Tracking type scanner

Abstract

The utility model belongs to the technical field of scanners, and discloses a tracking type scanner. The tracking type scanner comprises marking modules, each marking module comprises a first marking part and a second marking part, the multiple first marking parts are sequentially and annularly arranged along the periphery of a first shaft, the first marking parts are obliquely arranged relative to the first shaft, and the second marking parts are arranged in an annular area defined by the multiple first marking parts; the center of the second marking part and the first shaft are arranged in a staggered mode, and / or a preset angle is formed between the axis of the second marking part and the first shaft, and the preset angle is not equal to 0. According to the utility model, the problems that in the prior art, due to the fact that the marking modules are distributed in a central symmetry mode, identification errors of the marking point modules are possibly caused, and errors of judgment from a certain marking point to another marking point module are possibly caused can be solved, and the identification accuracy is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to scanner technical field especially relates to a tracking scanner. BACKGROUND

[0002] Tracking scanner is a kind of high-precision image capture device, it is through automatic tracking object and real-time scanning, reconstructs the physical model of object by data processing, it is widely applied in many fields.

[0003] The working principle of tracking scanner is: first emit a laser and irradiate on the surface of measured object, laser beam is reflected, in the reflection process, the color and wavelength of laser beam can change;When laser beam is reflected back by object surface, the high-speed camera in tracking scanner can be through fixed shooting angle, and the mark point on the surface of object and the laser beam that are irradiated are photographed.This time, by calculating the position of mark point and the path of laser beam, scanner can determine the three-dimensional coordinates of object surface;After completing the scanning of all mark points on object surface, system will carry out statistics, combination and processing to multiple scanning data, and then generate a model file.

[0004] The mark module of existing tracking scanner is center-symmetric distribution, under certain specific scanning angle, it can cause mark point module identification error, due to the symmetrical distribution of mark module, it can appear the error condition of determining a mark point to another mark point module, reduces the accuracy of identification. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a kind of tracking scanner, to solve the problem of mark module in prior art center-symmetric distribution, it can cause mark point module identification error, and the error of determining a mark point to another mark point module, improve identification accuracy.

[0006] To achieve this purpose, the utility model adopts the following technical solutions:

[0007] Tracking scanner, comprising:

[0008] Mark module, each mark module includes first mark part and second mark part, multiple first mark parts are sequentially annularly arranged along the outer periphery of first shaft, first mark part is arranged obliquely relative to first shaft, second mark part is arranged in annular region formed by multiple first mark parts.

[0009] The center of second mark part is arranged in dislocation with first shaft, and / or,

[0010] The axis of second mark part is arranged at a preset angle with first shaft, and the preset angle is not equal to 0.

[0011] As an alternative to the tracking scanner, the preset angle ranges from 5° to 20°.

[0012] As an alternative to the tracking scanner, the tracking scanner comprises:

[0013] The frame body, the plurality of marking modules are dispersedly arranged and detachably connected to the frame body.

[0014] As an alternative to the tracking scanner, the frame body is provided with a plurality of mounting grooves, and the marking module comprises a mounting portion which is inserted into the mounting groove to fix the marking module on the frame body.

[0015] As an alternative to the tracking scanner, the mounting portion is a circumferential rotary body, and the mounting groove is a circumferential rotary groove.

[0016] As an alternative to the tracking scanner, the mounting portion is a conical body, and the mounting groove is a conical groove.

[0017] As an alternative to the tracking scanner, the marking module further comprises a connecting piece, the connecting piece is provided with a connecting groove, the mounting portion is inserted into the connecting groove, and the connecting piece is inserted into the mounting groove.

[0018] As an alternative to the tracking scanner, the connecting groove is a conical groove, and the mounting portion is a cylindrical body.

[0019] As an alternative to the tracking scanner, the marking module further comprises a locking piece, the locking piece is threaded through the connecting piece and screwed with the mounting portion, the mounting portion is moved towards the inside of the connecting groove by screwing the locking piece to lock the marking module.

[0020] As an alternative to the tracking scanner, the frame body is a hemispherical frame structure formed by a plurality of connecting rods.

[0021] Advantages:

[0022] In the utility model, the center of the second marking portion is arranged in dislocation with the first shaft, namely, the axis of the second marking portion is not parallel with the first shaft, and / or, the axis of the second marking portion is arranged at a preset angle with the first shaft, the preset angle is not equal to 0, namely, the axis of the second marking portion intersects with the first shaft, so that the whole marking module is of an asymmetric structure, thereby avoiding the problem that the symmetrical module is misjudged in recognition at some angles due to the symmetrical recognition point structure, and the recognition accuracy is improved. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1is a first visual angle structure schematic view of a marking module provided by the embodiment of the utility model;

[0024] Figure 2 is a second visual angle structure schematic view of a marking module provided by the embodiment of the utility model;

[0025] Figure 3 is a sectional view of a tracking scanner provided by the embodiment of the utility model;

[0026] Figure 4 is Figure 3 the local enlarged view at A.

[0027] in the figure:

[0028] 1, first shaft;

[0029] 100, marking module, 110, first marking part, 120, second marking part, 130, mounting part, 140, connecting piece, 141, connecting groove, 150, locking piece;

[0030] 200, frame body, 210, mounting groove, 220, connecting rod. DETAILED DESCRIPTION

[0031] The utility model will be further explained in detail in combination with the drawings and embodiments. It can be understood that the specific embodiments described here are only used to explain the utility model, and not to limit the utility model. In addition, it should be noted that in order to facilitate the description, only the part related to the utility model is shown in the drawings, not all the structures.

[0032] In the description of the utility model, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship of two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0033] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0034] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0035] Please see the appendix Figure 1 and attached Figure 2 This embodiment relates to a tracking scanner (hereinafter referred to as "scanner"), which includes a marking module 100. Each marking module 100 includes a first marking part 110 and a second marking part 120. A plurality of first marking parts 110 are arranged sequentially around the outer periphery of a first axis 1. The first marking parts 110 are inclined relative to the first axis 1. The second marking parts 120 are placed within the annular area formed by the plurality of first marking parts 110. The center of the second marking part 120 is offset from the first axis 1, and / or the axis of the second marking part 120 is set at a preset angle with the first axis 1, the preset angle being not equal to 0. Specifically, the plurality of first marking parts 110 and the second marking parts 120 are all circular metal plate structures, the surface of which is used to reflect laser beams. The number of first marking parts 110 on the same marking module 100 can be adjusted accordingly. The plurality of first marking parts 110 are arranged around the outer periphery of the first axis 1 and inclined relative to the first axis 1 to form an annular conical structure. Further, the second marking part 120 is placed inside the annular conical structure. Existing modules typically employ a centrally symmetrical structure, where the axis of the second marking section 120 coincides with the first axis 1. However, this symmetrical module structure may misidentify a marking point as another marking point during use, especially at specific angles when the scanner enters the section, leading to recognition errors and increasing the difficulty of recognition.

[0036] The embodiment sets the center of the second marking part 120 to be misaligned with the first shaft 1, that is, the axis of the second marking part 120 is not parallel to the first shaft 1, or the axis of the second marking part 120 is set to be at a preset angle with the first shaft 1, the preset angle is not equal to 0, that is, the axis of the second marking part 120 intersects with the first shaft 1, so that the entire marking module 100 is in an asymmetric structure, thereby avoiding the problem of misjudgment of the recognition point structure of the center-symmetric module of the scanner in the prior art at some angles, and improving the recognition accuracy.

[0037] It should be noted that the misalignment of the center of the second marking part 120 with the first shaft 1 and the preset angle setting scheme can be selected one of the two, or both schemes can be used at the same time, and the specific setting position can be reasonably adjusted according to the pre-test.

[0038] As a preferred, the preset angle is in the range of 5°-20°.

[0039] In the embodiment, the preset angle is in the range of 5°-20°, which can not only ensure the effectiveness of the second marking part 120 to avoid misjudgment, but also further take into account the success rate of the reflection of the second marking part 120, because once the preset angle is too large, the inclination of the reflection surface of the second marking part 120 increases, and the success rate of the second marking part 120 emission being received decreases.

[0040] Please refer to the accompanying drawings Figure 3 and the accompanying drawings Figure 4 The scanner further comprises a frame body 200, and the plurality of marking modules 100 are dispersedly arranged and detachably connected to the frame body 200.

[0041] Specifically, the frame body 200 is in a hemispherical shape and is connected by a plurality of connecting rods 220 to form a frame structure, and the plurality of marking modules 100 are dispersedly arranged on the frame body 200, and can be detachably connected by means of clamping, screwing or interference fit, etc. to improve the assembly and ensure the assembly efficiency. The frame structure of the frame body 200 can improve the heat dissipation effect and reduce the overall weight.

[0042] Optionally, the frame body 200 is provided with a plurality of mounting grooves 210, and the marking module 100 comprises a mounting part 130, which is inserted into the mounting groove 210, so that the marking module 100 is fixed on the frame body 200.

[0043] Specifically, at a position corresponding to each marking module 100 on the frame body 200, a mounting groove 210 is arranged, and the marking module 100 comprises a mounting part 130 which is directly inserted into the mounting groove 210 and then fixed by a tight fit, so that the marking module 100 is fixed, which is convenient to install and reliable in connection.

[0044] Optionally, the mounting part 130 is a circumferential rotary body, and the mounting groove 210 is a circumferential rotary groove.

[0045] In an implementation form of the embodiment, the mounting portion 130 is a circumferential rotary body, and the mounting groove 210 is a circumferential rotary groove. In combination with the asymmetric structure of the marking module 100, the position randomness of each marking module 100 after installation can be ensured, and the identification accuracy of the whole scanner can be further improved. Further, the mounting portion 130 is a cone, and the mounting groove 210 is a conical groove. The cooperation of the conical surfaces can avoid the use of excessive connecting parts, and the cooperation of the conical surfaces has better centring property. After the insertion, the connection between the mounting portion 130 and the mounting groove 210 is realized by tight fit.

[0046] Optionally, the marking module 100 further comprises a connecting piece 140, the connecting piece 140 is provided with a connecting groove 141, and the mounting portion 130 is inserted into the connecting groove 141. The connecting piece 140 is inserted into the mounting groove 210.

[0047] In another implementation form of the embodiment, the marking module 100 is connected to the frame 200 through the connecting piece 140. Specifically, the mounting portion 130 is inserted into the connecting groove 141 of the connecting piece 140, and then the connecting piece 140 is inserted into the mounting groove 210.

[0048] In the embodiment, the connecting piece 140 can avoid the direct cooperation between the marking module 100 and the frame 200, so as to avoid the wear of the mounting portion 130 of the marking module 100. At the same time, the connecting piece 140 can be directly replaced, so as to improve the convenience of assembly and maintenance.

[0049] Further, the connecting groove 141 is a conical groove, and the mounting portion 130 is a cylinder.

[0050] In the embodiment, the mounting portion 130 of the cylinder and the connecting groove 141 of the cone are in interference fit, have good centring property, and can be conveniently connected.

[0051] Further, the marking module 100 further comprises a locking piece 150, the locking piece 150 is inserted into the connecting piece 140 and is screwed with the mounting portion 130. The locking piece 150 is rotated to move the mounting portion 130 towards the inside of the connecting groove 141, so as to lock the marking module 100.

[0052] Specifically, the locking piece 150 can be a screw. The locking piece 150 is inserted into the connecting groove 141 from the end of the connecting piece 140 away from the mounting portion 130 and is screwed with the mounting portion 130. During the rotation of the locking piece 150, the mounting portion 130 is locked in the connecting piece 140, so as to avoid the loosening of the marking module 100 from the frame 200 due to vibration and other factors, and improve the reliability of the connection between the marking module 100 and the frame 200.

[0053] Those skilled in the art can understand that, besides the connecting piece 140, a circumferential clamping structure can be arranged inside the connecting piece 140 and clamped with the outer wall of the mounting portion 130 to realize the fixed connection of the two, and this clamping structure usually needs to be arranged along the circumference to ensure that the state of the marking module 100 after installation is random.

[0054] Obviously, the above embodiments of the present application are only examples for clearly illustrating the present application, and are not intended to limit the embodiments of the present application. For those skilled in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the protection scope of the present application. Here, it is not necessary and impossible to enumerate all the embodiments. Any modification, equivalent substitution and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A tracking scanner, characterized in that, The application relates to a tracking scanner. The tracking scanner comprises: a plurality of marking modules (100) which are arranged in a scattered manner and detachably connected to a frame body (200). The frame body (200) is provided with a plurality of mounting grooves (210), and the marking module (100) comprises a mounting part (130) which is inserted into the mounting groove (210) so that the marking module (100) is fixed on the frame body (200).

2. The tracking scanner of claim 1, wherein, The mounting part (130) is a circumferential rotary body, and the mounting groove (210) is a circumferential rotary groove.

3. The tracking scanner of claim 1, wherein, The mounting part (130) is a circular cone, and the mounting groove (210) is a circular cone-shaped groove. The marking module (100) further comprises a connecting piece (140) which is provided with a connecting groove (141), the mounting part (130) is inserted into the connecting groove (141), and the connecting piece (140) is inserted into the mounting groove (210).

4. The tracking scanner of claim 3, wherein, The connecting groove (141) is a circular cone-shaped groove, and the mounting part (130) is a circular cylinder.

5. The tracking scanner of claim 4, wherein, The marking module (100) further comprises a locking piece (150) which is penetrated through the connecting piece (140) and is screwed with the mounting part (130), the mounting part (130) is moved towards the inside of the connecting groove (141) by rotating the locking piece (150), and the marking module (100) is locked.

6. The tracking scanner of claim 5, wherein, The frame body (200) is a hemispherical frame structure which is formed by a plurality of connecting rods (220).

7. The tracking scanner of claim 4, wherein, ​ 8. The tracking scanner of claim 7, wherein, ​ 9. The tracking scanner of claim 8, wherein, ​ 10. The tracking scanner of any of claims 3-9, wherein, ​

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