Three-dimensional scanning system and scanning path planning method thereof

A scanning path planning method of a three-dimensional scanning system, the method comprising:

• acquiring, by a processor, a historical scanning path of an object type to which a to-be-measured object belongs;
• acquiring, by the processor, a historical pose of a rotary table for carrying the to-be-measured object;
• storing, to a memory, the historical scanning path and the historical pose;
• acquiring, by the processor, a current pose of the rotary table;
• determining a planned scanning path of the to-be-measured object by the processor performing data processing with a stored computer program and based on the stored historical scanning path and according to the stored historical pose and the current pose of the rotary table;
• carrying out security verification, by the processor, on the planned scanning path to simulate whether a collision with other objects or a mechanical arm body occurs during operation according to the planned scanning path of the mechanical arm, and determining whether to revise the planned scanning path;
• carrying out effect verification, by the processor, on the planned scanning path to simulate acquisition of a three-dimensional model according to a preset position and speed of operation of the rotary table and the planned scanning path of the mechanical arm, and determining whether to revise the position and speed of operation of the rotary table and the planned scanning path;
• and
• controlling, according to the planned scanning path, a scanner to scan a surface of an object, and generating three-dimensional data of the surface of the object.

A three-dimensional scanning method comprising:

• acquiring registration information of a to-be-measured object;
• determining, according to the registration information, whether to configure a scanning path or adjust a historical scanning path, so as to generate a planned scanning path;
• controlling, according to the planned scanning path, a scanner to scan a surface of the object, and generating three-dimensional data of the surface of the object;
• and
• carrying out effect verification on the planned scanning path to simulate acquisition of a three-dimensional model according to a preset position and speed of operation of the rotary table and the planned scanning path of the mechanical arm, and to determine whether to revise the position and speed of operation of the rotary table and the planned scanning path.