Tracking type three-dimensional scanner and multifunctional terminal instrument tracking device thereof

Abstract

The utility model belongs to the technical field of intelligent manufacturing equipment, in particular to a tracking type three-dimensional scanner and a multifunctional terminal instrument tracking device thereof, which comprise a front shell, a tracking end main body frame, a rear shell and a first camera, the tracking end main body frame is arranged at the side end of the front shell, and the rear shell is arranged at the rear end of the tracking end main body frame. The first camera is arranged between the tracking end main body frame and the front shell. By arranging the key, the handheld end rack, the grab handle, the first camera, the second camera, the handheld end laser and the power supply PCB, when the equipment is used, the tripod and the tracking end whole equipment are erected at the distance of 650 mm and 330 mm (fine mode) from a workpiece, the handheld end starts to scan the workpiece, and the handheld end laser starts to scan the workpiece; the tracking end determines the space coordinate position through the marker ball on the handheld end device, the handheld end can switch the angle at will, the handheld end and the tracking end can be switched back and forth according to different scenes, different modes can be switched, the collection efficiency is improved, and the collection time is saved.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent manufacturing equipment, in particular to a tracking three-dimensional scanner and a multifunctional tracking terminal instrument device thereof. Background Art

[0002] A 3D scanner is a scientific instrument used to detect and analyze the shape (geometry) and appearance (such as color, surface albedo, and other properties) of objects or environments in the real world. The collected data is often used for 3D reconstruction calculations to create digital models of real objects in the virtual world. These models have a wide range of uses;

[0003] The intelligent optical tracking 3D scanning system uses an optical tracker to track and position the scanner in real time, quickly acquiring complete 3D data of the object surface without attaching points. It is mainly used in the intelligent manufacturing industry and is suitable for high-precision dynamic measurement of medium and large workpieces in aerospace, automobiles, heavy machinery, molds, and castings.

[0004] The existing technology has the following deficiencies:

[0005] 1. The accuracy of super large machining is poor;

[0006] 2. Poor adaptability, can only be scanned with the scanning end;

[0007] 3. It has limitations and cannot scan workpieces farther away. Utility Model Content

[0008] In view of the shortcomings of the existing technology, the utility model provides a tracking three-dimensional scanner and a multifunctional tracking terminal instrument device, which solves the current problems of poor adaptability, inability to scan long-distance workpieces and poor precision of ultra-large workpieces.

[0009] To achieve the above objectives, the present invention provides the following technical solutions: a tracking-type three-dimensional scanner and a multifunctional tracking terminal instrument device thereof, comprising a front shell, a tracking-end main frame, a rear shell, and a first camera, wherein the tracking-end main frame is disposed at a side end of the front shell, the rear shell is disposed at a rear end of the tracking-end main frame, the first camera is disposed between the tracking-end main frame and the front shell, a laser fixing plate is disposed on the other end surface of the tracking-end main frame, and a tracking-end laser is disposed on a side end of the laser fixing plate;

[0010] A button is provided on the side of the rear shell, the outer side of the tracking terminal main frame is connected to the handheld terminal frame via a line, the inner end of the handheld terminal frame is provided with a handle, the front end of the handheld terminal frame is provided with a second camera, the bottom end of the second camera is provided with a laser PCB board, the lower end of the second camera is also provided with a handheld terminal laser, and the handheld terminal frame is provided with a power PCB board near the bottom end;

[0011] The button further comprises a button PCB board and a PCB board. The button PCB board is clamped at the rear end of the button, and the PCB board is fixedly installed at the outside of the button.

[0012] As an optimal technical solution of the present invention, the handheld terminal frame also includes a first marking ball, a second marking ball, a third marking ball and a support foot. The first marking ball, the second marking ball and the third marking ball are all installed on the outer end surface of the handheld terminal frame through a bolt structure.

[0013] As a preferred technical solution of the present invention, the support leg is movably connected to the bottom end of the handheld terminal frame. The handheld terminal frame is an annular frame structure as a whole, and its interior adopts a hollow structure connected by multiple groups of strip frames.

[0014] As an optimal technical solution of the present invention, the handle also includes a front shell of the handheld end, a back cover plate, and a bottom cover plate. The front shell of the handheld end is clamped to the front end of the handle, the back cover plate is clamped to the rear end of the handle, and the bottom cover plate is sleeved on the bottom of the handle.

[0015] As a preferred technical solution of the present invention, the tracking terminal main frame and the handheld terminal frame are connected via a data transmission cable.

[0016] As a preferred technical solution of the present invention, the main frame of the tracking end adopts a strip structure as a whole, and four groups of the first cameras are provided and distributed at both ends of the main frame of the tracking end.

[0017] As a preferred technical solution of the present invention, the button is also arranged at the rear end of the handle, and a logo notch is reserved at the top of the handle.

[0018] Compared with the prior art, the present invention provides a tracking three-dimensional scanner and a multifunctional tracking terminal device:

[0019] A tracking-type 3D scanner and its multifunctional tracking terminal instrument device are provided with buttons, a handheld terminal frame, a handle, a first camera, a second camera, a handheld terminal laser, and a power PCB board. When the device is used, the operator controls the entire device through buttons, sets up the tripod and the tracking terminal device at a distance of 650mm or 330mm (fine mode) from the workpiece, connects the handheld terminal to the computer and the device through a 5-meter or 3-meter data transmission optical fiber, starts the scanner, and the handheld terminal begins to scan the workpiece. The tracking terminal determines the spatial coordinate position through the marker ball on the handheld terminal device. The handheld terminal can switch the scanning angle and direction at will, and the scanning data is imaged on the computer in real time through the data transmission line;

[0020] The above settings and processes can make the device have the following beneficial effects:

[0021] Compared with the traditional integrated 3D scanner structure, this structure allows the tracking end to assist the handheld end in 3D image acquisition, or the tracking end can become a separate 3D image acquisition module. The lens and laser of the tracking end can be separated from the tripod and become a handheld acquisition module. Its scanning range is 2mx2m, the scanning distance is 670mm, the scanning resolution is 0.01mm-10mm, and the volume accuracy can reach 10.4m 3 : 0.06mm; the length of the control cable can reach 20-50m; according to different scenarios, the handheld terminal and the tracking terminal can be switched back and forth, and different modes can be switched, which improves the efficiency of collection, saves collection time, and improves the precision of large-scale work and improves adaptability through different modes. The split structure can also increase the operating radius. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the split structure of the tracking terminal of the utility model;

[0023] Figure 2 This is a schematic diagram of the overall structure of the handheld terminal frame of the utility model;

[0024] Figure 3 This is a schematic diagram of the overall front and rear structure of the handheld handle of the utility model;

[0025] Figure 4 This is a schematic diagram of the second camera and related structures of the handheld terminal of the present invention.

[0026] In the figure: 1. Front shell; 2. Tracking end main frame; 3. Back shell; 4. First camera; 5. Laser fixing plate; 6. Tracking end laser; 7. Button; 701. Button PCB board; 702. PCB board; 8. Handheld end frame; 801. First marker ball; 802. Second marker ball; 803. Third marker ball; 804. Support foot; 9. Handle; 901. Handheld end front shell; 902. Back cover; 903. Bottom cover; 10. Second camera; 11. Laser PCB board; 12. Handheld end laser; 13. Power PCB board. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0028] In this embodiment: a tracking-type three-dimensional scanner and a multifunctional tracking terminal instrument device thereof, comprising a front shell 1, a tracking end main frame 2, a rear shell 3, and a first camera 4. The tracking end main frame 2 is arranged at a side end of the front shell 1, the rear shell 3 is arranged at a rear end of the tracking end main frame 2, the first camera 4 is arranged between the tracking end main frame 2 and the front shell 1, a laser fixing plate 5 is arranged on the other end surface of the tracking end main frame 2, and a tracking end laser 6 is arranged on the side end of the laser fixing plate 5;

[0029] A button 7 is provided on the side of the rear shell 3. The outer side of the tracking terminal main frame 2 is connected to the handheld terminal frame 8 via a line. The inner end of the handheld terminal frame 8 is provided with a handle 9. A second camera 10 is provided at the front end of the handheld terminal frame 8. A laser PCB board 11 is provided at the bottom end of the second camera 10. A handheld terminal laser 12 is also provided at the lower end of the second camera 10. A power PCB board 13 is provided near the bottom end of the handheld terminal frame 8.

[0030] The key 7 further includes a key PCB board 701 and a PCB board 702 . The key PCB board 701 is snap-connected to the rear end of the key 7 , and the PCB board 702 is fixedly installed on the outside of the key 7 .

[0031] In this embodiment, the handheld terminal frame 8 further includes a first marking ball 801, a second marking ball 802, a third marking ball 803, and a support leg 804. The first marking ball 801, the second marking ball 802, and the third marking ball 803 are all mounted on the outer end surface of the handheld terminal frame 8 through a bolt structure; the support leg 804 is movably connected to the bottom end of the handheld terminal frame 8. The handheld terminal frame 8 as a whole has an annular frame structure, and its interior adopts a hollow structure connected by multiple groups of strip frames;

[0032] Specifically, such as Figure 2 and Figure 3 As shown, the hollow structure inside the handheld terminal frame 8 can greatly reduce the overall weight;

[0033] In this embodiment, the handle 9 further includes a handheld terminal front shell 901, a back cover 902, and a bottom cover 903. The handheld terminal front shell 901 is snapped onto the front end of the handle 9, the back cover 902 is snapped onto the rear end of the handle 9, and the bottom cover 903 is sleeved onto the bottom of the handle 9. The tracking terminal main frame 2 and the handheld terminal rack 8 are connected via a data transmission cable.

[0034] Specifically, such as Figure 1 、 3 As shown in Figures 4 and 5, the handle 9 is held together by the front housing 901, the back cover 902, and the bottom cover 903 of the handheld terminal to maintain a high degree of integrity, thereby improving the overall stability. A data transmission channel between the handheld terminal and the tracking terminal can be established by establishing a connection through a data transmission cable.

[0035] In this embodiment, the tracking end main frame 2 adopts a strip structure as a whole, and four groups of first cameras 4 are provided and distributed at both ends of the tracking end main frame 2; the button 7 is also provided at the rear end of the handle 9, and a logo slot is reserved at the top of the handle 9.

[0036] The working principle and usage process of the present invention are as follows: when the device is in use, the operator controls the entire device through button 7, sets up the tripod and the tracking end device at a distance of 650mm or 330mm (fine mode) from the workpiece, connects the handheld end frame 8 to the computer and the device through a 5-meter or 3-meter data transmission optical fiber, starts the scanner, and the handheld end begins to scan the workpiece. The tracking end determines the spatial coordinate position through the marker ball on the handheld end device. The handheld end can switch the angle and direction of scanning at will, and the scanned data is imaged on the computer in real time through the data transmission line.

[0037] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A tracking-type three-dimensional scanner and a multifunctional tracking terminal instrument device thereof, comprising a front shell (1), a tracking end main frame (2), a rear shell (3), and a first camera (4), wherein the tracking end main frame (2) is arranged at the side end of the front shell (1), the rear shell (3) is arranged at the rear end of the tracking end main frame (2), the first camera (4) is arranged between the tracking end main frame (2) and the front shell (1), a laser fixing plate (5) is arranged on the other side end surface of the tracking end main frame (2), and a tracking end laser (6) is arranged on the side end of the laser fixing plate (5), characterized in that: A button (7) is provided at the side end of the rear shell (3); the outer side of the tracking end main body frame (2) is connected to a handheld end frame (8) via a line; a grip (9) is provided at the inner end of the handheld end frame (8); a second camera (10) is provided at the front end of the handheld end frame (8); a laser PCB board (11) is provided at the bottom end of the second camera (10); a handheld end laser (12) is also provided at the lower end of the second camera (10); and a power supply PCB board (13) is provided near the bottom end of the handheld end frame (8); The key (7) further comprises a key PCB board (701) and a PCB board (702), wherein the key PCB board (701) is snap-connected to the rear end of the key (7), and the PCB board (702) is fixedly mounted on the outside of the key (7).

2. The tracking-type three-dimensional scanner and its multifunctional tracking terminal device according to claim 1, characterized in that: The handheld terminal frame (8) further comprises a first marking ball (801), a second marking ball (802), a third marking ball (803) and a support foot (804); the first marking ball (801), the second marking ball (802) and the third marking ball (803) are all mounted on the outer end surface of the handheld terminal frame (8) via a bolt structure.

3. The tracking-type three-dimensional scanner and its multifunctional tracking terminal device according to claim 2, characterized in that: The support leg (804) is movably connected to the bottom of the handheld terminal frame (8). The handheld terminal frame (8) is an annular frame structure as a whole, and its interior adopts a hollow structure connected by multiple groups of strip frames.

4. The tracking-type three-dimensional scanner and its multifunctional tracking terminal device according to claim 1, characterized in that: The handle (9) further comprises a handheld front shell (901), a back cover (902), and a bottom cover (903); the handheld front shell (901) is snap-connected to the front end of the handle (9); the back cover (902) is snap-connected to the rear end of the handle (9); and the bottom cover (903) is sleeved on the bottom of the handle (9).

5. The tracking-type three-dimensional scanner and its multifunctional tracking terminal device according to claim 1, characterized in that: The tracking terminal main frame (2) and the handheld terminal frame (8) are connected via a data transmission cable.

6. The tracking-type three-dimensional scanner and its multifunctional tracking terminal device according to claim 1, characterized in that: The tracking end main body frame (2) as a whole adopts a strip-shaped structure, and the first cameras (4) are provided in four groups and distributed at both ends of the tracking end main body frame (2).

7. The tracking-type three-dimensional scanner and its multifunctional tracking terminal device according to claim 1, characterized in that: The button (7) is also arranged at the rear end of the handle (9), and a logo notch is reserved at the top of the handle (9).

Images