Scanning device

Abstract

The application relates to the technical field of three-dimensional scanning, and provides a scanning device. The scanning device comprises a scanning body, a first shell in a columnar shape, and an optical module in the first shell, the optical module being configured to project light to an object from the front of the first shell and capture light reflection of the object; a handle being longitudinally attached to the first shell and comprising a second shell in a columnar shape, a bearing surface being formed at the top end of the second shell and being in contact with the proximal end of the first shell, and a fence extending from the bearing surface to the direction of the first shell, the fence partially wrapping the back surface and the two side surfaces of the first shell.

Description

Technical Field

[0001] This application relates to the field of 3D scanning technology, and more particularly to a scanning device. Background Technology

[0002] 3D scanning equipment is an important tool for acquiring the spatial geometry of objects. Currently, most 3D scanning equipment on the market is designed for high-precision industrial applications. These devices are generally large and inconvenient to carry, with limited involvement in portable and widespread applications. Summary of the Invention

[0003] This application provides a scanning device, including: The scanning body includes a columnar first housing and an optical module located within the first housing, the optical module being configured to project light onto an object from the front of the first housing and capture light reflections from the object; A handle, longitudinally attached to the first housing, includes: The second shell is cylindrical; A bearing surface is formed at the top of the second housing that contacts the proximal end of the first housing; And a enclosure extending from the bearing surface toward the first housing, the enclosure partially enclosing the back and two sides of the first housing.

[0004] The scanning device provided in this application, by setting a bearing surface at the top of the handle and setting a barrier that partially covers the back and sides of the first housing, constrains the back and sides of the first housing when the handle is attached to the scanning body. Combined with the longitudinal load borne by the bearing surface, this restricts the movement of the scanning body relative to the handle in the transverse plane and its rotation around the longitudinal axis. Therefore, during handheld operation, the relative position between the scanning body and the handle remains stable, ensuring the stability of the projection and reception optical path between the optical module and the object being measured, and enabling the optical module to accurately scan the object. The scanning body is assembled and disassembled by pushing or pulling it into the space enclosed by the bearing surface and the barrier. The detached scanning body and handle facilitate carrying, and this assembly and disassembly allows the scanning body and handle to be quickly adapted to both fixed-point scanning and handheld mobile scanning scenarios, contributing to the widespread application of the scanning device.

[0005] Optionally, the enclosure includes a first portion corresponding to a partial back surface of the first housing, a second portion corresponding to two partial sides of the first housing, and a third portion.

[0006] Optionally, the portion of the second and third parts that is closer to the first part has a higher height in the longitudinal direction.

[0007] Optionally, the first part, the second part, and the third part are at the same height in the longitudinal direction, or the height difference between the first part, the second part, and the third part in the longitudinal direction is within a set range.

[0008] Optionally, the fence may further include: The fourth part corresponds to the front side of the first housing; The fourth part is shorter in the longitudinal direction than the second and third parts, and the fourth part is lower than the bottom of the optical module.

[0009] Optionally, both the end face of the second portion and the end face of the third portion have a curved profile.

[0010] Optionally, both the end face of the second part and the end face of the third part have a straight profile.

[0011] Optionally, the end face of the second part and the end face of the third part may have a curved profile in some parts and a straight profile in others.

[0012] Optionally, the first part has a magnetic suction part on the side facing away from the back of the scanning body.

[0013] Optionally, the back of the first housing is provided with a first heat dissipation vent and a second heat dissipation vent, the first heat dissipation vent being lower in height than the second heat dissipation vent in the longitudinal direction, and the second heat dissipation vent being higher in height than the enclosure in the longitudinal direction, and the first portion including an opening corresponding to the first heat dissipation vent.

[0014] Optionally, the height of the enclosure in the longitudinal direction is less than the height of the first housing in the longitudinal direction.

[0015] Optionally, the handle and the scanning body are detachably connected.

[0016] Optionally, the second housing further includes: A longitudinally arranged receiving cavity, wherein a battery is disposed within the receiving cavity; A lid, detachably connected to the opening of the receiving cavity, is configured to close and open the receiving cavity.

[0017] Optionally, one of the bearing surface and the proximal end is provided with a first socket, and the other is provided with a plug adapted to the first socket; The battery supplies power to the scanning body through the plug and the first socket.

[0018] Optionally, the second housing further includes: A drive board, wherein the drive board and the battery are arranged in the longitudinal direction, and the drive board is closer to the bearing surface than the battery.

[0019] Optionally, a second socket is also provided on the side of the second housing.

[0020] Optionally, the optical module includes one or more cameras and one or more projectors; The one or more cameras and the one or more projectors are arranged at intervals in the longitudinal direction.

[0021] Optionally, the one or more cameras include two monochrome cameras and one or more texture cameras, and the one or more projectors include one or more laser projectors and one or more speckle projectors; The two monochrome cameras are spaced apart in the longitudinal direction, and the one or more texture cameras, the one or more laser projectors and the one or more speckle projectors are all located between the two monochrome cameras.

[0022] Optionally, the scanning body further includes: The bracket and two motherboards are provided. The bracket is located inside the first housing and is arranged in a direction parallel to the longitudinal direction of the first housing. The two motherboards are attached to the upper and lower sides of the bracket at intervals.

[0023] Optionally, the first housing includes a front housing and a rear housing that are disposed opposite to each other and connected to each other, and the optical module and the bracket are both attached to the front housing.

[0024] Optionally, the scanning body further includes: At least one antenna; The motherboard located on the lower side of the bracket is spaced apart from the first housing to form an installation space, and at least one of the antennas is disposed within the installation space. Attached Figure Description

[0025] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0026] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 Side view, front view and rear view of the scanning device provided in the embodiments of this application.

[0028] Figure 2 Front and side views of the scanning device provided in the embodiments of this application; Figure 3 An exploded view of the scanning body and handle provided in an embodiment of this application; Figure 4 This is a schematic diagram of the handle provided in an embodiment of this application; Figure 5 This is a schematic diagram of the handle provided in an embodiment of this application; Figure 6 A top view of the handle provided in an embodiment of this application; Figure 7 A side view of the handle provided in an embodiment of this application; Figure 8 A perspective view of the handle provided in an embodiment of this application; Figure 9 This is a front view of the handle after the cover has been removed, as provided in an embodiment of this application. Figure 10 This is a schematic diagram of the handle after the cover is removed, as provided in an embodiment of this application. Figure 11 A front view of the scanning body provided in an embodiment of this application; Figure 12 This is a schematic diagram of the internal structure of the scanning body provided in an embodiment of this application; Figure 13 An assembly structure diagram of the front shell, bracket, motherboard, and cooling fan provided for embodiments of this application; Figure 14 for Figure 12 Enlarged view of the local structure at point A; Figure 15 for Figure 12 Enlarged view of the local structure at point B; Figure 16 The rear view of the front shell and optical module after assembly is provided for an embodiment of this application. Detailed Implementation

[0029] To better understand the above-mentioned objectives, features, and advantages of this application, the solution of this application will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0030] Many specific details are set forth in the following description in order to provide a full understanding of this application, but this application may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some embodiments of this application, and not all embodiments.

[0031] This application provides a scanning device 100, including a scanning body 1 and a handle 2. The scanning body 1 includes a columnar first housing 11 and an optical module 12 located within the first housing 11. The optical module 12 is configured to project light from the front surface 113 of the first housing 11 onto an object and capture light reflections from the object. The handle 2 is longitudinally attached to the first housing 11 and includes a columnar second housing 21. A bearing surface 22 is formed at the top apex 211 of the second housing 21, contacting the proximal end 111 of the first housing 11. A barrier 23 extends from the bearing surface 22 toward the first housing 11, partially enclosing the back surface 114 and two sides 115 of the first housing 11.

[0032] The scanning device 100 provided in this application, by setting a bearing surface 22 at the top 211 of the handle 2 and setting a barrier 23 that partially covers the back 114 and sides 115 of the first housing 11, allows the barrier 23 to constrain the back 114 and sides 115 of the first housing 11 when the handle 2 is attached to the scanning body 1. Combined with the longitudinal load borne by the bearing surface 22, this restricts the movement of the scanning body 1 relative to the handle 2 in the transverse plane and its rotation around the longitudinal axis. Therefore, during handheld operation, the relative position between the scanning body 1 and the handle 2 remains stable, ensuring the stability of the projection and reception optical path between the optical module 12 and the object being measured, and enabling the optical module 12 to accurately scan the object. The scanning body 1 is assembled and disassembled by pushing or pulling it into the space enclosed by the bearing surface 22 and the barrier 23. The disassembly of the scanning body 1 and the handle 2 facilitates portability, and allows for quick adaptation to fixed-point scanning and handheld mobile scanning scenarios, thus contributing to the widespread application of the scanning device 100.

[0033] In some examples, the first housing 11 is columnar and extends longitudinally, see reference Figure 3 , Figure 4 , Figure 6 , Figure 9 , Figures 11 to 13 and Figure 16 As shown, the arrows point in the directions of length a, width b, and thickness c of the first housing 11. A columnar first housing 11 indicates that the dimension of the first housing 11 in the length direction a is significantly larger than its dimension in the width direction b and / or thickness direction c. "Significantly larger" can be understood as at least twice or more. In some examples in this document, the length direction of the first housing 11 is also referred to as the longitudinal direction, with the proximal end 111 and the distal end 112 at its two ends in the longitudinal direction.

[0034] In some examples, the first housing 11 has a front surface 113, a back surface 114, and two side surfaces 115 connecting the front surface 113 and the back surface 114. The front surface 113 and the back surface 114 of the first housing 11 are positioned opposite each other in the thickness direction c, and the two side surfaces 115 of the first housing 11 are positioned opposite each other in the width direction b. The front surface of the first housing 11 may have a transparent area corresponding to the optical module 12, or a through-hole corresponding to the optical module 12, allowing the optical module 12 to project light onto an object and capture light reflections from the object through the transparent area or through-hole of the front surface 113 of the first housing 11.

[0035] In some examples, structured light or laser emitted by optical module 12 can illuminate the surface of the object under test through the transparent area or through hole of the front side 113 of the first housing 11. The camera captures the light reflected from the object surface and generates image data to measure the shape, size and / or generate the texture of the object.

[0036] Reference Figures 11 to 16 As shown, in some embodiments, the optical module 12 includes one or more cameras 121 and one or more projectors 122, which are arranged longitudinally at intervals.

[0037] It is understood that the camera 121 and the projector 122 are arranged longitudinally at intervals, making full use of the length space of the columnar first housing 11, reducing the lateral dimension of the scanning body, and making it convenient for the first housing 11 to be inserted into the space enclosed by the bearing surface 22 and the enclosure 23.

[0038] Specifically, inside the first housing 11, optical components are arranged at longitudinal intervals, with the camera 121 and projector 122 clustered together and interfering with each other. The camera 121 and projector 122 can be connected to the first housing 11 by bolts or clips.

[0039] In some examples, when there is one camera 121 and one projector 122, the camera 121 and the projector 122 can be located at the proximal end 111 and the distal end 112 of the front side 113 of the first housing 11. When there are multiple cameras 121 and multiple projectors 122, multiple cameras 121 can be located on one side of the projector 122 in the longitudinal direction, or the projector 122 can be located between two cameras 121; when there is one camera 121 and multiple projectors 122, multiple projectors 122 can be located on one side of the camera 121 in the longitudinal direction, or the camera 121 can be located between two projectors 122.

[0040] When there are multiple cameras 121 and multiple projectors 122, multiple cameras 121 can form a camera group and multiple projectors 122 can form a projection group. The camera group and the projection group are arranged longitudinally at intervals, or some cameras 121 are located between two projectors 122 and some projectors 122 are located between two cameras.

[0041] Furthermore, refer to Figures 11 to 16 As shown, in some embodiments, one or more cameras 121 include two monochrome cameras 123 and one or more texture cameras 124; one or more projectors 122 include one or more laser projectors 125 and one or more speckle projectors 126.

[0042] Two monochrome cameras 123 are arranged longitudinally at intervals, and one or more texture cameras 124, one or more laser projectors 125 and one or more speckle projectors 126 are located between the two monochrome cameras 123.

[0043] It is understandable that two black and white cameras 123 are set at a vertical interval, and a texture camera 124, a laser projector 125 and a speckle projector 126 are set between the two black and white cameras 123. This can build a stereo vision system with a large baseline in a limited space and combine multiple similar projectors to adapt to scanning functions for different materials and scenes.

[0044] Two longitudinally spaced monochrome cameras 123 can capture images of the object from different angles, improving the resolution and accuracy of depth measurements. The texture camera 124 is a color camera capable of acquiring color texture information. The laser projector 125 emits laser lines or patterns of specific wavelengths, and the speckle projector 126 projects random speckle patterns.

[0045] The longitudinal spacing and installation angle of the monochrome camera 123, texture camera 124, laser projector 125, and speckle projector 126 are determined according to optical design requirements. When the scanning body 1 is working, the laser projector 125 and speckle projector 126 emit light towards the object, and the monochrome camera 123 and texture camera 124 receive the light reflected from the object to acquire images. Based on the acquired images, the three-dimensional shape and size of the object are analyzed and calculated.

[0046] Reference Figures 11 to 16 As shown, the scanning body 1 also includes a bracket 16 and two main boards 17. The bracket 16 is located inside the first housing 11 and its arrangement direction is parallel to the longitudinal direction of the first housing 11. The two main boards 17 are attached to the upper and lower sides of the bracket 16 at intervals.

[0047] Understandably, bracket 16 provides the mounting base for motherboard 17, with two motherboards 17 positioned on either side of bracket 16, making full use of the space within the first housing 11. The motherboards 17 and bracket 16 are spaced apart, forming a channel structure for heat dissipation airflow, facilitating heat dissipation for the motherboards 17 and ensuring that the motherboards 17 remain within their normal operating temperature range.

[0048] Specifically, the bracket 16 can be a metal stamping or die casting, in the form of a plate or frame, and extends longitudinally to provide support for the optical module 12 and the motherboard 17.

[0049] In some examples, two motherboards 17 are spaced apart and attached to the upper and lower sides of the bracket 16 respectively. That is, one motherboard 17 is installed on the side of the bracket 16 near the front 113 of the first housing 11, and the other motherboard 17 is installed on the side of the back 114 of the first housing 11 of the bracket 16.

[0050] In some examples, studs or snap-fit ​​structures may be provided on both sides of the bracket 16, and the main board 17 is connected to the studs or snap-fit ​​structures, thereby creating a gap between the bracket 16 and the main board 17 that allows air to circulate.

[0051] In some examples, the two motherboards 17 may each carry different processing circuits, such as an image processing module and a main control module, or one motherboard 17 may be a data processing board and the other motherboard 17 may be a power supply board.

[0052] Reference Figures 11 to 16 As shown, in some embodiments, the first housing 11 includes a front housing 151 and a rear housing 152 that are disposed opposite to each other and connected to each other, and the optical module 12 and the bracket 16 are both attached to the front housing 151.

[0053] Understandably, during assembly, the bracket 16 and optical module 12 can be pre-installed by fixing them to the front shell 151, and then the front shell 151 and rear shell 152 can be connected to each other, which simplifies the assembly operation of the scanning body 1. Furthermore, the motherboard 17 and optical module 12 can be exposed by removing the rear shell 152, which facilitates the inspection and maintenance of the scanning body 1.

[0054] In some examples, the front shell 151 forms the front 113 area of ​​the first shell 11, and the rear shell 152 forms the back 114 and side 115 of the first shell 11. That is, the front shell 151 is a panel structure, and the rear shell 152 is a box structure with a bottom wall and four side walls. The space between the front shell 151 and the rear shell 152 is used to install the bracket 16, the motherboard 17 and the optical module 12.

[0055] The optical module 12 and the bracket 16 can be attached to the front housing 151 by screws, or the bracket 16 can be connected to the front housing 151 by welding, and the optical module 12 can be connected to the front housing 151 by screws or pins.

[0056] In some examples, a portion of the front cover 151 is transparent to serve as a scanning window, which covers the optical module 12. Specifically, the scanning window is positioned directly opposite the monochrome camera 123, texture camera 124, laser projector 125, and speckle projector 126, allowing the monochrome camera 123 and texture camera 124 to receive external light through the scanning window, and the laser projector 125 and speckle projector 126 to emit light through the scanning window. Alternatively, the front cover may have through-holes corresponding to the monochrome camera 123, texture camera 124, laser projector 125, and speckle projector 126 as scanning windows, allowing the monochrome camera 123 and texture camera 124 to receive external light through the corresponding through-holes, and the laser projector 125 and speckle projector 126 to emit light through the corresponding through-holes.

[0057] In some examples, the rear shell 152 can be detachably connected to the front shell 151 by bolts, or the front shell 151 and the rear shell 152 can be detachably connected by multiple clips. When maintenance is required, the rear shell 152 can be separated from the front shell 151 to allow for maintenance of the mainboard 17 and the optical module 12. When the handle 2 is attached to the scanning body 1, the enclosure 23 primarily surrounds the rear shell 152, allowing the front shell 151 to be exposed on the sides of the enclosure 23.

[0058] Reference Figures 11 to 16 As shown, in some embodiments, the scanning body 1 further includes: at least one antenna 18; a motherboard 17 located on the lower side of the bracket 16 is spaced apart from the first housing 11 to form an installation space, and at least one antenna 18 is disposed in the installation space.

[0059] By installing an antenna 18 inside the first housing 11, the scanning body 1 is equipped with wireless transmission capabilities. The antenna 18 is located in the mounting space between the motherboard 17 and the first housing 11, making full use of the unused space inside the first housing 11.

[0060] Specifically, the motherboard 17 on the lower side of the bracket 16 and the first housing 11 are spaced apart in the thickness direction c from the inner wall of the motherboard 17, thereby forming an installation space between the motherboard 17 and the first housing 11 that can accommodate the antenna 18.

[0061] Antenna 18 can be a flexible circuit board antenna or a metal sheet antenna. Part of antenna 18 is pasted or snapped onto the inner wall of rear shell 152 or fixed by bracket 16. Antenna 18 is electrically connected to the motherboard 17 on the lower side, so that motherboard 17 can transmit and receive signals through antenna 18, and scanning body 1 has wireless transmission function.

[0062] A portion of the antenna 18 can extend longitudinally within the installation space, thereby making full use of the installation space. There can be multiple antennas 18, spaced longitudinally apart within the installation space.

[0063] In some examples, the handle 2 is longitudinally attached to the proximal end 111 of the first housing 11. The second housing 21 is columnar and extends longitudinally, and the length, width and thickness directions of the second housing 21 are in the same direction as the length a, width b and thickness c of the first housing 11, that is, the second housing 21 and the first housing 11 are columnar housings extending in the same direction.

[0064] The second housing 21 is sized for easy one-handed operation. The second housing 21 has a top end 211 and a bottom end 212, with the top end 211 facing the scanning body 1. A bearing surface 22 is formed at the top end 211 of the second housing 21. The bearing surface 22 is planar and is used to contact the proximal end 111 of the first housing 11.

[0065] The bearing surface 22 can be the end face of the top end 211 of the second housing 21, or the top end 211 of the second housing 21 can be provided with a platform structure, with the top surface of the platform structure serving as the bearing surface 22. The shape of the bearing surface 22 is adapted to the contour shape of the proximal end 111 of the first housing 11, and the area of ​​the bearing surface 22 is greater than or equal to the end face of the proximal end 111 of the first housing 11, so that the proximal end 111 can fully abut against the bearing surface 22. When the handle 2 is attached to the scanning body 1, the gravity of the scanning body 1 acts on the bearing surface 22, and the bearing surface 22 provides longitudinal support for the handle 2.

[0066] The interior of the second housing 21 may contain components such as batteries and circuit boards to supply power to the scanning body 1 or to transmit signals.

[0067] In some examples, the enclosure 23 extends from the bearing surface 22 toward the first housing 11, that is, the enclosure 23 protrudes toward the bottom end 212 away from the handle 2. The enclosure 23 and the second housing 21 can be an integrally molded structure, that is, the enclosure 23 and the second housing 21 are manufactured as a single piece by injection molding or casting, or the enclosure 23 is manufactured separately and then fixed to the top end 211 by welding and bonding.

[0068] The enclosure 23 has an inner surface facing the first housing 11, the contour of which matches the outer contour of the back 114 and side 115 of the first housing 11. When the handle 2 is attached to the scanning body 1, the back 114 and side 115 of the first housing 11 are surrounded by the enclosure 23 in the proximal region 111, while the front 113 of the first housing 11 is at least partially unobstructed by the enclosure 23, allowing the optical module 12 to properly project light onto the object and capture reflected light. The height of the enclosure 23 in the longitudinal direction can be set as needed to provide sufficient constraint without unduly increasing the length of the handle 2.

[0069] In some examples, the enclosure 23 can be a cylindrical structure with a notch, or the enclosure 23 can be a plurality of sheet structures spaced apart on the bearing surface 22, with the plurality of sheets spaced apart from each other. Some sheets are disposed on the back side 114 of the first housing 11, and the area of ​​the sheet is smaller than the area of ​​the back side 114 of the first housing 11; some sheets are disposed on the two sides 115 of the first housing 11, and the area of ​​the sheet is smaller than the area of ​​the two sides 115 of the first housing 11.

[0070] During assembly, the operator aligns the guard 23 of the handle 2 with the proximal end 111 of the first housing 11, so that the inner surface of the guard 23 fits over the outer side of the back 114 and side 115 of the first housing 11, and pushes the handle 2 longitudinally until the bearing surface 22 contacts the proximal end 111. The guard 23 partially covers the back 114 and two side 115 of the first housing 11, thereby restricting the translation of the scanning body 1 relative to the handle 2 in a plane perpendicular to the longitudinal direction, and also restricting the rotation about the longitudinal axis. The bearing surface 22 restricts the downward movement of the scanning body 1 relative to the handle 2.

[0071] Reference Figures 1 to 10 As shown, in some embodiments, the enclosure 23 includes a first portion 231 corresponding to a partial back surface 114 of the first housing 11, a second portion 232 and a third portion 233 corresponding to two partial sides 115 of the first housing 11.

[0072] The scanning body 1 is constrained from multiple directions by the first part 231, the second part 232, and the third part 233, so that the relative position of the scanning body 1 and the handle 2 remains stable during the scanning process of the scanning device 100. The first part 231, the second part 232, and the third part 233 are respectively adapted to the shape of the back 114 and the two sides 115 of the first housing 11, ensuring that the inner surface of the enclosure 23 can fully fit the first housing 11.

[0073] The first part 231, the second part 232 and the third part 233 are all plate structures. The shape of the first part 231 corresponds to a partial back surface 114 of the first shell 11, the shape of the second part 232 corresponds to a partial side surface 115 of the first shell 11, and the shape of the third part 233 corresponds to another partial side surface 115 of the first shell 11.

[0074] The first part 231, the second part 232, and the third part 233 can be interconnected to form an integral structure, making the cross-section of the enclosure 23 U-shaped or C-shaped. Alternatively, there can be gaps between the first part 231, the second part 232, and the third part 233, as long as the first part 231, the second part 232, and the third part 233 can correspondingly abut against the back surface 114 and the two sides 115 of the first housing 11, thereby restricting the first housing 11 from moving in the transverse direction perpendicular to the longitudinal direction and restricting the rotation of the first housing 11.

[0075] The shape of the first part 231 is set to fit the partial outer contour of the back surface 114 of the first housing 11, and the shape of its inner surface is adapted to the back surface 114 of the first housing 11, so that the inner surface of the first part 231 can fit the back surface 114 of the first housing 11.

[0076] The second part 232 and the third part 233 are located on both sides of the first part 231 in the width direction b. The shape of their inner surfaces is adapted to the two sides 115 of the first housing 11, so that the inner surfaces of the second part 232 and the third part 233 can fit against the two sides 115 of the first housing 11.

[0077] When the handle 2 is attached to the scanning body 1, the inner surface of the first part 231 abuts against or is close to the back surface 114 of the first housing 11, restricting the first housing 11 from translating in the rearward direction; the inner surface of the second part 232 abuts against or is close to the left side surface 115 of the first housing 11, restricting the first housing 11 from translating to the left; and the inner surface of the third part 233 abuts against or is close to the right side surface 115 of the first housing 11, restricting the first housing 11 from translating to the right. The three parts together form an enclosure around the lower part of the first housing 11, so that the scanning body 1 is confined in the transverse plane within the space defined by the enclosure 23.

[0078] Furthermore, refer to Figures 1 to 10 As shown, in some embodiments, the portions of the second portion 232 and the third portion 233 that are closer to the first portion 231 have a higher height in the longitudinal direction.

[0079] It is understandable that the second part 232 and the third part 233 provide a longer longitudinal guiding surface and constraint area near the back surface 114 of the first housing 11. Furthermore, the lower height of the enclosure near the front surface 113 of the first housing 11 reduces the potential risk of obstructing the field of view of the optical module 12 and also provides space for heat dissipation or operation buttons in the front window area.

[0080] Specifically, the second part 232 and the third part 233 have a greater height at the end near the first part 231 than at the end away from the first part 231, so that the side portion of the enclosure 23 has a shape in which the height gradually decreases in the direction away from the first part 232.

[0081] In some examples, the end face of the second part 232 is the top edge away from the bearing surface 22, and the top edge gradually slopes upward from the side near the front face 113 of the first housing 11 to the side near the back face 114 of the first housing 11; the top edge can be a continuous oblique straight line, a concave or convex curve, or a stepped shape. The third part 233 is symmetrically arranged with the second part 232, and the end face contour height changes in the same direction.

[0082] The first part 231 can be aligned with the highest point of the second part 232 and the third part 233 near the back surface 114 of the first housing 11 in terms of longitudinal height, or the first part 231 can be positioned higher than the highest point of the second part 232 and the third part 233 near the back surface 114 of the first housing 11. The second part 232 and the third part 233 reach their maximum height in the area where they join the first part 231. This results in the enclosure 23 forming a taller plate structure on both sides of the back surface 114 of the first housing 11 when it wraps around the first housing 11, while the plate structure near the front surface 113 of the first housing 11 is relatively shorter.

[0083] Reference Figures 1 to 10 As shown, in another embodiment, the first part 231, the second part 232 and the third part 233 are at the same height in the longitudinal direction, or the height difference between the first part 231, the second part 232 and the third part 233 in the longitudinal direction is within a set range.

[0084] By setting the heights of the first part 231, the second part 232, and the third part 233 of the enclosure 23 to be equal or the height difference to be within a set range, the enclosure 23 can provide a constraint area with a consistent longitudinal height to the first housing 11, and can make the enclosure 23 of the first part 231, the second part 232, and the third part 233 be subjected to uniform force.

[0085] The set range can be determined based on the shape of the first housing 11 and the required constraint strength. For example, the height difference can be controlled within a few millimeters, so that the top edges of the first part 231, the second part 232, and the third part 233 are basically flush to form a continuous end face. That is, the first part 231, the second part 232, and the third part 233 are plates with equal longitudinal dimensions, and the height difference between the first part 231, the second part 232, and the third part 233 is within the set range.

[0086] When the top edges of the first part 231, the second part 232, and the third part 233 are all arc-shaped surfaces, the height dimensions of the highest points of the tops of the first part 231, the second part 232, and the third part 233 are the same or the height difference is within the set range.

[0087] Reference Figures 1 to 10 As shown, in some embodiments, the end face of the second portion 232 and the end face of the third portion 233 both have curved profiles.

[0088] With this configuration, the end faces of the second part 232 and the third part 233 are arc-shaped, which can reduce the roughness of the edges during the assembly process, improve the stress distribution of the enclosure 23, and avoid stress concentration caused by abrupt right angle changes.

[0089] The side of the second part 232 and the third part 233 furthest from the top of the bearing surface 22 is called an end face. The profile of the end face of the second part 232 is curved, that is, the top edge of the second part 232 is arc-shaped. For example Figure 4 As shown, the end face of the second part 232 is an arc-shaped surface that protrudes in the direction away from the bearing surface 22, and the end face of the third part 233 is an arc-shaped surface that protrudes in the direction away from the bearing surface 22, so that the parts of the second part 232 and the third part 233 that are closer to the first part 231 have a higher height in the longitudinal direction.

[0090] Alternatively, in some embodiments, the end face of the second portion 232 and the end face of the third portion 233 both have a straight profile.

[0091] Specifically, the end faces of the second part 232 and the third part 233 are both planes, and the end faces of the second part 232 and the third part 233 can be on the same plane as the end face of the first part 231, so that the heights of the first part 231, the second part 232 and the third part 233 are equal.

[0092] Alternatively, the end faces of the second part 232 and the third part 233 may gradually tilt toward the bearing surface 22 in a direction away from the first part 231, so that the parts of the second part 232 and the third part 233 that are closer to the first part 231 have a higher height in the longitudinal direction.

[0093] Alternatively, in some embodiments, portions of the end face of the second portion 232 and the end face of the third portion 233 have curved profiles, while portions have straight profiles.

[0094] It is understandable that by partially bending and partially straightening the end faces, a stepped structure can be formed on the second part 232 and the third part 233, and the transition at the corners of the stepped structure is smooth, avoiding stress concentration. The stepped structure can both satisfy the limiting effect on the first housing 11 and save material on the enclosure 23. Furthermore, the stepped structure can expose part of the side 115 of the first housing 11, thus avoiding any cases or interfaces that may be installed on the side 115 of the first housing 11.

[0095] Specifically, such as Figure 4 and Figure 5 As shown, the end face of the second part 232 has two curved sections and two straight sections. The first curved section is located near the first part 231 on the end face, serving as a transition connection between the end faces of the second part 232 and the first part 231. The side of the first curved section away from the first part 231 is the first straight section, which is arranged longitudinally. The second curved section is located on the side of the first straight section away from the first part 231, and the second straight section is located on the side of the second curved section away from the first part 231. The second curved section serves as a transition connection between the first and second straight sections. The second straight section can be parallel to the bearing surface 22 or inclined towards the bearing surface 22. When the end has the above-mentioned two curved sections and two straight sections, the second part 232 is a stepped plate structure, and the part of the second part 232 closer to the first part 231 has a higher height in the longitudinal direction.

[0096] The third part 233 is symmetrical to the second part 232. That is, the end face of the third part 233 has two curved segments and two straight segments. The first curved segment is located on the end face close to the first part 231, and the first straight segment is located on the side of the first curved segment away from the first part 231. The second curved segment is located on the side of the first straight segment away from the first part 231, and the second straight segment is located on the side of the second curved segment away from the first part 231.

[0097] Reference Figures 1 to 10 As shown, in some embodiments, the enclosure 23 further includes a fourth portion corresponding to the front 113 of the first housing 11; the fourth portion has a lower longitudinal height than the second portion 232 and the third portion 233, and the height of the fourth portion is lower than the bottom of the optical module.

[0098] By adding a fourth part that is lower than the bottom of the optical module, the enclosure can wrap around the bottom front of the first housing without obstructing the scanning light path, thus improving the limiting effect of the enclosure 23 on the first housing 11.

[0099] The fourth part corresponds to the front 113 of the first housing 11. That is, the enclosure 23 not only covers the back and sides, but also extends to a local area of ​​the front 113 of the first housing 11, thus forming a roughly annular enclosure structure. The fourth part can be connected to the end of the second part 232 and the third part 233 away from the first part 231, so that the overall cross-section of the enclosure 23 is a closed or nearly closed ring. The height of the fourth part in the longitudinal direction is set to be less than the height of the second part 232 and the third part 233 in the longitudinal direction, and the height of the fourth part is lower than the bottom of the optical module 12, so that space is left above the fourth part for the optical module 12 to project and receive light.

[0100] The fourth part extends upward from the bearing surface 22 by a short distance, with its top edge located below the bottom of the projector or camera of the optical module 12. The fourth part only covers the bottom area of ​​the front surface 113 of the first housing 11, that is, below the effective optical path of the optical module 12, so that the fourth part does not affect the optical path of the camera and projector of the scanning body 1.

[0101] Reference Figure 1 and Figure 3 As shown, in some embodiments, the back side 114 of the first housing 11 is provided with a first heat dissipation vent 116 and a second heat dissipation vent 117. The first heat dissipation vent 116 is lower in height than the second heat dissipation vent 117 in the longitudinal direction, and the second heat dissipation vent 117 is higher in height than the enclosure 23 in the longitudinal direction. The first part 231 includes an opening corresponding to the first heat dissipation vent 116.

[0102] By controlling the height of the enclosure to expose the second heat dissipation vent and opening an opening in the first part corresponding to the first heat dissipation vent, the attachment structure of the handle does not affect the heat dissipation function of the scanning body.

[0103] In some examples, the first heat dissipation vent 116 and the second heat dissipation vent 117 may be a ventilation grille, a plurality of strip openings or an array of holes formed on the back surface 114 of the first housing 11, for dissipating heat generated by the optical module 12 and the motherboard inside the first housing 11.

[0104] A cooling fan 14 can be installed inside the first housing 11. The cooling fan 14 can drive air to enter the first housing 11 from the first heat dissipation port 116, and then blow it out from the first housing 11 through the second heat dissipation port 117.

[0105] The area covered by the first part 231 corresponds precisely to the area where the first heat dissipation vent 116 is located. To prevent the enclosure 23 from blocking the first heat dissipation vent 116, the first part 231 has an opening corresponding to the first heat dissipation vent 116. This opening can be a through hole, with a shape matching the outer contour of the first heat dissipation vent 116, such as a rectangular opening or a continuous grid opening. The edge of the opening can be slightly larger than the first heat dissipation vent 116 to ensure unobstructed airflow within assembly tolerances. When the handle 2 is attached to the scanning body 1, and the first part 231 is against the back 114 of the first housing 11, the opening is aligned with the first heat dissipation vent 116, allowing cool air to smoothly enter the first heat dissipation vent 116 through the opening.

[0106] The height of the enclosure 23 in the longitudinal direction is designed to be lower than that of the second heat dissipation vent 117, so the enclosure 23 will not block the second heat dissipation vent 117, and the second heat dissipation vent 117 can freely dissipate heat.

[0107] Reference Figures 1 to 10 As shown, in some embodiments, the first part 231 is provided with a magnetic suction part 271 on the side facing away from the back surface 114 of the scanning body 1.

[0108] A magnetic part 271 is provided on the outer side of the enclosure 23 so that the magnetic part 271 can magnetically connect the first housing 11 and / or the mobile device and / or the clamping mechanism 272 of the mobile device.

[0109] In some examples, the magnetic attraction part 271 includes at least one magnet embedded in the outer surface of the first part 231. The first housing 11 may have a magnetically attracted structure made of ferromagnetic material on its back side 114. When the first housing 11 is located within the enclosure 23 and abuts against the bearing surface 22, the magnetic attraction part 271 is magnetically connected to the magnetically attracted structure on the first housing 11 to help limit the movement of the first housing 11. Alternatively, at least a portion of the back side of the first housing 11 may be made of ferromagnetic material. When the first housing 11 is located within the enclosure 23 and abuts against the bearing surface 22, the magnetic attraction part 271 is magnetically connected to at least a portion of the back side of the first housing 11.

[0110] Furthermore, the magnetic part 271 is exposed on the outer surface of the first part 231, so that the magnetic part 271 can be used to magnetically attach a mobile device, such as a tablet or a mobile phone, and the outer shell of the mobile device is a metal shell, so that the mobile device is attached to the outer surface of the enclosure 23 by means of the magnetic part 271.

[0111] In some embodiments, a clamping mechanism 272 for a mobile device is also magnetically connected to the magnetic suction part 271. The clamping mechanism 272 includes a base plate and two grippers. The two grippers are movably connected to one side of the base plate and are interconnected by an elastic element. The base plate is a metal part made of ferromagnetic material or has a metal sheet that can be magnetically connected to the magnetic suction part 271. The base plate is magnetically connected to the magnetic suction part 271, and the two grippers are located on the side of the base plate facing away from the enclosure 23. When it is necessary to clamp the mobile device, the two grippers are driven to move away from each other, and then the mobile device is placed between the two grippers. The two grippers move closer to each other under the action of elastic force to clamp the mobile device, thereby positioning the mobile device on the outside of the enclosure 23 through the clamping mechanism 272 and the magnetic suction part 271.

[0112] It is understood that the mobile device may be attached to the second housing 21 vertically, horizontally, or at any possible angle relative to the second housing 21.

[0113] Reference Figure 1 and Figure 2 As shown, in some embodiments, the height of the enclosure 23 in the longitudinal direction is less than the height of the first housing 11 in the longitudinal direction.

[0114] By setting the height of the enclosure 23 to be less than the height of the first housing 11, the handle 2 only constrains the middle and / or lower part of the scanning body 1. This ensures reliable connection and constraint while reducing the amount of handle material and overall weight, and also leaves space for heat dissipation on the upper part of the first housing 11 and the arrangement of the interactive interface.

[0115] Specifically, the height of the enclosure 23 in the longitudinal direction is less than that of the first housing 11 in the longitudinal direction, so that the enclosure 23 only covers a section of the lower part of the first housing 11, while the upper part of the first housing 11 is exposed above the enclosure 23. In terms of fit, the enclosure 23 only needs to constrain the near-end area of ​​the first housing 11 to achieve the positioning effect, because when the near-end area is reliably constrained, the displacement of the far-end area where the optical module 12 is located is also limited.

[0116] When the contour of the end face of the enclosure 23 is arc-shaped, the maximum height of the enclosure 23 in the longitudinal direction is less than the height of the first shell 11 in the longitudinal direction.

[0117] In some embodiments, the handle 2 and the scanning body 1 are detachably connected.

[0118] In some examples, the bearing surface 22 is provided with a protruding plug-in portion, and the proximal end 111 of the first housing 11 is provided with a recessed interface. After the first housing 11 is located in the enclosure 23, the plug-in portion is plugged into the interface. The resistance of the interface restricts the first housing 11 from leaving the space enclosed by the enclosure 23 and the bearing surface 22 in the transverse plane.

[0119] In some examples, after the handle 2 and the scanning body 1 are connected, the portion of the enclosure 23 that contacts the first housing 11 has appropriate frictional force to prevent the first housing 11 from coming off the enclosure 23 in the transverse plane or longitudinal direction when subjected to vibration or large movement.

[0120] In some examples, an elastic buckle can be provided between the enclosure 23 and the first housing 11. The elastic buckle includes a spring piece disposed on the inner side of the enclosure and a groove or stop on the outer wall of the first housing 11. When the handle is pushed into place, the spring piece engages in the groove to form a lock; pressing the exposed part of the spring piece can unlock and disassemble it. Alternatively, a magnetic part 271 can be provided on the enclosure 23. When the first housing 11 enters the enclosure 23, the magnetic part 271 can magnetically connect with the first housing 11.

[0121] Furthermore, refer to Figures 7 to 10 As shown, in some embodiments, the second housing 21 further includes: a longitudinally arranged receiving cavity in which the battery 24 is disposed; and a cover 213 detachably connected to the opening of the receiving cavity and configured to close and open the receiving cavity.

[0122] A receiving cavity and a replaceable battery 24 are provided inside the handle 2 and sealed with a cover 213, so that the scanning device 100 can quickly replace the power source and extend the continuous operation time on site. At the same time, the battery 24 is built into the handle 2, which can reduce the volume of the scanning body 1 and help maintain the compact structure of the scanning device 100.

[0123] Specifically, the receiving cavity is a cavity extending from the top 211 of the second housing 21 to the bottom, and the battery 24 is placed inside this receiving cavity. The battery 24 can be used to provide power to the scanning device 100.

[0124] In some examples, the scanning body 1 includes a built-in battery (not shown in the figure), and the battery 24 can serve as an energy storage device, replacing the battery in the receiving cavity into the scanning device 100 when the battery needs to be replaced. Alternatively, the battery 24 can serve as a power source to charge the built-in battery of the scanning body 1.

[0125] The cover 213 is detachably attached to the opening of the receiving cavity and is configured to close and open the receiving cavity. The opening may be located at the bottom end of the second housing 21 or on the side of the second housing 21, as long as the battery 24 can enter and exit the receiving cavity through the opening.

[0126] The cover 213 can be fixedly connected to the second housing 21 via a snap-fit ​​structure, or the cover 213 can be connected to the second housing 21 via bolts. A sealing ring can be provided between the cover 213 and the second housing 21 to achieve dust and water protection. The receiving cavity does not interfere with the areas where the bearing surface 22 and the enclosure 23 are located, making full use of the internal space of the handle.

[0127] Furthermore, refer to Figures 7 to 10 As shown, in some embodiments, one of the bearing surface 22 and the proximal end 111 is provided with a first socket 13, and the other is provided with a plug 25 adapted to the first socket 13; the battery 24 provides power to the scanning body 1 through the plug 25 and the first socket 13.

[0128] It is understandable that the electrical and mechanical connections between the handle 2 and the scanning body 1 can be completed simultaneously through a single plug-in action, which simplifies the assembly operation of the scanning body 1 and the handle 2.

[0129] Specifically, the plug 25 can be a Type-C plug, and the first socket 13 is adapted to the Type-C plug. The plug 25 can be disposed on the bearing surface 22, one end of the plug 25 is electrically connected to the battery 24, and the other end extends longitudinally to protrude from the bearing surface 22; the first socket 13 is disposed at the proximal end 111 of the first housing 11.

[0130] In some examples, the plug 25 protrudes from the proximal end 111 of the first housing 11, and the first socket 13 is disposed on the bearing surface 22 and is electrically connected to the battery 24.

[0131] When the handle 2 enters the enclosure 23 and the bearing surface 22 contacts the proximal end 111, the plug 25 is simultaneously inserted into the first socket 13, so that the plug 25 and the first socket 13 are electrically connected, thereby enabling the battery 24 to supply power to the first housing 11. Furthermore, refer to Figures 7 to 10 As shown, in some embodiments, the second housing 21 further includes a drive plate 241, which and the battery 24 are arranged longitudinally, with the drive plate 241 being closer to the bearing surface 22 than the battery 24.

[0132] The drive board 241 can control the power supply of the battery 24, and by placing the drive board 241 close to the bearing surface 22, the distance between the drive board 241 and the first socket 13 or plug 25 is shortened, thereby reducing the resistance and interference on the power transmission path.

[0133] The driver board 241 is a printed circuit board assembly on which a power management chip, wireless communication module, charging control circuit, etc. can be mounted. The driver board 241 can be fixed to the inner wall of the second housing 21 by screws or clips. The battery 24 is located on the side of the driver board 241 away from the bearing surface 22. The driver board 241 is electrically connected to the battery 24 and is also electrically connected to the plug 25 or the first socket 13 on the bearing surface 22, so that the battery 24 can supply power to the scanning body 1 through the driver board 241.

[0134] Reference Figures 2 to 4 and Figure 7 As shown, in some embodiments, a second socket 26 is also provided on the side of the second housing 21.

[0135] With this configuration, the second socket 26 provides an independent charging or data interface, expanding the functionality of the scanning device 100 and improving the convenience of using the scanning device 100.

[0136] Specifically, the second socket 26 can be a USB interface, a circular charging interface, or a contact-type charging interface. The second socket 26 is electrically connected to the battery 24 or the driver board 241, so that the second socket 26 can be used to connect an external power source to charge the battery 24.

[0137] When the second socket 26 is a USB interface, the second socket 26 can be electrically connected to the driver board 241, or the second socket 26 can be electrically connected to the plug 25 or the first socket 13 on the bearing surface 22, so that after the second socket 26 is used to communicate with devices such as computers, the battery device can be electrically connected to the scanning body 1 through the plug 25 or the first socket 13.

[0138] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0139] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A scanning device (100), comprising: The scanning body (1) includes a columnar first housing (11) and an optical module (12) located within the first housing (11), the optical module (12) being configured to project light onto an object from the front (113) of the first housing (11) and capture light reflections from the object; Handle (2), longitudinally attached to the first housing (11), includes: A columnar second shell (21); A bearing surface (22) is formed at the top end (211) of the second housing (21) that contacts the proximal end (111) of the first housing (11); and A barrier (23) extends from the bearing surface (22) toward the first housing (11), the barrier (23) partially covering the back (114) and two sides (115) of the first housing (11).

2. The scanning device (100) according to claim 1, wherein, The enclosure (23) includes a first part (231) corresponding to a partial back (114) of the first housing (11), a second part (232) and a third part (233) corresponding to two partial sides (115) of the first housing (11).

3. The scanning device (100) according to claim 2, wherein, The portion of the second part (232) and the portion of the third part (233) that is closer to the first part (231) have a higher height in the longitudinal direction.

4. The scanning device (100) according to claim 2, wherein, The first part (231), the second part (232) and the third part (233) are at the same height in the longitudinal direction, or the height difference between the first part (231), the second part (232) and the third part (233) in the longitudinal direction is within a set range.

5. The scanning device (100) according to claim 2, wherein, The enclosure (23) also includes: The fourth part corresponds to the front (113) of the first housing (11). The fourth part is less in height in the longitudinal direction than the second part (232) and the third part (233) in the longitudinal direction, and the height of the fourth part is lower than the bottom of the optical module.

6. The scanning device (100) according to claim 2, wherein, The end face of the second part (232) and the end face of the third part (233) both have curved profiles.

7. The scanning device according to claim 2, wherein, The end face of the second part (232) and the end face of the third part (233) both have a straight profile.

8. The scanning device according to claim 2, wherein, The end face of the second part (232) and the end face of the third part (233) have a curved profile in some parts and a straight profile in others.

9. The scanning device according to claim 2, wherein, The first part (231) has a magnetic suction part (271) on the side facing away from the back (114) of the scanning body (1).

10. The scanning device (100) according to claim 2, wherein, The back (114) of the first housing (11) is provided with a first heat dissipation vent (116) and a second heat dissipation vent (117). The height of the first heat dissipation vent (116) in the longitudinal direction is lower than the height of the second heat dissipation vent (117), and the height of the second heat dissipation vent (117) in the longitudinal direction is higher than the height of the enclosure (23). The first part (231) includes an opening corresponding to the first heat dissipation vent (116).

11. The scanning device (100) according to claim 1, wherein, The height of the enclosure (23) in the longitudinal direction is less than the height of the first housing (11) in the longitudinal direction.

12. The scanning device (100) according to claim 1, wherein, The handle (2) and the scanning body (1) are detachably connected.

13. The scanning device (100) according to claim 1, wherein, The second housing (21) also includes: A longitudinally arranged receiving cavity, wherein a battery (24) is provided; A cover (213) is detachably connected to the opening of the receiving cavity and is configured to close and open the receiving cavity.

14. The scanning device (100) according to claim 13, wherein, One of the bearing surface (22) and the proximal end (111) is provided with a first socket (13), and the other is provided with a plug (25) adapted to the first socket (13). The battery (24) supplies power to the scanning body (1) through the plug (25) and the first socket (13).

15. The scanning device (100) according to claim 13, wherein, The second housing (21) also includes: A drive board (241) and the battery (24) are arranged in the longitudinal direction, with the drive board (241) being closer to the bearing surface (22) than the battery (24).

16. The scanning device (100) according to claim 1, wherein, The second housing (21) is also provided with a second socket (26) on its side.

17. The scanning device (100) according to claim 1, wherein, The optical module (12) includes one or more cameras (121) and one or more projectors (122). The one or more cameras (121) and the one or more projectors (122) are arranged at intervals in the longitudinal direction.

18. The scanning device (100) according to claim 17, wherein, The one or more cameras (121) include two monochrome cameras (123) and one or more texture cameras (124); the one or more projectors (122) include one or more laser projectors (125) and one or more speckle projectors (126). The two monochrome cameras (123) are spaced apart in the longitudinal direction, and the one or more texture cameras (124), the one or more laser projectors (125) and the one or more speckle projectors (126) are all located between the two monochrome cameras (123).

19. The scanning device (100) according to claim 1, wherein, The scanning body (1) also includes: The bracket (16) and two motherboards (17) are located inside the first housing (11) and are arranged in a direction parallel to the longitudinal direction of the first housing (11). The two motherboards (17) are attached to the upper and lower sides of the bracket (16) at intervals.

20. The scanning device (100) according to claim 19, wherein, The first housing (11) includes a front housing (151) and a rear housing (152) that are disposed opposite to each other and connected to each other, and the optical module (12) and the bracket (16) are both attached to the front housing (151).

21. The scanning device (100) according to claim 19, wherein, The scanning body (1) also includes: At least one antenna (18); The motherboard (17) located on the lower side of the bracket (16) is spaced apart from the first housing (11) to form an installation space, and at least one of the antennas (18) is disposed in the installation space.

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