Tracking assembly and tracking type three-dimensional scanner

Abstract

The utility model discloses a tracking assembly and a tracking type three-dimensional scanner, and the tracking assembly comprises a tracking device and a support module, and the tracking device is used for tracking the spatial pose of a scanning device in a tracking range; the support module comprises a position adjusting mechanism and a supporting mechanism, the position adjusting mechanism is connected with the tracking device and the supporting mechanism, and the position adjusting mechanism can automatically drive the tracking device to change the position relative to the supporting mechanism so as to adjust the tracking range. Wherein the tracking equipment is electrically connected with the position adjusting mechanism and is used for supplying power to the position adjusting mechanism and controlling the position adjusting mechanism to work. According to the tracking equipment, the tracking range can be automatically adjusted through the bracket module, and manual adjustment is avoided, so that the labor intensity of operators can be reduced, and the working efficiency can be improved; in the process, the tracking device is used for providing power for the support module and controlling work, so that the structural design of the support module can be simplified, and the effect of reducing cost is achieved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the related technical field of scanning equipment, especially a tracking assembly and a tracking three-dimensional scanner. BACKGROUND

[0002] The tracking device is an important component of the tracking three-dimensional scanner and is used to provide a tracking range for the scanning device so that the scanning device can scan a target object located in the tracking range.

[0003] At present, when the existing tracking three-dimensional scanner works on site, the tracking device is usually fixed on a tripod head to provide a stable tracking range for the scanning device. According to the scanning requirements of the scanning device, when it is necessary to adjust the posture (including but not limited to orientation and pitch angle) of the tracking device, the tripod head needs to be manually adjusted to achieve the purpose, so that the tracking three-dimensional scanner needs to adjust the tripod head back and forth until the posture of the tracking device meets the requirements during use, which is not only cumbersome to operate but also low in efficiency. SUMMARY

[0004] Therefore, it is necessary to provide a tracking assembly and a tracking three-dimensional scanner for solving the above technical problems.

[0005] A tracking assembly, the tracking assembly comprising:

[0006] A tracking device for tracking the spatial pose of a scanning device in a tracking range;

[0007] A support module comprising a position adjusting mechanism and a supporting mechanism, the position adjusting mechanism being connected to the tracking device and the supporting mechanism respectively, and the position adjusting mechanism being capable of automatically driving the tracking device to change the position relative to the supporting mechanism to adjust the tracking range;

[0008] The tracking device is electrically connected to the position adjusting mechanism to supply power to the position adjusting mechanism and control the operation of the position adjusting mechanism.

[0009] It can be understood that, through the above structure, the tracking device can automatically adjust the tracking range through the support module to meet the scanning requirements of the scanning device on the target object, avoiding manual adjustment, which not only reduces the labor intensity of the operator but also improves the work efficiency. In this process, the tracking device provides power to the support module and controls the operation, which can simplify the structure design of the support module and reduce the cost.

[0010] In one embodiment, the tracking device and the position adjusting mechanism are electrically connected through a cable.

[0011] In one of the embodiments, the tracking device and the position adjusting mechanism are electrically connected through a contact matching structure.

[0012] In one of the embodiments, the position adjusting mechanism comprises a clamping assembly, and the tracking device is detachably connected to the clamping assembly.

[0013] It can be understood that, through the above structure, the tracking device can decide whether to configure the support module according to different needs, so as to meet different use requirements.

[0014] In one of the embodiments, the position adjusting mechanism has a first connecting end and a second connecting end, and the second connecting end can change position relative to the first connecting end.

[0015] The first connecting end is fixedly arranged relative to the tracking device and is electrically connected to the tracking device, and the second connecting end is fixedly connected to the support mechanism.

[0016] It can be understood that, through the above structure, the position change of the tracking device will not affect the electrical connection between the position adjusting mechanism and the tracking device, so as to ensure the connection stability of the electrical connection between the tracking device and the position adjusting mechanism.

[0017] In one of the embodiments, the position adjusting mechanism comprises a horizontal driving member, and the horizontal driving member is drivingly connected to the support mechanism and the tracking device respectively, and the tracking device can change position in the horizontal direction under the driving of the horizontal driving member.

[0018] It can be understood that, through the above structure, the position adjusting mechanism can autonomously drive the tracking device to change position in the horizontal direction through the horizontal driving member, so as to realize the adjustment of different orientations of the tracking device, so as to meet the use requirement of autonomous adjustment of different orientations of the tracking device.

[0019] In one of the embodiments, the position adjusting mechanism comprises a vertical driving member, and the vertical driving member is arranged between the support mechanism and the tracking device and is drivingly connected to the support mechanism and the tracking device respectively.

[0020] The vertical driving member can drive the tracking device to change position in the vertical direction relative to the support mechanism.

[0021] It can be understood that, through the above structure, the position adjusting mechanism can drive the tracking device to change the position in the vertical direction through the vertical driving member, so that the adjustment of the pitch angle of the tracking device can be realized, so as to meet the use requirement of automatically adjusting the different pitch angles of the tracking device.

[0022] In one of the embodiments, the position adjusting mechanism comprises a horizontal driving member and a vertical driving member, both of which are arranged between the support mechanism and the tracking device and are respectively in transmission connection with the support mechanism and the tracking device.

[0023] The horizontal driving member can drive the tracking device to change the position in the horizontal direction relative to the support mechanism, and the vertical driving member can drive the tracking device to change the position in the vertical direction relative to the support mechanism.

[0024] It can be understood that, through the above structure, the position adjusting mechanism can not only adjust the different orientations of the tracking device, but also adjust the different pitch angles of the tracking device, so as to meet the use requirement of automatically adjusting the different orientations and the different pitch angles of the tracking device.

[0025] In one of the embodiments, the horizontal driving member is in transmission connection with the tracking device through the vertical driving member, and the horizontal driving member can drive the vertical driving member and the tracking device to change the position in the horizontal direction relative to the support mechanism at the same time.

[0026] In addition, the application also provides a tracking three-dimensional scanner, which comprises a scanning device and the tracking assembly.

[0027] The tracking device is used for tracking the spatial pose of the scanning device in the tracking range.

[0028] Due to the application of the above technical scheme, the present application has the following advantages compared with the prior art:

[0029] The tracking assembly and the tracking three-dimensional scanner claimed in the application can automatically adjust the tracking range through the bracket module, so as to meet the requirement of the scanning device for scanning the target object, and avoid manual adjustment, which can not only reduce the labor intensity of the operator, but also improve the work efficiency; in this process, the bracket module is powered and controlled by the tracking device, so that the structure design of the bracket module can be simplified, and the cost can be reduced. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings described below only illustrate some of the embodiments of the present application, and do not illustrate all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0031] Figure 1 A structural schematic view of a tracking assembly provided by the present application, wherein the position adjusting mechanism can drive the tracking device to rotate in the horizontal direction.

[0032] Figure 2 A structural schematic view of a tracking assembly provided by the present application, wherein the position adjusting mechanism can drive the tracking device to rotate in the horizontal direction. Figure 1 A structural schematic view of a tracking assembly provided by the present application, wherein the position adjusting mechanism can drive the tracking device to rotate in the horizontal direction.

[0033] Figure 3 A structural schematic view of a tracking assembly provided by the present application, wherein the position adjusting mechanism can drive the tracking device to rotate in the horizontal direction. Figure 1 A structural schematic view of a tracking assembly provided by the present application, wherein the position adjusting mechanism can drive the tracking device to rotate in the horizontal direction.

[0034] Figure 4 A structural schematic view of a tracking assembly provided by the present application, wherein the position adjusting mechanism can drive the tracking device to rotate in the horizontal direction.

[0035] Figure 5 A structural schematic view of a tracking assembly provided by the present application, wherein the position adjusting mechanism can drive the tracking device to rotate in the horizontal direction. Figure 4 A structural schematic view of a tracking assembly provided by the present application, wherein the position adjusting mechanism can drive the tracking device to rotate in the horizontal direction.

[0036] Figure 6 A structural schematic view of a tracking assembly provided by the present application, wherein the position adjusting mechanism can drive the tracking device to rotate in the horizontal direction.

[0037] The drawings are as follows: 100, a tracking assembly; 10, a tracking device; 20, a support module; 201, a first connecting end; 202, a second connecting end; 21, a position adjusting mechanism; 211, a clamping assembly; 212, a horizontal driving member; 213, a vertical driving member; 214, a bent plate; 22, a supporting mechanism; 221, a tripod; 231, a cable; 232, a contact matching structure; 2321, a first electrical connection contact; 2322, a second electrical connection contact. DETAILED DESCRIPTION

[0038] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments only illustrate some of the embodiments of the present application, and do not illustrate all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0039] It is to be noted that when an element is referred to as being "disposed on" another element, it can be directly disposed on the other element or there can be intervening elements. When an element is referred to as being "disposed on" another element, it can be directly disposed on the other element or there can be intervening elements. When an element is referred to as being "fixed on" another element, it can be directly fixed on the other element or there can be intervening elements.

[0040] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0041] As shown in Figure 1 , Figure 2 and Figure 4 , the tracking assembly 100 provided by an embodiment of the application includes a tracking device 10 and a support module 20. The tracking device 10 is used to track the spatial pose of a scanning device (not shown in the figure) within a tracking range. The support module 20 includes a position adjustment mechanism 21 and a support mechanism 22. The position adjustment mechanism 21 is connected to the tracking device 10 and the support mechanism 22, respectively. The position adjustment mechanism 21 can automatically drive the tracking device 10 to change its position relative to the support mechanism 22, so as to adjust the tracking range. The tracking device 10 is electrically connected to the position adjustment mechanism 21, and is used to supply power to the position adjustment mechanism 21 and control the operation of the position adjustment mechanism 21. It is to be noted that the above-mentioned adjustment of the tracking range specifically refers to a change in the area covered by the tracking range. During this process, the size of the area covered by the tracking range is not adjusted.

[0042] It can be understood that when an operator uses a tracking three-dimensional scanner provided with the tracking assembly 100 to scan a target object, the tracking device 10 can automatically adjust the tracking range through the support module 20 according to the scanning requirements of the scanning device for the target object, thereby avoiding manual adjustment. This not only reduces the labor intensity of the operator, but also improves the work efficiency. During this process, the tracking device 10 provides power to the support module 20 and controls the operation, thereby simplifying the structural design of the support module 20 and reducing the cost.

[0043] As shown in Figures 1 to 6As shown in the drawings, in an embodiment, the position adjusting mechanism 21 comprises a clamping assembly 211, and the tracking device 10 is detachably connected to the clamping assembly 211. This enables the tracking assembly 100 to decide whether to configure the support module 20 according to different needs, so as to meet different use requirements. It should be noted that the specific structure of the clamping assembly 211 and the working principle of how to achieve clamping of the tracking device 10 can adopt the existing conventional way, which will not be expanded here.

[0044] As shown in the drawings, Figures 1 to 5 In an embodiment, the position adjusting mechanism 21 further comprises a horizontal driving member 212, which is drivingly connected with the support mechanism 22 and the tracking device 10 respectively. The tracking device 10 can change its position in the horizontal direction under the driving of the horizontal driving member 212, so as to realize the adjustment of different orientations of the tracking device 10, so as to meet the use requirement of autonomous adjustment of different orientations of the tracking device 10. Here, the tracking device 10 is installed on the horizontal driving member 212 through the clamping assembly 211. The horizontal driving member 212 is configured as a rotary motor, the rotating shaft part of the rotary motor is fixedly connected with the support mechanism 22, the body part of the rotary motor is fixedly connected with the tracking device 10, and the rotary motor directly drives the clamping assembly 211 and the tracking device 10 to rotate in the horizontal direction, so that the arbitrary orientation of the tracking device 10 can be autonomously adjusted. It can be understood that in other embodiments, the horizontal driving member 212 can also be a rotary motor which drives the clamping assembly 211 and the tracking device 10 to rotate in the horizontal direction through the transmission of the gear set, or the horizontal driving member 212 is configured as a rotary cylinder, which will not be expanded here.

[0045] As shown in the drawings, Figure 4 , Figure 5As shown, in an embodiment, the position adjusting mechanism 21 further comprises a vertical driving member 213, which is arranged between the support mechanism 22 and the tracking device 10 and is in driving connection with the support mechanism 22 and the tracking device 10 respectively; and the vertical driving member 213 is capable of driving the tracking device 10 to change its position in the vertical direction relative to the support mechanism 22. In this way, the adjustment of the pitch angle of the tracking device 10 can be realized to meet the use requirement of autonomous adjustment of different pitch angles of the tracking device 10. Here, the tracking device 10 can be installed on the vertical driving member 213 through the clamping assembly 211, wherein the vertical driving member 213 can also be configured as a rotary motor, and the body of the rotary motor is used to connect and track the tracking device 10, so that the rotary motor can directly drive the clamping assembly 211 and the tracking device 10 to rotate in the vertical direction, so that any pitch angle of the tracking device 10 can be autonomously adjusted. It can be understood that in other embodiments, the vertical driving member 213 can also be used to drive the clamping assembly 211 and the tracking device 10 to rotate in the vertical direction through the transmission of the gear set, or the vertical driving member 213 is configured as a rotary cylinder, which is not described here.

[0046] As can be seen from the above, the position adjusting mechanism 21 can be used to drive the tracking device 10 to change its position in the horizontal direction through the horizontal driving member 212 to autonomously adjust the orientation of the tracking device 10; or the tracking device 10 can be driven to change its position in the vertical direction through the vertical driving member 213 to autonomously adjust the pitch angle of the tracking device 10; or the horizontal driving member 212 and the vertical driving member 213 are combined, so that the tracking device 10 can change its position in the horizontal direction under the driving of the horizontal driving member 212 and can change its position in the vertical direction under the driving of the vertical driving member 213.

[0047] As shown in the embodiment, Figure 5 As shown, in an embodiment, the horizontal driving member 212 can be in driving connection with the tracking device 10 through the vertical driving member 213, and specifically, the vertical driving member 213 can be in driving connection with the horizontal driving member 212 through the bending plate 214, and correspondingly, the rotating shaft part on the vertical driving member 213 is connected and fixed with the bending plate 214. So that the horizontal driving member 212 can drive the vertical driving member 213 and the tracking device 10 to change their positions in the horizontal direction at the same time when the horizontal driving member 212 works. It can be understood that in other embodiments, the vertical driving member 213 can also be in driving connection with the horizontal driving member 212 and the tracking device 10 through the horizontal driving member 212, so that the vertical driving member 213 can drive the horizontal driving member 212 and the tracking device 10 to change their positions in the vertical direction at the same time.

[0048] As shown in the embodiment, Figure 1 , Figure 2 and Figure 4As shown, the support mechanism 22 is configured as a tripod 221, so that the support module 20 can support the position adjustment mechanism 21 and the tracking device 10 through the tripod 221 to set up the tracking device 10. This can meet the use requirements of the tracking device 10 for tracking the spatial position of the scanning device within the tracking range. It should be noted that the specific structure of the tripod 221 can adopt conventional methods in the prior art and will not be elaborated here. It is understood that in other embodiments, the support mechanism 22 can also be configured as other conventional support platforms, which will not be elaborated here.

[0049] like Figure 2 As shown, in one embodiment, the tracking device 10 and the position adjustment mechanism 21 are electrically connected via a cable 231. Here, both ends of the cable 231 can be electrically connected to the tracking device 10 and the position adjustment mechanism 21 using quick-release connectors.

[0050] like Figure 6 As shown, in one embodiment, the tracking device 10 and the position adjustment mechanism 21 are electrically connected via a contact matching structure 232. Here, the contact matching structure 232 includes a first electrical connection contact 2321 integrated on the clamping assembly 211 of the position adjustment mechanism 21, and a second electrical connection contact 2322 integrated on the tracking device 10. When the tracking device 10 is assembled on the clamping assembly 211, the first electrical connection contact 2321 and the second electrical connection contact 2322 are in contact and conduction.

[0051] like Figures 1 to 5 As shown, the position adjustment mechanism 21 of the present application has a first connection end 201 and a second connection end 202. The second connection end 202 can change position relative to the first connection end 201. The first connection end 201 is fixed relative to the tracking device 10 and electrically connected to the tracking device 10. The second connection end 202 is fixedly connected to the support mechanism 22. This allows the position of the tracking device 10 to change without affecting the electrical connection between the position adjustment mechanism 21 and the tracking device 10, thereby ensuring the stability of the electrical connection between the tracking device 10 and the position adjustment mechanism 21. Here, when the horizontal drive member 212 and the vertical drive member 213 are both rotating motors, the first connection end 201 can be integrated into the electrical box on the body of the rotating motor.

[0052] In summary, the tracking component 100 of the present application can utilize the structural characteristics of the position adjustment mechanism 21 in the bracket module 20 to automatically adjust the different orientations and / or pitch angles of the tracking device 10 to meet the use requirements of the scanning device to scan the target object. Compared with the manual adjustment method, it can not only reduce the labor intensity of the operator, but also improve work efficiency.

[0053] In addition, the application further provides a tracking three-dimensional scanner, comprising a scanning device (not shown in the figure), the tracking assembly 100 described above; wherein the tracking assembly 100 is used to track the space pose of the scanning device within the tracking range.

[0054] The technical features of the above embodiments can be combined in any manner. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present application.

[0055] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present application, and are not used as a limitation of the present application, and as long as the scope of the present application, the appropriate changes and changes made to the above embodiments fall within the scope of the present application.

Claims

1. A tracking assembly, characterized by, The tracking assembly (100) comprises: a tracking device (10) for tracking a spatial pose of a scanning device within a tracking range; a support module (20) comprising a position adjusting mechanism (21) and a support mechanism (22), the position adjusting mechanism (21) being connected with the tracking device (10) and the support mechanism (22) respectively, and the position adjusting mechanism (21) being capable of automatically driving the tracking device (10) to change a position relative to the support mechanism (22) to adjust the tracking range; wherein the tracking device (10) is electrically connected with the position adjusting mechanism (21) to supply power to the position adjusting mechanism (21) and control the position adjusting mechanism (21) to work.

2. The tracking assembly of claim 1, wherein, The tracking device (10) and the position adjusting mechanism (21) are electrically connected through a cable (231).

3. The tracking assembly of claim 1, wherein, The tracking device (10) and the position adjusting mechanism (21) are electrically connected through a contact matching structure (232).

4. The tracking assembly of claim 1, wherein, The position adjusting mechanism (21) comprises a clamping assembly (211), and the tracking device (10) is detachably connected to the clamping assembly (211).

5. The tracking assembly of any one of claims 1 to 3, wherein, The position adjusting mechanism (21) has a first connecting end (201) and a second connecting end (202), and the second connecting end (202) is capable of changing a position relative to the first connecting end (201); wherein the first connecting end (201) is fixedly arranged relative to the tracking device (10) and is electrically connected with the tracking device (10); and the second connecting end (202) is fixedly connected with the support mechanism (22).

6. The tracking assembly of claim 5, wherein, The position adjusting mechanism (21) comprises a horizontal driving member (212), and the horizontal driving member (212) is drivingly connected with the support mechanism (22) and the tracking device (10) respectively, and the tracking device (10) is capable of changing a position in a horizontal direction under the driving of the horizontal driving member (212).

7. The tracking assembly of claim 5, wherein, The position adjusting mechanism (21) comprises a vertical driving member (213), and the vertical driving member (213) is arranged between the support mechanism (22) and the tracking device (10) and is drivingly connected with the support mechanism (22) and the tracking device (10) respectively; the vertical driving member (213) is capable of driving the tracking device (10) to change a position relative to the support mechanism (22) in a vertical direction.

8. The tracking assembly of claim 5, wherein, The position adjusting mechanism (21) comprises a horizontal driving member (212) and a vertical driving member (213), and the horizontal driving member (212) and the vertical driving member (213) are both arranged between the support mechanism (22) and the tracking device (10) and are drivingly connected with the support mechanism (22) and the tracking device (10) respectively; The horizontal driving member (212) can drive the tracking device (10) to change the position relative to the support mechanism (22) in the horizontal direction; and the vertical driving member (213) can drive the tracking device (10) to change the position relative to the support mechanism (22) in the vertical direction.

9. The tracking assembly of claim 8, wherein, The horizontal driving member (212) is in transmission connection with the tracking device (10) through the vertical driving member (213); and the horizontal driving member (212) can drive the vertical driving member (213) and the tracking device (10) to change the position relative to the support mechanism (22) in the horizontal direction at the same time.

10. A tracking three-dimensional scanner characterized by, The tracking assembly (100) according to any one of claims 1 to 9 is included in a scanning device. The tracking device (10) is used to track the spatial pose of the scanning device in a tracking range.

Images