阅读说明：本技术 一种基于无线同步的扫描系统及扫描方法 (A kind of scanning system and scan method based on wireless synchronization ) 是由 李洲强 董伟超 杜华 李仁举 于 2019-09-19 设计创作，主要内容包括：本发明实施例提供一种基于无线同步的扫描系统及方法,其中,所提供的扫描系统包括：至少一台跟踪装置,至少一台扫描装置,无线数据网关和计算机终端；其中,跟踪装置、扫描装置和计算机终端通过无线数据网关通信连接；跟踪装置中包含第一时钟同步模块,扫描装置中包含第二时钟同步模块,跟踪装置和扫描装置通过第一时钟同步模块和第二时钟同步模块实现时钟同步。本发明实施例提供的系统,实现了全无线跟踪扫描测量的整体方案。(The embodiment of the present invention provides a kind of scanning system and method based on wireless synchronization, wherein provided scanning system includes: an at least tracking device, at least a scanning means, wireless data gateway and terminal；Wherein, tracking device, scanning means and terminal are communicated to connect by wireless data gateway；Include the first clock synchronization module in tracking device, includes that second clock synchronization module, tracking device and scanning means are synchronous with second clock synchronization module realization clock by the first clock synchronization module in scanning means.System provided in an embodiment of the present invention realizes the overall plan of full Wireless spotting scaming measurement.)

1. a kind of scanning system based on wireless synchronization characterized by comprising

An at least tracking device, at least a scanning means, wireless data gateway and terminal；

Wherein, the tracking device, scanning means and terminal are communicated to connect by the wireless data gateway；

Include the first clock synchronization module in the tracking device, includes second clock synchronization module, institute in the scanning means It states tracking device and the scanning means and realizes that clock is same by first clock synchronization module and second clock synchronization module Step.

2. scanning system as described in claim 1, which is characterized in that

In the tracking device further include: at least two first image-forming modules, first movement processing platform and first antenna mould Block；First image-forming module is connected with the first movement processing platform and first clock synchronization module respectively, uses According to projection pattern from different points of view obtain the scanning means where spatial position 2D image data, and the 2D is schemed As data are sent to the first movement processing platform；

The first movement processing platform is connected with the first antenna module, for receiving the first image-forming module transmission The 2D image data converts tracking device testing result for the 2D image data, and tracking device testing result is led to It crosses the first antenna module and is sent to the terminal；

The first antenna module and the wireless data gateway communicate to connect, for passing through the tracking device testing result The wireless data gateway is sent to the terminal, while for realizing first clock synchronization module and described The data interaction of two clock synchronization modules.

3. scanning system as claimed in claim 2, which is characterized in that

In the scanning means further include: at least two second image-forming modules, the second mobile processing platform and the second antenna mould Block；

Second image-forming module is connected with the described second mobile processing platform and the second clock synchronization module respectively, uses In target object surface formed projection pattern, and according to the projected image obtain the target object described in several viewpoints The 2D image information on surface；

Described second mobile processing platform is connected with second Anneta module, and the 2D for receiving the target object surface schemes As information, object detection results are converted by the 2D image information of the target object surface, and object detection results are passed through Second Anneta module is sent to the terminal；

Second Anneta module and the wireless data gateway communicate to connect, described for passing through the object detection results Wireless data gateway is sent to the terminal, at the same for realizing first clock synchronization module and it is described second when The data interaction of clock synchronization module.

4. scanning system as claimed in claim 3, which is characterized in that

The first movement processing platform includes at least one first movement processing unit, the first movement processing unit packet It includes: the first controller and the first image data processor, wherein the first image data processor is used for the 2D image Data processing is tracking device testing result, and the tracking device testing result is sent to by the first antenna module The terminal；

Described second mobile processing platform includes at least one second mobile processing unit, the second mobile processing unit packet It includes: second controller and the second image data processor, wherein second image data processor is used for object body surface The 2D Image Information Processing in face is object detection results, and the object detection results are sent by second Anneta module To the terminal.

5. scanning system according to claim 4, which is characterized in that

Include: wireless data transmission unit in the first antenna module and second Anneta module, antenna duplexer and Built-in antenna；

The antenna duplexer is connect with the wireless data transmission unit and the built-in antenna respectively；

The wireless data transmission unit for realizing tracking device or scanning means and the terminal communication connection；

Type of the antenna duplexer for signal based on the received selects corresponding with the type of the signal described built-in The antenna-matching circuit of antenna；

The built-in antenna is used to match channel according to the antenna-matching circuit.

6. scanning system according to claim 1, which is characterized in that

First clock synchronization module and the second clock synchronization module specifically include: synchronous logic controller and wireless same Walk coordination unit；

The wireless synchronization coordination unit specifically includes lock-out pulse coordinator, RF transceiver and power amplifier；It is described to penetrate Frequency transceiver is connect with the lock-out pulse coordinator and the power amplifier respectively；

The lock-out pulse coordinator is connect with the synchronous logic controller, is controlled for inputting to the synchronous logic controller Signal processed；

The synchronous logic controller is used for the first image-forming module or the second image-forming module syncout pulse signal；

The power amplifier is also connect with first antenna module or the second Anneta module, synchronous for realizing first clock Module is synchronous with the clock of the second clock synchronization module.

7. a kind of scan method based on wireless synchronization characterized by comprising

Any tracking device or any scanning means are chosen as host node, to other tracking devices and is swept by the host node Imaging apparatus sends synchronous authorization broadcast signaling, to realize that all tracking devices are synchronous with scanning means clock；

Scanning is synchronized to target object by the tracking device and the scanning means, obtains scanning means spatial position 2D image data and target object surface 2D image information, and be correspondingly converted into tracking device testing result and target inspection It surveys as a result, and tracking device testing result and object detection results are sent to terminal by wireless data gateway；

The terminal carries out 3D weight according to tracking device testing result and object detection results, to the target object Structure.

8. the scan method of wireless synchronization according to claim 7, which is characterized in that it is described by the host node to its Its tracking device authorization broadcast signaling synchronous with scanning means transmission, to realize that all tracking devices and scanning means clock are same Step, comprising:

Using any tracking device as host node, the tracking device passes through the synchronous authorization broadcast letter of the first clock synchronization module publication It enables；

Remaining tracking device and scanning means in addition to the tracking device, are provided with corresponding clock synchronization module； Each corresponding clock synchronization module receives the synchronous authorization broadcast signaling respectively, realize will it is described except the tracking device it The time synchronization of remaining outer tracking device and scanning means and the tracking device.

9. the scan method of wireless synchronization according to claim 8, which is characterized in that it is described by the tracking device and The scanning means synchronizes scanning to target object, obtains the 2D image data and target object of scanning means spatial position The 2D image information on surface, and tracking device testing result and object detection results are correspondingly converted into, and tracking device is examined It surveys result and object detection results and terminal is sent to by wireless data gateway, comprising:

The tracking device testing result is passed through the wireless data network by the first antenna module in the tracking device Pass is sent to the terminal；

Each corresponding Anneta module positioned at remaining tracking device in addition to the tracking device and in scanning means, point Not and after the first antenna module carries out channel matched, completion will correspondingly tracking device testing result or object detection results The terminal is sent to by the wireless data gateway.

10. a kind of electronic equipment including memory, processor and stores the calculating that can be run on a memory and on a processor Machine program, which is characterized in that the processor is realized when executing described program is based on nothing as described in any one of claim 7~9 The step of scan method of line locking.

Technical field

The present invention relates to 3-D scanning technical fields more particularly to a kind of based on the scanning system of wireless synchronization and scanning side Method.

Background technique

In recent years, 3-D scanning is increasingly used in every field as a kind of quick three-dimensional digitizing technique, Including reverse-engineering, industrial detection, computer vision, CG production etc., especially swift and violent in current development 3D printing and intelligence Energy manufacturing field, 3-D scanning have become the weight in industrial chain as front end three-dimensional digital and 3D vision sensing technology Want a ring；Meanwhile types of applications is in all many-sided propositions such as the cost of three-dimensional scanning device, practicability, accuracy and reliability Higher requirement.

In industry spot three-dimensional measurement scene, it can not be carried out on measured object the case where much facing practical application To the stickup of sterically defined auxiliary sign point, therefore a kind of use tracking mode measuring device pair is derived in technical solution Scanning means carries out space coordinate positioning.The two is combined into tracking mode scanning system, and the accurate three-dimensional of measured object is swept in realization The measurement method retouched, such mode can be realized without pasting auxiliary sign point on measured object and complete scanning work.

There is tracking device and scanning means in such a system, need between the two accurate work clock synchronisation requirement with The overall precision of guarantee system, while signal link being needed to transmit as the data of scanner to computing system；It is in traditional Need to realize that the link of data and synchronization signal realizes that this cable brings many use sites in system using physics cable Big inconvenience.

Summary of the invention

To solve to need to realize that the link of data and synchronization signal is realized in existing scanning system using physics cable The problem of, the embodiment of the present invention provides a kind of scanning system and method based on wireless synchronization.

In a first aspect, the embodiment of the present invention provides a kind of scanning system based on wireless synchronization, comprising: at least one tracking Device, at least a scanning means, wireless data gateway and terminal；Wherein, tracking device, scanning means and computer Terminal is communicated to connect by wireless data gateway；It include the first clock synchronization module in tracking device, comprising the in scanning means When two clock synchronization modules, tracking device and scanning means are realized by the first clock synchronization module and second clock synchronization module Clock is synchronous.

Further, in tracking device further include: at least two first image-forming modules, first movement processing platform and One Anneta module；First image-forming module is connected with first movement processing platform and the first clock synchronization module respectively, is used for root The 2D image data of scanning means place spatial position is obtained from different points of view according to projection pattern, and 2D image data is sent to The first movement processing platform；First movement processing platform is connected with first antenna module, for receiving the first image-forming module 2D image data is converted tracking device testing result by the 2D image data sent, and by tracking device testing result The terminal is sent to by the first antenna module；First antenna module and wireless data gateway communicate to connect, For tracking device testing result to be sent to the terminal by wireless data gateway, while when for realizing first The data interaction of clock synchronization module and the second clock synchronization module.

Further, in scanning means further include: at least two second image-forming modules, the second mobile processing platform and the Two Anneta modules；Second image-forming module moves processing platform and the second clock synchronization module phase with described second respectively Even, for forming projection pattern in target object surface, and the mesh described in several viewpoints is obtained according to the projected image Mark the 2D image information of body surface；Second mobile processing platform is connected with second Anneta module, for receiving object The 2D image information of target object surface is converted object detection results by the 2D image information in body surface face, and by target detection As a result the terminal is sent to by second Anneta module；Second Anneta module and wireless data gateway communication link It connects, for object detection results to be sent to terminal by wireless data gateway, and meanwhile it is same for realizing the first clock Walk the data interaction of module and second clock synchronization module.

Further, first movement processing platform includes at least one first movement processing unit, and first movement processing is single Member includes: the first controller and the first image data processor, wherein the first image data processor is used for 2D image data Processing is tracking device testing result, and tracking device testing result is sent to terminal by first antenna module； Second mobile processing platform includes at least one second mobile processing unit, and the second mobile processing unit includes: second controller With the second image data processor, wherein the second image data processor is used for will be at the 2D image information of target object surface Reason is object detection results, and object detection results are sent to the terminal by the second Anneta module.

It further, include: wireless data transmission unit in first antenna module and the second Anneta module, it is antenna multiplexed Device and built-in antenna；Antenna duplexer is connect with wireless data transmission unit and built-in antenna respectively；Wireless data transmission unit For realizing the communication connection of tracking device or scanning means and terminal；Antenna duplexer is for signal based on the received Type, select the antenna-matching circuit of corresponding with the type of signal built-in antenna；Built-in antenna is used for according to antenna match Circuit matches channel.

Further, the first clock synchronization module and second clock synchronization module specifically include: synchronous logic controller and Wireless synchronization coordination unit；Wireless synchronization coordination unit specifically includes lock-out pulse coordinator, RF transceiver and power amplification Device；Wherein, RF transceiver is connect with lock-out pulse coordinator and power amplifier respectively；Lock-out pulse coordinator with synchronize patrol Controller connection is collected, is used for synchronous logic controller input control signal；Synchronous logic controller is used for the first imaging mould Block or the second image-forming module syncout pulse signal；Power amplifier also connects with first antenna module or the second Anneta module It connects, it is synchronous with the clock of second clock synchronization module for realizing the first clock synchronization module.

Second aspect, the embodiment of the present invention provide a kind of scan method based on wireless synchronization, comprising: choose any tracking Device or any scanning means are wide to the authorization synchronous with scanning means transmission of other tracking devices by host node as host node Signaling is broadcast, to realize that all tracking devices are synchronous with scanning means clock；By tracking device and scanning means to target object Scanning is synchronized, the 2D image data of scanning means spatial position and the 2D image information of target object surface, and phase are obtained It is converted into tracking device testing result and object detection results with answering, and tracking device testing result and object detection results is led to It crosses wireless data gateway and is sent to terminal；Terminal according to tracking device testing result and object detection results, 3D reconstruct is carried out to target object.

Further, wherein by host node to other tracking devices authorization broadcast signaling synchronous with scanning means transmission, To realize that all tracking devices are synchronous with scanning means clock, comprising: using any tracking device as host node, tracking device passes through The synchronous authorization broadcast signaling of first clock synchronization module publication；Remaining tracking device and scanning dress in addition to the scanning means It sets, is provided with corresponding clock synchronization module；Each corresponding clock synchronization module receives synchronous authorization broadcast signaling respectively, It realizes the time synchronization of remaining tracking device and scanning means and tracking device in addition to the tracking device.

Further, wherein scanning is synchronized to target object by tracking device and scanning means, obtains scanning dress The 2D image data of spatial position and the 2D image information of target object surface are set, and is correspondingly converted into tracking device detection knot Fruit and object detection results, and tracking device testing result and object detection results are sent to calculating by wireless data gateway Machine terminal, comprising: the first antenna module in tracking device sends out tracking device testing result by wireless data gateway It send to terminal；Each corresponding day positioned at remaining tracking device in addition to the tracking device and in scanning means Wire module, after carrying out channel matched with first antenna module respectively, completion will correspondingly tracking device testing result or target inspection It surveys result and terminal is sent to by wireless data gateway.

The third aspect, the embodiment of the present invention provides a kind of electronic equipment, including memory, processor and is stored in memory Computer program that is upper and can running on a processor, realizes when processor executes program and is based on as above-mentioned second aspect provides The step of scan method of wireless synchronization.

Scanning system and method provided in an embodiment of the present invention based on wireless synchronization, by the movement used built in equipment Processing platform calculate to scanning survey data and passes through wireless transmission, instead of data chain used in traditional scheme The physics cable on road, simultaneously because having used clock synchronization module, the real-time synchronization for realizing tracking device and scanning means is adopted Sample realizes the precise synchronization sampling of tracking device and scanning means, realizes the overall plan of full Wireless spotting scaming measurement.

Detailed description of the invention

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root Other attached drawings are obtained according to these attached drawings.

Fig. 1 is the structural schematic diagram for the scanning system based on wireless synchronization that one embodiment of the invention provides；

Fig. 2 is the structural schematic diagram for the tracking device based on wireless synchronization that one embodiment of the invention provides；

Fig. 3 is the structural representation of the image-forming module for the tracking device based on wireless synchronization that one embodiment of the invention provides Figure；

Fig. 4 is the structural schematic diagram for the scanning means based on wireless synchronization that one embodiment of the invention provides；

Fig. 5 is that the structure of the mobile processing platform for the tracking device based on wireless synchronization that one embodiment of the invention provides is shown It is intended to；

Fig. 6 is the antenna module structure schematic diagram for the tracking device based on wireless synchronization that one embodiment of the invention provides；

Fig. 7 is the clock synchronization module structural representation for the tracking device based on wireless synchronization that one embodiment of the invention provides Figure；

Fig. 8 is the flow diagram for the scan method based on wireless synchronization that one embodiment of the invention provides；

Fig. 9 is the structural schematic diagram for the electronic equipment that one embodiment of the invention provides.

Specific embodiment

In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art All other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.

With reference to Fig. 1, Fig. 1 is the structural schematic diagram for the scanning system based on wireless synchronization that one embodiment of the invention provides, Provided system includes: an at least tracking device 100, at least a scanning means 200, wireless data gateway 300 and meter Calculation machine terminal 400.

Wherein, tracking device 100, scanning means 200 and terminal 400 pass through 300 communication link of wireless data gateway It connects；Include the first clock synchronization module in tracking device 100, includes second clock synchronization module, tracking dress in scanning means 200 It sets 100 and realizes that clock is synchronous with second clock synchronization module with first clock synchronization module of scanning means logical 200.

Specifically, as shown in Figure 1, system include one or more tracking device 100, one or more scanning means 200, Wireless data gateway 300 and a terminal 400 for assisting calculating to show.Tracking device 100 and scanning means 200 carry out wireless network connection by wireless data gateway 300, and the data of tracking device 100 and scanning means 200 pass through wireless Network is sent to terminal 400.

By this system, after completing to the calculating of scanning survey data, by the data by wirelessly transmitting, substitute The physics cable of data transmission link used in traditional scheme, simultaneously because used clock synchronization module, realize with The sampling of the precise synchronization of track device and scanning means, realizes the overall plan of full Wireless spotting scaming measurement.

Content based on the above embodiment, as a kind of alternative embodiment, the embodiment of the present invention provides a kind of based on wireless same The tracking device of step.Including but not limited to: at least two first image-forming modules, first movement processing platform, the first clock are synchronous Module and first antenna module；First image-forming module is used to obtain scanning means place from different points of view according to projection pattern empty Between position 2D image data, and 2D image data is sent to first movement processing platform；First movement processing platform, is used for The 2D image data of the first image-forming module transmission is received, and carries out front-end processing operation, and the data after operation are passed through first Anneta module is sent to terminal；First clock synchronization module realizes clock for carrying out data interaction with scanning means It is synchronous；First antenna module, for transmitting wirelessly and receiving the data and first movement processing platform of the first clock synchronization module Data, the data after operation that first movement processing platform is sent are sent to terminal, and the first clock is same The data of step module are interacted with scanning means；First image-forming module is same with first movement processing platform and the first clock respectively Walk module connection；First movement processing platform is connect with first antenna module and the first image-forming module respectively；Wherein, the first imaging Module may include LED projecting unit and image sensing cell.

Specifically, in the present embodiment, the structural schematic diagram of tracking device is as shown in Fig. 2, tracking device 100, including at least Two the first image-forming modules 110, for the 2D image of scanning means spatial position to be obtained from different points of view according to projection pattern, the One clock synchronization module 120, for making tracking device 100 realize that clock is synchronous with scanning means 200, first movement processing platform 130, for receiving the data of the first image-forming module 110 offer, front end data operation is carried out to data, obtains tracking device detection As a result, and tracking device testing result is supplied to first antenna module 140, first antenna module 140, for transmitting wirelessly and The data for receiving the first clock synchronization module 120 and first movement processing platform 130, by the number of the first clock synchronization module 120 It is interacted according to scanning means 200, the data of first movement processing platform 130 and terminal 400 is interacted, the One image-forming module 110 is connect with the first clock synchronization module 120, first movement processing platform 130 respectively, first antenna module 140 connect with the first clock synchronization module 120, first movement processing platform 130 respectively.

Fig. 3 is the structural schematic diagram of the image-forming module of the tracking device during the present invention is implemented, as shown in figure 3, the first imaging Module 110, including LED projecting unit 112 and image sensing cell 114, image sensing cell 114 is according to LED projecting unit 112 Projection pattern the 2D image of scanning means spatial position is obtained from different points of view in real time；In embodiments of the present invention, LED is projected Unit 112 is several LED, and image sensing cell 114 is industrial camera.

Fig. 4 is a kind of structural schematic diagram of the scanning means 200 based on wireless synchronization provided in an embodiment of the present invention, is such as schemed Shown in 4, include at least in scanning means provided in an embodiment of the present invention: at least two second image-forming modules 210, second clock are same Walk the mobile processing platform 230 of module 220, second and the second Anneta module 240.

Wherein, the second image-forming module 210 moves processing platform 230 and second clock synchronization module 220 with second respectively It is connected, for forming projection pattern in target object surface, and the target object in several viewpoints is obtained according to projection pattern The 2D image information on surface, and the 2D image information is sent to the described second mobile processing platform 230.

Second clock synchronization module 220 and tracking device 100 carry out data interaction, realize that clock is synchronous.At second movement Platform 230 is connected with the second Anneta module 240, for receiving the 2D image information of target object surface, and carries out at front end Operation is managed, obtains object detection results, and object detection results are sent to the computer end by the second Anneta module 240 End.

Second Anneta module 240 is communicated to connect with wireless data gateway, for transmitting wirelessly and receiving the second clock The data of the data of synchronization module 220 and the second mobile processing platform 230, the described second mobile processing platform 230 is sent out Data after the operation sent are sent to the terminal, and the data of second clock synchronization module 220 and tracking are filled It sets and interacts.

Wherein, the second image-forming module 210 includes pattern projection unit and image sensing cell.Pattern projection unit and image Sensing unit connection；Pattern projection unit includes several lasers and LED projection subelement, and laser and LED project subelement It is combined according to certain crevice projection angle, forms projection pattern in body surface；Image sensing cell is according to pattern projection list The projection pattern that member generates obtains the 2D image of body surface from different points of view in real time.In one embodiment, image sensing list Member is industrial camera.

Optionally, scanning means 200 further includes portable display screen, and portable display screen and the second mobile processing platform 230 connect It connects, for showing device status information and scan model image.

When tracking device 100 in scanning means 200 and above-described embodiment passes through second clock synchronization module 220 and first Clock synchronization module 120 realizes that clock is synchronous.

Further, tracking device testing result is the scanning means table extracted from the 2D image of the scanning means of acquisition The 2D characteristic of millet cake, or be the 2D feature of the scanning means surface point extracted from the 2D image of the scanning means of acquisition Data and according to the 2D characteristic data set of scanning means surface point carry out three-dimensional reconstruction obtain three-dimensional feature data set；Target inspection Survey the 2D characteristic for the surface point that result is the target object extracted from the 2D image information of target object surface, Huo Zhewei The 2D characteristic of the surface point of the target object extracted from the 2D image information of target object surface and according to 2D feature Data set carries out three-dimensional reconstruction and obtains three-dimensional feature data set.

Specifically, being tracked in the scanning system based on wireless synchronization that Fig. 5 provides for one embodiment of the invention with reference to Fig. 5 The structural schematic diagram of the mobile processing platform of device, as shown in figure 5, first movement processing platform 130, including at least one first Mobile processing unit 132, first movement processing unit 132 include: including the first controller 134, the first image and data processing Device 136；First controller 134 is connect with the first image data processor 136, and the first image data processor 136 is respectively with One image-forming module 110, first antenna module 140 connect.Wherein, the first controller 134 is sent to the first clock synchronization module 120 Sign on, the first clock synchronization module 120 bring into operation.First image data processor 136 will be from the first image-forming module 110 The image data of acquisition is handled as tracking device testing result, then compression goal testing result and is exported and is given first antenna mould Block 140 realizes the position sensing of scanning means 200.

On the other hand, equally comprising at least one the second movement in the second mobile processing platform in scanning means 200 Processing unit, second mobile processing unit include: second controller, the second image data processor；Second controller and Two image data processors connection, the second image data processor respectively with the second image-forming module 210, the second Anneta module 240 Connection.Wherein, second controller sends sign on to second clock synchronization module 220, and second clock synchronization module 220 starts Operation.The image information that second image data processor will be obtained from the second image-forming module 210 is handled as object detection results, Then it compression goal testing result and exports to the second Anneta module 240, realizes object state detection.

In one embodiment, at the first movement of first movement processing platform 130 and the second mobile processing platform 230 It is that carrier executes the processing function, the electronic chip that several electronic chips, which can be used, in reason unit and the second mobile processing unit Using CPU, GPU, ARM (Advanced RISC Machine, risc microcontroller), FPGA (Field-Programmable Gate Array, field programmable gate array), in DSP (Digital Signal Processing, digital processing chip) extremely Few one or more combined modes are constituted.

It should be pointed out that first antenna module is identical as the structure of the second Anneta module.First antenna module and second Include but is not limited in Anneta module: wireless data transmission unit, antenna duplexer and built-in antenna.Wherein, wireless data passes Defeated unit for realizing tracking device 100 or scanning means 200 and terminal 400 communication connection；Antenna duplexer is used In the type of signal based on the received, the antenna-matching circuit of built-in antenna corresponding with the type of signal is selected；Built-in antenna For being matched to channel according to antenna-matching circuit.Wherein, infinite data transmission unit, can be by ARM, DSP, FPGA A kind of realization.

Specifically, being tracked in the scanning system based on wireless synchronization that Fig. 6 provides for one embodiment of the invention with reference to Fig. 6 The antenna module structure schematic diagram of device, as shown in fig. 6, first antenna module 140, includes wireless data transmission unit 142, day Line multiplexer 144 and built-in antenna 146, antenna duplexer 144 respectively with wireless data transmission unit 142 and built-in antenna 146 Connection, wireless data transmission unit 142 are connect with first movement processing platform 130, and wireless data transmission unit 142 is connected to nothing After gauze network, carry out first movement processing platform 130 and terminal 400 through antenna duplexer 144 and built-in antenna 146 Data interaction；Antenna duplexer 144 is also connect with the power amplifier 530 of the first clock synchronization module 120, through built-in antenna 146 the first clock synchronization module 120 makes tracking device 100 and scanning means 200 carry out data interaction.

Wherein, wireless data transmission unit 142 further includes equipment connection control subelement, and equipment connection control subelement is logical It crosses after cable connect with terminal 400, the information provided by obtaining terminal 400, as comprising link information Two dimensional code, corresponding 400 target of terminal of recognition and tracking device 100 are simultaneously arranged, and realize that tracking device 100 and computer are whole The wirelessly or non-wirelessly connection at end 400.After connection, keep first movement processing platform 130 whole through first antenna module 140 and computer End 400 carries out data interaction；The first clock synchronization module 120 is set to carry out data through first antenna module 140 and scanning means 200 Interaction.

Specifically, antenna duplexer 144 uses multi-channel transmission mode, and multi-channel transmission mode includes two wireless channels Transmission mode makes first movement processing platform 130 and terminal 400 carry out the wireless channel of data interaction and makes first Clock synchronization module 120 and scanning means 200 carry out the wireless channel of data interaction.The signal type of wireless signal is divided into two Class can be realized by the frequency range of setting signal.One is to be made first movement processing platform 130 and terminal 400 carry out the wireless signal of the channel of data interaction；Secondly to carry out the first clock synchronization module 120 and scanning means 200 The wireless signal of data interaction.Built-in antenna 146 includes different antenna-matching circuit, is matched from different channels；Nothing Line signal enters different wireless channels according to different signal types after antenna duplexer 144, and will carry out wireless channel Wireless signal after selection is sent to corresponding antenna-matching circuit, and the signal of different frequency is made to enter different receiving channels.

Wireless signal through antenna duplexer 144 selects the antenna match electricity of built-in antenna according to the type of wireless signal Road makes different wireless signals enter different receiving channels, i.e., the wireless signal through antenna duplexer 144 is through built-in antenna point Supplementary biography is defeated by terminal or scanning means, reduces the antenna amount of built-in antenna, avoids between unlike signal It interferes with each other.

In the Anneta module 240 of scanning means, include wireless data transmission unit, antenna duplexer and built-in antenna, Antenna duplexer is connect with wireless data transmission unit and built-in antenna respectively, wireless data transmission unit and the second mobile processing Platform 230 connects, and after wireless data transmission unit connects upper wireless network, makes the second movement through antenna duplexer and built-in antenna Processing platform 230 and terminal 400 carry out data interaction；Function of the antenna duplexer also with second clock synchronization module 220 Rate amplifier connection makes second clock synchronization module 220 and tracking device 100 carry out data interaction through built-in antenna；

Wherein, the wireless data transmission unit of scanning means includes equipment connection control subelement, equipment connection control After unit is connect by cable with terminal, the information provided by obtaining terminal, as comprising link information Two dimensional code, corresponding 400 target of terminal of identification scanning means are simultaneously arranged, and realize scanning means 200 and terminal 400 wirelessly or non-wirelessly connection.After connection, make the second mobile processing platform 230 through the second Anneta module 240 and terminal 400 carry out data interaction；Second clock synchronization module 220 is set to carry out data friendship with tracking device 100 through the second Anneta module 240 Mutually.

On the basis of the above embodiments, the first clock synchronization module 120 and second clock synchronization module 220 specifically wrap It includes: synchronous logic controller and wireless synchronization coordination unit；The wireless synchronization coordination unit specifically includes lock-out pulse coordination Device, RF transceiver and power amplifier；Wherein, wireless synchronization coordination unit is to synchronous logic controller input control signal； Wherein, RF transceiver is connect with lock-out pulse coordinator and power amplifier respectively, lock-out pulse coordinator and synchronous logic Controller connection, for realizing the first image-forming module 110 or the second image-forming module to synchronous logic controller input control signal 210 precise synchronization sampling, and then realize the measurement of full Wireless spotting scaming.

Specifically, the structure of the clock synchronization module of the tracking device 100 and scanning means 200 of the application is identical. The function of the first clock synchronization module 120 and the second clock synchronization module 220 of scanning means 200 of tracking device 100 is phase With,

The synchronous mould of the clock of tracking device in the scanning system based on wireless synchronization that Fig. 7 provides for one embodiment of the invention Block structure schematic diagram, as shown in fig. 7, the first clock synchronization module 120, including synchronous logic controller 122 and wireless synchronization association Unit 124 is adjusted, wireless synchronization coordination unit 124 is to 122 input control signal of synchronous logic controller, by synchronous logic controller 122 send synchronization pulse to the first image-forming module 110；Wireless synchronization coordination unit 124 includes lock-out pulse coordinator 510, RF transceiver 520 and power amplifier 530, power amplifier 530 are connect with first antenna module 140, radio-frequency receiving-transmitting Device 520 is connect with lock-out pulse coordinator 510, power amplifier 530 respectively, lock-out pulse coordinator 510 and synchronous logic control Device 122 processed connects, and to 122 input control signal of synchronous logic controller, controls the signal input of synchronous logic controller 122, Realize that clock is synchronous.

On the basis of the above embodiments, be also respectively provided with mobile power source in tracking device and scanning means, for for Tracking device 100 and scanning means 200 are powered.

Specifically, as shown in Figure 2 and Figure 4, tracking device 100 further includes mobile power source 150, mobile power source 150 and first Mobile processing platform 130 connects, and for powering to tracking device 100, scanning means 200 further includes mobile power source 250, mobile electricity Source 250 is connect with mobile processing platform 230, for powering to scanning means 200.Mobile power source 150 and 250 can be used external Two kinds of powering modes of power supply and battery, and according to external power supply and battery status automatic switching apparatus power supply source.

It should be noted that the first clock synchronization module 120 can also be used according to actual needs and except sweeping in tracking device 100 Other tracking devices other than imaging apparatus 200 realize that clock is synchronous；Second clock synchronization module can also be used in scanning means 200 220 realize that clock is synchronous with other scanning means in addition to tracking device 100 according to actual needs, just do not open up one by one herein It opens.

It is used by this system, between tracking device and scanning means a kind of based on the calibration calculation of high-precision closed-loop clock The wireless synchronization pulse matching scheme that method is realized realizes the essence of the camera in tracking device and scanning means by this synchronization scheme Really synchronous exposure sampling, while the mobile processing platform built in equipment realizes handling and pass through in real time for high speed to the data of scanning Wireless channel is transmitted to computer and calculates and show to further data fusion.

With reference to Fig. 8, Fig. 8 is the flow diagram for the scan method based on wireless synchronization that one embodiment of the invention provides, Provided method includes:

S1, chooses any tracking device or any scanning means as host node, by host node to other tracking devices Authorization broadcast signaling synchronous with scanning means transmission, to realize that all tracking devices are synchronous with scanning means clock.

S2 synchronizes scanning to target object by tracking device and scanning means, obtains scanning means spatial position 2D image data and target object surface 2D image information, and be correspondingly converted into tracking device testing result and target inspection It surveys as a result, and tracking device testing result and object detection results are sent to terminal by wireless data gateway.

S3, terminal carry out 3D reconstruct according to tracking device testing result and object detection results, to target object.

Specifically, one or more tracking devices with one or more scanning means when progress clock is synchronous, need to set A fixed device is host node, remaining device is from node, and host node can be tracking device, or scanning means；In In the present embodiment, includes a tracking device and a scanning means in system, set tracking device as host node, scanning means For from node, tracking device and scanning means a kind of method that carry out clock synchronous are as follows: after powering on, by tracking device and scanning dress Access wireless network is set, the clock synchronization module of tracking device sends synchronous authorization broadcast signaling.

Content based on the above embodiment, as a kind of alternative embodiment, wherein by host node to other tracking devices Authorization broadcast signaling synchronous with scanning means transmission, to realize that all tracking devices are synchronous with scanning means clock, comprising: to appoint One tracking device is host node, and tracking device passes through the synchronous authorization broadcast signaling of the first clock synchronization module publication；Except tracking fills Remaining tracking device and scanning means except setting, are provided with corresponding clock synchronization module；Each corresponding clock is same Step module receives synchronous authorization broadcast signaling respectively, realizes remaining tracking device and scanning means in addition to tracking device With the time synchronization of the tracking device.

Further, wherein scanning is synchronized to target object by tracking device and scanning means, obtains scanning dress The 2D image data of spatial position and the 2D image information of target object surface are set, and is correspondingly converted into tracking device detection knot Fruit and object detection results, and tracking device testing result and object detection results are sent to calculating by wireless data gateway Machine terminal, comprising:

Tracking device testing result is sent to by the first antenna module in tracking device by wireless data gateway Terminal；Each corresponding antenna mould positioned at remaining tracking device in addition to tracking device and in scanning means Block, respectively and after first antenna module carries out channel matched, completion will correspondingly tracking device testing result or target detection knot Fruit is sent to terminal by wireless data gateway.Specifically, it is scanned with only one tracking device in system and one Device, and using tracking device as host node for, the wireless synchronization coordination unit of the first clock synchronization module of tracking device Send synchronous authorization broadcast signaling.

The lock-out pulse coordinator 510 of wireless synchronization coordination unit 124 configures RF transceiver 520 and power amplifier 530, make multiple interruption of work of tracking device 100 in unified channelling mode, establishes wireless channel；Lock-out pulse coordinator 510 send synchronous authorization broadcast signaling；It should be pointed out that the channel parameter of RF transceiver 520 and power amplifier 530 is It can be the configuration of the first controller 134, be also possible to be set in advance in RF transceiver 520 and power amplifier 530 respectively In.

After the second clock synchronization module 220 of scanning means 200 receives synchronous authorization broadcast signaling, to tracking device 100 reply the signaling for carrying authentication key.

Specifically, the second clock synchronization module 220 of scanning means 200 is received to synchronize and be awarded from the second Anneta module 240 After weighing broadcast signaling, the signaling for carrying authentication key is replied to tracking device 100；

More specifically, the lock-out pulse of the wireless synchronization coordination unit of the second clock synchronization module 220 of scanning means 200 After coordinator receives synchronous authorization broadcast signaling, parsed, and the letter for carrying authentication key is replied to tracking device 100 It enables；Carrying in the signaling of authentication key further includes local time stamp and synchronization code word signaling of scanning means 200 etc..

It should be pointed out that authentication key can reside in synchronous authorization broadcast signaling, it is also possible to be set in advance in In lock-out pulse coordinator in second clock synchronization module 220.When authentication key is present in synchronous authorization broadcast signaling, sweep The authentication key that the lock-out pulse coordinator of imaging apparatus 200 obtains parsing is returned as a part for the signaling for carrying authentication key Again to tracking device 100；When authentication key is set in advance in the lock-out pulse coordinator of scanning means 200, by synchronous arteries and veins The authentication key rushed in coordinator replies to tracking device 100 as a part for the signaling for carrying authentication key；It is close when authenticating When key is set in advance in the lock-out pulse coordinator of scanning means 200, authentication key is not easy to be intercepted, highly-safe.

After tracking device 100 receives the signaling for carrying authentication key, signaling is parsed, obtains authentication key, verifying After authentication key success, synchronous coordination instruction path is established with scanning means 200, is filled by synchronous coordination instruction path to scanning Set the instruction of 200 distribution synchronous feedbacks；

Specifically, the lock-out pulse coordinator 510 of the wireless synchronization coordination unit 124 of tracking device 100 receives carrying After the signaling of authentication key, parsing verifying is carried out to signaling, authentication key is obtained and is filled after verifying authentication key success with scanning It sets 200 and establishes synchronous coordination instruction path, synchronous feedback instruction is distributed to scanning means 200 by synchronous coordination instruction path；

More specifically, 510 pairs of carrying mirror of the lock-out pulse coordinator of the wireless synchronization coordination unit 124 of tracking device 100 The signaling of power key is parsed, and is verified after obtaining authentication key to authentication key, after verifying authentication key success, and is swept Imaging apparatus 200 establishes synchronous coordination instruction path, distributes synchronous feedback to scanning means 200 by synchronous coordination instruction path and refers to It enables；

Further include the local time stamp and synchronization code word signaling of scanning means 200 in the signaling of carrying authentication key, synchronizes Pulse matching device 510 is believed according to the local time stamp and synchronization code word of the scanning means obtained from the signaling for carrying authentication key It enables, calculates the delay parameter of wireless channel in real time, a part as synchronous feedback instruction.

Wherein, the method for verifying authentication key is that the authentication that lock-out pulse coordinator 510 feeds back scanning means 200 is close Key is compared with the authentication key that itself is stored, compare it is consistent after, verifying authentication key success, the with scanning means 200 Two clock synchronization modules 220 establish synchronous coordination instruction path, are distributed together by synchronous coordination instruction path to scanning means 200 Walk feedback command.

Inconsistent in response to comparison result, verifying authentication key failure terminates behaviour synchronous with the clock of scanning means 200 Make, or re-starts authorization, authorizing procedure.

It should be clear that each device of the present embodiment be related to signaling, instruction parsing, can based on symmetry algorithm, One or more combination in asymmetric arithmetic, digest algorithm sets according to actual demand, is not just described in detail one by one herein.

Scanning means 200 synchronizes beat correction according to synchronous feedback instruction, realizes scanning means 200 and tracking device 100 synchronized samplings.Specifically, the second clock synchronization module 220 of scanning means 200 synchronizes section according to synchronous feedback instruction Correction is clapped, realizes the synchronized sampling of scanning means 200 and tracking device 100.More specifically, the second clock of scanning means 200 The lock-out pulse coordinator parsing synchronous feedback instruction of synchronization module 220, obtains the delay parameter of wireless channel, according to wireless communication The delay parameter in road synchronizes beat correction, adjusts the system clock of scanning means 200, realizes scanning means 200 and tracking The synchronized sampling of the image-forming module of device 100.

Illustratively, the lock-out pulse coordinator of the second clock synchronization module 220 of scanning means 200 is by local time stamp T0 and synchronization code word signaling feedback are to tracking device 100, when tracking device 100 is according to the local for obtaining the transmission of scanning means 200 Between stab t0 and obtain local time stamp t0 and time t1 when synchronization code word signaling calculates the delay parameter Δ of wireless channel in real time Local zone time t2 and delay parameter are fed back to as a part that synchronous feedback instructs in the time t2 of tracking device 100 and are swept by t Imaging apparatus 200, scanning means 200 obtain the local zone time t3 that the time that synchronous feedback instructs is scanning means 200, scanning means 200 synchronize beat correction to local zone time according to t0, t1, t2 and t3, adjust the system clock of scanning means 200, make to sweep The system clock of imaging apparatus 200 is synchronous with the system clock of tracking device 100, realizes scanning means 200 and tracking device 100 Synchronized sampling.

It wherein, include several sync bytes, synchronization code word serial number and check bit, tracking device in synchronization code word signaling The lock-out pulse coordinator 510 of the wireless synchronization coordination unit 124 of 100 the first clock synchronization module 120 believes synchronization code word After order is parsed, synchronization code word signaling is obtained, and byte is synchronized to synchronization code word signaling and is screened, after screening confirmation, led to It crosses check bit to differentiate the correctness of synchronization code word, if check bit differentiates mistake, abandons this received synchronization code word Signaling continues to next synchronization code word signaling as synchronous base；If check bit differentiates correctly, believed according to synchronization code word Synchronization code word serial number in order obtains the time value t0 ' in synchronization code word signaling, is compared with local time stamp t0, if not Unanimously, then this received synchronization code word signaling is abandoned, continues to next synchronization code word signaling as synchronous base then；If Unanimously, then start the delay parameter of calculating wireless channel.

In addition, the time interval of beat correction is synchronized between tracking device 100 and scanning means 200, it can foundation Depending on actual conditions.For example, 1s, 10s etc..

After tracking device realizes that clock is synchronous with scanning means, the lock-out pulse coordinator point of tracking device and scanning means Not Shu Chu lock-out pulse (control signal) to synchronous logic controller, realize the first image-forming module 110 of tracking device 100 and sweep 210 synchronized sampling of the second image-forming module of imaging apparatus 200, the image sensing cell 114 and scanning means 200 of tracking device 100 Image sensing cell synchronized sampling, and then by correspondingly moving processing platform, Anneta module is sent to terminal, real The exact time synchronization of existing tracking device and scanning means.

Before system operation, the target of high reflecting rate (blip point) is attached on scanning means first.Implement herein In example, reference target is the target that surface has retro-reflective characteristic, and pattern is under the luminescence band of polygon lamp group can See, material is surrounded by the ring of antiradar reflectivity color (such as black), and it is accurate in the image of sensor to facilitate tracking device Identify target.Due to using the material with retro-reflective characteristic, the surface of object needs to be illuminated to allow to reference mesh Target appropriately identifies.

The LED projecting unit of tracking device and the LED projection subelement of scanning means are equidistantly made of multiple LED, just Polygonal array is fixed near camera front end, and center is located in camera optical axis and direction is consistent with camera optical axis direction of observation Lamp group realize that label target and/or the light filling of testee illuminate, the intensity of LED light can be adjusted to make mesh in image Mark and background have enough luminance differences, help to accurately identify target in the image of sensor.

In one embodiment, the image sensing cell 114 of tracking device 100 is a pair of of camera, tracking device 100 Image sensing cell may be multiple cameras, and LED projecting unit is fixed between camera, and the 2D for obtaining scanning means schemes Picture.

Due to using circular target label, the non-distortion profile for extracting reflectance target in the picture can use ellipse wheel Exterior feature indicates.Because camera is calibrated, non-distortion profile can be used well known method in fields and be distorted to remove, herein In example, need to obtain the optical property parameter of camera from camera parameter memory.According to the side of the cartouche in image Journey can calculate the orientation of the cartouche in the 3 d space, can be with reference to " to the introductory technology of 3D computer vision The Chapter 11 of (Introductory techniques for 3D computer vision) " is to be discussed in greater detail. Because the circle projects the center of projection of camera, the circle in the 3 d space with conical intersection.Extract profile point it Afterwards, the model being fitted on local 3D point set can be plane or the quadratic polynomial for bigger precision.In the feelings of the latter In condition, least squares method is applied using with drag, then obtains its geometric parameters using common elliptic parameter calculation method Number.

Above-mentioned processing step calculates realization on the mobile processing platform of equipment end, obtains two width figure structures of single frames acquisition The coordinate position for the target point built.Above-mentioned data, which need to be transferred to, completes subsequent 3D reconstruct in the processing software of terminal And surface modeling using the above-mentioned data of wireless communication transmissions, while also being supported in the environment of high electromagnetic interference in this example It is switched to the mode of cable-network transmission.

The laser of the pattern projection unit of the image-forming module of scanning means is located at the front end of scanning means, is used for laser It projects on testee, and is captured by a camera.The red laser of 3 pairs or more patterns can be used in laser, Other types of grenade instrumentation equally also can be used, such as white light graphics projectors or blue led graphics projectors；Extract figure The 3D location information on the measured object surface of sample projected area by according to the type of laser projection device and applied method and Variation.

Illustratively, the image sensing cell of scanning means is using a pair of of camera, and camera lens front end exists and laser The light filter device of matched filtering structure；Several cameras can also be added to this device, obtained with same principle more smart The final coordinate of true matching or higher precision.Camera exposure process and above-mentioned LED and laser luminescence process are through corresponding Clock synchronization module is synchronous, by the imaging that can clearly obtain target and laser pattern in camera captured image.

In this example, laser pattern uses 3 pairs or more patterns, is calculated by image procossing and obtains line The 2D coordinate position of upper each point, likewise, well known side in fields can be used in non-distorted coordinates because camera is calibrated Method is distorted to remove.In this example, the light intensity of the time for exposure of camera, gain and laser be it is adjustable, can pass The image of sensor generates narrow clearly lines pattern, helps accurately to extract object under test in the second seat of scanning means Mark fastens the 2D coordinate position of each point.

The position 3D of blip point uses trigonometric calculations, and the normal direction of blip point uses the associated side of direction of visual lines Method calculates.Firstly the need of the location parameter for obtaining two cameras from target size memory, generally with the light of one of camera Center is dot, then constrains building basis matrix according to Epipolar geometry, the matching of marker dots is searched for by polar curve equation Relationship；One group of matched mark point position is finally gone out into the position 3D by trigonometric calculations, i.e., single reference target is sat in equipment Spatial position under mark system.

The 3D coordinate calculation of laser pattern and the Coordinate calculation method of above-mentioned target's center are almost the same.In view of list Matching caused by a laser point feature is insufficient needs to press the geometrical characteristic combination of projection pattern according to missing and error hiding, The matching that the point set with geometrical characteristic is calculated by combined result, then reuses the Coordinate calculation method with target's center. In this example, projection pattern is cross spider, therefore uses line segment as matched geometrical characteristic, likewise, using different Pattern is projected, is needed using different feature and combination, principle is consistent.

In scanning means scanning process, image sensing cell at least one can be held in its hand mobile next real by user The all standing of existing surface point, the data that the above step of each frame obtains at this time are all based on the device coordinate system (the of present frame Two coordinate systems), due to the movement of equipment, coordinate system is continually changing, in device coordinate system 3D with respect to the first coordinate system Point needs the coordinate system of the parameter sensors of the freedom degree of six rigid transformations to be mapped in the first coordinate system.

The calculating of transformation parameter is realized using the matching of blip point.Use the coordinates of targets and ginseng calculated in present frame Number is found the best match set based on position angular position relationship in the object module of accumulation, is obtained in the target of accumulation Matching relationship corresponding with current reference target, thus calculates the rigid transformation that the second coordinate system is mapped to the first coordinate system； Then 3D surface point is used into identical rigid transformation, accordingly from the second coordinate system transformation to the first coordinate system；It finally will be new Transformed blip point and 3D surface point run up in existing target framework and surface point set.

Above-mentioned rigid transformation is it is also contemplated that use space position or acceleration sensing directly acquire.

Influence in view of scanning distance to precision, in this example, scanning means on the surface of user towards existing One range indicator passes through the variation reflection current device of color and the state of scanning object distance.Likewise, also can be used The mode of auditory tone cues realizes above-mentioned function.

Since there are the influences of noise for surface point, it is difficult to it is directly used in display and measurement, in this example, above-mentioned 3D table Millet cake needs to generate surface model by reconstruct, and finally, reconstructed surface is sent to user interface display.

For the ease of the scanning of large volume target, in this example, user interface display is divided into upper computer end connection Basic display unit and portable display screen, wherein portable display screen is connected on scanning means, is connect, is shown with the second mobile processing platform Show scanning result and equipment state, transmits data using HDMI interface.In this example, the equipment state includes and is not limited to Temperature, electricity, power supply status, close to display platen edge Overlapping display.The status data is each in connection equipment Class temperature, the sensors such as electricity.

For the ease of the scanning of large volume target, in this example, blip point can be attached on object under test, with More accurately obtain the 2D coordinate position of object under test each point on the second coordinate system of scanning means.

The 3 D scanning system of the application obtains the blip o'clock on scanning means using tracking device and sits first The coordinate and scanning means for marking system obtain the scanning element that is formed on object under test surface in the coordinate of the second coordinate system, then basis Blip o'clock obtains scanning element in the first coordinate system in the coordinate of the second coordinate system in the coordinate and scanning element of the first coordinate system Coordinate, the surface of target object can be constructed in the first coordinate system, to generate target object threedimensional model, scanning accuracy Height, it is convenient and efficient, and in wireless transmission, working space is expansible.

The scanning means measuring targets are scanned, and are obtained the scanning element formed on object under test surface and are sat second Mark system coordinate and terminal according to blip o'clock the first coordinate system coordinate and scanning element in the second coordinate system Coordinate determine that scanning element merges the scanning element in the coordinate of the first coordinate system, and under the first coordinate system, until The entire scan for completing measuring targets, obtains different scanning o'clock in the fusion results of the coordinate of the first coordinate system.

It is used by the method, between device and scanning means a kind of real based on high-precision closed-loop clock calibration algorithm Existing wireless synchronization pulse matching scheme realizes the accurate same of the camera in tracking device and scanning means by this synchronization scheme Exposure sampling is walked, in addition, the synchronization mechanism of equipment can realize multiple terminal integrated mode, can configure wherein in multiple terminal system For one terminal as synchronization system host node, other terminals request synchronous authorization to host node, also can more equipment in safeguards system Between precise synchronization, further, mobile processing platform built in equipment realizes that the real-time of high speed being handled simultaneously to the data of scanning Computer is transmitted to by wireless channel to calculate and show to further data fusion.

Fig. 9 is the structural schematic diagram for the electronic equipment that one embodiment of the invention provides, as shown in figure 9, electronic equipment includes: Processor (processor) 910, communication interface (Communications Interface) 920, memory (memory) 930 With bus 940, wherein processor 910, communication interface 920, memory 930 complete mutual communication by bus 940.Place Reason device 910 can call the logical order in memory 930, to execute following method, for example, choose any tracking device Or any scanning means is as host node, it is wide to the authorization synchronous with scanning means transmission of other tracking devices by the host node Signaling is broadcast, to realize that all tracking devices are synchronous with scanning means clock；By tracking device and scanning means to target object Scanning is synchronized, the 2D image data of scanning means spatial position and the 2D image information of target object surface, and phase are obtained It is converted into tracking device testing result and object detection results with answering, and tracking device testing result and object detection results is led to It crosses wireless data gateway and is sent to terminal；Terminal according to tracking device testing result and object detection results, 3D reconstruct is carried out to target object.

The embodiment of the present invention discloses a kind of computer program product, and computer program product includes being stored in non-transient calculating Computer program on machine readable storage medium storing program for executing, computer program include program instruction, when program instruction is computer-executed, Computer is able to carry out method provided by above-mentioned each method embodiment, for example, chooses any tracking device or any sweeps Imaging apparatus is as host node, by the host node to other tracking devices authorization broadcast signaling synchronous with scanning means transmission, To realize that all tracking devices are synchronous with scanning means clock；Target object is synchronized by tracking device and scanning means Scanning obtains the 2D image data of scanning means spatial position and the 2D image information of target object surface, and correspondingly converts For tracking device testing result and object detection results, and tracking device testing result and object detection results are passed through into no line number Terminal is sent to according to gateway；Terminal is according to tracking device testing result and object detection results, to object Body carries out 3D reconstruct.

The present embodiment provides a kind of non-transient computer readable storage medium, non-transient computer readable storage medium storages Computer instruction, computer instruction make computer execute method provided by above-mentioned each method embodiment, for example, choose and appoint One tracking device or any scanning means are sent by the host node to other tracking devices and scanning means as host node Synchronous authorization broadcast signaling, to realize that all tracking devices are synchronous with scanning means clock；Pass through tracking device and scanning means Scanning is synchronized to target object, obtains the 2D image data of scanning means spatial position and the 2D image of target object surface Information, and be correspondingly converted into tracking device testing result and object detection results, and by tracking device testing result and target Testing result is sent to terminal by wireless data gateway；Terminal is according to tracking device testing result and target Testing result carries out 3D reconstruct to target object.

The apparatus embodiments described above are merely exemplary, wherein described, unit can as illustrated by the separation member It is physically separated with being or may not be, component shown as a unit may or may not be physics list Member, it can it is in one place, or may be distributed over multiple network units.It can be selected according to the actual needs In some or all of the modules achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying creativeness Labour in the case where, it can understand and implement.

Through the above description of the embodiments, those skilled in the art can be understood that each embodiment can It realizes by means of software and necessary general hardware platform, naturally it is also possible to be realized by hardware.Based on such Understand, substantially the part that contributes to existing technology can also body in the form of software products in other words for above-mentioned technical proposal Reveal and, which may be stored in a computer readable storage medium, such as ROM/RAM, magnetic disk, CD, It uses including some instructions so that a computer equipment (can be personal computer, server or the network equipment etc.) is held Method described in certain parts of each embodiment of row or embodiment.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features； And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and Range.