Three-dimensional scanner and three-dimensional scanning system

Abstract

The utility model relates to a three-dimensional scanner and a three-dimensional scanning system, and the three-dimensional scanner comprises a power supply device, a wireless network module, and a main control device. The power supply device comprises an electric quantity detection module and a battery module for supplying power to the three-dimensional scanner; wherein the electric quantity detection module is used for detecting a voltage signal of the battery module; and the main control device is connected with the power supply device and the wireless network module, and is used for sending scanning data of the three-dimensional scanner to the wireless network module based on the voltage signal. According to the invention, the problem of low efficiency of three-dimensional scanning is solved.

Description

Technical Field

[0001] The present application relates to the field of three-dimensional scanning, and in particular to a three-dimensional scanner and a three-dimensional scanning system. Background Art

[0002] A 3D scanner is an instrument that uses optical imaging to obtain three-dimensional information of the object being measured. It is currently widely used in industrial product inspection, reverse engineering, simulation, positioning and other fields. In related technologies, the 3D scanner is usually powered or communicated directly through wires. However, this is easily constrained by the length of the cable. When scanning some large workpieces, the cable length is not enough, affecting the scanning, or the cable is too long and heavy, and it often needs to be dragged back and forth during the scanning process, which will cause the cable interface to loosen or even the cable itself to break, interrupting the scanning work, wasting time and effort, and therefore the efficiency of 3D scanning is relatively low.

[0003] Currently, no effective solution has been proposed for the problem of low efficiency of three-dimensional scanning in related technologies. Utility Model Content

[0004] The embodiments of the present application provide a three-dimensional scanner and a three-dimensional scanning system to at least solve the problem of low efficiency of three-dimensional scanning in the related art.

[0005] In a first aspect, an embodiment of the present application provides a three-dimensional scanner; the three-dimensional scanner includes a power supply device, a wireless network module and a main control device;

[0006] The power supply device includes a power detection module and a battery module for powering the three-dimensional scanner; wherein the power detection module is used to detect a voltage signal of the battery module;

[0007] The main control device is connected to the power supply device and the wireless network module, and is used to send the scanning data of the three-dimensional scanner to the wireless network module based on the voltage signal.

[0008] In some embodiments, the three-dimensional scanner further includes an indicator light; wherein the indicator light is connected to the main control device;

[0009] The main control device is also used to control the operation of the indicator light based on the voltage signal.

[0010] In some embodiments, the power supply device further includes a battery protection circuit and a boost circuit; wherein the battery protection circuit is connected to the battery module and the boost circuit;

[0011] The battery protection circuit is used to protect the battery cells of the battery module and transmit the voltage signal of the battery module to the boost circuit;

[0012] The boost circuit is used to boost the voltage signal of the battery module to a preset working voltage.

[0013] In some embodiments, the power supply device further includes a battery switch; wherein the battery switch is connected to the battery module and is used to control the battery module to start working.

[0014] In some embodiments, the three-dimensional scanner further includes an image sensor; wherein the image sensor is connected to the main control device and is used to collect the scanning data.

[0015] In some embodiments, the battery module includes a power lithium battery.

[0016] In some embodiments, the wireless network module includes a wireless network card.

[0017] In a second aspect, an embodiment of the present application provides a three-dimensional scanning system, the system comprising: a tracking device and a three-dimensional scanner as described in the first aspect above;

[0018] Wherein, the tracking device is connected to the main control device in the three-dimensional scanner.

[0019] In some embodiments, the three-dimensional scanner further comprises a first wireless synchronization module; wherein the first wireless synchronization module is respectively connected to the main control device and the tracking device;

[0020] The tracking device includes a second wireless synchronization module.

[0021] In some embodiments, the system further includes a terminal device; wherein the terminal device is connected to the wireless network module.

[0022] Compared with the related art, the three-dimensional scanner and the three-dimensional scanning system provided in the embodiments of the present application include a power supply device, a wireless network module and a main control device; the power supply device includes a power detection module and a battery module for powering the three-dimensional scanner; wherein the power detection module is used to detect the voltage signal of the battery module; the main control device is connected to the power supply device and the wireless network module, and is used to send the scanning data of the three-dimensional scanner to the wireless network module based on the voltage signal, thereby solving the problem of low efficiency of three-dimensional scanning.

[0023] Details of one or more embodiments of the present application are set forth in the following drawings and description to make other features, objects, and advantages of the present application more readily apparent. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0025] Figure 1 is a structural block diagram of a three-dimensional scanner according to an embodiment of the present application;

[0026] Figure 2 is a structural schematic diagram of a power supply device according to an embodiment of the present application;

[0027] Figure 3 is a schematic structural diagram of a three-dimensional scanner according to an embodiment of the present application;

[0028] Figure 4 is a structural schematic diagram of a three-dimensional scanning system according to an embodiment of the present application;

[0029] Figure 5 It is a schematic diagram of the structure of another three-dimensional scanner according to an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the contents disclosed in the present application, some changes such as design, manufacturing or production based on the technical contents disclosed in the present application are only conventional technical means, and should not be understood as insufficient contents disclosed in the present application.

[0031] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0032] Unless otherwise defined, the technical terms or scientific terms involved in this application should be understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the" and the like involved in this application do not indicate a quantitative limitation, and may represent the singular or plural. The terms "include", "comprise", "have" and any of their variations involved in this application are intended to cover non-exclusive inclusions; for example, a process, method, system, product or device that includes a series of steps or modules (units) is not limited to the listed steps or units, but may also include steps or units that are not listed, or may also include other steps or units inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "multiple" involved in this application refers to greater than or equal to two. "And / or" describes 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. The terms "first", "second", "third" and the like involved in the present application are merely used to distinguish similar objects and do not represent a specific ordering of the objects.

[0033] This embodiment provides a three-dimensional scanner. Figure 1 is a structural block diagram of a three-dimensional scanner according to an embodiment of the present application, such as Figure 1 As shown, the three-dimensional scanner 10 includes a power supply device 12 , a wireless network module 14 and a main control device 16 .

[0034] The power supply device 12 includes a power detection module and a battery module for supplying power to the 3D scanner 10; wherein the power detection module is used to detect the voltage signal of the battery module. When the power supply device is working and the battery module supplies power to the inside of the 3D scanner, the power detection module in the power supply device can detect the voltage signal of the battery module in real time to monitor whether the remaining power of the battery module is sufficient.

[0035] In an optional embodiment, the battery module includes a power lithium battery. In order to ensure the miniaturization and lightness of the 3D scanner, a small power lithium battery is generally selected as the battery module; for example, 1 to 2 4.2V lithium batteries can be selected for series or parallel connection, and the maximum input voltage of the lithium battery in parallel connection is 4.2V.

[0036] The main control device 16 is connected to the power supply device 12 and the wireless network module 14, and is used to send the scanning data of the three-dimensional scanner 10 to the wireless network module 14 based on the voltage signal. The wireless network module 14 includes a module such as a network card for realizing wireless communication; for example, the wireless network module 14 can be a USB wireless network card, which transmits the scanning data of the main control device 16 to the terminal device for three-dimensional reconstruction through the WIFI AP mode or the WIFI Direct mode, so as to obtain the three-dimensional data of the scanned object.

[0037] Among them, the main control device 16 is mainly used to process the above scan data; since the scan data received by the main control device 16 is original image data with a large amount of data, the main control device 16 will identify the laser points and marking points on the scanned object based on the original image data, and extract sub-pixels, and then transmit the data obtained through the above pre-calculation to the terminal device through the above wireless network module. Specifically, when the battery module of the power supply device is internally powered, the main control device 16 transmits the above scan data through the wireless network module 14 when it determines that the battery voltage is within the normal voltage range based on the voltage signal detected by the power detection module.

[0038] In another embodiment, the main control device 16 can also automatically control the device to shut down when it is determined that the battery voltage is in an undervoltage state. For example, the battery module in the power supply device 12 includes multiple parallel lithium batteries, and the undervoltage range is 2.8V-3.0V; when it is detected that the battery voltage falls within this range, the three-dimensional scanner 10 will alarm after it is turned on, and after reminding the user to charge, it will automatically shut down after 30 seconds.

[0039] In the above-mentioned three-dimensional scanner, a three-dimensional scanner 10 that can support pure wireless operation is realized through the power supply device 12 and the wireless network module 14. During the three-dimensional scanning process, there is no need to connect cables to the three-dimensional scanner 10, thereby solving the problem that the three-dimensional scanner 10 is easily constrained by cables in wired working scenarios, resulting in low three-dimensional scanning efficiency, and effectively improving the three-dimensional scanning efficiency.

[0040] In some embodiments, the three-dimensional scanner further comprises an indicator light, wherein the indicator light is connected to the main control device. Typically, the indicator light can be mounted on the surface of the three-dimensional scanner so that the user can observe it in real time.

[0041] The main control device is also used to control the operation of the indicator light based on the voltage signal. Specifically, the power detection module can detect whether the battery voltage of the battery module is normal, and control the indicator light to display different brightness or colors according to the detection result of the battery voltage. For example, when it is detected that the battery voltage signal is in the normal voltage signal range, such as 3.0V-3.8V, the indicator light can be controlled to display green; when it is detected that the voltage signal is in the undervoltage range, such as less than 2.8V, the indicator light can be controlled to display red to remind the user to charge in time. Alternatively, when it is detected that the battery voltage is close to the protection value, the main control device can directly control the device to automatically shut down.

[0042] In some of the embodiments, the power supply device further includes a battery protection circuit and a boost circuit; wherein the battery protection circuit is connected to the battery and the boost circuit.

[0043] The battery protection circuit is used to protect the battery cells of the battery module and transmit the voltage signal of the battery module to the boost circuit; the boost circuit is used to boost the voltage signal of the battery module to a preset working voltage. The working voltage can be set according to the actual circuit application. Figure 2 , the battery module is respectively connected to the power detection module and the battery protection circuit, and the battery protection circuit is also connected to the boost circuit. Since the battery voltage is low, the entire device needs to be powered by the boost circuit. Its working principle is as follows: after turning on the battery switch, the battery protection circuit starts to work. If the battery parameters are normal, it is allowed to be boosted to the working voltage required by the 3D scanner through the battery boost circuit. Otherwise, it directly enters the protection state. It can be understood that the above-mentioned boost circuit can adopt a DC-DC boost circuit.

[0044] Through the above embodiment, circuit protection is achieved through the battery protection circuit, and the battery voltage is boosted to the working voltage through the boost circuit to power the entire three-dimensional scanner, thereby ensuring the safety and stability of the circuit structure of the power supply device.

[0045] In some embodiments, the power supply device further comprises a battery switch. Figure 2 The battery switch is connected to the battery module and is used to control the battery module to start working. The battery module is controlled to start or shut down by controlling the battery switch.

[0046] In some embodiments, the three-dimensional scanner further includes at least one image sensor; wherein the image sensor is connected to the main control device and is used to collect the scan data. It should be noted that the scan data collected by the image sensor for the scanned object belongs to the original image data. Since the amount of original image data transmitted by the image sensor received by the main control device is large, it may affect the stability of wireless transmission and cause a large number of frame drops. Therefore, the main control device can also identify the laser points and marking points on the scanned object based on the original image data, and perform sub-pixel extraction; after the above-mentioned pre-calculation, the main control device transmits the scan data with a greatly reduced data volume to the terminal device through the wireless network module.

[0047] The following is a brief description of the working process of a 3D scanner, taking a non-tracking handheld 3D scanner as an example. Figure 3 , the three-dimensional scanner mainly comprises a power supply device, a wireless network module, an image sensor 1, an image sensor 2 and an FPGA main control board; the FPGA main control board is the above-mentioned main control device. Among them, after the battery switch is used to turn on the machine and the battery module is started to supply power, the boost circuit starts to work and provides the working voltage required by the three-dimensional scanner; the FPGA main control board detects whether the battery voltage is normal; if it is normal, the control indicator light is green, if the battery voltage is undervoltage, the control indicator light is red to remind the user to charge; if the battery voltage is close to the protection value, it is directly shut down. Assuming that the battery voltage is turned on normally, the FPGA main control board works normally and drives the wireless network module to work at the same time. At this time, the terminal device turns on the WIFI AP; according to the agreed network name (SSID) and password, the above-mentioned three-dimensional scanner will directly connect to the WIFI of the terminal device. After the wireless connection is established, the upper software of the terminal device can send a scanning instruction through the wireless network module. After the FPGA main control board receives the scanning instruction through the wireless, it turns on the image sensor to start scanning; during the three-dimensional scanning process, the FPGA main control board pre-processes the scanning data of the image sensor and transmits the processed data to the terminal device wirelessly. After receiving the data, the terminal device performs three-dimensional reconstruction to obtain three-dimensional data of the scanned object.

[0048] This embodiment also provides a three-dimensional scanning system, which includes: a tracking device and a three-dimensional scanner as described in any of the above embodiments; wherein the tracking device is connected to a main control device in the three-dimensional scanner. It should be noted that the tracking device and the three-dimensional scanner can be separately and independently provided; or, the tracking device can also be designed as an integrated unit with the three-dimensional scanner, for example, if a tracking scanner is used, each tracking head installed on the tracking scanner is the tracking device. Exemplarily, Figure 4 is a schematic structural diagram of a three-dimensional scanning system according to an embodiment of the present application, such as Figure 4 As shown, a wireless connection is established between the tracking device and the scanner.

[0049] In some embodiments, the three-dimensional scanner further includes a first wireless synchronization module; wherein the first wireless synchronization module is respectively connected to the main control device and the tracking device. The tracking device includes a second wireless synchronization module. It should be noted that in order to ensure that the tracking device and the three-dimensional scanner can accurately and synchronously obtain the scanning data of the scanned object, the two need to be wirelessly synchronized. wherein the three-dimensional scanner and the tracking device each include a wireless synchronization module; the scanner and the tracking device simultaneously obtain the scanning data through the wireless synchronization module, and send it to the terminal device through the wireless network module for data processing.

[0050] For further information, see Figure 5 In this embodiment, the three-dimensional scanner is Figure 3 On the basis of the second wireless synchronization module, a wireless synchronization module is added to the internal structure; and a certain number of marking points are attached to the surface of the three-dimensional scanner, and the marking points on the scanner are used to be scanned by the tracking device so that the tracking device can track the scanner in real time. It can be understood that in addition to the second wireless synchronization module, the above-mentioned tracking device can also include a power supply device, a wireless network module and a main control device, and the functions of the internal structures in the tracking device are similar to those of the above-mentioned three-dimensional scanner.

[0051] Through the above-mentioned embodiment, data synchronization is performed between the tracking device and the three-dimensional scanner through the wireless synchronization module, which is beneficial to improving the accuracy of data processing of the three-dimensional scanning system.

[0052] In some embodiments, the three-dimensional scanning system further includes a terminal device; wherein the terminal device is connected to the main control device in the three-dimensional scanner via the wireless network module. The terminal device includes but is not limited to various personal computers, wireless network laptops or desktop computers with wireless network cards. Figure 4 The tracking device, scanner, and terminal device are wirelessly connected to each other, thus providing a three-dimensional scanning system that can achieve completely wireless operation.

[0053] Below Figure 5Taking the three-dimensional scanner shown in the figure as an example, the working process of the tracking three-dimensional scanner is briefly described. Among them, after the tracking device and the scanner are turned on respectively by the battery switch and the battery module is started to supply power, the boost circuit starts to work and provides the working voltage required by the three-dimensional scanning system. The FPGA main control boards of the three-dimensional scanner and the tracking device start to work and detect whether the battery voltage is normal. If it is normal, the control indicator light will display green. If the battery voltage is undervoltage, the control indicator light will display red to remind the user to charge; if the battery voltage is close to the protection value, it will be directly shut down.

[0054] Assuming that the battery voltage is turned on normally, the FPGA main control boards of the scanner and the tracking device work normally, and the wireless network module is driven to work at the same time. At this time, the terminal device turns on the WIFIDirect mode; generally, the terminal device creates the group to which it belongs, for example, the group name is preset as "T_wifi"; the scanner and the tracking device start searching for the group name after turning on the wireless network, and join the group after searching, thereby realizing the wireless network connection between the devices.

[0055] After establishing a wireless connection, the upper software of the terminal device can send a scanning command to the tracking device or scanner through wireless communication. For example, after the tracking device receives the command, the FPGA main control board of the tracking device notifies the FPGA main control board of the scanner through the wireless synchronization module and turns on the image sensor to start scanning. The tracking device collects the original image of the scanner's posture and transmits it to the FPGA main control board. The FPGA will identify the marking points on the scanner based on the original image and perform sub-pixel extraction. Through such pre-calculation, the amount of data that needs to be transmitted to the computer is greatly reduced and transmitted to the computer through the wireless network. After receiving the data, the terminal device obtains the accurate scanner posture coordinates through relevant algorithms.

[0056] Scanners generally use laser scanning to collect the original image of the scanned object through the image sensor, and the image sensor transmits the original image data to the FPGA main control board in the scanner. The FPGA main control board will perform pre-calculation on the original image data to reduce the amount of data transmitted, and transmit the processed data to the terminal device through the wireless network. After receiving the data, the terminal device uses the triangulation principle and related algorithms to obtain the three-dimensional contour point cloud of the scanned object, and finally converts the three-dimensional contour point cloud into the coordinate system of the tracking device to reconstruct the three-dimensional model of the object to be scanned.

[0057] Those skilled in the art should understand that 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.

[0058] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the utility model patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A three-dimensional scanner, characterized in that: The three-dimensional scanner includes a power supply device, a wireless network module and a main control device; The power supply device includes a power detection module and a battery module for powering the three-dimensional scanner; wherein the power detection module is used to detect a voltage signal of the battery module; The main control device is connected to the power supply device and the wireless network module, and is used to send the scanning data of the three-dimensional scanner to the wireless network module based on the voltage signal.

2. The three-dimensional scanner according to claim 1, characterized in that: The three-dimensional scanner also includes an indicator light; wherein the indicator light is connected to the main control device; The main control device is also used to control the operation of the indicator light based on the voltage signal.

3. The three-dimensional scanner according to claim 1, characterized in that: The power supply device further includes a battery protection circuit and a boost circuit; wherein the battery protection circuit is connected to the battery module and the boost circuit; The battery protection circuit is used to protect the battery cells of the battery module and transmit the voltage signal of the battery module to the boost circuit; The boost circuit is used to boost the voltage signal of the battery module to a preset working voltage.

4. The three-dimensional scanner according to claim 1, characterized in that: The power supply device also includes a battery switch; wherein the battery switch is connected to the battery module and is used to control the battery module to start working.

5. The three-dimensional scanner according to claim 1, characterized in that: The three-dimensional scanner also includes an image sensor; wherein the image sensor is connected to the main control device and is used to collect the scanning data.

6. The three-dimensional scanner according to any one of claims 1 to 5, characterized in that: The battery module includes a power lithium battery.

7. The three-dimensional scanner according to any one of claims 1 to 5, characterized in that: The wireless network module includes a wireless network card.

8. A three-dimensional scanning system, characterized in that: The system comprises: a tracking device and a three-dimensional scanner as claimed in any one of claims 1 to 7; Wherein, the tracking device is connected to the main control device in the three-dimensional scanner.

9. The three-dimensional scanning system according to claim 8, characterized in that: The three-dimensional scanner further comprises a first wireless synchronization module; wherein the first wireless synchronization module is respectively connected to the main control device and the tracking device; The tracking device includes a second wireless synchronization module.

10. The three-dimensional scanning system according to claim 8, characterized in that: The system further comprises a terminal device, wherein the terminal device is connected to the wireless network module.

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