Scanning device
By separating the optical system module from the external control module and adopting heat dissipation management measures, the problem of thermal degradation in accuracy and stability of traditional scanning devices has been solved, resulting in a high-precision, stable, and lightweight scanning device.
Patent Information
- Application Number
- CN202520702309.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-15
- Publication Date
- 2026-02-13
- Estimated Expiration
- 2035-04-15
AI Technical Summary
Traditional handheld line structured light scanning devices suffer from unstable optical system operation due to heat generated by the devices, affecting scanning accuracy and stability, while failing to balance heat dissipation and miniaturization.
The optical system module is connected to the external control module via a connecting component. The light beam passes through the connecting component, separating the light source unit from the image acquisition device. Heat dissipation is managed using a heat dissipation array, an air-cooled heat dissipation substrate, and heat insulation materials to prevent heat from affecting the optical components.
It ensures scanning accuracy, stability, resolution, and dynamic range, reduces maintenance costs and improves operational efficiency, minimizes lens parameter drift, enhances accuracy, and reduces weight.
Smart Images
Figure CN223910232U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of three-dimensional scanning, in particular to a scanning device. BACKGROUND
[0002] In recent years, linear structured light three-dimensional scanning technology has been widely used in industrial detection, reverse engineering, cultural heritage digitization and other fields due to its high precision and non-contact measurement characteristics. With the diversification of application scenarios, portability and flexibility have become important directions for technological development, and handheld structured light scanning devices have emerged as the times require.
[0003] Traditional handheld linear structured light scanning devices usually integrate laser light sources, image processing units, optical lenses, image sensors and device skeletons into the same structural unit.
[0004] However, the traditional handheld linear structured light scanning device has the problem that the optical system cannot work stably due to heat generated by some devices, thereby affecting the scanning accuracy and stability of the scanning device. At the same time, the traditional device cannot balance heat dissipation and miniaturization. CONTENT OF THE INVENTION
[0005] The present application aims to solve the problem of heat-induced precision and stability decay in the prior art.
[0006] To achieve the above-mentioned purpose, the technical solution adopted by the present application is as follows:
[0007] In a first aspect, the present application provides a scanning device, which comprises an optical system module, an external control module, a connecting assembly and a light guide beam, the optical system module comprises a laser unit and at least one light-emitting and image-capturing unit, each light-emitting and image-capturing unit comprises a light-emitting port and an image-capturing device, and the external control module comprises at least a light source unit and a main control unit.
[0008] The optical system module and the external control module are connected through the connecting assembly;
[0009] The input end of the light guide beam is connected to the light source unit, the light guide beam passes through the connecting assembly, and each output end of the light guide beam is connected to one light-emitting port;
[0010] The light source unit is used to emit emitted light, and the light guide beam is used to conduct the emitted light to each light-emitting port, so that the light-emitting port uses the emitted light to supplement the light of the object to be measured;
[0011] The main control unit is connected with the laser unit, the image acquisition device and the light source unit respectively, and is used for controlling the laser unit, the image acquisition device and the light source unit to realize scanning of the object to be measured.
[0012] Optionally, the distance between the laser unit and each image acquisition device is greater than a preset heat insulation distance.
[0013] Optionally, a plurality of laser outlets are arranged on the light emitting surface of the laser unit, and a heat dissipation array is arranged on the surface opposite to the light emitting surface of the laser unit, and one end of the heat dissipation array penetrates to the shell of the optical system module.
[0014] Optionally, the surface of the laser unit is wrapped with a heat insulation material.
[0015] Optionally, the external control module further comprises: an air-cooled heat dissipation substrate, a fan, a shell, an air outlet and an air inlet arranged on the shell; the air inlet and the air outlet are diagonally arranged.
[0016] The air-cooled heat dissipation substrate is close to the light source unit and the main control unit, and is used for absorbing heat generated by the light source unit and the main control unit.
[0017] The air inlet is used for inhaling external air, the fan is used for guiding the external air inhaled by the air inlet into the air-cooled heat dissipation substrate to absorb heat of the air-cooled heat dissipation substrate, and form hot air, and the hot air is guided out through the air outlet.
[0018] Optionally, a heat insulation layer is arranged at the connection between the external control module and the connection assembly.
[0019] Optionally, the light guide beam is a low-loss flexible light guide beam.
[0020] Optionally, the laser unit works in an intermittent pulse output mode.
[0021] Optionally, the external control module further comprises: an energy storage unit.
[0022] The energy storage unit is connected with the image acquisition device, the laser unit, the light source unit and the main control unit respectively, and supplies power to the image acquisition device, the laser unit, the light source unit and the main control unit.
[0023] Optionally, the external control module further comprises: an image processing unit and a communication unit.
[0024] The image processing unit and the communication unit are connected with the main control unit.
[0025] The image processing unit is configured to process the image collected by the image acquisition device to obtain a target image, and send the target image to the communication unit.
[0026] The communication unit is configured to transmit the target image to a target platform.
[0027] The beneficial effects of the present application are: the optical system module and the external control module in the scanning device are connected through the connecting assembly, the light guide beam passes through the connecting assembly, the input end is connected with the light source unit, and each output end is connected with each light outlet. The light guide beam is used for transmitting the emitted light of the light source unit to each light outlet. Through the structure, the light source unit and the image acquisition device are separated, and the large amount of heat generated by the light source unit is prevented from affecting the optical elements in each image acquisition device. Based on the structure, the main control unit controls the laser unit, the image acquisition device and the light source unit to realize scanning of the measured object, so as to ensure the precision stability, scanning resolution and dynamic range of the scanning. Moreover, the scanning process does not need to be recalibrated, which reduces the maintenance cost and improves the work efficiency. BRIEF DESCRIPTION OF DRAWINGS
[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.
[0029] Figure 1 is a structural schematic diagram of a scanning device provided by an embodiment of the present application;
[0030] Figure 2 is a top view structural schematic diagram of an optical system module provided by an embodiment of the present application;
[0031] Figure 3 is a top view structural schematic diagram of an external control module provided by an embodiment of the present application;
[0032] Figure 4 is a structural schematic diagram of another scanning device provided by an embodiment of the present application. DETAILED DESCRIPTION
[0033] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings in the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. It should be understood that the accompanying drawings in the present application only serve the purpose of illustration and description, and do not serve to limit the protection scope of the present application. In addition, it should be understood that the schematic drawings are not drawn according to the actual proportions. The flowchart used in the present application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can not be implemented in sequence, and the steps without logical context relationship can be reversed in sequence or implemented simultaneously. In addition, one or more other operations can be added to the flowchart or one or more operations can be removed from the flowchart under the guidance of the content of the present application.
[0034] In addition, the described embodiments are only some of the embodiments of the present application, not all the embodiments. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.
[0035] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.
[0036] The conventional line structured light scanning device usually integrates a laser light source, an image processing unit, an optical lens, an image sensor and a device skeleton in the same structural unit. However, the conventional line structured light scanning device has the following disadvantages:
[0037] Firstly, the thermal effect will affect the precision, resulting in poor precision. Specifically, the laser light source and the image processing unit generate a large amount of heat when working, causing thermal expansion or deformation of the optical elements and the device skeleton, changing the optical and structural parameters, and directly affecting the scanning precision. Especially in high temperature environment or long time continuous working scene, the precision stability of the device decreases significantly.
[0038] Secondly, it is difficult to balance heat dissipation and miniaturization. Specifically, to alleviate the heating problem, the prior art usually reduces the power of the light source to achieve temperature control, but this will sacrifice the scanning resolution and dynamic range, limiting the application scenarios.
[0039] Thirdly, the stability is insufficient. Specifically, repeated thermal cycles accelerate the aging of the internal mechanical structure of the device, causing the optical system calibration parameters to drift, requiring frequent recalibration, increasing maintenance costs and reducing work efficiency.
[0040] Based on this, the application provides a scanning device, in which the optical system module and the external control module are connected through the connecting assembly, the light guide beam passes through the connecting assembly, and the light guide beam is communicated to the light outlet and the light source unit, so that the influence of the large amount of heat generated by the light source unit on the optical elements in the image acquisition device in the optical system module is avoided, and the precision stability, scanning resolution and dynamic range of scanning are ensured.
[0041] Next, referring to Figure 1 The structure of the scanning device is introduced. Figure 1 is a structural schematic diagram of a scanning device provided by the application.
[0042] Optionally, the scanning device includes an optical system module, an external control module, a connecting assembly and a light guide beam, the optical system module includes a laser unit and at least one light-out image acquisition unit, each light-out image acquisition unit includes a light outlet and an image acquisition device, and the external control module includes at least a light source unit and a main control unit.
[0043] Among them, Figure 1 What is shown is the case of two light-out image acquisition units, and the structure shown in Figure 1 may not be limited in specific implementation.
[0044] Among them, the scanning device in the embodiment can be a handheld scanning device, the connecting assembly can be used for handheld, and the specific shape can be set according to actual needs. Exemplarily, the connecting assembly can be an arc shape as Figure 1 shown.
[0045] Optionally, the laser unit can integrate multiple linear array laser emitters, including multiple depth-of-field ranges and multiple oriented lasers. Each laser can be composed of a laser generator, a collimating lens, a Powell prism and a diffractive optical element. Among them, the laser generator emits laser lines according to a specific frequency, wherein the frequency can be 150 Hz, and the number of laser lines can be 11-64, which can be flexibly configured. Exemplarily, the laser generator can be a light-emitting diode, which can support multiple wave bands such as blue light and red light. In order to ensure uniformity, the laser line needs to have sufficient brightness uniformity.
[0046] Optionally, the light outlet can be arranged at a position close to the image acquisition device. The light outlet is used for uniform light supplement for the measured object. Exemplarily, the light supplement uniformity can be greater than or equal to 90%.
[0047] Optionally, the image acquisition device is used for acquiring the image of the measured object. It includes a lens and a complementary metal-oxide-semiconductor (CMOS) image sensor.
[0048] In each light-emitting and image-capturing unit, the light-emitting port is aligned with the direction of the image-capturing device.
[0049] Optionally, the optical system module is connected with the external control module through the connecting assembly.
[0050] Optionally, the optical system module is rigidly connected with the external control module through the connecting assembly.
[0051] Optionally, the input end of the light guide beam is connected with the light source unit, the light guide beam passes through the connecting assembly, and each output end of the light guide beam is connected to a light-emitting port. Figure 1 The light guide beam is shown by a solid line as an example.
[0052] Optionally, the light source unit is configured to emit emitted light, and the light guide beam is configured to conduct the emitted light to each light-emitting port, so that the light-emitting port uses the emitted light to supplement light for the object to be measured.
[0053] Optionally, the emitted light emitted by the light source unit is of a specific waveband, for example, blue light of 450 nanometers or red light of 850 nanometers. The above examples are only illustrative, and the emitted light is not limited to blue light and red light in specific implementation.
[0054] Optionally, the main control unit is connected with the laser unit, each image-capturing device, and the light source unit, respectively, and is configured to control the laser unit, the image-capturing device, and the light source unit to realize scanning of the object to be measured.
[0055] Optionally, the main control unit and the laser unit and each image-capturing device can be connected through a control line, and the control line can also pass through the connecting assembly. Figure 1 The control line is shown by a dashed line as an example.
[0056] Specifically, the main control unit controls the laser unit to emit linear laser light, controls the image-capturing device to capture images of the object to be measured, and controls the light source unit to emit emitted light, and the emitted light is guided to each light-emitting port through the light guide beam to supplement light for the object to be measured.
[0057] It is worth noting that, Figure 1 The positions of the units and devices in the optical system module and the external control module are only illustrative. In the optical system module, two light-emitting and image-capturing units are taken as examples for illustration, and the positions of the light source unit and the main control unit in the external control module can also be set according to actual needs.
[0058] In the embodiment, the optical system module and the external control module of the scanning device are connected through the connecting assembly, the light guide beam passes through the connecting assembly, the input end is connected with the light source unit, and each output end is connected with each light outlet. The light guide beam is used for conducting the emitted light of the light source unit to each light outlet. Through the structure, the light source unit and the image acquisition device are separated, and the influence of a large amount of heat generated by the light source unit on the optical elements in each image acquisition device is avoided. Based on the structure, the main control unit controls the laser unit, the image acquisition device and the light source unit to realize scanning of the object to be measured, so as to ensure the precision stability, scanning resolution and dynamic range of the scanning. And the scanning process does not need to be recalibrated, which reduces the maintenance cost and improves the work efficiency.
[0059] As an optional implementation, the distance between the laser unit and each image acquisition device is greater than a preset heat insulation distance.
[0060] Optionally, the preset heat insulation distance is a minimum distance at which heat is transferred without affecting the operation of the image acquisition device. The preset heat insulation distance can be determined in advance according to heat transfer tests.
[0061] As an optional implementation, Figure 2 is a top view structural schematic diagram of an optical system module provided by the embodiment of the present application. As shown in Figure 2 , a plurality of laser outlets are arranged on the light emitting surface of the laser unit, and a heat dissipation array is arranged on the surface opposite to the light emitting surface in the laser unit. One end of the heat dissipation array penetrates to the shell of the optical system module.
[0062] Among them, the heat dissipation array can be a micro heat dissipation pipe array. The heat dissipation array is used for guiding the residual heat of the laser unit away from the equipment main body.
[0063] In the embodiment, the heat dissipation array is used for heat dissipation of the laser unit, which can avoid the influence of the heat generated by the laser unit on the optical elements in the image acquisition device.
[0064] As an optional implementation, continuing to refer to Figure 2 , the surface of the laser unit is wrapped with a heat insulation material.
[0065] Specifically, the heat insulation material wraps the laser unit, but does not cover the laser emission port of the laser unit, so that the laser unit can normally emit laser. And the heat insulation material can cover the part connected with the heat dissipation array of the laser unit, so that the heat dissipation array can directly dissipate the heat of the laser unit.
[0066] Based on the above structure, the heat insulation material isolates the laser unit from each image acquisition device, thereby blocking the radial heat conduction path and ensuring that each image acquisition device is not affected by the heat generated by the laser unit.
[0067] Optionally, the thermal insulation material can be a nano-aerogel composite thermal insulation film, which has a thermal conductivity less than or equal to 0.018 W / m / K and a thickness of 0.5-1.2 mm.
[0068] In this embodiment, the thermal insulation material is wrapped around the surface of the laser unit to block the radial heat conduction path and ensure that the image acquisition devices are not affected by the heat generated by the laser unit.
[0069] Next, referring to Figure 3 The structure of the external control module is introduced. Among them, Figure 3 is a top view structural schematic diagram of an external control module provided by the embodiment of the application.
[0070] Optionally, the external control module further comprises an air-cooled heat dissipation substrate, a fan, a shell, and an air outlet and an air inlet arranged on the shell. The air inlet and the air outlet are diagonally arranged.
[0071] Optionally, the air-cooled heat dissipation substrate is in close contact with the light source unit and the main control unit, and is used to absorb the heat generated by the light source unit and the main control unit.
[0072] Optionally, the air inlet is used to suck in external air, and the fan is used to guide the external air sucked in by the air inlet into the air-cooled heat dissipation substrate to absorb the heat of the air-cooled heat dissipation substrate, form hot air, and guide the hot air out through the air outlet.
[0073] Optionally, the light source unit and the main control unit may generate a large amount of heat when working, so as to avoid affecting the shell and the image acquisition devices. Therefore, the air-cooled heat dissipation substrate, the fan, the air inlet, and the air outlet are arranged for heat dissipation.
[0074] The air-cooled heat dissipation substrate is a device that realizes heat dissipation through forced air convection. It can transfer heat sources to the substrate through heat-conducting materials. Then, the fan generates air flow to accelerate the air flow on the surface of the air-cooled heat dissipation substrate, thereby accelerating the process of heat transfer from the heat dissipation fins to the air. This process is based on the principle of convective heat transfer, i.e. heat is transferred from a high-temperature region to a low-temperature region through the movement of fluid.
[0075] The shell of the external control module can be a low-thermal-sensitivity aluminum alloy structural framework. In addition, the shell of the optical system module can also be a low-thermal-sensitivity aluminum alloy structural framework.
[0076] Optionally, the fan can be arranged between the air-cooled heat dissipation substrate and the air outlet, so as to facilitate the heat dissipation of the heat from the air-cooled heat dissipation substrate through the external air sucked in from the air inlet and out of the air outlet.
[0077] It is worth noting that, Figure 3For example, the fan and the air outlet are located on the side of the main control unit, and the air inlet is located on the side of the light source unit. As another optional embodiment, the fan and the air outlet can also be located on the side of the light source unit, and the air inlet is located on the side of the main control unit.
[0078] In this embodiment, the heat generated by the main control unit and the light source unit can be dissipated out of the shell through the air-cooled heat dissipation substrate, the fan, the shell, and the air outlet and the air inlet provided on the shell, thereby ensuring the normal operation of the scanning device.
[0079] As an optional embodiment, a heat insulation layer is arranged at the connection between the external control module and the connecting assembly.
[0080] Specifically, the heat insulation layer is penetrated by a light guide beam, and the main control unit is used to control the control lines of the laser unit and the image acquisition device.
[0081] Optionally, the heat insulation layer can be a nano aerogel composite heat insulation film.
[0082] In this embodiment, by arranging the heat insulation layer at the connection between the external control module and the connecting assembly, the heat exchange between the optical system module and the external control module is blocked, thereby ensuring the normal operation of the scanning device.
[0083] As an optional embodiment, the light guide beam is a low-loss flexible light guide beam.
[0084] Optionally, the low-loss flexible light guide beam has the advantages of low-loss transmission, high optical performance, good mechanical flexibility, and anti-electromagnetic interference. By arranging the light guide beam as a low-loss flexible light guide beam, the scanning device can work reliably.
[0085] As an optional embodiment, the laser unit works in an intermittent pulse output mode.
[0086] Optionally, the intermittent pulse output mode has a lower heat generation efficiency than the long-time working mode, and the risk of local heating of the scanning device is smaller, thereby avoiding the thermal deformation of the optical elements of the image acquisition device and ensuring the normal operation of the scanning device.
[0087] Figure 4 is another structure diagram of a scanning device provided by the embodiment of the present application. As shown in Figure 4 The external control module further includes an energy storage unit.
[0088] Optionally, the energy storage unit is connected with the image acquisition device, the laser unit, the light source unit, and the main control unit, and supplies power to the image acquisition device, the laser unit, the light source unit, and the main control unit.
[0089] As an optional implementation, the energy storage unit can also be connected with the heat dissipation array, the air-cooled heat dissipation substrate and the fan, and supply power to the heat dissipation array, the air-cooled heat dissipation substrate and the fan.
[0090] It is worth noting that the energy storage unit may generate a large amount of heat during operation, and therefore, the energy storage unit is arranged in the external control module, away from the image acquisition device, so as to avoid the heat generated by the energy storage unit from affecting the optical elements of the image acquisition device.
[0091] Exemplarily, the energy storage unit can be a high-density battery pack.
[0092] Optionally, continuing to refer to Figure 4 , the external control module further comprises an image processing unit and a communication unit.
[0093] Optionally, the image processing unit and the communication unit are connected with the main control unit.
[0094] The image processing unit can be a Field-Programmable Gate Array (FPGA) or a Graphics Processing Unit (GPU) heterogeneous computing module.
[0095] Optionally, the image processing unit is configured to process the image collected by the image acquisition device to obtain a target image, and send the target image to the communication unit.
[0096] Optionally, the image processing unit can be used for image decompression, laser line extraction matching and point cloud fusion, etc.
[0097] Optionally, the communication unit is configured to transmit the target image to a target platform.
[0098] Optionally, the energy storage unit is also connected with the image processing unit and the communication unit, and supplies power to the image processing unit and the communication unit.
[0099] It is worth noting that the image processing unit and the communication unit may generate a large amount of heat during operation, and therefore, the image processing unit and the communication unit are arranged in the external control module, away from the image acquisition device, so as to avoid the heat generated by the image processing unit and the communication unit from affecting the optical elements of the image acquisition device.
[0100] Optionally, the communication unit can send the target image to the target platform in real time or offline, wherein the target platform can be a computer, etc.
[0101] Optionally, the external control module can further comprise a high-definition touch display screen and other elements, which are not limited in the present application.
[0102] In this embodiment, the image processing unit and the communication unit are arranged in the external control module, which is physically separated from the image acquisition device, thereby realizing distributed thermal management.
[0103] It is worth mentioning that the working environment temperature of the optical element in the image acquisition device is reduced from ±6 degrees Celsius in the traditional scheme to ±0.5 degrees Celsius, effectively inhibiting the drift of the thermal optical element and the lens parameters. Moreover, by eliminating the influence of thermal expansion on the lens parameters and the lens support of the image acquisition device, for example, the focal length change rate is reduced from 0.03% per degree Celsius to 0.002% per degree Celsius, and the highest accuracy of three-dimensional scanning measurement is improved by 0.02 millimeters, and the cumulative error per meter is reduced from 0.035 millimeters to 0.015 millimeters. In terms of weight, the modular design in the present application reduces the weight of the scanning device itself by 60%.
[0104] In addition, the point cloud repeatability accuracy of the target image obtained by scanning can reach 0.002 millimeters per cubic meter, which is 2 times higher than that of the traditional equipment, meeting the accuracy requirements of the use scene.
[0105] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered within the protection scope of the present application.
Claims
1. A scanning device, characterized by The scanning device comprises an optical system module, an external control module, a connecting assembly and a light guide beam, the optical system module comprises a laser unit and at least one light-emitting and image-capturing unit, each light-emitting and image-capturing unit comprises a light-emitting port and an image-capturing device, and the external control module comprises at least a light source unit and a main control unit; The optical system module and the external control module are connected through the connecting assembly; The input end of the light guide beam is connected to the light source unit, the light guide beam passes through the connecting assembly, and each output end of the light guide beam is connected to one light-emitting port; The light source unit is used for emitting emitting light, the light guide beam is used for conducting the emitting light to each light-emitting port, so that the light-emitting port uses the emitting light to supplement the light of the object to be measured; The main control unit is connected to the laser unit, each image-capturing device and the light source unit, and is used for controlling the laser unit, the image-capturing device and the light source unit to realize the scanning of the object to be measured.
2. The scanning device of claim 1, wherein, The distance between the laser unit and each image-capturing device is greater than a preset heat insulation distance.
3. The scanning device of claim 1, wherein, A plurality of laser outlets are arranged on the light-emitting surface of the laser unit, a heat dissipation array is arranged on the surface of the laser unit opposite to the light-emitting surface, and one end of the heat dissipation array penetrates to the shell of the optical system module.
4. The scanning device of claim 1, wherein, The surface of the laser unit is wrapped with a heat insulation material.
5. The scanning device of claim 1, wherein, The external control module further comprises an air-cooled heat dissipation substrate, a fan, a shell, an air outlet and an air inlet arranged on the shell, the air inlet and the air outlet are diagonally arranged; The air-cooled heat dissipation substrate is closely attached to the light source unit and the main control unit, and is used for absorbing the heat generated by the light source unit and the main control unit; The air inlet is used for sucking external air, the fan is used for guiding the external air sucked by the air inlet into the air-cooled heat dissipation substrate to absorb the heat of the air-cooled heat dissipation substrate, form hot air, and guide the hot air out through the air outlet.
6. The scanning device of claim 1, wherein, A heat insulation layer is arranged at the connection between the external control module and the connecting assembly.
7. The scanning device of claim 1, wherein, The light guide beam is a low-loss flexible light guide beam.
8. The scanning device of claim 1, wherein, The laser unit works in an intermittent pulse output mode.
9. The scanning device of claim 1, wherein, The external control module further comprises an energy storage unit; The energy storage unit is connected to the image-capturing device, the laser unit, the light source unit and the main control unit, and supplies power to the image-capturing device, the laser unit, the light source unit and the main control unit.
10. The scanning device of claim 1, wherein, The external control module further comprises an image processing unit and a communication unit; The image processing unit and the communication unit are connected to the main control unit; The image processing unit is used for processing the image collected by the image-capturing device to obtain a target image, and sending the target image to the communication unit; The communication unit is used for transmitting the target image to a target platform.