volume when in mobile instruction Computer program product coding.

During the monitoring of scan volume, control unit 422 is configured to that 3D scanning element 211 is instructed to obtain using image The camera 410 of unit records one or more monitoring 2D images of object and/or foreign peoples's object.Ring can be used in monitoring 2D image Border light is recorded, so that lighting unit 406 does not start when monitoring 2D image and being recorded.The shell of the scanning element of illumination It is open, so that environment light can illuminate tooth model 404 when monitoring 2D image and being recorded.The object recorded Monitoring 2D image be transferred to control unit 422, wherein data processing unit 414 (such as microprocessor) is configured to execute For research and application 2D image with determine whether tooth model static (for example, if tooth model be arranged on same position and Be orientated at least two time points) instruction.When determining that tooth model is static, 3D scanning is activated.Additionally, what is recorded is different The monitoring 2D image of class object is transferred to control unit 422, and wherein data processing unit 414 (such as microprocessor) is configured Research and application 2D image is used at executing to determine foreign peoples's object whether in mobile instruction.

During 3D scanning, control unit 414 is configured to that 3D scanning element 426 is instructed to record a series of of tooth model Scan 2D image.The scanning 2D image recorded is transferred to control unit 422, and wherein the digital 3D expression of tooth model is given birth to At.

When structuring detection light beam is by use, light pattern is detected and is had been established in acquired scanning 2D image Projection geometry (such as triangulation or solid) be used to export the tooth model surface illuminated by pattern light 3D coordinate.This is completed for a series of different relative positions of tooth model 404 and 3D scanning element 426.

Control unit may include allowing to execute the combination of the arbitrary equipment or equipment of data processing.Control unit can be The general purpose computer of various different software applications can be run or be limited to the special equipment of specific function.Control unit can wrap Include processor, the system storage, computer-readable medium, peripheral equipment, Yi Jicao of any type, quantity, form or configuration Make system.In one embodiment, computer includes personal computer (PC), can be desktop computer, laptop, pocket PC, personal digital assistant (PDA), the form of tablet PC or the personal computer of other form knowns.At least one access is set Standby and/or interface allows operator using the function of control unit.Intervening equipment and/or interface can include but is not limited to keyboard 229, mouse 230, the graphic user interface (GUI) that is shown on display screen 231 and other known input or output equipment And interface.

Fig. 5 shows the scan volume according to one embodiment.3D scanning element 426 includes figure acquiring unit, is passed through Non-limiting example, the figure acquiring unit include two 2D cameras 410 and lighting unit 402.Scan volume can be by indicating The overlapping region 508 of the circular cone (502,504) of the visual field of each 2D camera 410 limits.In some embodiments, scan volume is only It is only a part of overlapping region 508, rather than entire overlapping region.

Although having specifically described and having shown some embodiments, the disclosure is not limited to them, but can also with It is otherwise embodied in the range of this theme defined by lower claim.Specifically, it should be understood that without departing substantially from this public affairs In the case where the range opened, it can use other embodiments and modification structurally and functionally can be carried out.

Claim also refers to any of preceding claims, and " any " should be understood to mean aforementioned power " any one or more " in benefit requirement.

It is emphasized that term "comprises/comprising" used in this specification is used to illustrate illustrated feature, integer, step Or the presence of component, but be not precluded other one or more features, integer, step, component or its group formed presence or Addition.

In the 3D scanner claim for listing several methods, several in these methods can be with one and hard Same article in part is realized.Certain countermeasures are recorded with dependent claims different between each other or are described in different realities It applies in example, this is not meant to that the combination of these countermeasures cannot be used to produce beneficial effect.

It should be understood that the reference of " one embodiment " or " embodiment " or as included by " can with " in this specification Feature mean it is related to embodiment described in a particular feature, structure, or characteristic be included in the disclosure at least one implementation In example.Therefore, it should be emphasized that and understand, to " embodiment " or " one embodiment " or " substitution is implemented in each section of this specification The reference of example " is necessarily all referring to the same embodiment as the feature included by " can with ".Moreover, special characteristic, knot Structure or characteristic can be with appropriate combinations in one or more other embodiments of the present disclosure.

Foregoing description is provided to enable those skilled in the art that can practice aspects described herein.It is each in terms of these Kind modification is apparent to those skilled in the art, and the rule limited herein can be applied to its other party Face.