Three-dimensional scanner and three-dimensional scanning system

Abstract

The utility model relates to a three-dimensional scanner and a three-dimensional scanning system, and the three-dimensional scanner comprises a frame and a scanning device. The scanning device comprises a laser module and two camera modules, and the two camera modules are arranged on the two sides of the laser module. The scanning equipment is connected in the frame; three reserved gaps are formed in the frame, and the three reserved gaps are in one-to-one correspondence with the laser module and the two camera modules. According to the method and the device, the problems of low scanning result and low scanning efficiency caused by the fact that the scanner camera is easily shielded are solved, the scanner camera is prevented from being shielded, and the scanning precision and the scanning efficiency are improved.

Description

Technical Field

[0001] This utility model relates to the field of three-dimensional scanning technology, and in particular to a three-dimensional scanner and a three-dimensional scanning system. Background Technology

[0002] 3D scanners are widely used in many fields, such as industrial inspection, digital preservation of cultural relics, and reverse engineering. However, in practical applications, the camera's field of view is limited by the layout of the scanning equipment. This means that the camera is easily obstructed when acquiring image data, resulting in missing or incomplete data areas in the scan results, which reduces scanning accuracy and efficiency.

[0003] There is currently no effective solution to the problem that scanner cameras are easily obstructed in related technologies, resulting in low scanning accuracy and efficiency. Utility Model Content

[0004] Therefore, it is necessary to provide a 3D scanner and 3D scanning system to address the problem that existing scanner cameras are easily obstructed, resulting in low scanning accuracy and efficiency.

[0005] In the first aspect, this utility model provides a three-dimensional scanner, which includes a frame and a scanning device; wherein the scanning device includes a laser module and two camera modules, with the two camera modules arranged on both sides of the laser module;

[0006] The scanning device is connected within the frame;

[0007] The frame has three reserved gaps, which correspond one-to-one with the laser module and the two camera modules.

[0008] In some embodiments, the 3D scanner further includes a first mounting bracket;

[0009] The scanning device is mounted within the frame via the first mounting bracket.

[0010] In some embodiments, the frame includes a plurality of frame struts that are interconnected.

[0011] In some embodiments, the 3D scanner further includes multiple marker islands;

[0012] Multiple marker islands are disposed on the periphery of the frame and correspond one-to-one with the intersection points formed by each of the frame support rods.

[0013] In some embodiments, the 3D scanner further includes a grip and a second mounting bracket;

[0014] The grip is mounted within the frame via the second mounting bracket.

[0015] In some embodiments, the grip includes a handle and a base, both of which contain a battery module.

[0016] In some of these embodiments, a display screen is provided on the top of the grip.

[0017] In some embodiments, the laser module and the two camera modules are arranged along the lateral direction of the frame at the bottom of the frame;

[0018] Alternatively, the laser module and the two camera modules are arranged in the middle of the frame along the lateral direction of the frame.

[0019] In some embodiments, the 3D scanner also includes a foot support;

[0020] The support is connected to the outside of the frame so that the 3D scanner can be positioned using the support.

[0021] Secondly, this utility model provides a three-dimensional scanning system, including the three-dimensional scanner described in the first aspect above.

[0022] Compared with related technologies, the present invention provides a 3D scanner and a 3D scanning system. The 3D scanner includes a frame and a scanning device. The scanning device includes a laser module and two camera modules, with the two camera modules arranged on both sides of the laser module. The scanning device is connected within the frame. Three reserved gaps are formed on the frame, each corresponding to one of the laser module and the two camera modules. This solves the problem that the scanner camera is easily obstructed, resulting in low scanning accuracy and efficiency. It avoids obstruction of the scanner camera, thereby improving scanning accuracy and efficiency.

[0023] Details of one or more embodiments of the present invention are set forth in the following drawings and description to make other features, objects and advantages of the present application more readily apparent. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of a 3D scanner provided in an embodiment of this application;

[0025] Figure 2 This is a schematic diagram of a first mounting bracket provided in an embodiment of this application;

[0026] Figure 3 This is a schematic diagram of an inlaid mounting bracket provided in one embodiment of this application;

[0027] Figure 4 This is a schematic diagram of a grip provided in one embodiment of this application;

[0028] Figure 5 This is a schematic diagram of a marker island provided in an embodiment of this application;

[0029] Figure 6 This is a schematic diagram of a display screen provided in an embodiment of this application;

[0030] Figure 7 This is a schematic diagram of a grip provided in another embodiment of this application.

[0031] Reference numerals: 100, 3D scanner; 10, frame; 11, frame support; 12, reserved gap; 20, scanning equipment; 21, laser module; 22, camera module; 30, first mounting bracket; 31, inlaid mounting bracket; 32, skeleton; 40, marking island; 50, grip; 51, handle; 52, base; 53, display screen; 54, physical button; 60, second mounting bracket; 70, foot support. Detailed Implementation

[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0033] It should be noted that when a component is said to be "installed on" another component, it can be directly on the other component or it may be in a component that is centered on it. When a component is said to be "set on" another component, it can be directly set on the other component or it may also be in a component that is centered on it. When a component is said to be "fixed to" another component, it can be directly fixed to the other component or it may also be in a component that is centered on it.

[0034] 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 invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0035] This utility model provides a 3D scanner 100. Figure 1 This is a structural block diagram of a 3D scanner 100 according to an embodiment of the present invention, as shown below. Figure 1As shown, the 3D scanner 100 includes a frame 10 and a scanning device 20; wherein, the scanning device 20 includes a laser module 21 and two camera modules 22, with the two camera modules 22 arranged on both sides of the laser module 21.

[0036] The scanning device 20 is connected within the frame 10;

[0037] Three reserved gaps 12 are formed on the frame 10, and the three reserved gaps 12 correspond one-to-one with the laser module 21 and the two camera modules 22.

[0038] Specifically, the frame 10 is configured as a single-piece structure, which can be integrally molded using a mold to ensure the structural strength of the frame 10 and improve its stability. The scanning device 20 is connected within the frame 10 and includes a laser module 21 and two camera modules 22. The two camera modules 22 are arranged on both sides of the laser module 21, resulting in a compact overall scanner structure. Three reserved gaps 12 are formed on the frame 10, each corresponding to one of the laser module 21 and the two camera modules 22, ensuring that the fields of view of the laser module 21 and the two camera modules 22 are not obstructed, thus improving scanning accuracy and efficiency.

[0039] The scanning device 20 is mounted in the frame 10 via the first mounting bracket 30. The position of the first mounting bracket 30 determines the specific positions of the laser module 21 and the two camera modules 22 in the scanning device 20. In order to ensure the field of view of the two camera modules 22, the first mounting bracket 30 leaves clearance space for the installation of the two camera modules 22. The scanner needs the laser and the camera to work together during operation, and the first mounting bracket 30 also leaves clearance space for the installation of the laser module 21. The laser module 21 is usually located in a relatively central position between the two camera modules 22.

[0040] It should be further noted that the 3D scanner 100 can be powered by wired or wireless batteries. In the wireless battery power supply scheme, the frame 10 of the 3D scanner 100 is equipped with a handle 50, which includes a handle 51 and a base 52. Both the handle 51 and the base 52 are equipped with battery modules, and both battery modules in the handle 51 and the base 52 can be powered independently.

[0041] 3D scanners are widely used in many fields, such as industrial inspection, digital preservation of cultural relics, and reverse engineering. However, in practical applications, the camera's field of view is limited by the layout of the scanning equipment. This means that the camera is easily obstructed when acquiring image data, resulting in missing or incomplete data areas in the scan results, which reduces scanning accuracy and efficiency.

[0042] Compared to existing technologies, the 3D scanner 100 in this application includes a frame 10 and a scanning device 20. The scanning device 20 includes a laser module 21 and two camera modules 22, with the two camera modules 22 arranged on both sides of the laser module 21. The scanning device 20 is connected within the frame 10, which has three reserved gaps 12. These three gaps 12 correspond one-to-one with the laser module 21 and the two camera modules 22, ensuring that the fields of view of the laser module 21 and the two camera modules 22 are not obstructed. This solves the problem of scanner cameras being easily obstructed, leading to low scanning accuracy and efficiency, and achieves improved scanning accuracy and efficiency by avoiding camera obstruction.

[0043] like Figure 1 , Figure 2 and Figure 3 As shown, in some embodiments, the 3D scanner 100 further includes a first mounting bracket 30;

[0044] The scanning device 20 is mounted in the frame 10 via the first mounting bracket 30.

[0045] Specifically, the first mounting bracket 30 includes an inlaid mounting bracket 31 and an inner frame 32. The inner frame 32 is mounted on the inlaid mounting bracket 31. The inlaid mounting bracket 31 can be integrated with the scanner frame 10 to improve structural stability. The laser module 21 and the two camera modules 22 in the scanning device 20 are mounted on the inner frame 32 of the first mounting bracket 30. The installation positions of each module in the inner frame 32 correspond one-to-one with the three reserved gaps 12 formed by the frame 10.

[0046] To ensure the field of view of the two camera modules 22, the installed inner frame 32 has clearance space for the installation of the two camera modules 22. The scanner requires the laser and camera to work together during operation, and the inner frame 32 also has clearance space for the installation of the laser module 21. The laser module 21 is usually located in a relatively central position between the two camera modules 22, which helps to reasonably distribute the center of gravity of the overall structure and avoid swaying caused by the center of gravity shift, thereby improving the stability of the overall structure and facilitating the operation or control of the scanner.

[0047] It should be noted that the position of the first mounting bracket 30 determines the specific positions of the laser module 21 and the two camera modules 22 in the scanning device 20. The first mounting bracket 30 is usually located at the bottom of the frame 10 to prevent the laser module 21 and camera modules 22 from being obstructed by the marking islands 40 around the frame 10, ensuring the camera's field of view. It also helps to rationally distribute the overall structural center of gravity, preventing the device's center of gravity from being too high or deviating from the support point, thus ensuring the stability of the overall structure. However, depending on the actual application requirements, the first mounting bracket 30 can also be located in the middle of the frame 10; no specific limitation is made here.

[0048] In this embodiment, the 3D scanner 100 also includes a first mounting bracket 30, through which the scanning device 20 is mounted in the frame 10, ensuring that the scanning device 20 is stably mounted in the frame 10 of the 3D scanner 100.

[0049] like Figure 1 , Figure 2 and Figure 3 As shown, in some embodiments, the frame 10 includes a plurality of frame supports 11, which are interconnected.

[0050] Specifically, the frame 10 of the 3D scanner 100 includes multiple frame supports 11. The frame supports 11 are typically made of lightweight materials such as carbon fiber to reduce the overall weight of the frame 10. The multiple frame supports 11 are interconnected to form the frame 10. The scanning device 20 can be mounted inside the frame 10 via a first mounting bracket 30. Three reserved gaps 12 are formed on the frame 10, allowing the laser module 21 and the two camera modules 22 to correspond one-to-one with each reserved gap 12. The number and specific distribution of the frame supports 11 can be flexibly adjusted according to actual application needs.

[0051] In this embodiment, the frame 10 includes multiple frame supports 11, which are interconnected to form a frame 10 that meets the installation requirements of the scanning device 20, ensuring that the field of view of the laser module 21 and the two camera modules 22 is not obstructed.

[0052] like Figure 5 As shown, in some embodiments, the 3D scanner 100 also includes a plurality of marker islands 40;

[0053] Multiple marker islands 40 are set on the periphery of the frame 10 and correspond one-to-one with the intersection points formed by each frame support rod 11.

[0054] Specifically, the 3D scanner 100 includes multiple marker islands 40, each marker island 40 being disposed on the periphery of the frame 10 and corresponding one-to-one with the intersection points formed by each frame support rod 11. Each marker island 40 is assembled to the frame 10 via a corresponding connector. By identifying the marker points on the 3D scanner 100 using a tracker, the position and orientation of the 3D scanner 100 in space can be accurately determined.

[0055] In this embodiment, the 3D scanner 100 includes multiple marker islands 40, which are disposed on the periphery of the frame 10 and correspond one-to-one with the intersection points formed by each frame support rod 11, so as to accurately identify the position of the scanner, ensure scanning accuracy, and improve scanning efficiency.

[0056] like Figure 3 and Figure 4As shown, in some embodiments, the 3D scanner 100 also includes a grip 50 and a second mounting bracket 60.

[0057] The grip 50 is mounted inside the frame 10 via the second mounting bracket 60.

[0058] Specifically, the 3D scanner 100 also includes a handle 50 and a second mounting bracket 60. The second mounting bracket 60 is an embedded bracket that can be integrated with the frame 10 of the 3D scanner 100. The handle 50 is mounted inside the frame 10 via the second mounting bracket 60, allowing the user to operate the scanner by gripping the handle 50. The scanner's center of gravity is typically distributed on the handle 50, which helps prevent the scanner from wobbling during operation due to a shift in the center of gravity.

[0059] In this embodiment, the 3D scanner 100 includes a grip 50 and a second mounting bracket 60. The grip 50 is mounted inside the frame 10 via the second mounting bracket 60 so that the user can hold the scanner stably.

[0060] like Figure 6 and Figure 7 As shown, in some embodiments, the grip 50 includes a handle 51 and a base 52, both of which have a battery module.

[0061] Specifically, the grip 50 includes a handle 51 and a base 52, both of which contain battery modules. Each battery module in the handle 51 and base 52 can be powered independently. For example, the battery module in the handle 51 can be used initially for power supply. When the battery module in the handle 51 is low on power, the battery module in the base 52 can be activated to power the scanner, ensuring its normal operation.

[0062] It should be noted that the battery inside the base 52 makes full use of the space between the frames and maintains a low center of gravity, making it easy to hold and improving the user experience.

[0063] In this embodiment, the grip 50 includes a handle 51 and a base 52. Both the handle 51 and the base 52 are equipped with battery modules, which can achieve uninterrupted power supply, reduce the device charging waiting time, and thus improve scanning efficiency.

[0064] like Figure 7 As shown, in some of these embodiments, a display screen 53 is provided on the top of the grip 50.

[0065] Specifically, a display screen 53 is located on the top of the grip 50. This display screen 53 is used to display device connection status, wireless signal strength, device temperature, and battery level information. The display screen 53 uses touch screen technology to enable interactive operation, allowing users to understand the device status in a timely manner and interact with the scanner conveniently, thus improving the user experience. The display screen 53 is positioned to fully utilize the space between the frames 10, and its display area faces upwards, allowing the user to naturally view the screen information at eye level when holding the grip 50.

[0066] It should be noted that multiple physical buttons 54 can be located below the display screen 53 of the grip 50, supporting functions such as selecting scanning modes and adjusting the scanning area size, providing a direct and quick operation method for users to operate quickly. Based on this, the display screen 53 can perform some functions through the physical buttons 54.

[0067] In this embodiment, the top of the grip 50 is equipped with a display screen 53, which enables real-time interaction between the user and the scanner status, helping to improve work efficiency and user experience.

[0068] In some embodiments, the laser module 21 and two camera modules 22 are arranged along the lateral direction of the frame 10 at the bottom of the frame 10.

[0069] Alternatively, the laser module 21 and the two camera modules 22 are arranged in the middle of the frame 10 along the lateral direction of the frame 10.

[0070] Specifically, in the scanning device 20, the laser module 21 and the two camera modules 22 are mounted on the inner frame 32 of the first mounting bracket 30. The mounting positions of each module in the inner frame 32 correspond one-to-one with the three reserved gaps 12 formed by the frame 10. Alternatively, the first mounting bracket 30 can be positioned at the bottom of the frame 10. In this case, the laser module 21 and the two camera modules 22 are arranged along the lateral direction of the frame 10 at the bottom of the frame 10 to avoid obstruction by the marking islands 40 around the frame 10, ensuring the camera's field of view and improving the overall structural stability. Or, the first mounting bracket 30 can be positioned in the middle of the frame 10. In this case, the laser module 21 and the two camera modules 22 are arranged along the lateral direction of the frame 10 in the middle of the frame 10.

[0071] It should be noted that this embodiment does not specifically limit the position of the scanning device 20, and the installation position can be adjusted according to actual application requirements. For example, while ensuring that the installation positions of each module correspond one-to-one with the three reserved gaps 12 formed by the frame 10, the laser module 21 and the two camera modules 22 can be arranged along the vertical direction of the frame 10, etc.

[0072] In this embodiment, the laser module 21 and the two camera modules 22 are arranged along the lateral direction of the frame 10 at the bottom of the frame 10, avoiding obstruction and helping to lower the overall center of gravity of the scanner, making the device more stable during operation. Alternatively, the laser module 21 and the two camera modules 22 can be arranged along the lateral direction of the frame 10 in the middle of the frame 10, making the weight distribution of the device more even and improving operating comfort.

[0073] like Figure 1 As shown, in some embodiments, the 3D scanner 100 also includes a foot support 70;

[0074] The foot support 70 is connected to the outside of the frame 10 so that the 3D scanner 100 can be positioned using the foot support 70.

[0075] Specifically, the feet 70 of the 3D scanner 100 are directly connected to the outside of the frame 10, or installed on the outside of the frame 10 through corresponding connectors. The feet 70 and the corresponding connectors can be connected by threads, snaps, etc., so that the 3D scanner 100 can be placed using the feet 70.

[0076] In this embodiment, the 3D scanner 100 also includes a foot support 70, which is connected to the outside of the frame 10 so that the 3D scanner 100 can be positioned by means of the foot support 70, and the 3D scanner 100 can maintain a stable posture on various planes.

[0077] The present embodiment will now be described and illustrated through preferred embodiments.

[0078] In this embodiment, the 3D scanner 100 includes a frame 10, a scanning device 20, a first mounting bracket 30, a handle 50, a second mounting bracket 60, and a plurality of marking islands 40; the scanning device 20 includes a laser module 21 and two camera modules 22, with the two camera modules 22 arranged on both sides of the laser module 21.

[0079] Specifically, the frame 10 is configured as an integral structure and can be integrally molded using a mold. Three reserved gaps 12 are formed on the frame 10. The scanning device 20 is installed in the frame 10 through the first mounting bracket 30. The three reserved gaps 12 correspond one-to-one with the laser module 21 and the two camera modules 22, ensuring that the field of view of the laser module 21 and the two camera modules 22 will not be obstructed, which helps to improve scanning accuracy and scanning efficiency.

[0080] The first mounting bracket 30 includes an inlaid mounting bracket 31 and an inner frame 32. The inner frame 32 is mounted on the inlaid mounting bracket 31. The inlaid mounting bracket 31 can be integrated with the scanner frame 10. The laser module 21 and the two camera modules 22 in the scanning device 20 are mounted on the inner frame 32 of the first mounting bracket 30. The installation positions of each module in the inner frame 32 correspond one-to-one with the three reserved gaps 12 formed by the frame 10. In order to ensure the field of view of the two camera modules 22, the installed inner frame 32 has clearance space for the installation of the two camera modules 22. The scanner requires the laser and camera to work together during operation. The installed inner frame 32 also has clearance space for the installation of the laser module 21. The laser module 21 is usually located in a relatively central position between the two camera modules 22, which helps to reasonably distribute the center of gravity of the overall structure and avoid swaying caused by the center of gravity shift, thereby improving the stability of the overall structure.

[0081] It should be noted that the position of the first mounting bracket 30 determines the specific positions of the laser module 21 and the two camera modules 22 in the scanning device 20. In this embodiment, the first mounting bracket 30 can be set at the bottom of the frame 10. In this case, the laser module 21 and the two camera modules 22 are arranged along the lateral direction of the frame 10 at the bottom of the frame 10 to avoid the laser module 21 and the camera modules 22 being obstructed by the marking islands 40 around the frame 10, thus ensuring the camera's field of view and improving the overall structural stability. Alternatively, the first mounting bracket 30 can be set in the middle of the frame 10. In this case, the laser module 21 and the two camera modules 22 are arranged along the lateral direction of the frame 10 in the middle of the frame 10.

[0082] The 3D scanner 100 also includes a grip 50 and a second mounting bracket 60. The second mounting bracket 60 is an inlaid bracket that can be integrated with the frame 10 of the 3D scanner 100. The grip 50 is mounted in the frame 10 via the second mounting bracket 60 so that the user can operate the scanner by gripping the grip 50. The grip 50 includes a handle 51 and a base 52. Both the handle 51 and the base 52 contain battery modules, which can be powered independently to ensure uninterrupted power supply, reduce device charging time, and improve scanning efficiency. The top of the grip 50 has a display screen 53, which displays device connection status, wireless signal strength, device temperature, and battery level. The display area faces upward, allowing the user to view the screen information at eye level when holding the grip 50, enabling the user to understand the device status in a timely manner and interact with the scanner conveniently, thus improving the user experience. Below the display screen 53 of the grip 50, multiple physical buttons 54 can be set to support functions such as selecting scanning modes and adjusting the scanning area size, allowing for quick user operation. The display screen 53 can also perform some functions through the physical buttons 54.

[0083] The 3D scanner 100 also includes multiple marker islands 40, each of which is located on the periphery of the frame 10 and corresponds one-to-one with the intersection points formed by the frame support rods 11. Each marker island 40 is assembled onto the frame 10 via a corresponding connector. The marker points on the 3D scanner 100 can be identified by a tracker, thereby accurately determining the position and orientation of the 3D scanner 100 in space, ensuring scanning accuracy, and improving scanning efficiency.

[0084] In this embodiment, during 3D scanning, the scanning device 20 includes a laser module 21 and two camera modules 22. The two camera modules 22 are arranged on both sides of the laser module 21. The scanning device 20 is connected to the frame 10 via a first mounting bracket 30. Three reserved gaps 12 are formed on the frame 10, and the three reserved gaps 12 correspond one-to-one with the laser module 21 and the two camera modules 22, so that the field of view of the laser module 21 and the two camera modules 22 will not be obstructed. This solves the problem that the scanner camera is easily obstructed, resulting in low scanning accuracy and efficiency. It achieves the goal of avoiding obstruction of the scanner camera and improving scanning accuracy and efficiency.

[0085] In addition, this application also provides a three-dimensional scanning system, including the three-dimensional scanner 100 described above.

[0086] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0087] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A three-dimensional scanner characterized by, The 3D scanner includes a frame and a scanning device; wherein the scanning device includes a laser module and two camera modules, with the two camera modules arranged on both sides of the laser module; The scanning device is connected within the frame; The frame has three reserved gaps, which correspond one-to-one with the laser module and the two camera modules.

2. The three-dimensional scanner of claim 1, wherein, The 3D scanner also includes a first mounting bracket; The scanning device is mounted within the frame via the first mounting bracket.

3. The three-dimensional scanner of claim 1, wherein, The frame includes multiple frame supports, which are interconnected.

4. The three-dimensional scanner of claim 3, wherein, The 3D scanner also includes multiple marker islands; Multiple marker islands are disposed on the periphery of the frame and correspond one-to-one with the intersection points formed by each of the frame support rods.

5. The three-dimensional scanner of claim 1, wherein, The 3D scanner also includes a grip and a second mounting bracket; The grip is mounted within the frame via the second mounting bracket.

6. The three-dimensional scanner of claim 5, wherein, The grip includes a handle and a base, and both the handle and the base contain a battery module.

7. The three-dimensional scanner of claim 5, wherein, The grip has a display screen on top.

8. The three-dimensional scanner of claim 1, wherein, The laser module and the two camera modules are arranged along the lateral direction of the frame at the bottom of the frame; Alternatively, the laser module and the two camera modules are arranged in the middle of the frame along the lateral direction of the frame.

9. The three-dimensional scanner of claim 1, wherein, The 3D scanner also includes a foot support; The support is connected to the outside of the frame so that the 3D scanner can be positioned using the support.

10. A three-dimensional scanning system, characterized by Includes a three-dimensional scanner as described in any one of claims 1 to 9.

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