Handheld 3D scanners and their 3D scanner systems

Abstract

A handheld 3D scanner and its system are disclosed, relating to the field of optical inspection technology. The handheld 3D scanner includes a support frame and a laser mounted on the support frame, the laser projecting laser light onto the object being scanned. The support frame includes a first mounting surface and a second mounting surface that are perpendicular to each other. At least two scanning cameras are evenly distributed along the extension direction of the first mounting surface, with the laser located between any two scanning cameras. The scanning cameras are used to acquire image information formed by laser light reflected from the object's surface. At least two tracking cameras are evenly distributed along the extension direction of the second mounting surface, the tracking cameras tracking reflective markers placed in the scanning environment. This handheld 3D scanner achieves high-precision and convenient measurement while maintaining a lightweight design.

Description

Technical Field

[0001] This utility model relates to the field of optical detection technology, and more specifically, to a handheld 3D scanner and its 3D scanner system. Background Technology

[0002] 3D scanners, based on structured light or laser projection, acquire point clouds through binocular vision and stitch them together to create models, which are then applied in fields such as industrial inspection and reverse engineering.

[0003] Existing 3D scanners typically come in two structures: handheld 3D scanners and tracking 3D scanners. While handheld 3D scanners are portable, they rely on reflective markers on the object's surface. Before scanning, manual application of markers to the object is required. For large workpieces, this process is time-consuming and can easily obscure surface features, reducing measurement accuracy. On the other hand, tracking 3D scanners achieve object-free scanning through an external tracker, but their hardware architecture is complex and expensive. Utility Model Content

[0004] The purpose of this invention is to provide a handheld 3D scanner and its 3D scanner system, which can achieve high-precision and convenient measurement while ensuring lightweight design.

[0005] The embodiments of this utility model are implemented as follows:

[0006] In one aspect, this utility model provides a handheld 3D scanner, including a support frame and a laser disposed on the support frame. The laser is used to project laser light onto the object being scanned. The support frame includes a first mounting surface and a second mounting surface that are perpendicular to each other. At least two scanning cameras are evenly distributed along the extension direction on the first mounting surface. The laser is located between any two scanning cameras. The scanning cameras are used to acquire image information formed by laser light reflected from the surface of the object. At least two tracking cameras are evenly distributed along the extension direction on the second mounting surface. The tracking cameras are used to track reflective markers arranged in the scanning environment.

[0007] Optionally, the axes of multiple scanning cameras are located in the same plane, and the axes of multiple scanning cameras intersect at the same point.

[0008] Optionally, the axes of multiple tracking cameras are located in the same plane, and the axes of multiple tracking cameras intersect at the same point.

[0009] Optionally, the scanning camera includes a first lamp holder, within which a first supplementary light is provided.

[0010] Optionally, the tracking camera includes a second lamp holder, which houses a second fill light.

[0011] Optionally, the support frame includes a body and two extension frames, with a first mounting surface located on the surface of the body; the two extension frames are located on opposite sides of the body to form a second mounting surface.

[0012] Optionally, the first supplementary light includes a plurality of first LED beads, which are arranged around the periphery of the first lamp holder.

[0013] Optionally, the second supplementary light includes a plurality of second LED beads, which are arranged around the periphery of the second lamp holder.

[0014] In another aspect, this utility model provides a three-dimensional scanner system, including a handheld three-dimensional scanner, with a stable reference body disposed on at least one side of the handheld three-dimensional scanner, and a plurality of reflective markers affixed to the stable reference body.

[0015] Optionally, the stabilizing reference body is an indoor wall, an indoor support column, or an indoor fixed object.

[0016] The beneficial effects of this utility model include at least one of the following:

[0017] This application provides a handheld 3D scanner, including a support frame and a laser mounted on the support frame. The laser projects laser light onto the object being scanned. The support frame includes a first mounting surface and a second mounting surface that are perpendicular to each other. At least two scanning cameras are evenly distributed along the extension direction of the first mounting surface, with the laser located between any two scanning cameras. The scanning cameras are used to acquire image information formed by laser light reflected from the object's surface. At least two tracking cameras are evenly distributed along the extension direction of the second mounting surface. The tracking cameras are used to track reflective markers placed in the scanning environment. This handheld 3D scanner integrates the laser, scanning cameras, and tracking cameras into a single structure. Compared to traditional tracking scanners that require external devices, this handheld 3D scanner simplifies the hardware structure, reduces the size and weight of the device, and improves its flexibility of use. Furthermore, this application directly tracks fixed reflective markers in the scanning environment using the tracking cameras, shifting the device's positioning reference frame from the "object surface" to the "global environment." This avoids the need for existing 3D scanners to attach reflective markers to the object being scanned, improving scanning accuracy and efficiency. The aforementioned handheld 3D scanner achieves high-precision and convenient measurement while maintaining a lightweight design.

[0018] This application also provides a 3D scanner system, including a handheld 3D scanner, with a stable reference body disposed on at least one side of the handheld 3D scanner, and multiple reflective markers affixed to the stable reference body. Compared to existing technologies that require affixing reflective markers to the surface of an object, the 3D scanner system of this application sets the reflective markers on a stable reference body in the surrounding environment, avoiding physical damage to the surface of the object to be scanned. Furthermore, existing technologies are time-consuming and laborious when affixing reflective markers to the surface of large objects to be scanned, while this system, by pre-calibrating the stable reference body, only needs to place it in the appropriate position during scanning, eliminating the need for repeated affixing of markers, significantly improving scanning accuracy and flexibility. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 One of the structural schematic diagrams of the handheld 3D scanner provided in the embodiments of this utility model;

[0021] Figure 2 A second schematic diagram of the structure of the handheld 3D scanner provided in this embodiment of the utility model;

[0022] Figure 3 This is a schematic diagram of the structure of a 3D scanner system provided in an embodiment of the present invention.

[0023] Icons: 100 - Handheld 3D scanner; 110 - Support frame; 111 - Body; 1111 - First mounting surface; 112 - Extension frame; 1121 - Second mounting surface; 120 - Laser; 121 - Laser; 130 - Scanning camera; 131 - First lamp holder; 140 - Tracking camera; 141 - Second lamp holder; 200 - 3D scanner system; 210 - Stabilized reference body; 220 - Reflective marker; 300 - Object to be scanned. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0025] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," and "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0026] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0027] Please refer to Figure 1 This embodiment provides a handheld 3D scanner 100, including a support frame 110 and a laser 120 disposed on the support frame 110. The laser 120 is used to project laser 121 onto the object being scanned. The support frame 110 includes a first mounting surface 1111 and a second mounting surface 1121 that are perpendicular to each other. At least two scanning cameras 130 are evenly distributed along the extension direction of the first mounting surface 1111. The laser 120 is located between any two scanning cameras 130. The scanning cameras 130 are used to acquire image information formed by the laser 121 reflected from the surface of the object. At least two tracking cameras 140 are evenly distributed along the extension direction of the second mounting surface 1121. The tracking cameras 140 are used to track reflective markers 220 arranged in the scanning environment.

[0028] Specifically, such as Figure 1 As shown, the handheld 3D scanner 100 includes a support frame 110. The support frame 110 can be made of materials with certain strength and rigidity, such as metal alloys, to ensure the relative position of each component is stable during use and will not undergo large displacement due to slight shaking or external force, thereby affecting the scanning accuracy. Preferably, the support frame 110 is in the shape of a straight plate, which is convenient for the operator to hold.

[0029] Laser 120 is mounted on the support frame 110 and is the core component for generating laser 121. In this embodiment, laser 120 shapes the laser beam 121 into stripe-shaped laser lines 121 and projects them onto the object being scanned. After the laser lines 121 are projected onto the object's surface, they deform with the surface's undulations, and this deformation information allows for the acquisition of three-dimensional information about the object 300 to be scanned.

[0030] The first mounting surface 1111 on the supporting frame 110 is also evenly distributed with at least two scanning cameras 130 to ensure that the object can be observed from different angles during scanning. The evenly distributed scanning cameras 130 can acquire more comprehensive and accurate surface information of the object, reducing scanning blind spots. Preferably, as... Figure 1 As shown, there are two scanning cameras 130, which are respectively set on opposite sides of the support frame 110. The scanning cameras 130 are mainly responsible for acquiring the image reflected back from the surface of the object 300 by the laser line 121.

[0031] The laser 120 is positioned between any two scanning cameras 130. When the laser line 121 is projected onto the surface of the object, the two scanning cameras 130 acquire images of the deformation of the laser line 121 on the object surface from different angles. Based on the positional differences of the laser line 121 in the images acquired by the two cameras, and combined with the known geometric relationship between the cameras and the laser 120, the three-dimensional coordinates of each point on the object surface can be calculated.

[0032] Tracking cameras 140 are evenly distributed on the second mounting surface 1121 of the supporting frame 110, also to ensure that the reflective markers 220 in the scanning environment can be observed from different angles. The position of the ends is chosen to expand the field of view of the tracking cameras 140 and capture information about the reflective markers 220 more comprehensively. Preferably, there are two tracking cameras 140.

[0033] like Figure 3 As shown, multiple highly reflective markers 220 are pre-arranged in the scanning environment, clearly visible within the field of view of the tracking camera 140. The positions of the reflective markers 220 are known and calibrated in a unified spatial coordinate system. The tracking camera 140 identifies the position of each marker in the image by capturing images of the reflective markers 220. Then, based on the camera's imaging principle and the known spatial coordinates of the markers, the position and orientation of the tracking camera 140 relative to the spatial coordinate system are calculated using methods such as triangulation. In this way, regardless of the scanner's movement during the scanning process, its accurate position in space can be determined in real time, allowing for the accurate stitching together of point cloud data collected at different times to form a complete 3D model of the object.

[0034] It should be noted that, in one possible implementation of this application, firstly, the axes of the multiple scanning cameras 130 are located on the same plane, and the axes of the multiple scanning cameras 130 intersect at the same point.

[0035] Specifically, the axis of the scanning camera 130 refers to the line connecting the center of the camera lens and the center of the imaging plane. When the axes of multiple scanning cameras 130 are located on the same plane, the projection information of the laser line 121 on the object surface can be efficiently captured in the same plane, ensuring that the fields of view of all scanning cameras 130 have a high degree of overlap in the horizontal or vertical direction, thus avoiding parallax calculation errors caused by spatial misalignment of the camera axes.

[0036] like Figure 1 As shown, in a preferred embodiment of this application, there are two scanning cameras 130. The two scanning cameras 130 are arranged at an angle relative to each other, so that the angle formed by the axis of the scanning camera 130 and the normal of the support frame 110 is an acute angle, that is, the axes of the two scanning cameras 130 intersect at the same point, thereby improving the scanning accuracy.

[0037] Second, the axes of the multiple tracking cameras 140 are located on the same plane, and the axes of the multiple tracking cameras 140 intersect at the same point.

[0038] Specifically, the axis of the tracking camera 140 refers to the line connecting the center of the camera lens and the center of the reflective marker 220. This planar axial arrangement allows multiple tracking cameras 140 to form a wider field of view in that direction. When reflective markers 220 in the scanning environment are distributed near this plane, multiple cameras can capture images of the markers more comprehensively and promptly, reducing positioning failures caused by markers exceeding the field of view of a single camera, thus improving the stability and reliability of positioning. Furthermore, adjusting the axes of multiple tracking cameras 140 to the same plane is relatively easy during equipment production and debugging.

[0039] like Figure 1 As shown, in a preferred embodiment of this application, there are two tracking cameras 140. The two tracking cameras 140 are arranged at an angle relative to each other, so that the angle formed by the axis of the tracking camera 140 and the normal of the support frame 110 is an acute angle, that is, the axes of the two tracking cameras 140 intersect at the same point, thereby improving the scanning accuracy.

[0040] When the axes of multiple tracking cameras 140 intersect at a single point, the observation angles of each camera toward the same reflective marker 220 differ even more. This multi-angle observation method can provide more information about the marker's position, enabling more accurate determination of its location when calculating the marker's three-dimensional coordinates using positioning methods such as triangulation. This, in turn, improves the overall positioning accuracy of the handheld 3D scanner 100 in the spatial coordinate system.

[0041] Third, such as Figure 1 As shown, the support frame 110 includes a body 111 and two extension frames 112. The first mounting surface 1111 is located on the surface of the body 111; the two extension frames 112 are located on opposite sides of the body 111 to form a second mounting surface 1121.

[0042] Specifically, the support frame 110 provides a base for mounting and fixing the scanning camera 130, tracking camera 140, and laser 120, ensuring the relative position of these components in space is stable, thereby ensuring that the scanner can work normally and accurately. The support frame 110 includes a main body 111 and two extension frames 112.

[0043] The main body 111 is used to mount and support the scanning camera 130. Preferably, the main body 111 is in the shape of a straight plate for easy handling by the operator. The extension brackets 112 are located on opposite sides of the ends of the main body 111, providing a more suitable mounting position and viewing angle for the tracking camera 140 to achieve more precise positioning. The length of the extension brackets 112 can be adjusted according to the specific number of tracking cameras 140.

[0044] By mounting at least two scanning cameras 130 on the body 111, the stability and optimal layout of the body 111 ensure the relative positional accuracy and stability of the scanning cameras 130. This allows the two scanning cameras 130 to simultaneously acquire image information of the laser line 121 reflected from the object from different angles, enabling more accurate calculation of the three-dimensional coordinates of points on the object's surface using triangulation principles. Simultaneously, the design of the body 111 provides excellent protection and heat dissipation for the scanning cameras 130, extending their lifespan and improving scanning reliability and accuracy.

[0045] By mounting the tracking camera 140 on the extension frame 112, the tracking camera 140 can be moved away from the main body 111, thereby expanding its field of view. This allows for more comprehensive capture of reflective markers 220 in the scanning environment, reducing positioning failures caused by marker obstruction and improving the stability and reliability of positioning.

[0046] In a preferred embodiment of this application, two tracking cameras 140 are used, each mounted on one of the two extension frames 112. This improves the stability of the support frame 110 and allows for observation of the reflective marker 220 from different directions and angles. By fusing observation data from multiple perspectives, the position and orientation of the scanner can be calculated more accurately, thus improving positioning precision.

[0047] The handheld 3D scanner 100 provided in this application includes a support frame 110 and a laser 120 disposed on the support frame 110. The laser 120 is used to project a laser line 121 onto the object being scanned. The support frame 110 includes a first mounting surface 1111 and a second mounting surface 1121 that are perpendicular to each other. At least two scanning cameras 130 are evenly distributed along the extension direction of the first mounting surface 1111. The laser 120 is located between any two scanning cameras 130. The scanning cameras 130 are used to acquire images of the laser line 121 on the surface of the object. At least two tracking cameras 140 are evenly distributed along the extension direction of the second mounting surface 1121. The tracking cameras 140 are used to track reflective markers 220 arranged in the scanning environment. This handheld 3D scanner 100 integrates a laser 120, a scanning camera 130, and a tracking camera 140 into a single structure. Compared to traditional tracking scanners that require external equipment, this handheld 3D scanner 100 simplifies the hardware structure, reduces the size and weight of the device, and improves its usability. Furthermore, by directly tracking a fixed reflective marker 220 in the scanning environment through the tracking camera 140, the device's positioning reference frame is shifted from the "object surface" to the "global environment," avoiding the need for existing 3D scanners to attach reflective markers 220 to the object being scanned, thus improving scanning accuracy and efficiency. The aforementioned handheld 3D scanner 100 achieves high-precision and convenient measurement while maintaining a lightweight design.

[0048] In one possible implementation of this application, such as Figure 2 As shown, the scanning camera 130 includes a first lamp holder 131, and a first supplementary light is provided inside the first lamp holder 131. The first supplementary light is located inside the first lamp holder 131, and its main function is to provide illumination for the object being scanned, so as to ensure that the scanning camera 130 can clearly and accurately acquire the laser 121 line image projected by the laser 120 onto the surface of the object.

[0049] For example, the first supplementary light includes multiple first LED beads, which are arranged around the periphery of the first lamp holder 131. The multiple first LED beads are evenly distributed around the periphery of the first lamp holder 131, preferably in a circular array, to form a symmetrical light distribution, allowing light to illuminate the object surface from multiple angles, effectively reducing shadow areas and blind spots. For instance, when scanning objects with deep grooves or complex curved surfaces, the surrounding LED beads can supplement light from different directions, ensuring that the laser line 121 can still be clearly captured by the scanning camera 130 in hidden areas such as the bottom of the groove, improving the integrity of the point cloud data.

[0050] In one possible implementation of this application, such as Figure 2As shown, the tracking camera 140 includes a second lamp holder 141, and a second supplementary light is provided inside the second lamp holder 141. Similarly, the second supplementary light is located inside the second lamp holder 141, and its main function is to provide illumination for the object being scanned, ensuring that the scanning camera 130 can clearly and accurately acquire the laser 121 line image projected by the laser 120 onto the surface of the object.

[0051] For example, the second supplementary light includes multiple second LED beads, which are arranged around the periphery of the second lamp holder 141. Similarly, the multiple second LED beads are evenly distributed around the periphery of the second lamp holder 141. Preferably, the multiple LED beads are arranged in a circular array, which can form a symmetrical light distribution, allowing light to illuminate the object surface from multiple angles, effectively reducing shadow areas and blind spots. For example, when scanning objects with deep grooves or complex curved surfaces, the surrounding LED beads can supplement light from different directions, ensuring that the laser line 121 can still be clearly captured by the scanning camera 130 in hidden areas such as the bottom of the groove, improving the integrity of the point cloud data.

[0052] Another aspect of this utility model, such as Figure 3 As shown, a 3D scanner system 200 is provided, including a handheld 3D scanner 100, a stable reference body 210 is provided on at least one side of the handheld 3D scanner 100, and a plurality of reflective markers 220 are affixed to the stable reference body 210.

[0053] Specifically, this utility model embodiment also provides a 3D scanner system 200, including the aforementioned handheld 3D scanner 100. A stable reference body 210 is provided on at least one side of the 3D scanner system 200, and a plurality of reflective markers 220 are affixed to the stable reference body 210. The stable reference body 210 is preferably a large, non-deformable object such as an indoor wall, indoor support column, or fixed indoor object.

[0054] A stable reference body 210 is used in conjunction with a tracking camera 140. Reflective markers 220 are used as targets on the surface of the stable reference body 210, and the area where the targets are pasted needs to be larger than the field of view of the tracking camera 140. In this way, by pasting reflective markers 220 on the stable reference body 210, the effect of positioning and scanning can be achieved without pasting markers on the surface of the object.

[0055] The tracking camera 140 can capture images of the reflective marker 220 in the stable reference body 210 from multiple angles, and use existing photogrammetry algorithms to calculate the three-dimensional coordinates of the reflective marker 220 in the fixed reference body; the handheld 3D scanner 100 can simultaneously acquire images of the object to be scanned from multiple angles through the scanning camera 130, and obtain the three-dimensional data of the surface of the object to be scanned in the local coordinate system through existing image processing algorithms and stereo vision algorithms.

[0056] The stable reference body 210 serves as the carrier of the external fixed coordinate system, providing an absolute positioning reference for the handheld 3D scanner 100 in conjunction with the tracking camera 140; the handheld 3D scanner acquires surface data of the object to be scanned through the scanning camera 130. With the two working together, the 3D scanner system 200 can quickly build a 3D scanning environment in scenes without fixed environmental support, and can realize distributed scanning and seamless stitching of ultra-large objects by multiple scanners, significantly improving the efficiency and application range of 3D scanning.

[0057] Compared to existing technologies that require attaching reflective dots to the surface of an object, the 3D scanner system 200 of this application sets the reflective markers 220 on a stable reference body 210 in the surrounding environment, avoiding physical damage to the surface of the object to be scanned. Furthermore, existing technologies are time-consuming and laborious when attaching reflective dots to the surface of large objects to be scanned, while this system, by pre-calibrating the stable reference body 210, only needs to place it in a suitable position during scanning, without the need to repeatedly attach the dots, which significantly improves scanning accuracy and flexibility.

[0058] The above description is merely an optional embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

[0059] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable way without contradiction. In order to avoid unnecessary repetition, this utility model will not describe the various possible combinations separately.

Claims

1. A hand-held three-dimensional scanner characterized by, The system includes a support frame (110) and a laser (120) disposed on the support frame (110). The laser (120) is used to project laser light (121) onto the object being scanned. The support frame (110) includes a first mounting surface (1111) and a second mounting surface (1121) that are perpendicular to each other. At least two scanning cameras (130) are evenly distributed along the extension direction on the first mounting surface (1111). The laser (120) is located between any two of the scanning cameras (130). The scanning cameras (130) are used to acquire image information formed by the laser light (121) reflected from the surface of the object. At least two tracking cameras (140) are evenly distributed along the extension direction on the second mounting surface (1121). The tracking cameras (140) are used to track reflective markers (220) arranged in the scanning environment.

2. The hand-held three-dimensional scanner of claim 1, wherein, The axes of the plurality of scanning cameras (130) are located in the same plane, and the axes of the plurality of scanning cameras (130) intersect at the same point.

3. The hand-held three-dimensional scanner of claim 1, wherein, The axes of the multiple tracking cameras (140) are located in the same plane, and the axes of the multiple tracking cameras (140) intersect at the same point.

4. The handheld 3D scanner according to claim 1, characterized in that, The scanning camera (130) includes a first lamp holder (131), and a first fill light is provided in the first lamp holder (131).

5. The handheld 3D scanner according to claim 1, characterized in that, The tracking camera (140) includes a second lamp holder (141), and a second fill light is provided inside the second lamp holder (141).

6. The handheld 3D scanner according to claim 1, characterized in that, The support frame (110) includes a body (111) and two extension frames (112), the first mounting surface (1111) is located on the surface of the body (111); the two extension frames (112) are located on opposite sides of the body (111) to form a second mounting surface (1121).

7. The handheld 3D scanner according to claim 4, characterized in that, The first supplementary light includes a plurality of first LED beads, which are arranged around the periphery of the first lamp holder (131).

8. The handheld 3D scanner according to claim 5, characterized in that, The second supplementary light includes a plurality of second LED beads, which are arranged around the periphery of the second lamp holder (141).

9. A three-dimensional scanner system, characterized in that, The handheld 3D scanner (100) according to any one of claims 1 to 8 is provided with a stabilizing reference body (210) on at least one side of the handheld 3D scanner (100), and a plurality of reflective markers (220) are affixed to the stabilizing reference body (210).

10. The three-dimensional scanner system according to claim 9, characterized in that, The stable reference body (210) is an indoor wall, an indoor support column, or an indoor fixed object.

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