Scanning device

Abstract

The utility model provides a scanning device which comprises an objective table, a frame body, a first optical unit, a second optical unit and a first driving unit, the objective table is used for bearing a scanned object, the frame body is rotatably connected with the objective table, the frame body comprises a first support and a second support, the first optical unit is installed on the first support, and the second optical unit is installed on the second support. The first optical unit is installed on the first support, a set first distance D1 is formed between the first optical unit and the objective table in the horizontal direction, the second optical unit is installed on the second support, a set second distance D2 is formed between the second optical unit and the objective table in the horizontal direction, D2 is smaller than D1, and the first driving unit is connected with the objective table. The first driving unit is used for driving at least part of the structure of the objective table to rotate relative to the frame body, or the first driving unit is connected with the frame body, and the first driving unit is used for driving the frame body to rotate relative to the objective table. The scanning device is good in the aspect of capturing the detail features of the surface of the scanned object, and the scanning effect is good.

Description

Technical Field

[0001] The present application relates to the field of optical scanning technology, and in particular to a scanning device. Background Art

[0002] Scanning devices can use optical measurement technology, computer technology, image processing technology, digital signal processing technology and other technologies to perform non-contact automatic measurement of the surface of the scanned object to form a scanned model. However, the scanning devices in the prior art have the problem of not being able to easily capture the surface details of the scanned object when scanning the scanned object, which leads to poor accuracy of the scanned model and poor user experience. Utility Model Content

[0003] In view of this, the present application provides a scanning device, which is better in capturing the surface details of the scanned object and has a better scanning effect.

[0004] The present application provides a scanning device, which includes a stage, a frame, a first optical unit, a second optical unit and a first driving unit. The stage is used to carry a scanned object, and the scanned object can be a biological body (such as a human body), a work of art, an industrial design product or a natural object that can be relatively stationary. The frame is rotatably connected to the stage, and the frame includes a first bracket and a second bracket. The first optical unit is installed on the first bracket, and a set first spacing D1 is provided between the first optical unit and the stage in the horizontal direction. The second optical unit is installed on the second bracket, and a set second spacing D2 is provided between the second optical unit and the stage in the horizontal direction, satisfying D2<D1. The first driving unit is connected to the stage, and the first driving unit is used to drive at least a part of the structure of the stage to rotate relative to the frame, so that the scanned object can rotate counterclockwise along a direction M or clockwise along a direction N.

[0005] When the stage carries the scanned object, the first driving unit can drive at least part of the stage structure and the scanned object to rotate around the axis, while the frame can be relatively stationary, so that at least part of the stage structure and the scanned object can rotate relative to the frame, thereby rotating the scanned object relative to the first optical unit and the second optical unit installed on the frame. As the scanned object rotates, the first optical unit and the second optical unit can simultaneously perform optical scanning on the scanned object to form a three-dimensional scanning model data file. According to the above content about the setting that the second spacing D2 is smaller than the first spacing D1, it can be inferred that in the actual scanning process, the second optical unit will be closer to the scanned object than the first optical unit. Under this setting, the first optical unit can perform optical scanning on the entire surface of the scanned object to form an overall data file; and the second optical unit can perform better optical scanning on the texture, contrast, hue and brightness of the local surface of the scanned object. Detailed features to form a local data file. The overall data file and local data file formed can be integrated by the image processing algorithm into a three-dimensional scanning model data file which not only has a high degree of scanning range integrity but also has high surface detail feature accuracy. In short, the scanning effect of the scanning device of the present application is better than that of the scanning device of the prior art, and the image presented by the three-dimensional scanning model data file has a better texture, that is, the user experience is better.

[0006] Optionally, the first driving unit may also be connected to the frame, and the first driving unit is used to drive the frame to rotate around the axis relative to the stage, while the stage may be relatively stationary. The scanning device may also optically scan the overall surface and local surface detail features of the scanned object, and the scanning device also has the technical effects described in the above content, which will not be repeated here.

[0007] Optionally, the first bracket includes a first telescopic member for telescoping in the horizontal direction, and the first telescopic member is used to adjust the first distance D1; and / or the second bracket includes a second telescopic member for telescoping in the horizontal direction, and the second telescopic member is used to adjust the second distance D2.

[0008] Optionally, the first bracket includes a third telescopic member for extending and retracting along the height direction of the scanning device, and the first optical unit is installed on the third telescopic member; and / or, the second bracket includes a fourth telescopic member for extending and retracting along the height direction, and the second optical unit is installed on the fourth telescopic member.

[0009] Optionally, the first optical unit is slidably connected to the first bracket so that the first optical unit is in at least two positions relative to the first bracket along the height direction of the scanning device; and / or, the second optical unit is slidably connected to the second bracket so that the second optical unit is in at least two positions relative to the second bracket along the height direction of the scanning device.

[0010] Optionally, the first optical unit is rotatably connected to the first bracket to adjust the optical axis direction of the first optical unit; and / or the second optical unit is rotatably connected to the second bracket to adjust the optical axis direction of the second optical unit.

[0011] Optionally, along the viewing angle in the height direction of the scanning device, there is a set angle α between the first bracket and the second bracket, which satisfies 30°≤α≤180°.

[0012] Optionally, the frame includes at least two first brackets, and / or the frame includes at least two second brackets.

[0013] Optionally, the frame body further includes a connecting piece, and the first bracket is further connected to the second bracket via the connecting piece, so that the structure of the frame body is a frame structure.

[0014] Optionally, the first bracket includes a first rod member arranged in the horizontal direction and a second rod member arranged in the height direction, the first rod member is connected to the second rod member, the first rod member is connected to the second bracket, and the first optical unit is installed on the second rod member; and / or, the second bracket includes a third rod member arranged in the horizontal direction and a fourth rod member arranged in the height direction, the third rod member is connected to the fourth rod member, the third rod member is connected to the first bracket, and the second optical unit is installed on the fourth rod member.

[0015] Optionally, the frame further includes a counterweight, which is mounted on at least one of the first rod and the third rod.

[0016] Optionally, the scanning device further comprises an object detection unit, and the object detection unit is installed on at least one of the first bracket, the second bracket, the first optical unit and the second optical unit.

[0017] Optionally, the scanning device further includes a light emitting unit, and the light emitting unit is installed on at least one of the first bracket, the second bracket, the first optical unit and the second optical unit.

[0018] Optionally, the scanning device further includes an identification sensor unit, and the identification sensor unit is installed on at least one of the first bracket, the second bracket, the first optical unit and the second optical unit.

[0019] Optionally, the scanning device further comprises a control unit, and the control unit comprises at least one of an interaction part and a data communication port. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0021] Figure 1 This is a schematic structural diagram of the scanning device provided in the present application in a first specific embodiment, wherein the stage carries the scanned object;

[0022] Figure 2 for Figure 1 A perspective view of the scanning device;

[0023] Figure 3 for Figure 2 A top view of the scanning device;

[0024] Figure 4 is a schematic structural diagram of a first telescopic member in a specific embodiment;

[0025] Figure 5 A schematic diagram of the structure of the scanning device provided in the present application in a second specific embodiment;

[0026] Figure 6 A schematic diagram of the structure of the scanning device provided by the present application in a third specific embodiment;

[0027] Figure 7 for Figure 6 A top view of the scanning device;

[0028] Figure 8 A schematic diagram of the structure of the scanning device provided by the present application in a fourth specific embodiment;

[0029] Fig. 9 A schematic diagram of the structure of the scanning device provided by the present application in a fifth specific embodiment;

[0030] Fig.10 for Fig. 9 A top view of the scanning device;

[0031] Fig.11 A schematic diagram of the structure of the scanning device provided by the present application in a sixth specific embodiment;

[0032] Fig.12 for Fig.11 A top view of the scanning device;

[0033] Fig.13 A schematic diagram of the structure of the scanning device provided by the present application in a seventh specific embodiment;

[0034] Fig.14 for Fig.13 A top view of the scanning device;

[0035] Fig.15 A schematic diagram of the structure of the scanning device provided by the present application in an eighth specific embodiment;

[0036] Fig.16 for Fig.15 A top view of the scanning device.

[0037] 10- Scanning device;

[0038] 1- stage;

[0039] 11- base;

[0040] 12- rotating disk;

[0041] 2-frame;

[0042] 21- first bracket;

[0043] 211- first rod;

[0044] 2111-first telescopic member;

[0045] 2111a-1st paragraph;

[0046] 2111b-Second paragraph;

[0047] 212- second rod;

[0048] 22- second bracket;

[0049] 221- third rod;

[0050] 222- fourth rod;

[0051] 23-connecting rod;

[0052] 24-Counterweight;

[0053] 3- first optical unit;

[0054] 4- second optical unit;

[0055] 5-light emitting unit;

[0056] 20-Scanned object. DETAILED DESCRIPTION

[0057] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0058] It should be clear that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0059] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0060] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0061] The present application provides a scanning device, which relates to the field of optical scanning technology. Figure 1 As shown, the scanning device 10 includes a stage 1, a frame 2, a first optical unit 3, a second optical unit 4 and a first driving unit (not shown in the figure). The stage 1 is used to carry a scanned object 20, which can be a relatively stationary object such as a biological body (such as a human body), a work of art, an industrial design or a natural object. The frame 2 is rotatably connected to the stage 1, and the frame 2 includes a first bracket 21 and a second bracket 22. Please refer to Figure 2 As shown, the first optical unit 3 is mounted on the first bracket 21, and there is a set first distance D1 between the first optical unit 3 and the stage 1 in the horizontal direction. Figure 2 As shown, the second optical unit 4 is mounted on the second bracket 22, and there is a set second spacing D2 between the second optical unit 4 and the stage 1 in the horizontal direction, satisfying D2<D1. The first driving unit is connected to the stage 1, and the first driving unit is used to drive at least part of the structure of the stage 1 to rotate relative to the frame 2, so that the scanned object 20 can rotate counterclockwise along the direction M or clockwise along the direction N.

[0062] Please refer to Figure 1 As shown, when the stage 1 carries the scanned object 20, the first driving unit can drive at least part of the stage 1 and the scanned object 20 to rotate around the axis O, while the frame 2 can be relatively stationary, so that at least part of the stage 1 and the scanned object 20 can rotate relative to the frame 2, thereby rotating the scanned object 20 relative to the first optical unit 3 and the second optical unit 4 installed on the frame 2. As the scanned object 20 rotates, the first optical unit 3 and the second optical unit 4 can simultaneously perform optical scanning on the scanned object 20 to form a three-dimensional scanning model data file. Please refer to Figure 2As shown, according to the above-mentioned setting that the second spacing D2 is smaller than the first spacing D1, it can be inferred that in the actual scanning process, the second optical unit 4 will be closer to the scanned object 20 than the first optical unit 3. Under this setting, the first optical unit 3 can optically scan the entire surface of the scanned object 20 to form an overall data file; while the second optical unit 4 can perform a better optical scan of the detail features such as texture, contrast, hue and brightness of the local surface of the scanned object 20 to form a local data file. The formed overall data file and local data file can be integrated by the image processing algorithm into a three-dimensional scanning model data file that not only has a high degree of integrity in the scanning range but also has a high precision in surface detail features. In short, the scanning effect of the scanning device 10 of the embodiment of the present application is better than that of the scanning device of the prior art, and the texture of the image presented by the three-dimensional scanning model data file is better, that is, the user experience is better.

[0063] When the scanned object 20 is a human body, the first optical unit 3 can perform optical scanning on the entire surface of the human body, and the second optical unit 4 can perform optical scanning on the surface of the human head. Therefore, the three-dimensional scanning model data file formed by the scanning device 10 can not only present the entire human body surface but also has better accuracy in presenting facial detail features, and the user experience is higher.

[0064] The embodiment of the present application does not limit the specific number of the first optical unit 3 and the second optical unit 4. When the size of the scanned object 20 is large, the number of the first optical unit 3 can be at least two, and each first optical unit 3 corresponds to a different scanning area. The image processing algorithm can integrate the scanned images of at least two first optical units 3 into an overall image, that is, the scanning device 10 has the advantage of a large overall scanning range. When there are many key scanning areas of the scanned object 20 (such as the head, neck, hands or feet of the human body), the number of the second optical unit 4 can be at least two, and each second optical unit 4 corresponds to a different key scanning area, that is, the scanning device 10 has the advantage of a large number of key scanning ranges. The user can set the corresponding number of first optical units 3 and second optical units 4 according to actual work needs.

[0065] Also, please refer to Figure 2 As shown, the horizontal direction described in the above content is defined as a direction parallel to the horizontal plane, or in other words, the horizontal direction can be defined as a direction perpendicular to the axis O. The horizontal direction between the first optical unit 3 and the stage 1 is as follows: Figure 2-Figure 3 The horizontal direction between the second optical unit 4 and the stage 1 is as shown in the direction X1. Figure 2-Figure 3In the direction X2 shown in FIG. 1 , if the stage 1 rotates around the axis O, the dimension between the axis O and the first optical unit 3 in the direction parallel to the direction X1 is the first spacing D1. Similarly, the dimension between the axis O and the second optical unit 4 in the direction parallel to the direction X2 is the second spacing D2. Of course, the edge or other position of the stage 1 can also replace the axis O as the dimension calculation reference. In short, the second optical unit 4 is closer to the scanned object 20 than the first optical unit 3.

[0066] The embodiment of the present application does not limit the specific difference between the second distance D2 and the first distance D1, as long as D2<D1 is satisfied.

[0067] Furthermore, the top surface of the stage 1 (the surface for supporting the scanned object 20) may be a plane, and the user may use a level instrument to adjust the plane to a state parallel to the horizontal plane.

[0068] Optionally, see Figure 2 As shown, the stage 1 includes a base 11 and a rotating disk 12 that are rotatably connected. The base 11 is used to be placed on a stationary object such as the ground, a workbench or a rack. The rotating disk 12 is located above the base 11 and is used to carry a scanned object 20. The frame 2 can be connected to the base 11 so that the frame 2 is fixed relative to the base 11. A first driving unit (not shown in the figure) can be provided on the base 11, and the first driving unit can drive the rotating disk 12 to rotate around an axis O relative to the base 11.

[0069] The rotating disk 12 may be a disk-shaped structure such as a circular disk, a square disk, or an elliptical disk.

[0070] In addition, the first driving unit may be an electric motor, and the first driving unit may be directly connected to the rotating disk 12, or the first driving unit may be connected to the rotating disk 12 via a belt drive assembly, a sprocket drive assembly, or a gear drive assembly.

[0071] Furthermore, there may be a spacing space between the base 11 and the rotating disk 12 , and the spacing space is used to accommodate a part of the structure of the frame 2 .

[0072] In other embodiments, the first driving unit (not shown) may also be connected to the frame 2, and the first driving unit is used to drive the frame 2 to rotate relative to the stage 1 around the axis O, while the stage 1 may be relatively stationary. The scanning device 10 of this embodiment may also optically scan the overall surface and local surface detail features of the scanned object 20, and the scanning device 10 of this embodiment also has the technical effects described in the above content, which will not be repeated here.

[0073] Optionally, the first bracket 21 and the second bracket 22 can be directly connected, or the frame 2 can include other components, and the first bracket 21 can be indirectly connected to the second bracket 22 through other components, or the first bracket 21 can be indirectly connected to the second bracket 22 through the power output end of the first drive unit.

[0074] Optionally, the first optical unit 3 and the second optical unit 4 may be optical instruments such as a depth sensor, a camera, a projector, a light wave transmitter, a light wave receiver or an optical zoom. The optical work that can be completed by the first optical unit 3 and the second optical unit 4 may be video recording, projection, scanning, light wave transmission or light wave reception. Further, the second optical unit 4 may be a depth sensor or a telephoto camera, etc., that is, the second optical unit 4 is better at capturing surface detail features.

[0075] Optionally, see Figure 4 As shown, the first bracket 21 includes a first telescopic member 2111 for extending and retracting in a horizontal direction (a direction parallel to the direction X1), and the first telescopic member 2111 is used to adjust the size of the first distance D1, that is, the first telescopic member 2111 can be used to adjust the distance between the first optical unit 3 and the scanned object 20, so that the first optical unit 3 can adapt to scanned objects 20 of different sizes or different numbers of scanned objects 20, and the user experience is better. Figure 4 The dotted line in the figure is the structural section line.

[0076] The first telescopic member 2111 can be telescoped in a horizontal direction (a direction parallel to the direction X1 ) by at least one of a shape change and / or a structure change.

[0077] Optionally, see Figure 4 As shown, the first telescopic member 2111 may include a first section 2111a and a second section 2111b, and the first section 2111a and the second section 2111b may be slidably connected so that the first telescopic member 2111 can be telescoped along a horizontal direction (a direction parallel to the direction X1).

[0078] Optionally, the first section 2111a may be provided with a sliding hole, and a part of the structure of the second section 2111b may be located in the sliding hole, so that the first section 2111a and the second section 2111b are slidably connected. Alternatively, the second section 2111b may be provided with a sliding hole, and a part of the structure of the first section 2111a may be located in the sliding hole, so that the first section 2111a and the second section 2111b are slidably connected. The first telescopic member 2111 of this embodiment has a low structural complexity, and has the advantages of being easy to manufacture, easy to assemble, easy to maintain, and having a high degree of working reliability.

[0079] In other embodiments, the slide hole may also be replaced by a slide groove (e.g., a T-shaped slide groove or a dovetail slide groove). Alternatively, the first section 2111a and the second section 2111b are threadedly connected, and the first telescopic member 2111 can be telescoped in a horizontal direction (a direction parallel to the direction X1) by rotating at least one of the first section 2111a and the second section 2111b.

[0080] Optionally, the first telescopic member 2111 may further include a third section (not shown), and the second section 2111b and the third section may be slidably connected so that the first telescopic member 2111 may also have a secondary telescopic function. Of course, the first telescopic member 2111 may also have a multi-stage telescopic structure.

[0081] Optionally, the first section 2111a may include a protruding structure (not shown in the figure), and the second section 2111b may be provided with at least two recessed structures (not shown in the figure) spaced apart in the horizontal direction (the direction parallel to the direction X1), and at least part of the structure of the protruding structure may be located in any of the recessed structures, so that the first section 2111a and the second section 2111b are engaged with each other to limit the telescopic length size of the first telescopic member 2111, that is, to limit the specific size of the first spacing D1, so that the first optical unit 3 can reliably complete the optical scanning work. In other embodiments, the first section 2111a may be provided with a recessed structure, and the second section 2111b may include a protruding structure. In other embodiments, the number of the protruding structures provided may also be at least two.

[0082] Optionally, the first telescopic member 2111 may further include a threaded member (not shown). The threaded member may be threadedly connected to the first section 2111a. When the user rotates the threaded member, the threaded member may be pressed against the second section 2111b, i.e., the telescopic length size of the first telescopic member 2111 is limited by static friction. Alternatively, the threaded member may be threadedly connected to the second section 2111b. When the user rotates the threaded member, the threaded member may be pressed against the first section 2111a, i.e., the telescopic length size of the first telescopic member 2111 is limited by static friction.

[0083] Optionally, the first telescopic member 2111 may further include a plug-in member (not shown in the figure). The plug-in member may be inserted through the first section 2111a and the second section 2111b in a direction perpendicular to the direction X1 to limit the telescopic length of the first telescopic member 2111.

[0084] Optionally, the scanning device 10 may include a second driving unit (not shown in the figure), which can drive the first telescopic member 2111 to extend or retract. In this setting, the second driving unit can reduce the user's operating intensity. Secondly, the second driving unit has a high control accuracy and can accurately control the telescopic length and size of the first telescopic member 2111, so that the user has a high experience.

[0085] The main body of the second drive unit may be disposed in the first section 2111a, and the power output end of the second drive unit may be connected to the second section 2111b. Alternatively, the main body of the second drive unit may be disposed in the second section 2111b, and the power output end of the second drive unit may be connected to the first section 2111a.

[0086] In addition, the second drive unit can be a motor, a hydraulic cylinder or a cylinder. The power output end of the second drive unit can be directly connected to the first section 2111a or the second section 2111b. Of course, the second drive unit can also drive the first telescopic member 2111 to extend or retract by at least one of a gear transmission mode, a sliding transmission mode and a cable transmission mode.

[0087] In other embodiments, the scanning device 10 may not include the second driving unit, that is, the user may manually operate the first telescopic member 2111 to extend or retract, so as to change the telescopic length size of the first telescopic member 2111 .

[0088] Optionally, at least a portion of the structure of the first telescopic member 2111 may also be a bellows structure or a diamond four-bar structure, that is, the first telescopic member 2111 only needs to have a telescopic property.

[0089] Optionally, the second bracket 22 includes a second telescopic member (not shown in the figure) for extending and retracting in a horizontal direction (a direction parallel to the direction X2), and the second telescopic member is used to adjust the size of the second distance D2, that is, the second telescopic member can be used to adjust the distance between the second optical unit 4 and the scanned object 20, so that the second optical unit 4 can adapt to scanned objects 20 of different sizes or different numbers of scanned objects 20, and the user experience is better.

[0090] Among them, the structural setting of the second telescopic member can be the same or similar to the structural setting of the first telescopic member 2111 in at least one of the above embodiments to have the same or similar technical effects, which will not be repeated here.

[0091] Optionally, the first bracket 21 includes a third telescopic member (not shown in the figure) for extending and retracting along the height direction of the scanning device 10 (a direction parallel to the direction Z), and the first optical unit 3 is installed on the third telescopic member so that the first optical unit 3 can be in at least two different positions relative to the stage 1 along the height direction of the scanning device 10 (a direction parallel to the direction Z), that is, it can adapt to scanned objects 20 of different heights.

[0092] Among them, the structural setting of the third telescopic member can be the same or similar to the structural setting of the first telescopic member 2111 in at least one of the above embodiments to have the same or similar technical effects, which will not be repeated here.

[0093] Optionally, the second bracket 22 includes a fourth telescopic member (not shown in the figure) for extending and retracting along the height direction (a direction parallel to the direction Z), and the second optical unit 4 is installed on the fourth telescopic member so that the second optical unit 4 can be in at least two different positions relative to the stage 1 along the height direction of the scanning device 10 (a direction parallel to the direction Z), that is, it can adapt to scanned objects 20 of different heights.

[0094] Among them, the structural setting of the fourth telescopic member can be the same or similar to the structural setting of the first telescopic member 2111 in at least one of the above embodiments to have the same or similar technical effects, which will not be repeated here.

[0095] In other embodiments, the first bracket 21 may not include at least one of the first telescopic member 2111 and the third telescopic member, and the second bracket 22 may not include at least one of the second telescopic member and the fourth telescopic member.

[0096] Optionally, see Figure 2 As shown, at least two first optical units 3 can be spaced apart on the first bracket 21 along the height direction (a direction parallel to the direction Z), under which the optical scanning range is large. The present embodiment does not limit the spacing distance between each two first optical units 3.

[0097] Optionally, see Figure 2 As shown, at least two second optical units 4 can be spaced apart on the second bracket 22 along the height direction (a direction parallel to the direction Z), under which the optical scanning range is large. The present embodiment does not limit the spacing distance between each two second optical units 4.

[0098] Optionally, the first optical unit 3 is slidably connected to the first bracket 21 so that the first optical unit 3 can be at least two different positions relative to the first bracket 21 along the height direction (a direction parallel to the direction Z) to adapt to the scanned objects 20 of different heights.

[0099] Optionally, see Figure 5 As shown, the second optical unit 4 is slidably connected to the second bracket 22, so that the second optical unit 4 can be at least two different positions along the height direction (a direction parallel to the direction Z) relative to the second bracket 22 to adapt to the scanned objects 20 of different heights.

[0100] Optionally, the first optical unit 3 is rotatably connected to the first bracket 21 , so that the user can adjust the optical axis direction of the first optical unit 3 (the direction pointed by the center line of the optical lens), thereby facilitating the adjustment of the optical scanning range of the first optical unit 3 .

[0101] The optical axis direction of the first optical unit 3 may be perpendicular to the direction Z, or the angle between the optical axis direction of the first optical unit 3 and the direction Z may be acute or obtuse to meet the user's need to scan the top or bottom surface of the scanned object 20 .

[0102] Optionally, the second optical unit 4 is rotatably connected to the second bracket 22 , so that the user can adjust the optical axis direction of the second optical unit 4 (the direction pointed by the center line of the optical lens), thereby facilitating the adjustment of the optical scanning range of the second optical unit 4 .

[0103] The optical axis direction of the second optical unit 4 can be perpendicular to the direction Z, or the angle between the optical axis direction of the second optical unit 4 and the direction Z is an acute angle or an obtuse angle to meet the user's needs for scanning the top surface detail features or bottom surface detail features of the scanned object 20.

[0104] Optionally, see Figure 3 As shown, along the viewing angle in the height direction (parallel to the direction Z) of the scanning device 10, there is a set angle α between the first bracket 21 and the second bracket 22, satisfying 30°≤α≤180°. The angle α can be 30°, 35°, 40°, 45°, 50°, 55°, 60°, 65°, 70°, 75°, 80°, 85°, 90°, 95°, 100°, 105°, 110°, 115°, 120°, 125°, 130°, 135°, 140°, 145°, 150°, 155°, 160°, 165°, 170°, 175° or 180°.

[0105] Optionally, see Figure 3 As shown, when the angle α is in the range of 60° to 120°, correspondingly, the angle between the optical axis direction of the first optical unit 3 and the optical axis direction of the second optical unit 4 is also in the range of 60° to 120°. Under this setting, the interference between the optical scanning of the first optical unit 3 and the optical scanning of the second optical unit 4 is low, and the scanning effect is better.

[0106] Optionally, see Figure 6 As shown, the first bracket 21 and the second bracket 22 are arranged relative to each other, so that the lens of the first optical unit 3 and the lens of the second optical unit 4 can be arranged relative to each other, that is, as shown in FIG. Figure 7 As shown, the angle α is equal to 180°. When the angle α is equal to 180°, the center of gravity of the first bracket 21 and the second bracket 22 can be adjusted to the stage 1 by the user, the scanning device 10 has a higher degree of stability, and the possibility of the scanning device 10 tilting or tipping is lower.

[0107] If the angle α is equal to 180°, an image optimization algorithm can be used to reduce the degree of interference between the optical scanning of the first optical unit 3 and the optical scanning of the second optical unit 4 .

[0108] Optionally, see Figure 8 As shown, the frame 2 further includes a connecting rod 23, and the first bracket 21 is also connected to the second bracket 22 via the connecting rod 23, so that the structure of the frame 2 is a frame structure. Under this setting, the structural stability of the frame 2 is higher.

[0109] The connecting rod 23 may be a straight rod structure, an arc rod structure or a ring rod structure.

[0110] Optionally, see Figure 2 As shown, the first bracket 21 includes a first rod 211 arranged along the horizontal direction (parallel to the direction X1) and a second rod 212 arranged along the height direction (parallel to the direction Z), the first rod 211 is connected to the second rod 212, the first rod 211 is connected to the second bracket 22, and the first optical unit 3 is installed on the second rod 212.

[0111] The first rod member 211 may include the first telescopic member 2111 described above, or the first rod member 211 may not include the first telescopic member 2111 .

[0112] In addition, the second rod member 212 may include the second telescopic member described above, or the second rod member 212 may not include the second telescopic member.

[0113] Furthermore, the first optical unit 3 may be slidably connected and / or rotatably connected to the second rod 212 .

[0114] In addition, at least two first optical units 3 may be arranged at intervals on the second rod 212 along the height direction (a direction parallel to the direction Z).

[0115] Optionally, the first rod 211 may be rotatably connected to the stage 1 .

[0116] Optionally, one end of the first rod 211 facing away from the loading platform 1 is connected to the bottom end of the second rod 212 .

[0117] Optionally, the shape of the cross section of the first rod 211 perpendicular to the direction X1 may be rectangular, circular, elliptical or I-shaped.

[0118] Optionally, the shape of the cross section of the second rod 212 perpendicular to the direction Z may be rectangular, circular, elliptical or I-shaped.

[0119] Optionally, see Figure 2As shown, the second bracket 22 includes a third rod 221 arranged along the horizontal direction (parallel to the direction X2) and a fourth rod 222 arranged along the height direction (parallel to the direction Z), the third rod 221 is connected to the fourth rod 222, the third rod 221 is connected to the first bracket 21, and the second optical unit 4 is installed on the fourth rod 222.

[0120] The third rod 221 may include the third telescopic member described above, or the third rod 221 may not include the third telescopic member. The length of the third rod 221 along the direction X2 is always smaller than the length of the first rod 211 along the direction X1, so that D2<D1 is satisfied.

[0121] In addition, the fourth rod member 222 may include the fourth telescopic member described above, or the fourth rod member 222 may not include the fourth telescopic member.

[0122] Furthermore, the second optical unit 4 may be slidably connected and / or rotatably connected to the fourth rod 222 .

[0123] In addition, at least two second optical units 4 may be arranged at intervals on the fourth rod 222 along the height direction (a direction parallel to the direction Z).

[0124] Optionally, the third rod 221 may be rotatably connected to the stage 1 .

[0125] Optionally, one end of the third rod 221 facing away from the loading platform 1 is connected to the bottom end of the fourth rod 222 .

[0126] Optionally, the shape of the cross section of the third rod 221 perpendicular to the direction X2 may be rectangular, circular, elliptical or I-shaped.

[0127] Optionally, the shape of the cross section of the fourth rod 222 perpendicular to the direction Z may be rectangular, circular, elliptical or I-shaped.

[0128] Optionally, see Figure 8 As shown, the second rod 212 can be connected to the fourth rod 222 via a connecting rod 23 .

[0129] Optionally, see Figure 8 As shown, the top end of the second rod 212 can be connected to the top end of the fourth rod 222 via a connecting rod 23 .

[0130] Optionally, any portion between the two ends of the second rod 212 can be connected to the connecting rod 23 . Similarly, any portion between the two ends of the fourth rod 222 can be connected to the connecting rod 23 .

[0131] Optionally, see Figure 7As shown, the frame 2 also includes a counterweight 24, which is installed on at least one of the first rod 211 and the third rod 221. The user changes the weight and installation position of the counterweight 24 to change the center of gravity of the frame 2 so that the center of gravity of the frame 2 falls on the stage 1, thereby increasing the stability of the scanning device 10 and reducing the possibility of the scanning device 10 tilting or tipping over.

[0132] The counterweight 24 can be detachably connected to the frame 2 by means of screw connection, clamping connection or magnetic connection.

[0133] Optionally, the scanning device 10 may further include a control unit (not shown in the figure), which may control the first optical unit 3, the second optical unit 4 and the first driving unit. The control unit may include an interactive part (such as at least one of a touch screen, a display screen, a voice module, a keyboard and a mouse), and the user may interact with the control unit through the interactive part. The control unit may include a data communication port, which is used to receive and transmit data with an external computer (a desktop computer, a notebook, a handheld computer, a cloud server or a microcomputer) and other devices.

[0134] Among them, the control unit can control the driving process of the first driving unit to control the rotation angle of the sample stage 1 around the axis O within the range of 0° to 360°, or control the rotation angle of the frame 2 around the axis O within the range of 0° to 360°. The specific rotation angle can be 0°, 45°, 90°, 135°, 180°, 225°, 270° or 360°.

[0135] In addition, the control unit may control the rotation speed of the first driving unit.

[0136] Optionally, if the frame 2 rotates around the axis O, the scanning device 10 may further include an object detection unit (not shown in the figure), which may be installed on the first bracket 21, and the object detection unit is used to detect whether there are obstacles on the movement path of the first bracket 21. Of course, the object detection unit may also be installed on the first optical unit 3, and the object detection unit may also be used to detect whether there are obstacles on the movement path of the first bracket 21. Furthermore, the object detection unit may also be installed on the second bracket 22, and the object detection unit is used to detect whether there are obstacles on the movement path of the second bracket 22. In addition, the object detection unit may also be installed on the second optical unit 4, and the object detection unit may also be used to detect whether there are obstacles on the movement path of the second bracket 22. Therefore, the scanning device 10 has a high degree of safety.

[0137] The object detection unit may be a safety protection grating or a photoelectric safety protection device. The object detection unit may also detect whether there are obstacles around by using an acoustic wave detection method or an infrared detection method.

[0138] In addition, the object detection unit is controlled by the control unit.

[0139] Optionally, see Figure 2 As shown, the scanning device 10 may further include a light emitting unit 5, which may be installed on at least one of the first bracket 21, the second bracket 22, the first optical unit 3, and the second optical unit 4. The light emitting unit 5 is used to enhance the brightness of the scanned object 20 or to change the chromaticity of the scanned object 20, so that the scanning effect meets the user's usage requirements.

[0140] The light-emitting unit 5 may be an LED light strip, and the light-emitting unit 5 is disposed on the side wall of the first bracket 21 and the side wall of the second bracket 22 .

[0141] In addition, the light emitting unit 5 is controlled by the control unit.

[0142] Optionally, the scanning device 10 may further include an identification sensor unit (not shown in the figure), which is installed on at least one of the first bracket 21, the second bracket 22, the first optical unit 3 and the second optical unit 4. The identification sensor unit can be used to identify a key local area of ​​the scanned object 20, and the key local area can be the head of a human body, or the key local area can be a pattern on the surface of an object. When the identification sensor unit identifies the key local area, the identification sensor unit can send position data to the control unit, and the control unit controls the second optical unit 4 to move relative to the second bracket 22 according to the position data, so that the second optical unit 4 is located at a suitable position to optically scan the key local area. Under this setting, the user's operation difficulty is relatively small and the user's experience is better.

[0143] Among them, the identification sensor unit is controlled by the control unit.

[0144] Optionally, the control unit can control the first optical unit 3, the second optical unit 4, the first driving unit, the object detection unit, the light emitting unit 5 and the identification sensing unit through a detachable cable. The control unit can control the first optical unit 3, the second optical unit 4, the first driving unit, the object detection unit, the light emitting unit 5 and the identification sensing unit through a wireless network.

[0145] Optionally, the frame 2 includes at least two first brackets 21. Accordingly, each first bracket 21 is installed with a first optical unit 3. Under this setting, the scanning effect and scanning speed of the scanning device 10 are higher, and the user experience is higher. Among them, when the scanned object 20 is a natural person, the person stands on the stage 1 for a shorter time, the person's standing stability is higher, and the scanning effect of the scanning device 10 is higher.

[0146] Optionally, the frame 2 includes at least two second brackets 22. Accordingly, each second bracket 22 is installed with a second optical unit 4. Under this setting, the scanning effect and scanning speed of the scanning device 10 are higher, and the user experience is higher. Among them, when the scanned object 20 is a natural person, the person stands on the stage 1 for a shorter time, the person's standing stability is higher, and the scanning effect of the scanning device 10 is higher.

[0147] The specific number and arrangement of the first bracket 21 and the second bracket 22 can be selected according to actual use requirements. When the number of the first optical units 3 and the second optical units 4 is greater, the scanning effect is higher and the scanning speed is faster.

[0148] Please refer to Fig. 9 As shown, the frame 2 may include two first brackets 21 and one second bracket 22. Fig.10 As shown, along the viewing angle in the height direction (the direction parallel to the direction Z) of the scanning device 10, the angle α between the first bracket 21 and the second bracket 22 is 120°, and the angle β between the two first brackets 21 is 120°.

[0149] Please refer to Fig.11 As shown, the frame 2 may include two first brackets 21 and one second bracket 22. Fig.12 As shown, in the viewing angle of the scanning device 10 in the height direction (the direction parallel to the direction Z), the angle α between the first bracket 21 and the second bracket 22 is 90°, and the angle β between the two first brackets 21 is 180°.

[0150] Please refer to Fig.13 As shown, the frame 2 may include two first brackets 21 and two second brackets 22. Fig.14 As shown, along the viewing angle in the height direction (the direction parallel to the direction Z) of the scanning device 10, the two first brackets 21 are arranged opposite to each other, the two second brackets 22 are arranged opposite to each other, and the angle α between any first bracket 21 and any second bracket 22 is 90°.

[0151] Please refer to Fig.15 As shown, the frame 2 may include two first brackets 21 and two second brackets 22. Fig.16As shown, along the viewing angle of the height direction (the direction parallel to the direction Z) of the scanning device 10, the two first brackets 21 are arranged vertically, that is, the angle β between the two first brackets 21 is 90°, and the two second brackets 22 are arranged vertically, that is, the angle γ between the two first brackets 21 is 90°. One of the first brackets 21 is arranged vertically with one of the second brackets 22, that is, the angle α between one of the first brackets 21 and one of the second brackets 22 is 90°, and the other first bracket 21 is arranged vertically with the other second bracket 22, that is, the angle α between the other first bracket 21 and the other second bracket 22 is 90°.

[0152] The working process of the scanning device 10 in the embodiment of the present application is as follows:

[0153] First, the scanned object 20 is placed on the stage 1. The user can start the light-emitting unit 5, the object detection unit, the identification sensor unit, the first optical unit 3 and the second optical unit 4 through the control unit. The control unit starts the first driving unit when the object detection unit detects that there are no obstacles. The first driving unit then drives the stage 1 or the frame 2 to rotate around the axis O, so that the first optical unit 3 and the second optical unit 4 optically scan the scanned object 20 to form a three-dimensional scanning model data file. The user can confirm the image formed by the three-dimensional scanning model data file through the display screen of the control unit. After confirming the image, the user can send the three-dimensional scanning model data file to an external computer or data processing center (such as a cloud platform).

Claims

1. A scanning device, characterized in that: include: A stage, used for carrying the scanned object; A frame body, rotatably connected to the stage, the frame body comprising a first bracket and a second bracket; A first optical unit is mounted on the first bracket, and a first distance D1 is set between the first optical unit and the stage in the horizontal direction; A second optical unit is mounted on the second bracket, and a second distance D2 set in the horizontal direction is formed between the second optical unit and the stage, and D2<D1 is satisfied; A first driving unit is connected to the sample carrier, and the first driving unit is used to drive at least a part of the structure of the sample carrier to rotate relative to the frame, or the first driving unit is connected to the frame, and the first driving unit is used to drive the frame to rotate relative to the sample carrier.

2. The scanning device according to claim 1, characterized in that: The first bracket includes a first telescopic member for telescoping along the horizontal direction, and the first telescopic member is used to adjust the first distance D1; and / or the second bracket includes a second telescopic member for telescoping along the horizontal direction, and the second telescopic member is used to adjust the second distance D2.

3. The scanning device according to claim 1, characterized in that: The first bracket includes a third telescopic member for extending and retracting along the height direction of the scanning device, and the first optical unit is installed on the third telescopic member; and / or the second bracket includes a fourth telescopic member for extending and retracting along the height direction, and the second optical unit is installed on the fourth telescopic member.

4. The scanning device according to claim 1, characterized in that: The first optical unit is slidably connected to the first bracket so that the first optical unit is in at least two positions relative to the first bracket along the height direction of the scanning device; and / or the second optical unit is slidably connected to the second bracket so that the second optical unit is in at least two positions relative to the second bracket along the height direction.

5. The scanning device according to claim 1, characterized in that: The first optical unit is rotatably connected to the first bracket, and is used to adjust the optical axis direction of the first optical unit; And / or, the second optical unit is rotatably connected to the second bracket to adjust the optical axis direction of the second optical unit.

6. The scanning device according to claim 1, characterized in that: Along the viewing angle in the height direction of the scanning device, there is a set angle α between the first bracket and the second bracket, which satisfies 30°≤α≤180°.

7. The scanning device according to claim 1, characterized in that: The frame body includes at least two of the first brackets, and / or the frame body includes at least two of the second brackets.

8. The scanning device according to claim 1, characterized in that: The frame body also includes a connecting piece, and the first bracket is also connected to the second bracket through the connecting piece, so that the structure of the frame body is a frame structure.

9. The scanning device according to any one of claims 1 to 8, characterized in that: The first bracket includes a first rod member arranged along the horizontal direction and a second rod member arranged along the height direction of the scanning device, the first rod member is connected to the second rod member, the first rod member is connected to the second bracket, and the first optical unit is installed on the second rod member; And / or, the second bracket includes a third rod arranged along the horizontal direction and a fourth rod arranged along the height direction, the third rod is connected to the fourth rod, the third rod is connected to the first bracket, and the second optical unit is installed on the fourth rod.

10. The scanning device according to claim 9, characterized in that: The frame further includes a counterweight installed on at least one of the first rod and the third rod.

11. The scanning device according to any one of claims 1 to 8, characterized in that: An object detection unit is also included, and the object detection unit is installed on at least one of the first bracket, the second bracket, the first optical unit, and the second optical unit.

12. The scanning device according to any one of claims 1 to 8, characterized in that: A light emitting unit is also included, and the light emitting unit is installed on at least one of the first bracket, the second bracket, the first optical unit, and the second optical unit.

13. The scanning device according to any one of claims 1 to 8, characterized in that: It also includes an identification sensor unit installed on at least one of the first bracket, the second bracket, the first optical unit, and the second optical unit.

14. The scanning device according to any one of claims 1 to 8, characterized in that: Also included is a control unit including at least one of an interaction portion and a data communication port.

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