Scanning device and tracking type three-dimensional scanning equipment

Abstract

According to the scanning device and the tracking type three-dimensional scanning equipment, the scanning device comprises a frame and a plurality of mark islands, the mark islands are arranged on the periphery of the frame and connected with the frame, at least two mark points in each mark island can be recognized by a tracking device at the same time, the diameter of each mark point is set to be D, and D is larger than or equal to 10 mm and larger than or equal to 25 mm. When the scanning device is applied to the tracking type three-dimensional scanning equipment and works, the at least two marking points on the marking island are easier to identify by a tracking device, so that on one hand, the scanning test distance of the scanning device during working can be increased, and the scanning test space can be expanded; and on the other hand, the scanning precision of the scanning device during working can be improved.

Description

Technical Field

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

[0002] The scanning device is an important component of the tracking-type three-dimensional scanning equipment. Generally, a certain number of marking points are arranged on the surface of the scanning device for identification by the tracking device to obtain the spatial coordinates of the scanning device in real time. Therefore, the relative position of the marking points on the surface of the scanning device is required to be stable and reliable.

[0003] It is understandable that for a tracking 3D scanning device, the larger the size of the marker point, the more it can be recognized by the tracking device, which can increase the scanning test distance of the tracking 3D scanning device. However, the size of the marker point on the existing scanning device is relatively small, which will limit the scanning space of the tracking 3D scanning device using the scanning device, and the corresponding scanning accuracy is also poor. Utility Model Content

[0004] In view of this, it is necessary to provide a scanning device and a tracking three-dimensional scanning equipment for solving the above-mentioned technical problems.

[0005] A scanning device, the scanning device comprising:

[0006] frame;

[0007] A plurality of marking islands are arranged on the periphery of the frame and are respectively connected to the frame, wherein at least two marking points in each marking island can be simultaneously identified by the tracking device, and the diameter of each marking point is set to D, 25mm≥D>10mm.

[0008] It can be understood that, through the structural setting of the above-mentioned marking island, when the scanning device is applied to the tracking three-dimensional scanning equipment and works, at least two marking points on the marking island are more easily recognized by the tracking device. This can improve the scanning test distance of the scanning device when it is working, which has the effect of expanding the scanning test space. On the other hand, it can also improve the scanning accuracy of the scanning device when it is working.

[0009] In one of the embodiments, the marking island includes a marking island bracket, and the marking island bracket is installed on the frame to carry the marking point;

[0010] Among them, the number of the marking points is configured to be ten, nine of which are arranged in sequence and spaced apart along the circumferential direction of the marking island bracket, and the remaining one marking point is arranged on the side of the marking island bracket away from the frame.

[0011] It can be understood that through the above structural settings, the number of marking points of the marking island is increased, which can further improve the scanning accuracy when the scanning device works.

[0012] In one embodiment, the marking island includes a marking island bracket, and the marking island bracket can be plugged and matched with the frame and connected to the frame;

[0013] The marking island bracket is used to carry the marking points.

[0014] It can be understood that through the above structural settings, the marking island bracket is directly assembled and connected to the frame. On the one hand, it is convenient to assemble the marking island bracket to the frame. On the other hand, it also saves the metal parts used for connecting the marking island bracket and the frame, which has the effect of reducing costs.

[0015] In one embodiment, the scanning device further includes an image acquisition part, and the image acquisition part is arranged at a position below the middle of the frame in the vertical direction and connected to the frame.

[0016] It can be understood that through the above structural settings, the force generated by the image acquisition part on the frame during assembly can be downward, which can improve the stability of the scanning device when placed flat.

[0017] In one embodiment, the scanning device further includes an image acquisition part, and the image acquisition part is installed on the frame;

[0018] Wherein, the image acquisition part includes a control circuit board, a heat dissipation housing and a heat conduction plate. The heat conduction plate is installed on the heat dissipation housing and is in contact with the control circuit board, and the heat conduction coefficient of the heat conduction plate is greater than that of the heat dissipation housing.

[0019] It can be understood that through the above structural settings, the heat generated when the control circuit board works can be quickly transferred to the heat dissipation housing through the heat conduction plate, and the heat dissipation of the control circuit board is realized. In this way, the heat conduction during the heat dissipation of the control circuit board can be accelerated, which has the effect of improving the heat dissipation efficiency during the heat dissipation of the control circuit board, avoiding the rapid accumulation of heat in a certain area of the control circuit board, so as to ensure the service life and reasonable working temperature range of the electronic components on the control circuit board.

[0020] In one embodiment, the heat conduction plate is installed in the heat dissipation housing in an inlaid manner.

[0021] It can be understood that through the above structural settings, it is convenient to assemble the heat conduction plate to the heat dissipation housing.

[0022] In one embodiment, the scanning device further includes a laser, and the laser is installed on the frame;

[0023] Among them, the laser has three multi-line laser modules, and the three multi-line laser modules are arranged at the peripheral positions of the center line of the laser.

[0024] It can be understood that through the above structural settings, the number of multi-line laser modules in the laser is increased. On the one hand, this can prevent the scanning device from being mis-identified during operation, and on the other hand, it can also improve the scanning efficiency of the scanning device during operation.

[0025] In one embodiment, the scanning device further includes a grip, and one end of the grip is arranged on and connected to the frame;

[0026] Among them, a support plate is arranged on the frame, and the support plate abuts against the other end of the grip and is connected to the grip.

[0027] It can be understood that through the above structural settings, the force generated by the grip on the frame during assembly can be made lower. On the one hand, this can improve the stability of the scanning device when placed flat, and on the other hand, it can also ensure the stability of the grip assembled on the frame.

[0028] In one embodiment, the frame is configured as an integral structure.

[0029] It can be understood that through the above structural settings, the frame can be integrally prepared by a mold without assembly. This not only facilitates the production and preparation of the frame, but also ensures the structural strength of the frame, thereby improving the stability of the overall structure of the frame.

[0030] This application also provides a tracking three-dimensional scanning device, including a tracking device and the scanning device described above.

[0031] Due to the application of the above technical solution, the present utility model has the following advantages compared with the prior art:

[0032] For the scanning device and the tracking three-dimensional scanning device claimed in this application, when the scanning device is applied to the tracking three-dimensional scanning device and operates, at least two marker points on the marker island are more easily identified by the tracking device. On the one hand, this can increase the scanning test distance of the scanning device during operation, playing a role in expanding the scanning test space, and on the other hand, it can also improve the scanning accuracy of the scanning device during operation. Description of the Drawings

[0033] To more clearly illustrate the technical solutions in the embodiments of the present application or in the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can also be obtained based on these drawings.

[0034] Figure 1 Schematic diagram of a scanning device provided by an embodiment of the present application;

[0035] Figure 2 Partial structural schematic diagram of another perspective of the scanning device provided by an embodiment of the present application;

[0036] Figure 3 For Figure 2 Enlarged view of part A in;

[0037] Figure 4 Cross-sectional view of the scanning device provided by an embodiment of the present application;

[0038] Figure 5 For Figure 4 Enlarged view of part B in;

[0039] Figure 6 Schematic diagram of the structure of the marking island in the present application;

[0040] Figure 7 Schematic diagram of the structure of the image acquisition part in the present application.

[0041] Reference numerals: 100, scanning device; 10, frame; 11, metal insert; 12, support plate; 20, marking island; 21, marking point; 22, marking island bracket; 221, plug connector; 2211, anti-fooling part; 30, image acquisition part; 301, control circuit board; 302, heat dissipation housing; 303, heat conducting plate; 31, laser; 311, multi-line laser module; 312, single-line laser module; 313, short-distance laser module; 32, camera; 40, grip. Detailed implementation manners

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, rather than all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present utility model.

[0043] It should be noted that when an element is referred to as "provided on" another element, it can be directly provided on the other element or there may also be an intermediate element. When an element is considered to be "provided on" another element, it can be directly provided on the other element or there may be an intermediate element at the same time. When an element is considered to be "fixed to" another element, it can be directly fixed to the other element or there may be an intermediate element at the same time.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this utility model belongs. The terms used in the specification of this utility model are only for the purpose of describing specific embodiments and are not intended to limit this utility model. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0045] As Figure 1 、 Figure 2 and Figure 4 As shown, the scanning device 100 provided by an embodiment of the present application includes a frame 10 and a plurality of marking islands 20. The plurality of marking islands 20 are arranged on the periphery of the frame 10 and are respectively connected to the frame 10. Among them, at least two marking points 21 in each marking island 20 can be recognized simultaneously, and the diameter of each marking point 21 is set to D, where 25 mm ≥ D > 10 mm. Here, the diameter D of the marking point 21 is larger than the size of the marking points on the existing marking islands, so that the marking point 21 is easier to be recognized; at least two marking points 21 in each marking island 20 can be recognized simultaneously, specifically, at least two marking points 21 are recognized when a single marking island 20 is at any angle.

[0046] It can be understood that when the scanning device 100 is applied to a tracking three-dimensional scanning device (not shown in the figure) and works, at least two marking points 21 on the marking island 20 are easier to be recognized by the tracking device. On the one hand, this can increase the scanning test distance when the scanning device 100 works, and has the effect of expanding the scanning test space. On the other hand, it can also improve the scanning accuracy when the scanning device 100 works.

[0047] It should be noted that since the diameter D of the marking points 21 on the marking island 20 of the present application is set as described above, the scanning device 100 can scan a test space of 1.5 m - 9 m when it works. However, it is necessary to consider the increase in the size of the metal structural parts caused by the increase in the diameter of the marking points 21, which leads to an increase in the overall weight of the scanning device 100. Therefore, the weight of the scanning device 100 of the present application is controlled at about 1.4 KG, so that the operator feels more comfortable when holding the scanning device 100.

[0048] As Figure 1 、 Figure 2 andFigure 4 As shown, the frame 10 is configured as an integral structure, enabling the frame 10 to be integrally prepared by a mold without assembly. This not only facilitates the production and preparation of the frame 10 but also ensures the structural strength of the frame 10, thereby improving the stability of the overall structure of the frame 10. Here, the frame 10 is made of a carbon fiber prepreg laminate and is an integral carbon fiber structure, with better structural strength and stability. Among them, the interior of the frame 10 is a hollow structure, and foam materials can also be filled locally. On the one hand, this avoids the weight gain of a solid structure, and on the other hand, it can also increase the strength. It should be noted that the overall structure of the frame 10 is mainly based on an icosahedron. The positions of the marking islands 20 on the frame 10 are mainly arranged at the vertices of the icosahedron (i.e., the connection points of the edges), and the stability of the marking islands 20 is ensured by the stability of the frame 10.

[0049] As Figure 6 shown, the marking island 20 includes a marking island bracket 22. The marking island bracket 22 is installed on the frame 10 and is used to carry the marking points 21. Among them, the number of marking points 21 is configured to be ten. Nine of the marking points 21 are arranged at intervals in sequence along the circumferential direction of the marking island bracket 22, and the remaining one marking point 21 is arranged on the side of the marking island bracket 22 away from the frame 10. That is to say, the number of marking points 21 in this marking island 20 is one more than the number of marking points in the existing marking islands. Namely, the number of marking points 21 in the marking island 20 is increased, which can further improve the scanning accuracy when the scanning device 100 works.

[0050] As Figure 5 shown, the marking island bracket 22 can be inserted and mated with the frame 10 and connected to the frame 10, thereby realizing the assembly connection of the marking island bracket 22 on the frame 10. On the one hand, this facilitates the assembly of the marking island bracket 22 to the frame 10, and on the other hand, it also saves the metal parts used for connecting the marking island bracket 22 and the frame 10, which has the effect of reducing costs.

[0051] Preferably, as Figure 3 shown, the marking island bracket 22 has a plug connector 221. The plug connector 221 can be inserted into the frame 10, and then connectors such as screws and bolts are passed through the plug connector 221 and screwed to the corresponding metal inserts 11 inside the frame 10 to realize the assembly connection between the marking island bracket 22 and the frame 10. Here, an anti-fooling portion 2211 is formed on the plug connector 221, and the anti-fooling portion 2211 is used to position the position of the marking island bracket 22 during the assembly on the frame 10. This not only facilitates the assembly of the marking island 20 on the frame 10 but also ensures the accuracy of the assembly position of the marking island 20 on the frame 10.

[0052] As Figure 1 , Figure 2 andFigure 4 As shown, the scanning device 100 further includes an image acquisition section 30, which is disposed below the middle of the frame 10 in the vertical direction and is connected to the frame 10. That is to say, when the image acquisition section 30 is assembled on the frame 10, the force generated on the frame 10 is downward, which can improve the stability of the scanning device 100 when placed flat. Here, the image acquisition section 30 includes a laser 31 and two cameras 32, and the two cameras 32 are arranged on both sides of the laser 31 in the horizontal direction.

[0053] As Figure 7 shown, the image acquisition section 30 includes a control circuit board 301, a heat dissipation housing 302, and a heat conducting plate 303. The heat conducting plate 303 is installed on the heat dissipation housing 302 and is in contact and cooperation with the control circuit board 301. The heat conductivity coefficient of the heat conducting plate 303 is greater than that of the heat dissipation housing 302, so that the heat generated when the control circuit board 301 works can be quickly transferred to the heat dissipation housing 302 through the heat conducting plate 303, and heat dissipation of the control circuit board 301 is achieved. In this way, the heat conduction during heat dissipation of the control circuit board 301 can be accelerated, which has the effect of improving the heat dissipation efficiency during heat dissipation of the control circuit board 301, avoiding the accumulation of heat in a certain area of the control circuit board 301 quickly, and ensuring the service life and reasonable working temperature range of the electronic components on the control circuit board 301. Here, the heat conducting plate 303 is configured as a copper plate, and the heat dissipation housing 302 is made of aluminum. In addition, the scanning device 100 can also fill the gaps existing between the heat conducting plate 303, the heat dissipation housing 302, and the control circuit board 301 with thermal grease (not shown in the figure) to further enhance the heat conduction of the control circuit board 301 when working. It should be noted that the control circuit board 301 is used to control the laser 31 and the two cameras 32.

[0054] Preferably, as Figure 7 shown, the heat conducting plate 303 is installed in the heat dissipation housing 302 in an inlaid manner, which is convenient for assembling the heat conducting plate 303 onto the heat dissipation housing 302. Here, the number of the heat conducting plates 303 is two, and the two heat conducting plates 303 are arranged at intervals in the vertical direction. Among them, the length of each heat conducting plate 303 can be matched with the heat dissipation housing 302, and a heat conducting medium can also be poured into the heat conducting plate 303 to further improve the heat conduction effect of the heat conducting plate 303.

[0055] As Figure 3As shown, the laser 31 has three multi-line laser modules 311. The three multi-line laser modules 311 are arranged at the peripheral positions of the center line of the laser 31 to improve the scanning efficiency when the scanning device 100 works. Here, the lasers alternately projected by the three multi-line laser modules 311 as a whole present a cross-shaped structure; in addition, the laser 31 also has a single-line laser module 312 and a short-distance laser module 313. One of the single-line laser module 312 and the short-distance laser module 313 is arranged on the center line of the laser 31, and the other is enclosed with the three multi-line laser modules 311 at the periphery of the center line of the laser 31. It should be noted that when the laser 31 works in a round-robin manner, the laser reconstruction accuracy can be improved, the three-dimensional reconstruction failure caused by misidentification can be avoided, and thus the laser scanning accuracy can be improved.

[0056] As Figure 1 , Figure 2 and Figure 4 shown, the scanning device 100 further includes a grip 40. One end of the grip 40 is arranged on and connected to the frame 10; wherein, a support plate 12 is arranged on the frame 10, and the support plate 12 abuts against the other end of the grip 40 and is connected to the grip 40. In this way, the force generated by the grip 40 on the frame 10 during the assembly of the grip 40 on the frame 10 can be made downward. On the one hand, the stability of the scanning device 100 when placed flat can be improved. On the other hand, since the other end of the grip 40 is connected to the support plate 12 on the frame, the stability of the grip 40 assembled on the frame 10 can be ensured. Here, the number of the support plates 12 is two, and the two support plates 12 are arranged on both sides of the grip 40. And the support plate 12 is specifically connected to the grip 40 through connecting pieces such as screws and bolts.

[0057] In addition, the present application also provides a tracking three-dimensional scanning device, including a tracking device (not shown in the figure) and the above-mentioned scanning device 100.

[0058] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0059] Those of ordinary skill in the art of the present technology should recognize that the above embodiments are only used to illustrate the present invention, rather than to limit the present invention. As long as within the spirit of the present invention, appropriate changes and variations made to the above embodiments fall within the scope of the present invention claimed.

Claims

1. A scanning device, characterized in that: The scanning device (100) comprises: Frame (10); A plurality of marking islands (20) are arranged on the periphery of the frame (10) and are respectively connected to the frame (10), wherein at least two marking points (21) in each of the marking islands (20) can be simultaneously identified by a tracking device, and the diameter of each of the marking points (21) is set to D, 25 mm ≥ D > 10 mm.

2. The scanning device according to claim 1, characterized in that: The marking island (20) comprises a marking island bracket (22), wherein the marking island bracket (22) is mounted on the frame (10) and is used to carry the marking point (21); The number of the marking points (21) is configured to be ten, nine of which are arranged in sequence and spaced apart along the circumferential direction of the marking island bracket (22), and the remaining marking point (21) is arranged on a side of the marking island bracket (22) away from the frame (10).

3. The scanning device according to claim 1, characterized in that: The marking island (20) comprises a marking island bracket (22), and the marking island bracket (22) can be plugged into and matched with the frame (10) and connected to the frame (10); The marking island bracket (22) is used to carry the marking point (21).

4. The scanning device according to claim 1, characterized in that: The scanning device (100) further comprises an image acquisition part (30), wherein the image acquisition part (30) is arranged below the middle of the frame (10) in the vertical direction and is connected to the frame (10).

5. The scanning device according to claim 1, characterized in that: The scanning device (100) further comprises an image acquisition part (30), wherein the image acquisition part (30) is mounted on the frame (10); The image acquisition part (30) comprises a control circuit board (301), a heat dissipation housing (302) and a heat conducting plate (303); the heat conducting plate (303) is mounted on the heat dissipation housing (302) and is in contact with the control circuit board (301); and the heat conductivity of the heat conducting plate (303) is greater than the heat conductivity of the heat dissipation housing (302).

6. The scanning device according to claim 5, characterized in that: The heat conducting plate (303) is installed in the heat dissipation housing (302) in an embedded manner.

7. The scanning device according to claim 1, characterized in that: The scanning device (100) further comprises a laser (31), wherein the laser (31) is mounted on the frame (10); The laser (31) has three multi-line laser modules (311), and the three multi-line laser modules (311) are arranged at peripheral positions of the center line of the laser (31).

8. The scanning device according to claim 1, characterized in that: The scanning device (100) further comprises a handle (40), one end of which is arranged on the frame (10) and connected to the frame (10); Wherein, a support plate (12) is provided on the frame (10), and the support plate (12) abuts against the other end of the handle (40) and is connected to the handle (40).

9. The scanning device according to claim 1, characterized in that: The frame (10) is configured as an integrated structure.

10. A tracking three-dimensional scanning device, characterized in that: The invention comprises a tracking device and a scanning device (100) as claimed in any one of claims 1 to 9.

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