Tracking type three-dimensional scanner

Abstract

The utility model discloses a tracking type three-dimensional scanner. The tracking type three-dimensional scanner comprises a scanner body and a tracker. The scanner comprises a frame, a scanner main body, a first camera, a second camera and a laser transmitter, and a plurality of marking islands are arranged on the frame; the scanner main body is mounted in the frame; the first camera and the second camera are used for image reconstruction, and the first camera and the second camera are both installed on the scanner main body; the laser emitter is used for emitting laser, the laser emitter is installed on the scanner body, and the laser emitter is located between the first camera and the second camera; the tracker is used for tracking the scanner; the laser emitter is a multi-line laser, the multi-line laser can emit more than or equal to 54 laser beams, the scanner further comprises at least one third camera for image reconstruction, and the third camera is installed on the scanner body. Through the arrangement, the reconstruction quality and efficiency of the three-dimensional model of the to-be-measured object can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of three-dimensional scanners, in particular to a tracking type three-dimensional scanner. BACKGROUND

[0002] An optical three-dimensional scanner is a device for obtaining three-dimensional information of a measured object by optical imaging, and is widely used in the fields of industrial product detection, reverse setting, simulation, positioning, etc. The tracking type three-dimensional scanning is a new type of three-dimensional scanning technology, which mainly uses a three-dimensional scanner and a tracker to realize three-dimensional measurement of an object. Compared with the traditional point-pasting type three-dimensional scanning or the photographic type three-dimensional scanning, the tracking type three-dimensional scanning technology is more convenient to use, has better stability, and has a larger measurement range, so that users can easily and conveniently realize three-dimensional measurement in a workshop, outdoors, and various complex environments.

[0003] In order to improve the image reconstruction efficiency of the existing three-dimensional scanner, the laser emitter of the three-dimensional scanner is generally set as a multi-line laser. However, the binocular camera of the existing three-dimensional scanner cannot process too many laser line beams at the same time. If the laser line beams emitted by the multi-line laser are too many and exceed the upper limit of the binocular camera processing, there will be errors in the matching of the laser line beams, thereby reducing the reconstruction accuracy of the binocular camera, and further affecting the reconstruction quality and efficiency of the three-dimensional model. CONTENT OF THE INVENTION

[0004] In order to solve the problems of the prior art, the purpose of the present application is to provide a tracking type three-dimensional scanner which can improve the reconstruction quality and efficiency of the three-dimensional model of the measured object.

[0005] In order to achieve the above-mentioned purpose, the technical scheme adopted by the present application is as follows:

[0006] The tracking type three-dimensional scanner comprises a scanner and a tracker. The scanner comprises a frame, a scanner main body, a first camera, a second camera and a laser emitter, a plurality of marker islands are arranged on the frame; the scanner main body is installed in the frame; the first camera and the second camera are used for image reconstruction, and the first camera and the second camera are both installed on the scanner main body; the laser emitter is used for emitting laser, and the laser emitter is installed on the scanner main body and located between the first camera and the second camera; the tracker is used for tracking the scanner; the laser emitter is a multi-line laser, the multi-line laser can emit a number of laser line beams greater than or equal to 54, and the scanner further comprises at least one third camera used for image reconstruction, and the third camera is installed on the scanner main body.

[0007] Further, the multi-line laser can emit a number of laser line beams greater than or equal to 80 and less than or equal to 200.

[0008] Further, the first camera, the multi-line laser, the second camera and all the third cameras are arranged along a preset straight line direction.

[0009] Further, the first camera, the multi-line laser and the second camera are arranged along a preset straight line direction, a reference plane perpendicular to the preset straight line direction and bisecting the scanner is defined, and all the third cameras are on the reference plane.

[0010] Further, the first camera, the multi-line laser, the second camera and at least one third camera are arranged along a preset straight line direction, a reference plane perpendicular to the preset straight line direction and bisecting the scanner is defined, and the at least one third camera passes through the reference plane.

[0011] Further, the first camera, the second camera and the third cameras form n-view cameras, n is the number of the third cameras plus 2; and the third cameras are black-and-white cameras.

[0012] Further, the third cameras are verification cameras, and the third cameras are black-and-white cameras or color cameras.

[0013] Further, the first camera and the second camera have a preset field of view plane, and an acute angle between an optical axis of the third camera and the preset field of view plane ranges from 80° to 90°, wherein the preset field of view plane is an imaging plane at a focal length of the first camera and the second camera.

[0014] Further, the scanner body includes a holding handle and a mounting body, the scanner includes a front-end computing module for processing images, the holding handle is connected with the frame, the mounting body is connected with the frame, the mounting body is used for mounting the first camera, the second camera and the multi-line laser, and the front-end computing module is mounted on the holding handle or the mounting body.

[0015] Further, the scanner includes a battery module for supplying power to the first camera, the second camera, the multi-line laser, the third cameras and the front-end computing module, and the battery module is mounted in the holding handle; or the scanner is powered by an external power supply.

[0016] Further, the frame is in the shape of a sphere, the frame is a one-piece component, and the frame is made of carbon fiber material.

[0017] The above tracking type three-dimensional scanner can improve the image reconstruction efficiency of the tracking type three-dimensional scanner through the multi-line laser, and can process the laser line bundle emitted by the multi-line laser through the third camera cooperating with the first camera and the second camera, thereby avoiding or reducing the matching error of the laser line bundle, improving the image reconstruction accuracy of the first camera and the second camera through the third camera, and then improving the reconstruction quality and efficiency of the three-dimensional model of the object to be measured. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 A structure diagram of a scanner provided by the embodiment of the present application is shown.

[0019] Figure 2 A front view of a scanner with a first third camera according to an embodiment of the present application.

[0020] Figure 3 A structural schematic view of a scanner with a second third camera according to an embodiment of the present application.

[0021] Figure 4 A front view of a scanner with a second third camera according to an embodiment of the present application.

[0022] Figure 5 A structural schematic view of a scanner with a third third camera according to an embodiment of the present application.

[0023] Figure 6 A front view of a scanner with a third third camera according to an embodiment of the present application.

[0024] Figure 7 A structural schematic view of a scanner with a fourth third camera according to an embodiment of the present application.

[0025] Figure 8 A front view of a scanner with a fourth third camera according to an embodiment of the present application.

[0026] Figure 9 A partial structural sectional view of a scanner according to an embodiment of the present application.

[0027] Wherein, 100, a tracking three-dimensional scanner; 11, a scanner; 110, a scanner main body; 1101, a holding handle; 1102, a mounting main body; 1103, a fixed part; 111, a frame; 1111, an upper part; 1112, a lower part; 1113, a middle part; 112, a marker island; 113, a first camera; 114, a second camera; 115, a laser emitter; 1151, a multi-line laser; 116, a third camera; 118, a front calculation module; 101, a preset straight line; 102, a reference plane; 103, a preset visual field plane. DETAILED DESCRIPTION

[0028] In order to make the personnel in the art better understand the scheme of the present application, the technical scheme in the specific embodiments of the present application will be described clearly and completely below by combining the drawings in the embodiments of the present application.

[0029] It is to be noted that the terms "first", "second", and similar terms used in the specification and claims of the present application do not by their conclusion imply any order, quantity, or importance, but are merely used to distinguish one element from another. Similarly, the terms "a" (or "an"), or "one" or similar terms mean at least one, not one and only one. The terms "plurality" or "a plurality", as well as "multiple" or "a multiple", mean two or more. The terms "front", "back", "left", "right", "up", "down", and the like as used in this application and the appended claims are made only for convenience and are not intended to be limiting. The terms "include", "comprise", and the like as used herein specify the presence of stated features, integers, steps, actions, operations, elements, or components, but do not preclude the presence or addition of one or more other features, integers, steps, actions, operations, elements, components, or groups thereof. The term "connected" or "coupled" as used herein refers to any connection or coupling, either direct or indirect, between or among two or more elements, and can encompass the presence of one or more intermediate elements or components.

[0030] As used in the specification and the appended claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0031] As Figure 1 shown, the present application provides a tracking three-dimensional scanner 100, which comprises a scanner 11 and a tracker. The scanner 11 is used to scan an object to be measured, and the tracker is used to track the scanner 11. Specifically, the tracker comprises at least one tracking camera, which is used to capture the pose of the scanner 11. The tracking camera captures at least two wave bands of positioning features on the scanner 11, which can be self-luminous marker points or reflective marker points. When they are self-luminous marker points, the marker points are at least two self-luminous marker points capable of emitting light of different wave bands; when they are reflective marker points, the tracker further comprises at least two light supplementing devices corresponding to different wave bands of light. The light supplementing devices project light sources of different wave bands on the reflective marker points, and capture the light reflected by the reflective marker points.

[0032] As Figure 1 and Figure 2As shown, in this embodiment, the scanner 11 includes a scanner body 110, a frame 111, a marking island 112, a first camera 113, a second camera 114, and a laser emitter 115. The frame 111 is provided with a plurality of marking islands 112, which are used to support the marking islands 112 and the scanner body 110. The marking islands 112 are used to provide reflective marking points. The scanner body 110 is mounted within the frame 111. The first camera 113 and the second camera 114 are both mounted on the scanner body 110, and the first camera 113 and the second camera 114 form a binocular camera for image reconstruction. The laser emitter 115 is mounted on the scanner body 110, and is located between the first camera 113 and the second camera 114 for emitting laser light. Specifically, the first camera 113, the laser emitter 115, and the second camera 114 are arranged substantially along a predetermined straight line 101.

[0033] More specifically, the marker islands 112 are evenly distributed on the frame 111 , and the number of the observable marker islands 112 is the same when observed from any viewing angle of the tracker.

[0034] In order to clearly illustrate the technical solution of this application, the following is also defined: Figure 1 In the present application, the preset straight line 101 may extend in the up-down direction of the scanner 11, or the preset straight line 101 may extend in the left-right direction of the scanner 11; the first camera 113, the second camera 114, and the laser emitter 115 are all at least partially located in front of the frame 111 and connected to the scanner body 110.

[0035] like Figure 2 As shown, as an implementation, the laser emitter 115 is a multi-line laser 1151 capable of emitting 54 or more laser beams, thereby improving the image reconstruction efficiency of the tracking-type 3D scanner 100. It is understandable that, because the multi-line laser 1151 emits a large number of laser beams, the above configuration will cause the number of laser beams to exceed the processing limit of the first camera 113 and the second camera 114, resulting in errors in the matching of the laser beams, thereby reducing the image reconstruction accuracy of the first camera 113 and the second camera 114, and thus affecting the reconstruction quality and efficiency of the 3D model of the object to be measured.

[0036] In summary, the scanner 11 of the present application further includes at least one third camera 116 for image reconstruction, which is mounted on the scanner body 110. The third camera 116 is capable of processing laser beams that exceed the processing limits of the first camera 113 and the second camera 114. This allows the third camera 116 to cooperate with the first camera 113 and the second camera 114 to process the laser beams emitted by the multi-line laser 1151, thereby avoiding or reducing matching errors of the laser beams. The third camera 116 improves the image reconstruction accuracy of the first camera 113 and the second camera 114, thereby improving the quality and efficiency of the reconstruction of the three-dimensional model of the object to be measured.

[0037] It should be noted that, in the present application, the number of the third cameras 116 can be adjusted according to actual usage requirements, that is, the present application does not limit the number of the third cameras 116.

[0038] As an optional implementation, the multi-line laser 1151 can emit a number of laser beams greater than or equal to 80 and less than or equal to 200, thereby further improving the image reconstruction efficiency of the tracking three-dimensional scanner 100.

[0039] Specifically, the multi-line laser 1151 includes a first emitter and a second emitter, the first emitter can emit a number of laser beams greater than or equal to 40 and less than or equal to 100, and the second emitter can emit a number of laser beams greater than or equal to 40 and less than or equal to 100, and the laser beams emitted by the first emitter and the second emitter at least partially intersect.

[0040] like Figures 1 to 4 As shown, to improve the compactness of the structure of the first camera 113, the second camera 114, the multi-line laser 1151, and at least one third camera 116 on the scanner body 110, as one implementation, the first camera 113, the multi-line laser 1151, the second camera 114, and all third cameras 116 are arranged along a predetermined straight line 101. This eliminates the need for the third cameras 116 to occupy additional space on the frame 111, thereby improving space utilization for the third cameras 116. This also facilitates the coordination of the third cameras 116 with the first camera 113 and the second camera 114, thereby improving the efficiency of scanning the object to be measured. In this case, all third cameras 116 are mounted on the scanner body 110.

[0041] Specifically, along the preset straight line 101, the multi-line laser 1151 and all third cameras 116 are located between the first camera 113 and the second camera 114, that is, the first camera 113 and the second camera 114 are located at the two ends, so as to increase the range that the first camera 113 and the second camera 114 can capture.

[0042] It should be noted that in the present application, the first camera 113, the multi-line laser 1151, the second camera 114 and all the third cameras 116 can be arranged along the up-down direction of the scanner 11, or the first camera 113, the multi-line laser 1151, the second camera 114 and all the third cameras 116 can be arranged along the left-right direction of the scanner 11, and the present application does not make any limitation, as long as the first camera 113, the multi-line laser 1151, the second camera 114 and all the third cameras 116 can be arranged on the scanner body 110.

[0043] As shown in Figure 1 and Figure 2 illustrated, the frame 111 includes an upper portion 1111 and a lower portion 1112, the upper portion 1111 and the lower portion 1112 are integrally formed, and the upper portion 1111 is located above the lower portion 1112. The scanner body 110 is located at the lower portion 1112 of the frame 111.

[0044] As shown in Figure 3 and Figure 4 illustrated, the frame 111 further includes a middle portion 1113, the middle portion 1113 is located between the upper portion 1111 and the lower portion 1112, and the scanner body 110 is located at the middle portion 1113 of the frame 111.

[0045] As shown in Figures 5 to 8 illustrated, in order to improve the compactness of the first camera 113, the second camera 114, the multi-line laser 1151 and the at least one third camera 116, and without changing the original arrangement positions of the first camera 113, the second camera 114 and the multi-line laser 1151, as another implementation manner, the first camera 113, the multi-line laser 1151 and the second camera 114 are arranged along the direction of the preset straight line 101, a reference plane 102 perpendicular to the direction of the preset straight line 101 and bisecting the scanner 11 is defined, and all the third cameras 116 pass through the reference plane 102. That is, the image surrounded by the first camera 113, the second camera 114 and any one third camera 116 is an isosceles triangle or an equilateral triangle. At this time, all the third cameras are mounted on the scanning body 110.

[0046] It should be noted that all the third cameras 116 passing through the reference plane 102 means that each third camera 116 is at least partially located on both sides of the reference plane 102. As an optional implementation manner, each third camera 116 is symmetrically arranged about the reference plane 102.

[0047] It should be noted that the scanning body 110 includes an extension portion extending toward the reference plane 102, and all the third cameras are mounted on the extension portion.

[0048] As shown in Figure 5 and Figure 6As shown in FIG. 1, the third camera 116 can at least partially overlap with the frame 111, i.e. the third camera 116 is at least partially in front of the frame 111 and connected to the extension of the scanning body 110.

[0049] As shown in FIG. 1, the third camera 116 can at least partially overlap with the frame 111, i.e. the third camera 116 is at least partially in front of the frame 111 and connected to the extension of the scanning body 110. Figure 7 Figure 8 As shown in FIG. 1, the third camera 116 can at least partially overlap with the frame 111, i.e. the third camera 116 is at least partially in front of the frame 111 and connected to the extension of the scanning body 110.

[0050] It should be noted that the above two arrangements can improve the structural compactness of the first camera 113, the second camera 114, the multi-line laser 1151 and the at least one third camera 116 on the frame 111, and do not change the original arrangement positions of the first camera 113, the second camera 114 and the multi-line laser 1151.

[0051] It can be understood that the present application can also combine the above two arrangement modes of the third camera 116, and the third camera 116 is at least provided with two. Specifically, the first camera 113, the multi-line laser 1151, the second camera 114 and the at least one third camera 116 are arranged along the direction of the preset straight line 101, a reference plane 102 perpendicular to the direction of the preset straight line 101 and bisecting the scanner 11 is defined, and the at least one third camera 116 passes through the reference plane 102. Through the above arrangement, in the case that the number of third cameras 116 is large, the positions of the third cameras 116 can be reasonably arranged, thereby being conducive to improving the arrangement compactness of the third cameras 116, so as to be conducive to improving the space utilization rate on the frame 111. It should be noted that the third cameras 116 arranged along the direction of the preset straight line 101 are all mounted on the scanning body 110, and the third cameras 116 passing through the reference plane 102 are mounted on the extension or the fixed part 1103 of the scanning body 110.

[0052] As an implementation manner, the third camera 116 can be consistent with the structure and type of the first camera 113 and the second camera 114, i.e. the first camera 113, the second camera 114 and the third camera 116 can constitute an n-eye camera, and n is the number of third cameras 116 plus 2. Specifically, taking the case that the third camera 116 is provided with one as an example, the third camera 116, the first camera 113 and the second camera 114 can constitute a three-eye camera, so as to improve the reconstruction quality and efficiency of the three-dimensional model of the object to be measured.

[0053] ​In the embodiment, the third camera 116 is a black-and-white camera.

[0054] As another implementation manner, the third camera 116 can be inconsistent with the structure and type of the first camera 113 and the second camera 114, that is, the third camera 116 can be a verification camera. When the number of laser line beams acquired by the first camera 113 and the second camera 114 exceeds the processing limit of both, there is an error in matching the laser line beams acquired by the first camera 113 and the laser line beams acquired by the second camera 114, and at this time, the verification camera matches the laser line beams acquired by the first camera 113 and the laser line beams acquired by the second camera 114, thereby facilitating the improvement of the reconstruction quality and efficiency of the three-dimensional model of the object to be measured.

[0055] In the embodiment, the third camera 116 is a black-and-white camera or a color camera, which is not limited in the application.

[0056] As shown in Figure 9 As an implementation manner, the first camera 113 and the second camera 114 have a preset visual field plane 103, and the third camera 116 has an optical axis forming an acute angle a with the preset visual field plane 103, and the range of the acute angle a is 80° to 90°. The preset visual field plane 103 is an imaging plane at the focal length of the first camera 113 and the second camera 114, that is, the preset visual field plane 103 is the best common visual field of the first camera 113 and the second camera 114. Specifically, the preset visual field plane 103 passes through the focal length of the first camera 113 and passes through the focal length of the second camera 114, and the preset visual field plane 103 is arranged substantially perpendicular to the front-to-back direction of the scanner 11.

[0057] At the focal length of the first camera 113 and the second camera 114, the images acquired by the first camera 113 and the second camera 114 are the clearest, so the imaging plane at the focal length of the first camera 113 and the second camera 114 is the best common visual field. Through the above setting, the shooting range of the third camera 116 can be made to coincide with the preset visual field plane 103, and the overlapping area of the shooting range of the third camera 116 and the preset visual field plane 103 can be improved, thereby facilitating the cooperation of the third camera 116 with the first camera 113 and the second camera 114 to improve the reconstruction quality and efficiency of the three-dimensional model of the object to be measured.

[0058] As shown in Figure 7 As an implementation manner, the scanner main body 110 further includes a holding handle 1101 and a mounting body 1102, and the scanner 11 includes a front calculation module 118 for processing images. The holding handle 1101 is connected with the frame 111 to facilitate the operator to hold the scanner 11, thereby improving the scanning efficiency and flexibility of the scanner 11 on the object to be measured.

[0059] The mounting body 1102 is connected with the frame 111, and the mounting body 1102 is used for mounting the first camera 113, the second camera 114 and the multi-line laser 1151, so that the first camera 113, the second camera 114 and the multi-line laser 1151 can be connected with the frame 111 through the mounting body 1102. Specifically, in the case that the third camera 116, the first camera 113, the second camera 114 and the multi-line laser 1151 are arranged along the preset straight line 101, the mounting body 1102 can also be used for mounting the third camera 116, so that the third camera 116 can be fixed on the frame 111 through the mounting body 1102.

[0060] The front-end computing module 118 is used for processing image information acquired by the first camera 113, the second camera 114 and the third camera 116, and the front-end computing module 118 is mounted on the holding handle 1101 or the mounting body 1102, so as to improve the processing efficiency of the scanner 11 on the image.

[0061] In the embodiment, the scanner 11 further comprises a battery module (not shown in the figure), which is used for supplying power for the first camera 113, the second camera 114, the multi-line laser 1151, the third camera 116 and the front-end computing module 118. The battery module is mounted in the holding handle 1101, so that the scanner 11 is not subject to external power supply, and the use flexibility of the scanner 11 is improved.

[0062] It should be noted that the scanner 11 can also be powered by an external power supply, so as to improve the endurance of the scanner 11.

[0063] As an implementation manner, the frame 111 of the present application is a spherical body, so as to facilitate the arrangement of the marker island 112, and facilitate the tracking of the scanner 11 by the tracker. The frame 111 is an integral molding, so as to improve the processing efficiency of the frame 111. Specifically, the frame 111 is made of carbon fiber material, so as to reduce the weight of the frame 111 while meeting the structural strength requirement of the frame 111, so as to realize the lightweight of the frame 111, and facilitate the use of the operator.

[0064] It should be understood that for those skilled in the art, improvements or changes can be made according to the above description, and all these improvements and changes shall belong to the protection scope of the appended claims of the present application.

Claims

1.A tracking three-dimensional scanner, comprising: a scanner, the scanner comprising: a frame, the frame having a plurality of marker islands disposed thereon; a scanner body, the scanner body being mounted within the frame; a first camera and a second camera for image reconstruction, the first camera and the second camera each being mounted on the scanner body; a laser emitter for emitting laser light, the laser emitter being mounted on the scanner body, the laser emitter being located between the first camera and the second camera; a tracker for tracking the scanner; characterized in that, the laser emitter is a multi-line laser, the multi-line laser being capable of emitting a number of laser line beams equal to or greater than 54, the scanner further comprising at least one third camera for image reconstruction, the third camera being mounted on the scanner body. 2.The tracking three-dimensional scanner of claim 1, characterized in that, the multi-line laser is capable of emitting a number of laser line beams equal to or greater than 80 and equal to or less than 200. 3.The tracking three-dimensional scanner of claim 1, characterized in that, the first camera, the multi-line laser, the second camera and all the third cameras are arranged along a predetermined straight line direction. 4.The tracking three-dimensional scanner of claim 1, characterized in that, the first camera, the multi-line laser and the second camera are arranged along a predetermined straight line direction, defining a reference plane perpendicular to the predetermined straight line direction and bisecting the scanner, all the third cameras passing through the reference plane. 5.The tracking three-dimensional scanner of claim 1, characterized in that, the first camera, the multi-line laser, the second camera and at least one third camera are arranged along a predetermined straight line direction, defining a reference plane perpendicular to the predetermined straight line direction and bisecting the scanner, at least one third camera passing through the reference plane. 6.The tracking three-dimensional scanner of claim 1, characterized in that, the first camera, the second camera and the third cameras form n cameras, n being the number of the third cameras plus 2. the third camera is a black-and-white camera. 7.The tracking three-dimensional scanner of claim 1, characterized in that, the third camera is a check camera, the third camera being a black-and-white camera or a color camera. 8.The tracking three-dimensional scanner of claim 1, characterized in that, the first camera and the second camera have a predetermined field of view plane, an acute angle between an optical axis of the third camera and the predetermined field of view plane being in a range of 80° to 90°, wherein the predetermined field of view plane is an imaging plane at a focal length of the first camera and the second camera. 9.The tracking three-dimensional scanner of claim 1, characterized in that, The scanner body includes a holding handle and a mounting body, the scanner includes a front calculation module for processing images, the holding handle is connected with the frame, the mounting body is connected with the frame, the mounting body is used for mounting the first camera, the second camera and the multi-line laser, and the front calculation module is mounted on the holding handle or the mounting body. 10.The tracking three-dimensional scanner of claim 9, wherein, The scanner includes a battery module for powering the first camera, the second camera, the multi-line laser, the third camera and the front calculation module, and the battery module is mounted in the holding handle. Or the scanner is powered by an external power supply. 11.The tracking three-dimensional scanner of claim 1, wherein, The frame is a sphere, the frame is an integral forming piece, and the frame is made of carbon fiber material.

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