Tracking device and three-dimensional scanning system

Abstract

The utility model relates to a tracking device and a three-dimensional scanning system. The tracking device comprises a device main body, a laser array projection device and at least one image sensor, wherein the laser array projection device and the at least one image sensor are arranged on the device main body; the at least one image sensor obtains surface information and environment information of an object to be detected when the tracking device is in a scanning state; when the tracking device is in a tracking state, the at least one image sensor acquires feature information of the surface of a scanning device working synchronously with the tracking device; the laser array projection device comprises a laser array projector, and the laser array projector is used for projecting an array feature pattern to the object to be measured. The laser array projector projects a whole piece of laser projection array to the object to be measured to form a piece of laser array with different spatial positions, so that the spatial depth information of the measured scene can be fully displayed, the measurement precision is improved, and the problem of measurement error of the existing tracking device is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of three-dimensional scanning, in particular to a tracking device and a three-dimensional scanning system. Background Art

[0002] The existing multi-eye tracking head can realize the pre-scanning function by adding an infrared single-line laser, so as to obtain the boundary of the object and quickly acquire the entire scene.

[0003] However, the projection method of infrared single-line laser is too simple and concentrated. When scanning some objects with complex surface reflection characteristics, many details will be lost, resulting in the inability to accurately reconstruct the three-dimensional object, causing a certain degree of measurement error. Utility Model Content

[0004] In view of this, it is necessary to provide a tracking device and a three-dimensional scanning system.

[0005] The utility model provides a tracking device, which comprises: a device body, a laser array projection device arranged on the device body and at least one image sensor;

[0006] When the tracking device is in a scanning state, the at least one image sensor acquires surface information of the object to be measured and environmental information of the object to be measured; when the tracking device is in a tracking state, the at least one image sensor acquires characteristic information of the surface of the scanning device working synchronously with the tracking device;

[0007] The laser array projection device comprises a laser array projector, and the laser array projector is used to project an array characteristic pattern onto the object to be measured.

[0008] In one embodiment, the laser array projector is a scattered spot array projector.

[0009] In one of the embodiments, the at least one image sensor includes a first image sensor and a second image sensor, and the first image sensor and the second image sensor are respectively disposed on two sides of the device body.

[0010] In one embodiment, the laser array projection device is disposed between the first image sensor and the second image sensor.

[0011] In one of the embodiments, the laser array projection device is disposed in the middle of the device body.

[0012] In one of the embodiments, the tracking device further comprises a control unit, which is respectively connected to the laser array projector and the at least one image sensor.

[0013] In one of the embodiments, the tracking device further comprises a communication unit connected to the control unit.

[0014] In one of the embodiments, a cavity is disposed on the device body, and the laser array projector is disposed in the cavity.

[0015] In one of the embodiments, the tracking device further comprises a supporting structure for supporting the device body.

[0016] The utility model provides a three-dimensional scanning system, which comprises a computing device, a scanning device connected to the computing device for communication, and a tracking device connected to the computing device for communication.

[0017] The tracking device and three-dimensional scanning system provided by the utility model are provided with a laser array projection device on the device body, the laser array projection device comprises a laser array projector, the laser array projector is used to project an array characteristic pattern to the object to be measured, the laser array projector projects a whole laser projection array to the object to be measured, and forms a laser array with different spatial positions, so that the spatial depth information of the measured scene can be fully displayed, the measurement accuracy is greatly improved, and some industrial scene fields with relatively high requirements for measurement accuracy are satisfied, and the existing tracking device is solved by adding an infrared single-line laser to realize the pre-scanning function, so as to obtain the boundary of the object and quickly obtain the entire scene. The infrared single-line laser can only project a single laser, which makes the projection method too single and concentrated. When scanning some objects with relatively complex surface reflection characteristics, many details will be lost, which makes it impossible to accurately reconstruct the object in three dimensions, resulting in a certain degree of measurement error. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural diagram of a tracking device of this embodiment;

[0019] Figure 2 is a schematic structural diagram of another tracking device of this embodiment;

[0020] Figure 3 is a schematic structural diagram of another tracking device of this embodiment;

[0021] Figure 4 is a schematic structural diagram of another tracking device of this embodiment;

[0022] Figure 5 is a schematic structural diagram of another tracking device of this embodiment;

[0023] Figure 6 Schematic diagram of the structure of the three-dimensional scanning system in this embodiment.

[0024] Figure numerals: 1. device body; 2. laser array projector; 3. image sensor; 4. cavity; 5. support structure; 6. control unit; 7. communication unit; 31. first image sensor; 32. second image sensor; 8. computing device; 9. scanning device; 10. tracking device. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. 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 embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] It should be noted that when an element is referred to as being "provided on" another element, it may be directly provided on the other element or there may be a central element. When an element is considered to be "provided on" another element, it may be directly provided on the other element or there may be a central element at the same time. When an element is considered to be "fixed to" another element, it may be directly fixed to the other element or there may be a central element at the same time.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0028] In the field of three-dimensional scanning, a new type of tracking three-dimensional scanning technology can be realized by using scanning devices and tracking devices. In the tracking three-dimensional scanning system, the scanning device scans the object to be measured to obtain the three-dimensional data of the surface of the object to be measured. The tracking device synchronously tracks the scanning device by identifying the marking point structure of the scanning device, and converts the three-dimensional data obtained by the scanning device into a coordinate system established based on the tracking device, thereby completing the three-dimensional reconstruction of the object to be measured. The existing multi-eye tracking device or multi-eye tracking head realizes the pre-scanning function by adding an infrared single-line laser, so as to obtain the boundary of the object and quickly obtain the entire scene. However, the projection method of the infrared single-line laser is too single and concentrated. When scanning some objects with complex surface reflection characteristics, many details will be lost, resulting in the inability to accurately reconstruct the object in three dimensions, causing a certain degree of measurement error.

[0029] In order to solve the above problems, a tracking device is provided in this embodiment. Figure 1 is a schematic diagram of the structure of a tracking device of this embodiment. Figure 1 As shown, the tracking device includes: a device body 1, a laser array projection device arranged on the device body 1 and at least one image sensor 3.

[0030] Among them, at least one image sensor 3 obtains surface information of the object to be measured and environmental information of the object to be measured when the tracking device is in the scanning state. At least one image sensor 3 obtains characteristic information of the surface of the scanning device working synchronously with the tracking device when the tracking device is in the tracking state. The laser array projection device includes a laser array projector 2, and the laser array projector 2 is used to project an array characteristic pattern to the object to be measured. The image sensor 3 implements different functions in different working states. When the tracking device is in the pre-scanning state, that is, the scanning state, the image sensor 3 is used to obtain information about the object to be measured and its surrounding environment to obtain scanning data and obtain the three-dimensional boundary information of the object to be measured, so as to calculate the range that can be tracked when the tracking device is used as the tracking state. When the tracking device is in the state of tracking the scanning device, the image sensor 3 is used to obtain information of the marking point island on the scanning device, so as to obtain the position and posture information of the scanning device. It is worth noting that when the tracking device is used to pre-scan the object to be measured, the position of the tracking device relative to the object to be measured remains unchanged, so there is no need to set marking points on the surface of the object to be measured, and all point cloud data of the object to be measured obtained by scanning the laser array projection device are unified in the coordinate system of the tracking device.

[0031] Among them, the laser array projector 2 is used to project an array feature pattern to the object to be measured. The laser array projector 2 projects a whole laser projection array to the object to be measured, forming a laser point array with different spatial positions, so that the spatial depth information of the measured scene can be fully displayed, which greatly improves the measurement accuracy and meets some industrial scene fields with relatively high measurement accuracy requirements. The existing tracking device realizes the pre-scanning function by adding an infrared single-line laser and using the infrared single-line laser as a projection device, so as to obtain the boundary of the object and quickly obtain the entire scene. The infrared single-line laser can only project a single laser, which leads to the projection method being too single and concentrated. When scanning some objects with complex surface reflection characteristics, many details will be lost, which makes it impossible to accurately reconstruct the object in three dimensions, resulting in a certain degree of measurement error.

[0032] The array feature pattern may be any pattern formed by a laser array, such as a linear pattern such as a plurality of parallel laser lines, a plurality of cross laser lines, or a dot pattern such as a speckle. The laser may also be of different wavelengths, such as a blue laser, a red laser, an infrared laser, etc. The array feature pattern may also be a pre-stored pattern containing coded information projected by the laser array projector 2, which is not limited in this embodiment. During the pre-scanning process or the scanning process, the laser array projector 2 projects the array feature pattern onto the object to be measured and its surrounding area, and then at least one image sensor 3 on the tracking device acquires scanning information of the object to be measured and its surrounding area based on the array feature pattern projected by the object to be measured, thereby obtaining the three-dimensional boundary information of the object to be measured. Taking the array feature pattern as speckle as an example, the laser array projector 2 projects a scattered spot array onto the object to be measured. While the scattered spot array scans the surface of the object to be measured, at least one image sensor 3 on the tracking device acquires the laser point information of the surface of the object to be measured, and the computing device or the tracking device extracts the information of the contour part from the laser point information, thereby obtaining the three-dimensional boundary information of the object to be measured. It can be understood that the above example is only for illustrating the process of obtaining the boundary three-dimensional information of the object to be measured in this embodiment, and does not constitute a specific limitation on the array characteristic pattern and the laser array projector 2. In addition, the laser array projector 2 of this embodiment can be arranged on the tracking device, or it can be arranged independently from the tracking device in the tracking and scanning system, or it can be arranged on other devices of the tracking and scanning system. It should be clear that the laser array projector 2 is arranged in such a way that the array characteristic pattern projected by the laser array projector 2 is projected onto the surface of the object to be measured within the tracking range of the tracking device. This embodiment does not limit the specific arrangement of the laser array projector 2. By obtaining the boundary three-dimensional information of the object to be measured based on the laser array projector 2, this embodiment can directly determine the contour features of the object to be measured by the tracking device, which facilitates the estimation of the position of the object to be measured in the field of view of the tracking device, thereby helping to improve the overall efficiency of tracking three-dimensional scanning.

[0033] It should be noted that Figure 1 Only two image sensors 3 are illustrated, and at least one image sensor 3 is provided on the device body 1. It can be understood that the number of the image sensors 3 here can also be 1, 3 or 4, which is not specifically limited here.

[0034] In this embodiment, a laser array projection device is arranged on the device body 1, and the laser array projection device includes a laser array projector 2. The laser array projector 2 is used to project an array characteristic pattern onto the object to be measured. The laser array projector 2 projects a whole laser projection array onto the object to be measured to form a laser array with different spatial positions, so that the spatial depth information of the scene to be measured can be fully displayed, the measurement accuracy can be greatly improved, and some industrial scene fields with relatively high requirements for measurement accuracy can be met. The existing tracking device is solved by adding an infrared single-line laser to realize the pre-scanning function, so as to obtain the boundary of the object and quickly obtain the entire scene. The infrared single-line laser can only project a single laser, which makes the projection method too single and concentrated. When scanning some objects with complex surface reflection characteristics, many details will be lost, which makes it impossible to accurately reconstruct the object in three dimensions, resulting in a certain degree of measurement error.

[0035] In some of the embodiments, the laser array projector 2 may use an edge laser emitter to project a laser projection array, or may use a vertical cavity surface emitting laser (VCSEL) to project a laser projection array, or any other laser emitter to project a laser projection array. In addition, the laser array projector 2 is a scattered spot array projector, and the laser array projector 2 may also be a speckle line array projector. The scattered spot array projector projects a dot matrix feature pattern onto the object to be measured, and the speckle line array projector projects a line array feature pattern onto the object to be measured, that is, through the scattered spot array projector or the speckle line array projector. Furthermore, the scattered spot array projector may be an infrared laser random speckle projector, and the scattered spot array projector may also be a blue light laser random speckle projector.

[0036] In this embodiment, a dot matrix feature pattern is projected onto the object to be measured by a scattered spot array projector, or a line array feature pattern is projected onto the object to be measured by a speckle line array projector, so as to form a laser dot array or laser line array with different spatial positions, so as to fully display the spatial depth information of the scene to be measured, greatly improve the measurement accuracy, meet some industrial scene fields with relatively high requirements for measurement accuracy, solve the existing tracking device, and realize the pre-scanning function by adding an infrared single-line laser, so as to obtain the boundary of the object and quickly obtain the entire scene. The infrared single-line laser can only project a single laser, which makes the projection method too single and concentrated. When scanning some objects with complex surface reflection characteristics, many details will be lost, which makes it impossible to accurately reconstruct the object in three dimensions, resulting in a certain degree of measurement error.

[0037] This embodiment also provides a tracking device, Figure 2 is a schematic diagram of the structure of another tracking device of this embodiment. Figure 2As shown, the tracking device includes: a device body 1, a laser array projection device arranged on the device body 1, a first image sensor 31 and a second image sensor 32.

[0038] Among them, the first image sensor 31 and the second image sensor 32 are respectively arranged on both sides of the device body 1. When the tracking device is in a scanning state, the first image sensor 31 and / or the second image sensor 32 obtains the surface information of the object to be measured and the environmental information of the object to be measured. When the tracking device is in a tracking state, the first image sensor 31 and / or the second image sensor 32 obtains the characteristic information of the surface of the scanning device that works synchronously with the tracking device. The laser array projection device includes a laser array projector 2, and the laser array projector 2 is used to project an array characteristic pattern to the object to be measured. It should be noted that Figure 2 The schematically illustrated positions of the first image sensor 31 and the second image sensor 32 in the figure are not intended to limit the positions of the first image sensor 31 and the second image sensor 32 , that is, the positions of the first image sensor 31 and the second image sensor 32 may be interchanged.

[0039] In this embodiment, a laser array projector 2, a first image sensor 31 and a second image sensor 32 are arranged on the device body 1 of the tracking device, and the first image sensor 31 and the second image sensor 32 are arranged on both sides of the device body 1 respectively. The laser array projector 2 projects an array feature pattern to the object to be measured to form a laser array with different spatial positions. The first image sensor 31 and the second image sensor 32 arranged on both sides of the device body 1 can obtain complete feature information of the object to be measured when the position of the tracking device relative to the object to be measured remains unchanged, thereby realizing the extraction of three-dimensional boundary information, thereby improving the efficiency and accuracy of estimating the position of the object to be measured in the field of view of the tracking device, and improving the measurement accuracy. The first image sensor 31 and the second image sensor 32 are arranged on the tracking device, and the first image sensor 31 and the second image sensor 32 are arranged on both sides of the device body 1 respectively to obtain the laser point information of the surface of the object to be measured, so that the obtained laser point information is more comprehensive and accurate. The computing device or the tracking device then extracts the information of the contour part from the laser point information to obtain the three-dimensional boundary information of the object to be measured, thereby making the three-dimensional boundary information of the object to be measured more accurate.

[0040] In some of the embodiments, continue to refer to Figure 2 The laser array projection device is arranged between the first image sensor 31 and the second image sensor 32 .

[0041] The laser array projection device is arranged between the first image sensor 31 and the second image sensor 32. Further, the laser array projection device can be arranged in the middle of the device body 1, the laser array projection device can also be arranged at a position close to the first image sensor 31 on the device body 1, and the laser array projection device can also be arranged at a position close to the second image sensor 32 on the device body 1, which is not specifically limited here.

[0042] In this embodiment, the laser array projection device is arranged between the first image sensor 31 and the second image sensor 32, so that the laser point information of the surface of the object to be measured obtained by the first image sensor 31 and / or the second image sensor 32 is more comprehensive, and the computing device or the tracking device then extracts the information of the contour part from the laser point information to obtain the three-dimensional boundary information of the object to be measured, thereby making the three-dimensional boundary information of the object to be measured more accurate.

[0043] This embodiment also provides a tracking device, Figure 3 is a schematic diagram of the structure of another tracking device of this embodiment. Figure 3 As shown, the tracking device includes: a device body 1, a laser array projection device arranged on the device body 1, a first image sensor 31, a second image sensor 32 and a cavity 4.

[0044] The laser array projection device includes a laser array projector 2, and the laser array projector 2 is arranged in a cavity 4. The cavity 4 here can be an arc-shaped cavity or a square cavity, which is not specifically limited here.

[0045] In this embodiment, the laser array projector 2 is disposed in the cavity 4 to protect the laser array projector 2. In addition, the projection direction of the laser array projector 2 is limited by the cavity 4 to improve the projection efficiency of the laser array projector 2.

[0046] In some of the embodiments, the laser array projection device further includes a mounting structure, and the laser array projector 2 is disposed on the device body 1 via the mounting structure.

[0047] Among them, the laser array projector 2 is fixedly installed on the device body 1 through a mounting structure, and the mounting structure can also include a rotating part or a telescopic part. The laser array projector 2 is installed on the device body 1 through the rotating part or the telescopic part, so that the laser array projector 2 can be rotated, moved or telescopic according to needs.

[0048] In this embodiment, the laser array projector 2 is set on the device body 1 through the installation structure. For different objects to be measured, the laser array projector 2 adjusts its position with the object to be measured through the installation structure, so as to adapt to different objects to be measured to project the array characteristic pattern, so as to fully display the spatial depth information of the measured scene, greatly improve the measurement accuracy, and meet some industrial scene fields with relatively high requirements for measurement accuracy.

[0049] This embodiment also provides a tracking device, Figure 4 is a schematic diagram of the structure of another tracking device of this embodiment. Figure 4 As shown, the tracking device includes: a device body 1, a laser array projection device arranged on the device body 1, a first image sensor 31, a second image sensor 32 and a supporting structure 5.

[0050] Among them, the device body 1 is a long structure, fixedly set on the supporting structure 5, the supporting structure 5 is used to support the device body 1, the first image sensor 31 and the second image sensor 32 are respectively arranged at both ends of the device body 1, and the first image sensor 31 and / or the second image sensor 32 capture the surface information of the object to be measured when the tracking device is used for the scanning function, and the first image sensor 31 and / or the second image sensor 32 capture the characteristics of the surface of the scanning device that moves synchronously with the tracking device when the tracking device is used for the tracking function.

[0051] In this embodiment, the device body 1 is fixed by the support structure 5, so that when the tracking device is working, the laser array projection device, the first image sensor 31, and the second image sensor 32 remain stationary, thereby improving the stability of the tracking device.

[0052] In some of the embodiments, the tracking device is a short baseline tracking device, and the device body 1 is a long structure. The length of the device body 1 is shortened, so that the structural size of the tracking device is further reduced and the weight is greatly reduced. Among them, the short baseline here can be the baseline distance between the first image sensor 31 and the second image sensor 32 within a preset distance range, and the preset distance here can be 500mm or 600mm, that is, the baseline distance between the first image sensor 31 and the second image sensor 32 is less than 500mm or 600mm. For complex scenes, the tracking device can be held by hand for rotation without using a servo, which makes the hardware structure of the tracking device simpler.

[0053] This embodiment also provides a tracking device, Figure 5 is a schematic diagram of the structure of another tracking device of this embodiment. Figure 5 As shown, the tracking device includes: a control unit 6, a device body 1, a laser array projection device arranged on the device body 1, a first image sensor 31 and a second image sensor 32.

[0054] Wherein, the laser array projection device includes a laser array projector 2, and the control unit 6 can be arranged inside the device body 1, or can be arranged independently of the device body 1. The control unit 6 is connected to the laser array projector 2, the first image sensor 31 and the second image sensor 32 respectively. The control unit 6 is used to control the laser array projector 2 to project the corresponding array feature pattern, and the control unit 6 is used to control the first image sensor 31 and / or the second image sensor 32 to collect the laser point information of the surface of the object to be measured, and send the laser point information of the surface of the object to be measured to the back-end device for corresponding processing. The back-end device here can be a computing device or a computing server, etc. The control unit 6 here can include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA.

[0055] In this embodiment, the laser array projector 2 is controlled by the control unit 6 to project the corresponding array characteristic pattern, and the control unit 6 is used to control the first image sensor 31 and / or the second image sensor 32 to collect the laser point information of the surface of the object to be measured, and send the laser point information of the surface of the object to be measured to the back-end device for corresponding processing, thereby improving the working efficiency and data processing accuracy of the tracking device.

[0056] In some of the embodiments, the tracking device further includes a communication unit 7 , which is connected to the control unit 6 .

[0057] The control unit 6 sends the acquired laser point information of the surface of the object to be measured to the back-end device through the communication unit 7 for corresponding processing, and the control unit 6 obtains the control signal from the back-end device through the communication unit 7. The communication unit 7 here may include but is not limited to a Wifi communication module, an Ethernet communication module, a 4G communication module, a 5G communication module, etc.

[0058] In this embodiment, the communication unit 7 is used to realize the transmission of data and control signals between the tracking device and the back-end equipment, thereby improving the working efficiency and processing accuracy of the tracking device.

[0059] It should be noted that Figure 5 FIG. 2 only schematically shows the connection relationship between the control unit 6 and the laser array projector 2, the first image sensor 31 and the second image sensor 32. Figure 5 The positional relationship between the device body 1 and the laser array projection device, the first image sensor 31 and the second image sensor 32 and the device body 1 is not shown.

[0060] This embodiment also provides a three-dimensional scanning system. Figure 6 Schematic diagram of the structure of the three-dimensional scanning system in this embodiment. Figure 6 As shown, the three-dimensional scanning system includes a computing device 8 , a scanning device 9 communicatively connected to the computing device 8 , and a tracking device 10 communicatively connected to the computing device 8 .

[0061] The tracking device 10 is the tracking device described in any of the above embodiments.

[0062] In this embodiment, a tracking device of a three-dimensional scanning system is provided with a laser array projection device on a device body. The laser array projection device includes a laser array projector. The laser array projector is used to project an array characteristic pattern onto the object to be measured. The laser array projector projects a whole laser projection array onto the object to be measured to form a laser array with different spatial positions, thereby fully displaying the spatial depth information of the measured scene, greatly improving the measurement accuracy, and meeting some industrial scene fields with relatively high requirements for measurement accuracy. The existing tracking device solves the problem that a pre-scanning function is realized by adding an infrared single-line laser to obtain the boundary of the object and quickly acquire the entire scene. The infrared single-line laser can only project a single laser, which makes the projection method too single and concentrated. When scanning some objects with complex surface reflection characteristics, many details will be lost, resulting in the inability to accurately reconstruct the object in three dimensions, causing a certain degree of measurement error.

[0063] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0064] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present invention and are not intended to limit the present invention. As long as they are within the spirit of the present invention, appropriate changes and modifications to the above embodiments are within the scope of protection required by the present invention.

Claims

1. A tracking device, characterized in that: The tracking device comprises: a device body, a laser array projection device arranged on the device body and at least one image sensor; When the tracking device is in a scanning state, the at least one image sensor acquires surface information of the object to be measured and environmental information of the object to be measured; when the tracking device is in a tracking state, the at least one image sensor acquires characteristic information of the surface of the scanning device working synchronously with the tracking device; The laser array projection device comprises a laser array projector, and the laser array projector is used to project an array characteristic pattern onto the object to be measured.

2. The tracking device according to claim 1, characterized in that: The laser array projector is a scattered spot array projector.

3. The tracking device according to claim 1, characterized in that: The at least one image sensor includes a first image sensor and a second image sensor, and the first image sensor and the second image sensor are respectively disposed on both sides of the device body.

4. The tracking device according to claim 3, characterized in that: The laser array projection device is arranged between the first image sensor and the second image sensor.

5. The tracking device according to claim 4, characterized in that: The laser array projection device is arranged in the middle of the device body.

6. The tracking device according to claim 1, characterized in that: The tracking device also includes a control unit, which is connected to the laser array projector and the at least one image sensor respectively.

7. The tracking device according to claim 6, characterized in that The tracking device further comprises a communication unit connected to the control unit.

8. The tracking device according to claim 1, characterized in that: A cavity is arranged on the device body, and the laser array projector is arranged in the cavity.

9. The tracking device according to claim 1, characterized in that: The tracking device further comprises a supporting structure for supporting the device body.

10. A three-dimensional scanning system, characterized in that: The three-dimensional scanning system comprises a computing device, a scanning device communicatively connected to the computing device, and a tracking device as claimed in any one of claims 1 to 9 communicatively connected to the computing device.

Images