Mounting device for a three-dimensional scanner and related three-dimensional scanner

Abstract

The present disclosure provides a mounting device for a three-dimensional scanner. The mounting device comprises a main mounting bracket comprising a first alignment structure and a radar mounting portion adapted to arrange a laser radar, so that the laser radar can acquire point cloud data within a radar field of view centered on a radar normal; and a camera mounting bracket in a ring structure and comprising a plurality of positioning portions arranged in a circumferential direction for positioning a plurality of cameras and making a plurality of camera normals of the plurality of cameras intersect at a normal intersection point, wherein the camera mounting bracket comprises a second alignment structure adapted to be coupled with the first alignment structure, so that the radar normal of the laser radar passes through the normal intersection point. By adopting the mounting device, the installation precision of the plurality of cameras and the laser radar can be ensured, and at the same time, the miniaturization of the three-dimensional scanner is promoted.

Description

TECHNICAL FIELD

[0001] Example embodiments of the present disclosure generally relate to the field of three-dimensional scanners, and in particular to a mounting device for a three-dimensional scanner and a related three-dimensional scanner. BACKGROUND

[0002] A three-dimensional scanner is a scientific instrument that uses three-dimensional scanning technology to detect and analyze the shape and appearance of objects or environments in the real world. The significance of three-dimensional scanning technology in practical applications is to convert the three-dimensional information of real objects into digital signals that can be recognized and directly processed by computers, achieving non-contact measurement of objects. The data collected by a three-dimensional scanner is often used for three-dimensional reconstruction calculations to create digital models of real objects in a virtual world. One of the uses of a three-dimensional scanner is to establish a point cloud of the geometric surface of an object, which can be used to interpolate the surface shape of the object. A denser point cloud can establish a more accurate model (this process is called three-dimensional reconstruction). If the scanner can obtain the surface color, it can further apply a material map to the reconstructed surface, i.e., so-called material imprinting.

[0003] Three-dimensional scanners are also increasingly used in the measurement and scanning of house structures. For example, when scanning an indoor environment, a three-dimensional scanner is usually placed at a fixed position inside the house to be scanned, and its optical detection part (including cameras and lidars, etc.) is usually driven by a driving component to rotate a full circle to complete the scanning of the room structure. SUMMARY

[0004] In a first aspect of the present disclosure, a mounting device for a three-dimensional scanner is provided. The mounting device comprises: a main mounting bracket comprising a first alignment structure and a radar mounting portion adapted to arrange a lidar, so that the lidar can obtain point cloud data within a radar field of view centered on a radar normal line; and a camera mounting bracket in a ring structure and comprising a plurality of positioning portions arranged circumferentially for positioning a plurality of cameras and making a plurality of camera normals of the plurality of cameras intersect at a normal intersection point, wherein the camera mounting bracket comprises a second alignment structure adapted to be coupled with the first alignment structure, so that the radar normal line of the lidar passes through the normal intersection point.

[0005] By using the mounting device according to the embodiments of the present disclosure, on the one hand, the plurality of cameras can be accurately ensured to be assembled in position by the plurality of positioning portions, so that the plurality of camera normals can intersect at the normal intersection point, thereby reducing the subsequent calibration and data processing cost and difficulty, and improving the precision and efficiency. On the other hand, the first alignment structure and the second alignment structure can also ensure the assembly precision between the lidar and the camera with a simple structure, that is, ensure that the radar normal passes through the normal intersection point, thereby effectively reducing the data fusion difficulty between the lidar and the camera, and thereby improving the precision and reliability of the fused data.

[0006] In some embodiments, the main mounting bracket extends along a longitudinal direction, and the radar mounting portion and the camera mounting bracket are arranged at a first end of the main mounting bracket in the extension direction. Mounting the lidar and the camera at the same end of the main mounting bracket through the radar mounting portion and the camera mounting bracket respectively can ensure that the data acquired by the lidar and the camera are both based on the same height level, thereby effectively reducing the difficulty of data fusion of the lidar and the camera, and improving the reliability and precision of the output data.

[0007] In some embodiments, the mounting device further comprises: an auxiliary mounting bracket arranged at a second end of the main mounting bracket opposite the first end and located on the same side as the camera mounting bracket, the auxiliary mounting bracket being adapted to mount a rotating mechanism for driving the mounting device to rotate about the rotation axis. Through the auxiliary mounting bracket, the positional relationship and assembly precision between the rotating mechanism, the plurality of cameras and the lidar can be ensured with a simple structure.

[0008] In some embodiments, the auxiliary mounting bracket is arranged such that the rotation axis passes through the normal intersection point. In this way, the parallax that may occur during rotation of the camera and the lidar about the rotation axis can be effectively alleviated or eliminated, thereby reducing the subsequent data processing workload and improving the creation effect of the model.

[0009] In some embodiments, the auxiliary mounting bracket comprises: a pair of mounting bodies arranged symmetrically based on the center of the mounting device for the rotating mechanism to be arranged therebetween. Using the mounting bodies can simplify the assembly scheme of the rotating mechanism on the main mounting bracket, thereby improving the assembly efficiency while improving the assembly precision.

[0010] In some embodiments, each mounting body of the pair of mounting bodies comprises: a positioning structure arranged on the mutually close surfaces of the pair of mounting bodies to couple with the rotating mechanism to provide positioning for the rotating mechanism. By using the positioning structure, the precise positioning of the rotating mechanism relative to the main mounting bracket can be ensured, thereby avoiding data acquisition errors caused by installation errors of the rotating mechanism.

[0011] In some embodiments, the main mounting bracket comprises a body which is in the shape of a plate and extends along an extension direction, and comprises a radar mounting portion; and a pair of side ribs which are symmetrically arranged with respect to a center plane at edges of the body and extend along the extension direction, for the auxiliary mounting bracket to be arranged therebetween. The side ribs can facilitate the arrangement of the auxiliary mounting bracket therebetween on one hand, and simplify the assembly of the auxiliary mounting bracket. On the other hand, the side ribs can also improve the structural strength of the main mounting bracket, and thus improve the reliability of the main mounting bracket.

[0012] In some embodiments, the camera mounting bracket is arranged at a predetermined distance from the main mounting bracket. By spacing the main mounting bracket and the camera mounting bracket at a predetermined distance, the heat dissipation performance between the laser radar and the plurality of cameras mounted thereon can be guaranteed, thereby ensuring the reliability of the three-dimensional scanner.

[0013] In some embodiments, the main mounting bracket comprises a through hole for airflow to pass through. By providing the through hole, the airflow can flow smoothly around and in the main mounting bracket, thereby effectively dissipating heat for the components mounted on the main mounting bracket, and thus further improving the performance and reliability of the three-dimensional scanner.

[0014] In an embodiment, the main mounting bracket further comprises a first heat dissipation rib arranged at a side adjacent to the camera mounting bracket and extending in the direction of the airflow. By employing the first heat dissipation rib, the heat dissipation area of the components mounted on the main mounting bracket, such as the circuit board and the components mounted thereon, can be increased, and the heat dissipation performance can be improved, thereby avoiding problems such as poor stability caused by excessive temperature.

[0015] In some embodiments, the camera mounting bracket further comprises a plurality of second heat dissipation ribs arranged at positions corresponding to the plurality of positioning portions. The second heat dissipation ribs can increase the heat dissipation area of the cameras, thereby improving the performance and stability of the cameras.

[0016] In some embodiments, the main mounting bracket and the camera mounting bracket are respectively integrally formed. In this way, the strength of the main mounting bracket and the camera mounting bracket can be improved, while facilitating the assembly of the main mounting bracket and the camera mounting bracket, and thus improving the assembly efficiency.

[0017] In some embodiments, the main mounting bracket and the camera mounting bracket are respectively made of an alloy material. Employing the alloy material to make the main mounting bracket and the camera mounting bracket can improve the strength on one hand. On the other hand, the main mounting bracket and the camera mounting bracket can also effectively transfer heat, thereby improving the heat dissipation performance of the components mounted thereon, and thus improving the reliability of the three-dimensional scanner.

[0018] In a second aspect of the present disclosure, a three-dimensional scanner is provided. The three-dimensional scanner comprises a housing; and the mounting device of the first aspect above, which is arranged in the housing. With the three-dimensional scanner employing the mounting device as described above, the assembly precision between the camera, the laser radar and the rotating mechanism can be ensured in a simple and reliable manner, improving the reliability and precision of data acquisition. On the other hand, the components in the three-dimensional scanner employing the mounting device can be effectively cooled, thereby improving the reliability of the three-dimensional scanner. BRIEF DESCRIPTION OF DRAWINGS

[0019] The above and other features, advantages and aspects of embodiments of the present disclosure will become more apparent by describing in detail some embodiments thereof with reference to the attached drawings in which:

[0020] Figure 1 A perspective view of the mounting device according to an embodiment of the present disclosure is shown;

[0021] Figure 2 An exploded view of the mounting device according to an embodiment of the present disclosure is shown;

[0022] Figure 3 A front view of the mounting device according to an embodiment of the present disclosure is shown; and

[0023] Figure 4 A side view of the mounting device according to an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0024] Embodiments of the present disclosure will be described below in greater detail with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be embodied in various forms and should not be interpreted as being limited to the embodiments set forth herein, but rather, these embodiments are provided so that the present disclosure can be more thoroughly and completely understood. It should be understood that the drawings of the present disclosure and the embodiments are for exemplary purposes only and are not intended to limit the scope of protection of the present disclosure.

[0025] In the description of embodiments of the present disclosure, the term "comprising" and its conjugations should be understood to encompass the meanings of "consisting of" and "consisting essentially of". The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc. can refer to different or identical objects. Other explicit and implicit definitions can also be included below.

[0026] Three-dimensional scanners, also known as three-dimensional cameras or virtual reality (VR) cameras, can be used to detect and analyze the shape (geometry) and appearance data (such as color, surface reflectance, etc.) of objects or environments in the real world. A three-dimensional scanner for scanning a room structure usually includes two parts, a first part, also known as a driving component fixing component, for fixing a driving component such as a stepper motor, and a second part, also known as a sensing part, usually including a camera and a laser radar, which can be rotated relative to the first part around a rotation axis under the driving of the driving component. When scanning the internal structure of a room, the three-dimensional scanner is usually fixed at a predetermined position in the room to be scanned by a tripod, and the sensing part is driven to rotate a predetermined angle by the driving component to complete the scanning of the entire internal structure of the room, thereby obtaining point cloud information and the like about the internal structure of the room.

[0027] The camera of a three-dimensional scanner can be used to acquire image data in an environment, and one important parameter thereof is the field of view (FOV). The field of view is also referred to as the field of view in optical engineering, and the size of the field of view determines the field of view range of the optical instrument. The field of view of the camera is usually a conical region with the normal as the center and the origin of the camera as the vertex, and the vertex angle of the conical region is the field of view. The field of view of each camera can be different when measured in the horizontal direction and the vertical direction. For example, the vertical field of view of some cameras is about 100°, while the horizontal field of view can be about 80°.

[0028] Laser radar, also known as LiDAR, is the abbreviation of Light Detection and Ranging. LiDAR is a sensing technology that can emit low-power, eye-safe laser pulses for measurement and measure the time required for the laser to complete the round trip between the sensor and the target. The resulting aggregated data is used to generate 3D point cloud images, providing spatial position and depth information to identify, classify, and track moving objects. Similar to a camera, a laser radar also has a field of view, i.e., the angle covered by the sensor. The field of view of the laser radar is also centered on the radar normal.

[0029] For conventional three-dimensional scanners, the normal of the camera and the radar normal of the laser radar are usually coaxial or parallel arranged so that the data collected by the two sensors can be easily calibrated and integrated. However, this arrangement limits the scanning range of the camera and the laser radar. In addition, the mounting device currently used to mount the camera and the laser radar can only ensure that the normals of the two are parallel or coaxial, and cannot meet the requirements of other mounting conditions, thereby limiting the development of three-dimensional scanners.

[0030] According to embodiments of the present disclosure, there is provided a mounting device 100 for a three-dimensional scanner to address or at least partially address the aforementioned or other potential problems in conventional mounting devices 100 for three-dimensional scanners. By using the mounting device 100 according to embodiments of the present disclosure, the radar normal 1011 of the lidar can be ensured to form a non-zero angle with the normal plane on which the camera normals 1022 of the cameras lie, and the combined field of view of the plurality of cameras can cover a larger angle, thereby improving the field of view of the entire three-dimensional scanner and the single-angle scanning range.

[0031] In some embodiments, the normal plane can be a plane. That is, the plurality of camera normals 1022 of the plurality of cameras are coplanar. In such embodiments, the radar normal 1011 can be perpendicular to the normal plane. In this way, the interference between the lidar and the cameras can be avoided while making the layout of the three-dimensional scanner more reasonable, thereby facilitating the miniaturization of the three-dimensional scanner. In some alternative embodiments, the normal plane can also be a conical surface, and the radar normal 1011 is collinear with the center line of the conical surface. In this way, the overlap of the fields of view of the lidar and the cameras can be further facilitated, and in turn the image fusion quality can be significantly improved.

[0032] The mounting device 100 according to embodiments of the present disclosure will be described below in conjunction with the accompanying drawings. Figure 1 A perspective view of the mounting device 100 is shown, Figure 2 An exploded view of the mounting device 100 is shown, Figure 3 A view of the mounting device 100 is shown, and Figure 4 A side view of the mounting device 100 is shown. As Figures 1 to 4 shown, generally, the mounting device 100 for a three-dimensional scanner according to embodiments of the present disclosure includes a main mounting bracket 101 and a camera mounting bracket 102. From Figure 1 and Figure 2 It can be seen that the main mounting bracket 101 is substantially plate-shaped. In some embodiments, the main mounting bracket 101 can extend along a longitudinal direction, and include two ends, i.e., a first end and a second end opposite to the first end, in the extending direction. When the three-dimensional scanner is placed in a conventional vertical direction, the first end is usually at the top and the second end is at the bottom.

[0033] The main mounting bracket 101 includes a radar mounting portion 1014 adapted to arrange a lidar. In some embodiments, the radar mounting portion 1014 can be arranged at a first end of the main mounting bracket 101. On the main mounting bracket 101, a lidar alignment structure can be included to facilitate the positioning of the lidar before installation. For example, in some embodiments, the lidar alignment structure can be a plurality of recesses that can be aligned with corresponding structures on the lidar. The plurality of recesses can respectively have different cross-sectional shapes, and the cross-sectional shapes can respectively match the cross-sectional shapes of the protruding structures on the lidar itself. When it is necessary to install the lidar, it is only necessary to insert the protruding structures of the lidar at least partially into the lidar alignment structure, thereby ensuring the installation posture of the lidar on the main mounting bracket 101. Then, the lidar with the correct installation posture can be fastened to the main mounting bracket 101 by appropriate fasteners. As mentioned earlier, the lidar can acquire point cloud data within the radar field of view centered on the radar normal line 1011 when working.

[0034] In addition to the lidar alignment structure, the main mounting bracket 101 also includes an alignment structure (hereinafter referred to as a first alignment structure) for positioning the camera mounting bracket 102, which will be further described later. The camera mounting bracket 102 is generally annular in structure. It should be understood that the annular structure referred to herein refers to a cross-sectional shape perpendicular to its axis that is generally annular, which includes not only a circular ring but also a polygonal ring or other appropriate annular shape.

[0035] The camera mounting bracket 102 includes a plurality of positioning portions 1021 arranged at a predetermined distance along the circumference on the annular structure. The plurality of positioning portions 1021 are used to install a plurality of cameras. For example, each positioning portion 1021 can be used to install one camera. In Figure 1 And Figure 2 In the example shown, the camera mounting bracket 102 can include four mounting portions for respectively installing four cameras. It should be understood that this is only illustrative and is not intended to limit the scope of protection of the present disclosure. The number of positioning portions 1021 and the number of cameras can be adjusted as needed, for example, 3 or 5 or more, respectively.

[0036] Each positioning portion 1021 can have an appropriate shape to match the housing structure of the camera, thereby facilitating the installation of the camera into the positioning portion 1021. For example, the appropriate position of the positioning portion 1021 can have an alignment structure that can match the alignment structure of the camera itself, thereby ensuring the installation posture of the camera in the positioning portion 1021 by matching the two alignment structures.

[0037] The multiple positioning parts 1021 in the camera mounting bracket 102 are configured such that when multiple cameras are respectively mounted therein, the camera normals 1022 of the multiple cameras intersect at a single intersection point, namely, the normal intersection point 1023. For example, in Figure 3 and Figure 4 In the example shown, four cameras are mounted after the positioning unit 1021, and the camera normals 1022 of the four cameras can intersect at a normal intersection point 1023. In some embodiments, the normal intersection point 1023 can be located at the center of the annular structure. This arrangement effectively reduces the workload and computational burden of subsequent camera calibration and data processing, thereby improving the scanning range and reliability of the 3D scanner.

[0038] In some embodiments, the camera normals 1022 of the multiple cameras can be distributed within a predetermined angular range in the circumferential direction. For example, the predetermined angular range can be from 180° to 240°. For example, in some embodiments, the camera normals 1022 of the multiple cameras can be distributed within an angle of approximately 220° in the circumferential direction. The normals of the multiple cameras can divide this angle equally or unevenly, but the fields of view centered on the normals of the multiple cameras can at least partially overlap. In this way, it is beneficial for the stitching and calibration of image data acquired by the multiple cameras.

[0039] In this manner, when using cameras with a longitudinal field of view of approximately 100°, the four cameras can acquire image data within a circumferential range of approximately 320°, excluding the blind spot at the bottom. That is, when the 3D scanner is in a fixed position, the four cameras can acquire image data for the entire circumference from front to back. In this case, to acquire image data for the entire spatial range, it is only necessary to rotate the four cameras half a revolution (180°) around the rotation axis R. Compared to conventional 3D scanners where cameras can only acquire images in one direction, the 3D scanner using the mounting device 100 according to embodiments of this disclosure can significantly reduce the number of acquisition angles required, thereby reducing errors caused by multiple stitching operations.

[0040] On the camera mounting bracket 102, there is a second alignment structure that is coupled with the first alignment structure on the main mounting bracket 101 mentioned above. By coupling the first alignment structure and the second alignment structure, when the camera mounting bracket 102 on which multiple cameras are mounted is mounted to the main mounting bracket 101, the radar normal line 1011 of the lidar passes through the normal intersection 1023 of the camera normal line 1022 of the cameras. In this way, on the one hand, the mounting device 100 ensures that the radar normal line 1011 of the lidar and the plane in which the normal lines of the multiple cameras are located form a non-zero angle, for example, the radar normal line 1011 of the lidar can be perpendicular to the plane in which the normal lines of the multiple cameras are located. This can ensure that the fields of view of the lidar and the cameras do not interfere, thereby facilitating the miniaturization of the three-dimensional scanner. On the other hand, the radar normal line 1011 of the lidar passing through the normal intersection 1023 of the camera normal line 1022 of the cameras can significantly reduce the difficulty of later lidar and camera calibration and data fusion, thereby improving the reliability of the three-dimensional scanner.

[0041] In addition, the lidar according to the embodiments of the present disclosure adopts a planar scanning radar. Planar scanning refers to the fact that the lidar can collect all point cloud information in a planar conical region at a certain stationary position, and the radar field of view of the lidar and the camera field of view of the camera can partially overlap. In this way, on the one hand, it is beneficial for parameter calibration of the lidar and the camera. On the other hand, the overlapping fields of view of the planar scanning lidar and the camera are also beneficial for simultaneous collection of point cloud data and image data of a certain region by the two, and simultaneous fusion of the point cloud data and the image data into a virtual reality image with depth information. Simultaneous collection refers to the fact that the lidar and the camera collect point cloud data and image data at the same time (for example, in the case where the three-dimensional scanner is in a stationary state), and simultaneous processing refers to the fact that the processor can fuse the collected point cloud data and image data. Compared with the conventional scheme of collecting point cloud data and image data while rotating, higher processing efficiency and more accurate data quality can be provided.

[0042] In some embodiments, the radar mounting portion 1014 and the camera mounting bracket 102 can be arranged at a first end of the main mounting bracket 101 in the extension direction. For example, the radar mounting portion 1014 and the camera mounting bracket 102 can be arranged on opposite sides of the main mounting bracket 101 at the first end, respectively. In some embodiments, as shown in FIG. 1B, the camera mounting bracket 102 can be arranged to be spaced apart from the main mounting bracket 101 by a predetermined distance to facilitate airflow therebetween, thereby facilitating heat dissipation of the various components in the three-dimensional scanner. In some embodiments, the main mounting bracket 101 can further include a heat dissipation rib (hereinafter referred to as a first heat dissipation rib 1016). The first heat dissipation rib 1016 can be arranged on a side adjacent to the camera mounting bracket 102 and extend in the direction of the airflow, thereby facilitating an increase in the heat dissipation area to facilitate heat dissipation. Figure 4 ​

[0043] In some embodiments, a plurality of second heat dissipation ribs 1024 can also be arranged on the camera mounting bracket 102. The second heat dissipation ribs 1024 can be arranged at corresponding positions of the positioning portion 1021 of the camera mounting bracket 102 for fixing the cameras, for example, arranged at the inner surface of the ring structure corresponding to the positioning portion 1021, thereby increasing the heat dissipation area, effectively dissipating heat for the cameras, and thereby improving the system stability.

[0044] In some embodiments, in addition to arranging the first heat dissipation ribs 1016 and the second heat dissipation ribs 1024, in order to further improve the heat dissipation efficiency, a heat dissipation coating can also be arranged at appropriate positions of the main mounting bracket 101 and the camera mounting bracket 102. The heat dissipation coating can further accelerate heat transfer, thereby facilitating heat dissipation of various components in the three-dimensional scanner.

[0045] In some embodiments, the mounting device 100 can also include an auxiliary mounting bracket 103. The auxiliary mounting bracket 103 is arranged at the second end of the main mounting bracket 101 and located at the same side of the camera mounting bracket 102. The auxiliary mounting bracket 103 is used to mount a rotating mechanism for driving the mounting device 100 to rotate around the rotation axis R. Under the driving of the rotating mechanism, the mounting device 100 can drive the cameras and the lidar mounted thereon to rotate around the rotation axis R, thereby achieving the purpose of circumferential full-range scanning. Specifically, the rotating mechanism can include a fixed portion and a rotating portion that can rotate relative to the fixed portion. The fixed portion of the rotating mechanism is fixedly coupled to the main mounting bracket 101 through the auxiliary mounting bracket 103. The rotating portion can be coupled to a gimbal base of a tripod for supporting the three-dimensional scanner, and can rotate around the rotation axis R under the driving of a power component such as a motor. Since the tripod and the gimbal base are fixed, the rotating portion is also fixed, and the fixed portion and the mounting device 100 with the cameras and the lidar mounted thereon are driven to rotate around the rotation axis R.

[0046] After the rotating mechanism is mounted on the mounting device 100 through the auxiliary mounting bracket 103, the rotation axis R around which the mounting device 100 is driven to rotate can be in the plane in which the normals of the plurality of cameras are located and pass through the normal intersection point 1023, as shown in Figure 3 and Figure 4 In this way, the difficulty of the plurality of cameras and the lidar in calibration and data fusion can be further reduced, thereby improving the reliability of the three-dimensional scanner.

[0047] In some embodiments, the auxiliary mounting bracket 103 can include a pair of mounting bodies 1031. The pair of mounting bodies 1031 can have substantially the same structure and be symmetrically arranged with respect to a center plane of the mounting device 100 for the rotation mechanism to be arranged therebetween. Other parts of the mounting device 100 can also have a symmetric structure with respect to the center plane in addition to the pair of mounting bodies 1031. On one hand, this facilitates the mounting device 100 to remain balanced when rotating. On the other hand, this also facilitates the installation and adjustment of various components of the three-dimensional scanner.

[0048] In some embodiments, in order to ensure that the rotation axis R of the rotation mechanism can pass through the normal intersection 1023 of the camera normals 1022 of the plurality of cameras, each of the pair of mounting bodies 1031 in the auxiliary mounting bracket 103 can include a positioning structure 1032. The positioning structure 1032 can be arranged on the mutually proximal surfaces of the pair of mounting bodies 1031 to be coupled with the rotation mechanism to provide positioning for the rotation mechanism. For example, the positioning structure 1032 can be a plurality of protrusions having a specific arrangement. In the proper position of the rotation mechanism, there can be a plurality of recesses having an arrangement consistent with the arrangement of the plurality of protrusions. In this way, when installing the rotation mechanism, the protrusions can be aligned with the recesses first, and then the rotation mechanism is installed on the mounting device 100 using fasteners.

[0049] Similarly, on the pair of mounting bodies 1031 and the main mounting bracket 101, there can also be mutually cooperating alignment structures. When installing, the alignment structures on the mounting bodies 1031 are aligned with the alignment structures on the main mounting bracket 101 first, and then the pair of mounting bodies 1031 is installed to the main mounting bracket 101 using fasteners or snap connections, etc.

[0050] In some embodiments, the main mounting bracket 101 can include a body 1012 and a pair of side ribs 1013. The body 1012 is substantially a plate-like mechanism extending in an extension direction, and includes the radar mounting portion 1014 mentioned above at a first end. The camera mounting portion is also mounted at the first end of the body 1012. The pair of side ribs 1013 are symmetrically arranged with respect to the center plane at a second end of the body 1012 and extend in the extension direction. The side ribs 1013 can have a uniform height at the portion for mounting the auxiliary mounting bracket 103, and the height of the side ribs 1013 can decrease as the side ribs 1013 extend from this portion to the first end of the body 1012, as shown in Figure 1 and Figure 4 Thus, an overall structure of the mounting device 100 that is small at the top and large at the bottom can be formed, thereby more facilitating the stability of the mounting device 100.

[0051] On the body 1012 of the main mounting bracket 101, a through hole 1015 for airflow passing through can be provided, thereby facilitating heat dissipation of the components in the three-dimensional scanner. In some embodiments, the body 1012 of the main mounting bracket 101 and the part where the body 1012 is connected with the side rib 1013 can be provided with reinforcing ribs. On the one hand, the reinforcing ribs can strengthen the strength of the main mounting bracket 101. On the other hand, the reinforcing ribs can also help to reduce the weight of the main mounting bracket 101, thereby facilitating the light weight of the three-dimensional scanner.

[0052] In some embodiments, the main mounting bracket 101 can be integrally formed by molding or the like. This can facilitate the increase of the strength of the main mounting bracket 101. In some embodiments, the camera mounting bracket 102 can also be integrally formed, thereby facilitating the improvement of the strength of the camera mounting bracket 102 with the annular structure, and further improving the strength of the entire mounting device 100.

[0053] In some embodiments, the main mounting bracket 101 and the camera mounting bracket 102 can be made of an alloy material such as aluminum alloy. On the one hand, this can improve the strength of the entire mounting device 100. On the other hand, the use of alloy devices can facilitate the heat dissipation of the components mounted on the mounting device 100, thereby making the three-dimensional scanner more thermally stable.

[0054] The embodiments of the present disclosure also provide a three-dimensional scanner. The three-dimensional scanner comprises a housing and the mounting device 100 mentioned in the foregoing in the housing. By using the mounting device 100, the camera normals 1022 of the plurality of cameras of the three-dimensional scanner can intersect at the normal intersection point 1023, and the radar normal 1011 of the laser radar of the three-dimensional scanner can be perpendicular to the plane where the camera normal 1022 is located and pass through the normal intersection point 1023, while the rotation axis R of the three-dimensional scanner also passes through the normal intersection point 1023. In this way, the installation precision of the plurality of cameras and the laser radar can be guaranteed, while the miniaturization of the three-dimensional scanner is also facilitated.

[0055] The above has described the embodiments of the present disclosure, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments. The selection of the terms used herein is intended to best explain the principles, practical application, or technical improvement of the technology in the market of the embodiments, or to enable other ordinary skilled persons in the art to understand the embodiments disclosed herein.

Claims

1. A mounting apparatus for a three-dimensional scanner, comprising: a main mounting bracket (101) comprising a first alignment structure and a radar mounting portion (1014) adapted to arrange a laser radar so as to enable the laser radar to acquire point cloud data within a radar field of view centered on a radar normal line (1011); a camera mounting bracket (102) in a ring structure and comprising a plurality of positioning portions (1021) arranged in a circumferential direction for positioning a plurality of cameras and enabling a plurality of camera normal lines (1022) of the plurality of cameras to intersect at a normal intersection point (1023); and an auxiliary mounting bracket (103) adapted to mount a rotating mechanism for driving the mounting apparatus to rotate about a rotation axis (R), wherein the camera mounting bracket (102) comprises a second alignment structure adapted to couple with the first alignment structure so as to enable the radar normal line (1011) of the laser radar to pass through the normal intersection point (1023), and the auxiliary mounting bracket (103) is arranged so as to enable the rotation axis (R) to pass through the normal intersection point (1023).

2. The mounting apparatus of claim 1, wherein the main mounting bracket (101) extends along a longitudinal direction, and the radar mounting portion (1014) and the camera mounting bracket (102) are respectively arranged at a first end of the main mounting bracket (101) in the extending direction.

3. The mounting apparatus of claim 2, wherein the auxiliary mounting bracket (103) is arranged at a second end of the main mounting bracket (101) in the extending direction opposite to the first end and at a same side as the camera mounting bracket (102).

4. The mounting apparatus of claim 3, wherein the auxiliary mounting bracket (103) comprises: a pair of mounting bodies (1031) symmetrically arranged based on a center plane of the mounting apparatus for the rotating mechanism to be arranged therebetween.

5. The mounting apparatus of claim 4, wherein each mounting body (1031) of the pair of mounting bodies (1031) comprises: a positioning structure (1032) arranged on mutually proximal surfaces of the pair of mounting bodies (1031) to couple with the rotating mechanism to provide positioning for the rotating mechanism.

6. The mounting apparatus of claim 4, wherein the main mounting bracket (101) comprises: a body (1012) in a plate shape as a whole and extending along the extending direction and comprising the radar mounting portion (1014); and a pair of side edge ribs (1013) symmetrically arranged with respect to the center plane at edges of the body (1012) and extending along the extending direction for the auxiliary mounting bracket (103) to be arranged therebetween.

7. The mounting apparatus of any one of claims 1-6, wherein the camera mounting bracket (102) is arranged to be spaced apart from the main mounting bracket (101) by a predetermined distance to facilitate heat dissipation. ​ 8. The mounting device of any one of claims 1-6, wherein the main mounting bracket (101) comprises a through hole (1015) for airflow to pass through.

9. The mounting device of any one of claims 1-6, wherein the main mounting bracket (101) further comprises: a first heat dissipation fin (1016) arranged on a side adjacent to the camera mounting bracket (102) and extending in the direction of airflow.

10. The mounting device of any one of claims 1-6, wherein the camera mounting bracket (102) further comprises: a plurality of second heat dissipation fins (1024) arranged at positions corresponding to the plurality of positioning portions (1021).

11. The mounting device of any one of claims 1-6, wherein the main mounting bracket (101) and the camera mounting bracket (102) are integrally formed, respectively.

12. The mounting device of any one of claims 1-6, wherein the main mounting bracket (101) and the camera mounting bracket (102) are made of alloy material, respectively.

13. A three-dimensional scanner, comprising: a housing; and the mounting device of any one of claims 1-12 arranged in the housing. ​

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