Scanning device

Abstract

The embodiment of the utility model provides scanning equipment, which comprises a bracket, a ray machine assembly and at least two groups of cameras, and is characterized in that the ray machine assembly is arranged on the bracket and is used for projecting light rays to a to-be-detected object; the light machine assembly comprises a support and at least two groups of cameras, the at least two groups of cameras are arranged on the support, the scanning ranges of the at least two groups of cameras are different, each group of cameras comprises at least two cameras, the at least two cameras are respectively located at two sides of the light machine assembly, and each group of cameras is used for scanning an image of an object to be measured after light projection. According to the invention, the switching efficiency of the scanning range can be improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of three-dimensional scanning, and particularly relates to a scanning device. BACKGROUND

[0002] A three-dimensional scanning device (3D scanner) is a scientific instrument for detecting and analyzing the shape (geometric structure) and appearance data (such as color, surface reflectivity, and other properties) of objects or environments in the real world. The collected data is often used for three-dimensional reconstruction calculation to create a digital model of the actual object in the virtual world.

[0003] In the related art, most three-dimensional scanning devices can only implement single-range scanning. For a scene requiring switching of scanning ranges, the relevant equipment (for example, a camera) of the three-dimensional scanning device needs to be manually replaced, and the scanning range switching efficiency is low. CONTENT OF THE UTILITY MODEL

[0004] Embodiments of the application provide a scanning device to solve the problem of low scanning range switching efficiency caused by manually replacing the relevant equipment of the scanning device.

[0005] In a first aspect, embodiments of the application provide a scanning device, which comprises a support, a light machine assembly arranged on the support and configured to project light onto a to-be-measured object, and at least two groups of cameras arranged on the support, wherein the scanning ranges of the at least two groups of cameras are different, each group of cameras comprises at least two cameras, the at least two cameras are respectively located on two sides of the light machine assembly, and each group of cameras is configured to scan an image of the to-be-measured object after the light is projected.

[0006] In some embodiments, the light machine assembly is provided with a plurality of light machine focal lengths, and each light machine focal length corresponds to a group of cameras.

[0007] In some embodiments, the light machine assembly comprises a light machine lens and a motor module, the light machine lens is connected to the motor module, the motor module is configured to adjust the light machine focal length of the light machine lens according to the scanning range of the selected camera, and the light machine lens is configured to project light onto the to-be-measured object according to the light machine focal length.

[0008] In some embodiments, the motor module comprises a stepper motor and a motor controller, the stepper motor is connected to the light machine lens and the motor controller, the motor controller is configured to generate a focal length adjustment instruction according to the scanning range of the selected camera, and the stepper motor is configured to adjust the light machine focal length of the light machine lens according to the adjustment instruction.

[0009] In some embodiments, the scanning range of a group of cameras close to the light machine assembly is smaller than the scanning range of another group of cameras far from the light machine assembly.

[0010] In some embodiments, the at least two groups of cameras include a first group of cameras and a second group of cameras.

[0011] In some embodiments, a first camera focal length corresponding to the first group of cameras is different from a second camera focal length corresponding to the second group of cameras.

[0012] In some embodiments, the first group of cameras and the second group of cameras each include two cameras.

[0013] In some embodiments, the first group of cameras and the second group of cameras each include at least two cameras respectively located on two sides of the light machine assembly.

[0014] In some embodiments, the at least two groups of cameras have the same resolution.

[0015] The scanning device provided by the embodiments of the present application includes a support, a light machine assembly, and at least two groups of cameras. The light machine assembly is installed on the support and is used to project light onto an object to be measured. The at least two groups of cameras are installed on the support. The scanning ranges of the at least two groups of cameras are different. Each group of cameras includes at least two cameras, and the at least two cameras are respectively located on two sides of the light machine assembly. Each group of cameras is used to scan an image of the object to be measured after the light is projected. The above device can improve the switching efficiency of the scanning range by installing at least two groups of cameras on the support and automatically switching different groups of cameras to switch different scanning ranges. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the description of the embodiments of the present application will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0017] Figure 1 FIG. 1 is a first structural schematic diagram of a scanning device provided by the embodiments of the present application.

[0018] Figure 2 FIG. 2 is a structural schematic diagram of a light machine assembly provided by the embodiments of the present application.

[0019] Figure 3 FIG. 3 is a second structural schematic diagram of a scanning device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0020] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts are within the scope of the present application.

[0021] Hereinafter, the terms "first" and "second" are used only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, the words "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design solution described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of "exemplary" or "for example" is intended to present the relevant concept in a specific manner.

[0022] 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 the present application belongs. The terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. It should be understood that, in the present application, "at least one" means one or more, unless otherwise specified. "Multiple" means two or more. For example, at least one of a, b or c can represent seven cases of a, b, c, a and b, a and c, b and c, a, b and c.

[0023] The existing three-dimensional scanning device can only realize single-range scanning. For example, a single large-range scanning is realized by using a depth camera such as Kinect, RealSense, Mantis, etc., and a single medium / small-range scanning is realized by using a line structured light scanner, a plane structured light scanner, etc. For a scene requiring switching of scanning ranges, for example, when the overall contour of a to-be-measured object is scanned by using a three-dimensional scanning device, the scanning range of the three-dimensional scanning device is large. When the local details of the to-be-measured object are scanned by using the three-dimensional scanning device, the scanning range of the three-dimensional scanning device is small. At this time, the relevant equipment of the three-dimensional scanning device needs to be manually replaced, for example, the lens on the camera and the light machine is replaced.

[0024] However, the above-mentioned scanning range switching mode is cumbersome, and after the scanning range is switched, recalibration is required before scanning, and the scanning range switching efficiency is low.

[0025] In view of the above problems, the embodiment of the present application provides a scanning device, which can realize switching of different scanning ranges by automatically switching different groups of cameras, and can improve the switching efficiency of the scanning range.

[0026] Figure 1 is a first structural schematic diagram of a scanning device provided by the embodiment of the present application. As shown in Figure 1 , the scanning device 10 comprises a support 11, an optical engine assembly 12 and at least two groups of cameras, wherein the optical engine assembly 12 is arranged on the support 11 and is used for projecting light to a to-be-measured object; the at least two groups of cameras are arranged on the support 11, the scanning ranges of the at least two groups of cameras are different, each group of cameras comprises at least two cameras, the at least two cameras are respectively located on two sides of the optical engine assembly 12, and each group of cameras is used for scanning an image of the to-be-measured object after the light projection. The to-be-measured object can include a car, a mechanical part, a person, an animal, a plant, a building, etc., and the embodiment of the present application does not limit the form of the to-be-measured object.

[0027] In some embodiments, the optical engine focal length affects the depth of field of each group of cameras, that is, the range that can be clearly imaged. A shorter optical engine focal length corresponds to a larger depth of field, is suitable for shooting a to-be-measured object at a close distance, and is suitable for a camera with a smaller scanning range; a longer optical engine focal length corresponds to a smaller depth of field, is suitable for shooting a to-be-measured object at a long distance, and is suitable for a camera with a larger scanning range. The embodiment of the present application provides an optical engine assembly 12 with adjustable optical engine focal length, and the optical engine assembly 12 is provided with a plurality of optical engine focal lengths, each optical engine focal length corresponding to a group of cameras. By providing the optical engine assembly 12 with adjustable optical engine focal length, the optical engine assembly 12 can timely adjust the optical engine focal length when switching different groups of cameras, so that the adjusted optical engine focal length meets the scanning requirements of the camera after switching, and the scanning effect is improved.

[0028] Figure 2 is a structural schematic diagram of an optical engine assembly provided by the embodiment of the present application. As shown in Figure 2 , the optical engine assembly 12 comprises an optical engine lens 121 and a motor module 122, the optical engine lens 121 is connected with the motor module 122, the motor module 122 is used for adjusting the optical engine focal length of the optical engine lens 121 according to the scanning range of the selected camera, so that the optical engine lens 121 projects light to the to-be-measured object according to the optical engine focal length. In some embodiments, the correspondence between the optical engine focal length and the scanning range is set in advance, and by querying the correspondence, the optical engine focal length corresponding to the scanning range of the selected camera can be determined. The embodiment of the present application determines the scanning range of the selected camera by using the motor module 122, and automatically adjusts the optical engine focal length according to the scanning range, thereby avoiding the problem of complicated operation caused by replacing the optical engine lens 121, and improving the scanning efficiency.

[0029] In some embodiments, the motor module 122 includes a stepper motor 1221 and a motor controller 1222, the stepper motor 1221 is connected to the optical engine lens 121 and the motor controller 1222, the motor controller 1222 is configured to generate a focal length adjustment instruction according to a selected scanning range of the camera; and the stepper motor 1221 is configured to adjust the optical engine focal length of the optical engine lens 121 according to the adjustment instruction. The embodiment of the present application adjusts the optical engine focal length of the optical engine lens 121 by using the stepper motor 1221, which can improve the accuracy of the optical engine focal length adjustment, and then improve the scanning effect.

[0030] In some embodiments, the scanning accuracy of each group of cameras is related to the distance between the cameras in the group. When the distance between the cameras in the group is close, more details of the object to be measured can be clearly distinguished and detected; when the distance between the cameras in the group is far, a larger range of scenes can be collected. A group of cameras with a smaller scanning range (for example, the scanning range reaches 160 mm) is arranged close to the optical engine assembly 12, and another group of cameras with a larger scanning range (for example, the scanning range reaches 430 mm) is arranged away from the optical engine assembly 12, that is, the scanning range of the group of cameras close to the optical engine assembly 12 is smaller than the scanning range of the group of cameras away from the optical engine assembly 12. The embodiment of the present application can realize that a group of cameras with a smaller scanning range can collect more local details of the object to be measured, and another group of cameras with a larger scanning range can collect the overall contour of the object to be measured, thereby improving the scanning effect.

[0031] In some embodiments, the at least two groups of cameras can include two or more groups of cameras, for example, three groups of cameras, four groups of cameras, etc. The scanning ranges of each group of cameras are different, or the scanning ranges of some groups of cameras are the same, and the scanning ranges of the other groups of cameras are different, which is not limited herein. The embodiment of the present application takes at least two groups of cameras including a first group of cameras 13 and a second group of cameras 14 as an example for description. The first group of cameras 13 includes at least two cameras, for example, the first group of cameras 13 includes two cameras, three cameras, four cameras, etc., which is not limited herein. The second group of cameras 14 includes at least two cameras, for example, the second group of cameras 14 includes two cameras, three cameras, four cameras, etc., which is not limited herein. The embodiment of the present application takes each group of cameras including two cameras as an example for description, that is, the first group of cameras 13 and the second group of cameras 14 each include two cameras. By arranging the first group of cameras 13 and the second group of cameras 14 to include two cameras, the first group of cameras 13 and the second group of cameras 14 can simultaneously scan the object to be measured from different angles, thereby capturing more surface information of the object to be measured and improving the scanning effect.

[0032] In some embodiments, the focal length of the camera determines the field of view and imaging characteristics that the camera can capture. A smaller focal length results in a wider field of view, allowing the camera to capture more objects, resulting in a shallower depth of field and enhanced background blur. Conversely, a larger focal length results in a narrower field of view, allowing the camera to focus on the subject, leading to a deeper depth of field and reduced background blur. Thus, for larger-area scanning, a camera with a smaller focal length can be selected to capture images of the object under test over a larger area, obtaining the overall outline of the object. For smaller-area scanning, a camera with a larger focal length can be selected to capture images of the object under test over a smaller area, enabling fine scanning of local areas of the object. In some embodiments, the focal length of the first camera (corresponding to the first group of cameras 13) is different from the focal length of the second camera (corresponding to the second group of cameras 14), and the focal length of the first camera is greater than that of the second camera. This embodiment of the application improves scanning performance by setting different focal lengths for the first group of cameras 13 and the second group of cameras 14, enabling each group of cameras to capture images of the object under test within its corresponding scanning range.

[0033] In some embodiments, both the first group of cameras 13 and the second group of cameras 14 include at least two cameras located on either side of the optical engine assembly 12. For example... Figure 1 As shown, the first camera group 13 includes a first camera 131 and a second camera 132, and the second camera group 14 includes a third camera 141 and a fourth camera 142. The first camera 131 and the third camera 141 are located on the left side of the optomechanical assembly 12, and the second camera 132 and the fourth camera 142 are located on the right side of the optomechanical assembly 12. This embodiment of the application places at least two cameras of the first camera group 13 and the second camera group 14 on both sides of the optomechanical assembly 12, enabling the first camera group 13 and the second camera group 14 to simultaneously scan the object under test from different angles, thereby capturing more surface information of the object under test and improving the scanning effect.

[0034] In some embodiments, the at least two sets of cameras have the same resolution. For example, each set of cameras has a resolution of 12 megapixels (MPX). In other embodiments, cameras within a group have the same resolution, but different sets of cameras have different resolutions; for example, the first set of cameras 13 has a resolution of 12 megapixels, and the second set of cameras 14 has a resolution of 14 megapixels. In other embodiments, cameras within a group have different resolutions, and different sets of cameras have different resolutions; for example, in the first set of cameras 13, the first camera 131 has a resolution of 12 megapixels, and the second camera 132 has a resolution of 14 megapixels. In the second set of cameras 14, the third camera 141 has a resolution of 13 megapixels, and the fourth camera 142 has a resolution of 16 megapixels. This application describes embodiments where at least two sets of cameras have the same resolution as an example. By setting the resolution of at least two sets of cameras to be the same, parallax matching errors caused by resolution differences can be reduced, avoiding problems such as inaccurate depth and 3D model distortion, thus improving the scanning effect.

[0035] In the scanning device 10 provided in this application embodiment, by installing at least two sets of cameras on the bracket 11, and the scanning ranges of the at least two sets of cameras are different, the switching efficiency of the scanning range can be improved by automatically switching between different sets of cameras; and this application does not involve replacing the optical engine lens or camera lens, so there is no need to recalibrate the camera, which can improve the scanning efficiency.

[0036] Figure 3 This is a schematic diagram of the second structure of the scanning device provided in an embodiment of this application. For example... Figure 3 As shown, the scanning device 10 includes an optomechanical assembly 12, a first set of cameras 13, a second set of cameras 14, a communication module 15, a memory 16, a processor 17, an input / output (I / O) interface 18, and a bus 19. The processor 17 is coupled to the optomechanical assembly 12, the first set of cameras 13, the second set of cameras 14, the communication module 15, the memory 16, and the input / output interface 18 via the bus 19.

[0037] In some embodiments, the communication module 15 can include a wired communication module and / or a wireless communication module. The communication module 15 can include a wired communication module and / or a wireless communication module. The wired communication module can provide one or more of the following wired communication solutions: universal serial bus (USB), Controller Area Network (CAN) bus, etc. The wireless communication module can provide one or more of the following wireless communication solutions: wireless fidelity (Wi-Fi), Bluetooth (BT), mobile communication network, frequency modulation (FM), near field communication (NFC), infrared (IR) technology, etc.

[0038] In some embodiments, the memory 16 can include one or more random access memories (RAMs) and one or more non-volatile memories (NVMs). The random access memory can be directly readable and writable by the processor 17, can be used to store executable programs (e.g., machine instructions) of programs that are currently running or other programs, and can also be used to store data of users and applications, etc. The random access memory can include static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc.

[0039] In some embodiments, the memory 16 is configured to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 17. The one or more computer programs include a plurality of instructions that, when executed by the processor 17, implement a related scanning method performed on the scanning device 10.

[0040] In some embodiments, the non-volatile memory can also store executable programs and store data of users and applications, etc., which can be loaded in advance into the random access memory for direct reading and writing by the processor 17. The non-volatile memory can include a magnetic disk storage device, a flash memory.

[0041] In other embodiments, the scanning device 10 further includes an external memory interface for connecting an external memory to extend the storage capacity of the scanning device 10.

[0042] In some embodiments, the processor 17 can include one or more processing units, for example: the processor 17 can include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), and / or a neural-network processing unit (NPU), etc. Among them, different processing units can be independent devices, or can be integrated in one or more processors.

[0043] In some embodiments, the processor 17 provides computing and control capabilities, for example, the processor 17 is used to execute computer programs stored in the memory 16 to implement related scanning methods.

[0044] In some embodiments, the input / output interface 18 is used to provide a channel for user input or output, for example, the input / output interface 18 can be used to connect various input / output devices, such as a mouse, a keyboard, a touch device, a display screen, etc., so that the user can enter information, or make the information visualized.

[0045] In some embodiments, the bus 19 is used to provide at least a communication channel between the communication module 15, the memory 16, the processor 17, and the input / output interface 18 in the scanning device 10.

[0046] It can be understood that the structure shown in the embodiments of the present application does not constitute a specific limitation on the scanning device 10. In other embodiments of the present application, the scanning device 10 can include more or fewer components than shown, or combine certain components, or split certain components, or different component arrangements. The components shown can be implemented in hardware, software, or a combination of software and hardware.

[0047] Furthermore, the term "comprising" does not exclude other elements or steps, and the singular does not exclude the plural and vice-versa, unless the context clearly requires these exclusions. The application can be implemented by means of both soft- and hardware, the elements being either specific integrated circuits (application specific ICs) or parts of software units (e.g. code means) arranged to perform the various functionalities.

[0048] Finally, it should be noted that the above-mentioned embodiments illustrate rather than limit the application, since the application is susceptible to modifications and alternative constructions from what is explicitly shown and described.

Claims

1. A scanning device, characterized by The scanning device comprises: a support; a light machine assembly arranged on the support and configured to project light to a target object; at least two groups of cameras arranged on the support, the at least two groups of cameras having different scanning ranges, each group of cameras comprising at least two cameras respectively located on two sides of the light machine assembly, and each group of cameras being configured to scan an image of the target object after the light is projected.

2. The scanning device of claim 1, wherein, The light machine assembly is provided with a plurality of light machine focal lengths, and each light machine focal length corresponds to a group of cameras.

3. The scanning device of claim 1, wherein, The light machine assembly comprises a light machine lens and a motor module, the light machine lens is connected to the motor module, and the motor module is configured to adjust the light machine focal length of the light machine lens according to the scanning range of the selected camera, so that the light machine lens projects light to the target object according to the light machine focal length.

4. The scanning device of claim 3, wherein, The motor module comprises a stepper motor and a motor controller, the stepper motor is connected to the light machine lens and the motor controller, the motor controller is configured to generate a focal length adjustment instruction according to the scanning range of the selected camera, and the stepper motor is configured to adjust the light machine focal length of the light machine lens according to the adjustment instruction.

5. The scanning device of claim 1, wherein, The scanning range of the group of cameras close to the light machine assembly is smaller than the scanning range of the group of cameras far from the light machine assembly.

6. The scanning device of claim 1, wherein, The at least two groups of cameras comprise a first group of cameras and a second group of cameras.

7. The scanning device of claim 6, wherein, The first camera focal length corresponding to the first group of cameras is different from the second camera focal length corresponding to the second group of cameras.

8. The scanning device of claim 6, wherein, The first group of cameras and the second group of cameras each comprise two cameras.

9. The scanning device of claim 8, wherein, The first group of cameras and the second group of cameras each comprise at least two cameras respectively located on two sides of the light machine assembly.

10. The scanning device of claim 1, wherein, The resolution of the at least two groups of cameras is the same.

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