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

Abstract

The invention belongs to the technical field of intelligent manufacturing equipment, and particularly relates to a tracking type three-dimensional scanner and a multifunctional terminal instrument tracking device thereof.The tracking type three-dimensional scanner comprises a front shell, a tracking end body frame, a rear shell and a first camera, the tracking end 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 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 device is used, a tripod and a tracking end whole device are erected at the distance of 650 mm and 330 mm (fine mode) from a workpiece, the handheld end starts to scan the workpiece, the tracking end determines a space coordinate position through a marker ball on the handheld end device, and the tracking end is used for tracking the workpiece. The angle of the handheld end can be switched at will, the handheld end and the tracking end can be switched back and forth according to different scenes, different modes are switched, the collection efficiency is improved, and the collection time is saved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent manufacturing equipment, and 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 data (such as color, surface albedo, etc.) 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 locate the scanner in real time, and can quickly obtain complete 3D data of the object surface without sticking 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 prior art 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. Summary of the invention

[0008] In view of the deficiencies in the prior art, the present invention provides a tracking three-dimensional scanner and a multifunctional tracking terminal instrument device thereof, which solve the current problems of poor adaptability, inability to scan long-distance workpieces, and poor precision of ultra-large workpieces.

[0009] To achieve the above-mentioned purpose, 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 body frame, a rear shell, and a first camera, wherein the tracking end main body frame is arranged at the side end of the front shell, 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, a laser fixing plate is arranged on the other side end surface of the tracking end main body frame, and a tracking end laser is arranged on the side end of the laser fixing plate;

[0010] The side end of the rear shell is provided with a button, the outer side of the tracking end main body frame is connected to a handheld end frame through a line, the inner end of the handheld end frame is provided with a handle, the front end of the handheld end 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 end laser, and the handheld end frame is provided with a power supply PCB board near the bottom end;

[0011] The key further comprises a key PCB board and a PCB board, wherein the key PCB board is clamped at the rear end of the key, and the PCB board is fixedly installed at the outer side of the key.

[0012] As a preferred 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, and 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 of the handheld terminal frame, and the handheld terminal frame as a whole is a ring-shaped frame structure, and its interior adopts a hollow structure connected by multiple groups of strip frames.

[0014] As a preferred technical solution of the present invention, the handle also includes a handheld front shell, a back cover, and a bottom cover. The handheld front shell is clamped to the front end of the handle, the back cover is clamped to the rear end of the handle, and the bottom cover 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 rack 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 instrument device:

[0019] The tracking type three-dimensional scanner and its multifunctional tracking terminal instrument device are provided with buttons, a handheld terminal frame, a grip, a first camera, a second camera, a handheld terminal laser and a power PCB board. When the device is used, the operator controls the whole device through buttons, sets up the tripod and the tracking terminal device at a distance of 650mm and 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 starts scanning 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 angle and direction of scanning 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 to collect 3D images, and also allows the tracking end to 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, scanning distance is 670mm, scanning resolution is 0.01mm-10mm, and 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 the time of collection, and improves the precision of the super-large work and improves the 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 end of the present invention;

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

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

[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. main frame of the tracking end; 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. front shell of the handheld end; 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 described embodiments 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 creative work 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 body frame 2, a rear shell 3, and a first camera 4, wherein the tracking end main body 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 body frame 2, the first camera 4 is arranged between the tracking end main body frame 2 and the front shell 1, a laser fixing plate 5 is arranged on the end surface of the other side of the tracking end main body 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 at the side end of the rear shell 3, a handheld terminal frame 8 is connected to the outer side of the tracking terminal main frame 2 through a line, a grip 9 is provided at the inner end of the handheld terminal frame 8, 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, and a power supply 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 outer side 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 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 through a bolt structure; the support foot 804 is movably connected to the bottom end of the handheld terminal frame 8. The handheld terminal frame 8 is an annular frame structure as a whole, and a hollow structure connected by multiple groups of strip frames is adopted inside.

[0032] Specifically, 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 front shell 901, a back cover plate 902, and a bottom cover plate 903. The handheld front shell 901 is clamped at the front end of the handle 9, the back cover plate 902 is clamped at the rear end of the handle 9, and the bottom cover plate 903 is sleeved at the bottom of the handle 9. The tracking end main frame 2 and the handheld end frame 8 are connected through a data transmission cable.

[0034] Specifically, Figure 1 , 3 As shown in FIG. 4 , the grip 9 is clamped by the front shell 901 of the handheld terminal, the back cover 902 and the bottom cover 903 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 use process of the present invention are as follows: when the device is in use, the operator controls the whole device through button 7, sets up the tripod and the tracking end device at a distance of 650mm and 330mm (fine mode) from the workpiece, connects the computer to the device through a 5-meter or 3-meter data transmission optical fiber, starts the scanner, and the handheld end starts scanning 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 scanning 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 only 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 can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope 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 body frame (2), a rear shell (3), and a first camera (4), wherein the tracking end main body 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 body frame (2), the first camera (4) is arranged between the tracking end main body 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 body 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 arranged 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 arranged at the inner end of the handheld end frame (8); a second camera (10) is arranged at the front end of the handheld end frame (8); a laser PCB board (11) is arranged at the bottom end of the second camera (10); a handheld end laser (12) is also arranged at the lower end of the second camera (10); and a power supply PCB board (13) is arranged 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. A tracking type three-dimensional scanner and a 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 the 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 a hollow structure is adopted inside which is connected by a plurality of groups of strip frames.

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

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

7. The tracking type three-dimensional scanner and the 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).

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