Tracking scanner

Abstract

The utility model provides a tracking scanner, relates to the technical field of scanning equipment, and solves the technical problems that a scanner in the prior art has defects in design and is poor in overall structure stability, so that the scanning precision is low. The utility model provides a tracking scanner which comprises a supporting mechanism which is of a hollow regular polyhedron structure and is provided with a containing space used for containing a scanning mechanism. The supporting mechanism comprises ball discs arranged at the top points of the supporting mechanism and connecting rods arranged on the edges of the supporting mechanism, the connecting rods located outside the emitting path of the scanning mechanism are connected between every two adjacent ball discs, the structure is simple, design is reasonable, the connecting rods occupy small space, meanwhile, the overall rigidity and connecting stability of the supporting mechanism can be effectively enhanced, and the service life of the supporting mechanism is prolonged. And the ball discs are symmetrically distributed and the relative positions of the ball discs are fixed, so that the ball discs can be effectively identified when the scanning mechanism works, and the scanning precision is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of scanning equipment, in particular to a tracking scanner. Background Art

[0002] The tracking scanner is achieved by placing a reflective target at the target point. The infrared light emitted by the tracking head is directed to the reflective target. The two cameras of the tracking head collect images of the target in real time, and perform three-dimensional reconstruction through the principle of binocular stereo vision to accurately obtain the spatial posture information of each scanning viewpoint. The tracker tracks the reflective target on the positioning frame in real time to characterize the spatial posture of the scanner.

[0003] The applicant has found that the prior art has at least the following technical problems:

[0004] The support mechanism of the tracking scanner is not designed reasonably, the connection mechanism has a complex structure, occupies a large space, and has poor overall structural stability, resulting in low scanning accuracy.

[0005] For example, the patent number is CN201810552452.9, which discloses a spherical scanner and a three-dimensional scanning system, including a hollow polyhedral body, multiple target balls, two cameras and a scanner, wherein the multiple target balls are arranged at the vertex positions of the body, and the surface of the target balls is provided with multiple marking reflective points. The two cameras and the scanner are both arranged in the body, and the two cameras and the scanner are both connected to the body, and the lenses of the two cameras and the output end of the scanner are arranged toward the same side of the body.

[0006] In view of this, the present utility model is proposed. Utility Model Content

[0007] The purpose of the utility model is to provide a tracking scanner to solve the technical problems of the existing scanner design defects, poor overall structural stability, and low scanning accuracy. The preferred technical solutions among the many technical solutions provided by the utility model can produce many technical effects as described below.

[0008] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0009] The utility model provides a tracking scanner, including a supporting mechanism, which is a hollow regular polyhedron structure and has a storage space for accommodating a scanning mechanism; the supporting mechanism includes a ball disk arranged on its vertex and a connecting rod arranged on its edge, and the connecting rod located outside the exit path of the scanning mechanism is connected between two adjacent ball disks.

[0010] Preferably, the scanning mechanism comprises a support, both ends of the support are connected to the ball disc via horizontal support rods, and the corners of the support are connected to the ball disc via oblique support rods;

[0011] Preferably, the scanning mechanism further comprises a laser and a camera, a laser seat for placing the laser and a camera seat for placing the camera are arranged at the front of the support, the laser seat and the camera seat are arranged in a vertical direction, and the laser seat and the support are integrally formed by injection molding;

[0012] Preferably, a hand-held portion is provided at the rear of the support, a groove adapted to the user's finger is provided on the hand-held portion, and a first anti-slip protrusion is provided on the outer peripheral wall of the hand-held portion;

[0013] Preferably, a boss structure is provided at the rear of the support, the boss structure is located above the handheld part, a control button is provided on the upper end surface of the boss structure, the control button is electrically connected to the laser and the camera respectively, and a second anti-slip protrusion is provided on the rear of the support, the second anti-slip protrusion is located on both sides of the boss structure;

[0014] Preferably, an identification mark point is arranged in the middle of the disc surface of the ball disc, and identification mark points are evenly distributed on the outer peripheral wall of the ball disc along the circumferential direction, the diameter of the outer peripheral wall of the ball disc increases gradually in the direction toward the scanning mechanism, and the large end of the outer peripheral wall of the ball disc has a wavy structure;

[0015] Preferably, it also includes a fixing seat, the first end of which is plugged into the ball disc, the second end of which is a curved surface structure and is provided with a first positioning groove for plugging into the connecting rod, a second positioning groove for plugging into the horizontal support rod, and a third positioning groove for plugging into the oblique support rod;

[0016] Preferably, it further comprises a base, which is located below the support and is used to support the supporting mechanism and the scanning mechanism, and a foot pad is arranged on the bottom surface of the base.

[0017] The preferred technical solution of the utility model can also produce at least the following technical effects:

[0018] The utility model effectively avoids the technical problems existing in the prior art that the scanner design has defects, the overall structural stability is poor, and the scanning accuracy is low. The utility model provides a tracking scanner, including a support mechanism, which is a hollow regular polyhedron structure and has a storage space for accommodating a scanning mechanism. The support mechanism includes a ball disk arranged on its vertex and a connecting rod arranged on its edge. The connecting rod located outside the exit path of the scanning mechanism is connected between two adjacent ball disks. It has a simple structure and a reasonable design. The connecting rod occupies a small space and can effectively enhance the overall rigidity and connection stability of the supporting mechanism. The ball disks are symmetrically distributed and fixed in relative position, so that when the scanning mechanism is operating, the ball disks can be effectively identified, thereby greatly improving the scanning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a structural schematic diagram of a tracking scanner provided by the utility model;

[0021] Figure 2 yes Figure 1 Rear view of

[0022] Figure 3 yes Figure 1 AA direction profile;

[0023] Figure 4 It is a structural schematic diagram of a ball disk of a tracking scanner provided by the utility model;

[0024] Figure 5 It is a structural schematic diagram of a fixing base of a tracking scanner provided by the utility model;

[0025] Figure 6 The utility model is a structural schematic diagram of a support for a tracking scanner.

[0026] In the figure:

[0027] 1. Ball disk; 101. Identification mark point; 102. Hollow structure; 2. Connecting rod; 3. Support; 301. Laser seat; 302. Camera seat; 303. Hand-held part; 3031. Groove; 3032. First anti-slip protrusion; 304. Second anti-slip protrusion; 305. Boss structure; 4. Horizontal support rod; 5. Oblique support rod; 501. Conical clamping member; 6. Laser; 7. Camera; 8. Control button; 9. Fixed seat; 901. First positioning groove; 902. Second positioning groove; 10. Base; 11. Foot pad. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the utility model.

[0029] The utility model provides a tracking scanner, including a support mechanism, which is a hollow regular polyhedron structure and has a storage space for accommodating a scanning mechanism. The support mechanism includes a ball disk arranged on its vertex and a connecting rod arranged on its edge, and the connecting rod located outside the exit path of the scanning mechanism is connected between two adjacent ball disks.

[0030] The utility model has a simple structure and a reasonable design. The connecting rod occupies a small space and can effectively enhance the overall rigidity and connection stability of the supporting mechanism. The ball discs are symmetrically distributed and the relative positions are fixed, so that when the scanning mechanism is operating, the ball discs can be effectively identified, thereby greatly improving the scanning accuracy.

[0031] Furthermore, the ball disc is symmetrically arranged with respect to the scanning mechanism, so that the scanning mechanism can more effectively identify the ball disc from space, and the user can scan more freely, which greatly improves the accuracy and flexibility of scanning.

[0032] As an optional implementation, the scanning mechanism includes a support, both ends of the support are connected to the ball disk through horizontal support rods, and the corners of the support are connected to the ball disk through oblique support rods.

[0033] Furthermore, the support is a hollow frame structure, the number of horizontal support rods is two, and through holes for the horizontal support rod to pass horizontally are respectively opened on the structural beams at the upper end and the lower end of the support. After the horizontal support rod passes through the through holes, it is respectively plugged into the second positioning groove of the fixed seat to improve the structural rigidity. The number of oblique support rods is four, the first end of the oblique support rod is connected to a corner of the support, and the second end of the oblique support rod is provided with a conical clamping piece. The oblique support rod is plugged into the third positioning groove of the fixed seat through the conical clamping piece, and the horizontal support rod and the oblique support rod are vertically arranged. The support is connected to the support mechanism through the horizontal support rod and the oblique support rod, so that the force distribution of the support mechanism is uniform, thereby improving the overall structural stability.

[0034] As an optional implementation, the scanning mechanism also includes a laser and a camera. The front of the support is provided with a laser seat for placing the laser and a camera seat for placing the camera. The laser seat and the camera seat are arranged in the vertical direction. Preferably, there are two camera seats, which are respectively arranged at both ends of the laser seat. The camera and the laser are respectively embedded in the laser seat and the camera seat to ensure the stability of the connection position between the camera and the laser and the support to avoid displacement. The laser seat and the support are integrally formed by injection molding to improve the structural rigidity and stability of the support.

[0035] As an optional implementation, a hand-held portion is provided at the rear of the support, and a groove is provided on the hand-held portion that is adapted to the user's fingers and conforms to the ergonomic design, which plays a certain role in limiting the user's hand, improving the stability of the user holding the support, and providing good comfort. A first anti-slip protrusion is provided on the outer peripheral wall of the hand-held portion to increase the friction between the user's palm and the hand-held portion, with a good anti-slip effect, further improving the stability of the user holding the support.

[0036] As an optional implementation, a boss structure is provided at the rear of the support, the boss structure is located above the handheld portion, and a control button is provided on the upper end surface of the boss structure, and the control button is electrically connected to the laser and the camera respectively. A second anti-slip protrusion is provided on the rear of the support, and the second anti-slip protrusion is located on both sides of the boss structure. When the user adjusts the scanning posture, the thumb can be placed on the second anti-slip protrusion to improve the hand-holding comfort and avoid accidentally touching the control button.

[0037] As an optional implementation, an identification mark point is set in the middle of the disk surface of the ball disk, and the identification mark points are evenly distributed along the circumference on the outer wall of the ball disk. The diameter of the outer wall of the ball disk increases in the direction toward the scanning mechanism, and the large end of the outer wall of the ball disk has a wavy structure, which is more conducive to scanning and identification, and further improves the scanning accuracy and flexibility.

[0038] Compared with the spherical target ball in the prior art, the outer wall of the ball disc is designed to be gradually expanded, and the identification mark points are evenly distributed on the outer wall of the ball disc along the circumference, so that the ball disc can be effectively tracked and identified by the scanning mechanism in space. At the same time, the lightweight design of the ball disc reduces the weight of the supporting mechanism.

[0039] As an optional embodiment, it also includes a fixed seat, the first end of the fixed seat is plug-matched with the ball disk, the second end of the fixed seat is a curved structure, and is provided with a first positioning groove for plug-matching with the connecting rod, a second positioning groove for plug-matching with the horizontal support rod, and a third positioning groove for plug-matching with the oblique support rod, thereby improving the structural stability between the support mechanism and the support.

[0040] As an optional embodiment, a base is further included, which is located below the support and is used to support the support mechanism and the scanning mechanism. A foot pad is arranged on the bottom surface of the base. The scanning mechanism is placed on a horizontal surface through the base to improve the stability of the scanning mechanism during scanning operations.

[0041] As an optional implementation, the connecting rod, the horizontal support rod and the oblique support rod are all made of carbon fiber material, which has good rigidity and structural strength, is light in weight, and has good energy absorption and shock absorption effects, and can provide certain protection for the scanning mechanism.

[0042] Embodiment 1:

[0043] like Figure 1-6 As shown, the utility model provides a tracking scanner, including a support mechanism, which is a hollow regular polyhedron structure and has a storage space for accommodating a scanning mechanism. The support mechanism includes a ball disk 1 arranged on its vertex and a connecting rod 2 arranged on its edge, and the connecting rod 2 located outside the exit path of the scanning mechanism is connected between two adjacent ball disks 1.

[0044] The utility model has a simple structure and a reasonable design. The connecting rod 2 occupies a small space and can effectively enhance the overall rigidity and connection stability of the supporting mechanism. The ball disc 1 is symmetrically distributed and the relative position is fixed, so that when the scanning mechanism is operating, the ball disc 1 can be effectively identified, thereby greatly improving the scanning accuracy.

[0045] Further, such as Figure 1 , 2 As shown in , 4, the supporting mechanism is a hollow icosahedron structure, and the ball disk 1 is symmetrically arranged with respect to the scanning mechanism. Each ball disk 1 is connected with at least four connecting rods 2 distributed along its circumference, so as to ensure the connection stability between the ball disk 1 and the connecting rods 2, so that the scanning mechanism can more effectively identify the ball disk 1 from the space, and the user can scan more freely, which greatly improves the scanning accuracy and flexibility.

[0046] As an optional implementation, Figure 1 , 2 As shown in Figures 3 and 6, the scanning mechanism includes a support 3, both ends of the support 3 are connected to the ball disk 1 through horizontal support rods 4, and the corners of the support 3 are connected to the ball disk 1 through oblique support rods 5.

[0047] Furthermore, the support 3 is a hollow frame structure, the number of horizontal support rods 4 is two, and through holes for the horizontal support rods 4 to pass horizontally are respectively opened on the structural beams at the upper end and the lower end of the support 3. After the horizontal support rods 4 pass through the through holes, they are respectively plugged into the second positioning grooves 902 of the fixing seat 9 to improve the structural rigidity. The number of oblique support rods 5 is four, the first end of the oblique support rod 5 is connected to a corner of the support 3, and the second end of the oblique support rod 5 is provided with a conical clamping piece 501. The oblique support rod 5 is plugged into the third positioning groove of the fixing seat 9 through the conical clamping piece 501, and the horizontal support rod 4 is vertically arranged with the oblique support rod 5. The support 3 is connected to the support mechanism through the horizontal support rod 4 and the oblique support rod 5, so that the force distribution of the support mechanism is uniform, thereby improving the overall structural stability.

[0048] As an optional implementation, Figure 1 , 3 As shown, the scanning mechanism also includes a laser 6 and a camera 7. The front part of the support 3 is provided with a laser seat 301 for placing the laser 6 and a camera seat 302 for placing the camera 7. The laser seat 301 and the camera seat 302 are arranged in the vertical direction. Preferably, there are two camera seats 302, which are respectively arranged at both ends of the laser seat 301. The camera 7 and the laser 6 are respectively embedded in the laser seat 301 and the camera seat 302 to ensure the stability of the connection position between the camera 7 and the laser 6 and the support 3 and avoid displacement. The laser seat 301 and the support 3 are integrally formed by injection molding to improve the structural rigidity and stability of the support 3.

[0049] As an optional implementation, Figure 2 , 3 As shown, a hand-held portion 303 is provided at the rear of the support 3, and a groove 3031 is provided on the hand-held portion 303 that is adapted to the user's fingers and conforms to the ergonomic design, which plays a certain role in limiting the user's hand, improving the stability of the user holding the support 3, and providing good comfort. A first anti-slip protrusion 3032 is provided on the outer peripheral wall of the hand-held portion 303 to increase the friction between the user's palm and the hand-held portion 303, with a good anti-slip effect, further improving the stability of the user holding the support 3. No connecting rod 2 is provided on the user's hand-holding path.

[0050] As an optional implementation, Figure 2As shown, a boss structure 305 is provided at the rear of the support 3, and the boss structure 305 is located above the handheld part 303. A control button 8 is provided on the upper end surface of the boss structure 305, and the control button 8 is electrically connected to the laser 6 and the camera 7 respectively. A second anti-slip protrusion 304 is provided on the rear of the support 3, and the second anti-slip protrusion 304 is located on both sides of the boss structure 305. When the user adjusts the scanning posture, the thumb can be placed on the second anti-slip protrusion 304 to improve the hand-holding comfort and avoid accidentally touching the control button 8.

[0051] As an optional implementation, Figure 1 , 2 As shown in 4, an identification mark point 101 is set in the middle of the disk surface of the ball disk 1, and the identification mark points 101 are evenly distributed along the circumferential direction on the outer peripheral wall of the ball disk 1. The diameter of the outer peripheral wall of the ball disk 1 increases in the direction toward the scanning mechanism. The large end of the outer peripheral wall of the ball disk 1 has a wavy structure, which is more conducive to scanning and identification, and further improves the scanning accuracy and flexibility. The outer peripheral edge of the disk surface of the ball disk 1 is provided with a hollow structure 102 to achieve the purpose of lightweight design of the ball disk 1.

[0052] As an optional implementation, Figure 1 , 2 , 3, and 5, it also includes a fixing seat 9, the first end of the fixing seat 9 is plugged with the ball disc 1, the second end of the fixing seat 9 is a curved surface structure, and is provided with a first positioning groove 901 for plugging with the connecting rod 2, a second positioning groove 902 for plugging with the horizontal support rod 4, and a third positioning groove for plugging with the oblique support rod 5, so as to improve the structural stability between the support mechanism and the support 3. Among them, the specific plug-in structure between the connecting rod 2 and the first positioning groove 901, the horizontal support rod 4 and the second positioning groove 902, and the oblique support rod 5 and the third positioning groove is a prior art, which will not be described in detail here.

[0053] As an optional implementation, Figure 1 , 2 As shown, it also includes a base 10, which is located below the support 3 and is used to support the supporting mechanism and the scanning mechanism. A foot pad 11 is provided on the bottom surface of the base 10. The scanning mechanism is placed on a horizontal surface through the base 10 to improve the stability of the scanning mechanism's scanning operation.

[0054] As an optional implementation, the connecting rod 2, the horizontal support rod 4 and the oblique support rod 5 are all made of carbon fiber material, which has good rigidity and structural strength, is light in weight, and has good energy absorption and shock absorption effects, and can provide certain protection for the scanning mechanism.

[0055] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0056] In the description of the present utility model, it should be noted that, unless otherwise specified, "multiple" means two or more; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present utility model. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0057] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0058] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "an example" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0059] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. A tracking scanner, characterized in that: It includes a supporting mechanism, which is a hollow regular polyhedron structure and has a storage space for accommodating a scanning mechanism; the supporting mechanism includes a ball disk arranged on its vertex and a connecting rod arranged on its edge, and the connecting rod located outside the exit path of the scanning mechanism is connected between two adjacent ball disks.

2. A tracking scanner according to claim 1, characterized in that: The scanning mechanism comprises a support, both ends of the support are connected to the ball disc via horizontal support rods, and the corners of the support are connected to the ball disc via oblique support rods.

3. A tracking scanner according to claim 2, characterized in that: The scanning mechanism also includes a laser and a camera. A laser seat for placing the laser and a camera seat for placing the camera are arranged at the front of the support. The laser seat and the camera seat are arranged in a vertical direction. The laser seat and the support are integrally formed by injection molding.

4. A tracking scanner according to claim 3, characterized in that: A hand-holding part is arranged at the rear of the support, a groove adapted to the user's fingers is arranged on the hand-holding part, and a first anti-slip protrusion is arranged on the outer peripheral wall of the hand-holding part.

5. A tracking scanner according to claim 4, characterized in that: A boss structure is provided at the rear of the support, and the boss structure is located above the handheld part. A control button is provided on the upper end surface of the boss structure, and the control button is electrically connected to the laser and the camera respectively. A second anti-slip protrusion is provided on the rear of the support, and the second anti-slip protrusion is located on both sides of the boss structure.

6. A tracking scanner according to claim 2, characterized in that: An identification mark point is arranged in the middle of the disc surface of the ball disc, and identification mark points are evenly distributed on the outer peripheral wall of the ball disc along the circumferential direction. The diameter of the outer peripheral wall of the ball disc increases gradually in the direction toward the scanning mechanism, and the large end of the outer peripheral wall of the ball disc presents a wavy structure.

7. A tracking scanner according to claim 6, characterized in that: It also includes a fixed seat, the first end of which is plug-fitted with the ball disc, the second end of which is a curved structure, and is provided with a first positioning groove for plug-fitting with the connecting rod, a second positioning groove for plug-fitting with the horizontal support rod, and a third positioning groove for plug-fitting with the oblique support rod.

8. A tracking scanner according to claim 2, characterized in that: It also includes a base, which is located below the support and is used to support the supporting mechanism and the scanning mechanism. A foot pad is arranged on the bottom surface of the base.

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