Scanner, tracking-type three-dimensional scanner and connecting bracket

Abstract

A scanner (100), comprising a frame (10) and a plurality of marker point modules (20), wherein the frame (10) is of an integrated structure, and a plurality of connecting members (30) are embedded in the frame (10); and the plurality of marker point modules (20) are respectively mounted on the frame (10) by means of corresponding connecting members (30) and are configured to be identified by a tracker. The frame (10) of the scanner (100) does not need to be assembled, and is convenient to use, and the structural strength of the frame (10) is enhanced, thus improving the stability of the overall structure of the frame (10). Further provided are a tracking-type three-dimensional scanner and a connecting bracket.

Description

Scanner, tracking three-dimensional scanner and connecting frame TECHNICAL FIELD

[0001] The embodiments of the present application relate to the technical field of scanning instruments, and particularly relate to a scanner, a tracking three-dimensional scanner and a connecting frame. BACKGROUND

[0002] The scanner is an important component of the tracking three-dimensional scanner. A certain number of marker points are arranged on the surface of the scanner, which are used for being recognized by a tracking instrument to obtain the spatial coordinates of the scanner in real time. Therefore, the relative positions of the marker points on the surface of the scanner are required to be stable and reliable.

[0003] However, the existing scanner has the problem of low overall structural stability. SUMMARY

[0004] Therefore, it is necessary to provide a scanner, a tracking three-dimensional scanner and a connecting frame for solving the above technical problems.

[0005] In a first aspect, the embodiments of the present application provide a scanner, comprising: a frame, which is a one-piece structure, and a plurality of connecting pieces embedded in the frame; and a plurality of marker point modules corresponding to at least part of the connecting pieces and respectively assembled on the frame through the corresponding connecting pieces, for being recognized by a tracking instrument.

[0006] In some embodiments, the plurality of connecting pieces are respectively pre-embedded pieces in a one-piece forming process of the frame.

[0007] In some embodiments, the frame comprises a plurality of connecting struts, each of which is connected between two adjacent connecting pieces; and the connecting struts are hollow structures, hollow structures and / or curved structures.

[0008] In some embodiments, the plurality of connecting struts are respectively circular arc structures located on the same virtual spherical surface.

[0009] In some embodiments, the connecting pieces corresponding to each of the marker point modules are respectively located at corresponding vertices in the same virtual regular polyhedron.

[0010] In some embodiments, at least one of the marker point modules is connected to the corresponding connecting piece through an intermediate piece; and the scanner further comprises a foot support connected by the intermediate piece, which is used to support the scanner in a placement position.

[0011] In some embodiments, a preset gap is formed between the foot support and the corresponding marker point module.

[0012] In some embodiments, the middle piece is provided with an extended protruding column at one end away from the frame; the extended protruding column penetrates through the corresponding mark point module and is connected with the corresponding foot support.

[0013] In some embodiments, the number of the foot supports is three, and the three foot supports correspond to three mark point modules respectively.

[0014] In some embodiments, the scanner further comprises a handle fixedly connected to the frame through at least one connecting piece; wherein the center of gravity of the scanner falls on the handle.

[0015] In some embodiments, the scanner further comprises a laser module fixedly connected to the frame through at least one connecting piece.

[0016] In some embodiments, the scanner further comprises a protective cover covering the laser module and having a plurality of openings through which laser generated by the laser module can be emitted outward; wherein the protective cover is provided with a plurality of mark points along the circumferential direction thereof.

[0017] In some embodiments, the scanner further comprises two camera modules and a skeleton for mounting the two camera modules; the frame encloses a receiving space; the frame is provided with two reserved gaps corresponding to the two camera modules; the skeleton is fixedly connected to the frame through at least one connecting piece, and the connecting piece has an inner side facing the receiving space; the skeleton is fixedly connected to the inner side of the connecting piece, and the two camera modules respectively collect image information of a scanning object through the corresponding reserved gaps.

[0018] In some embodiments, at least part of the camera module is accommodated in the corresponding reserved gap.

[0019] In some embodiments, the skeleton and the laser module of the scanner are fixed to two sides of the same connecting piece, and the laser module is located outside the receiving space enclosed by the frame.

[0020] In some embodiments, the skeleton and the handle of the scanner are fixed to the frame through different connecting pieces.

[0021] In some embodiments, the scanner is provided with an external interface, and a protective cover is detachably connected to the external interface; the external interface is used for plugging and unplugging a wireless network card; wherein the wireless network card can pass through the frame and be plugged into the external interface.

[0022] In the second aspect, the embodiments of the present application provide a tracking three-dimensional scanner, which comprises the scanner according to any one of the preceding embodiments.

[0023] In a third aspect, the embodiments of the present application provide a connecting frame applied to a scanner, comprising: a frame, which is an integrated structure; a plurality of connecting pieces inlaid in the frame; wherein at least part of the connecting pieces correspond to a plurality of marker point modules, and are used to assemble the corresponding marker point modules on the frame; wherein the marker point modules are used to be recognized by a tracker.

[0024] The scanner, the tracking three-dimensional scanner and the connecting frame provided by the embodiments of the present application have the following advantages: the frame is configured as an integrated structure, and the marker point modules are assembled by at least part of the connecting pieces inlaid in the frame, so that the frame of the scanner does not need to be assembled, is convenient to use, the structural strength of the frame is enhanced, and the stability of the overall structure of the scanner is improved. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments described in the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0026] Fig. 1 is a structural schematic diagram of a scanner provided by an embodiment of the present application.

[0027] Fig. 2 is a sectional view of a frame provided by an embodiment of the present application.

[0028] Fig. 3 is a structural schematic diagram of a virtual regular icosahedron structure provided by an embodiment of the present application.

[0029] Fig. 4 is a structural schematic diagram of a scanner provided by an embodiment of the present application.

[0030] Fig. 5 is a structural schematic diagram of a foot support of a scanner provided by an embodiment of the present application.

[0031] Fig. 6 is a schematic diagram of the positional relationship between the foot support and the corresponding marker point module in the scanner provided by an embodiment of the present application.

[0032] Fig. 7 is an enlarged view of part P in Fig. 5.

[0033] Fig. 8 is a schematic diagram of the connection relationship between the foot support and the intermediate piece in the scanner provided by an embodiment of the present application.

[0034] Fig. 9 is an exploded structural schematic diagram of a scanner provided by an embodiment of the present application.

[0035] Fig. 10 is a schematic diagram of the integrated structure corresponding to Fig. 9.

[0036] Fig. 11 is an exploded structural schematic diagram of a scanner according to an embodiment of the present application.

[0037] Fig. 12 is a structural schematic diagram of Fig. 11 according to an embodiment of the present application.

[0038] Fig. 13 is a structural schematic diagram of a scanner according to an embodiment of the present application.

[0039] Fig. 14 is a structural schematic diagram of a scanner according to an embodiment of the present application, wherein the protective cover covers the external interface.

[0040] Fig. 15 is a structural schematic diagram of a scanner according to an embodiment of the present application, wherein the protective cover opens the external interface.

[0041] Fig. 16 is a structural schematic diagram of a scanner according to an embodiment of the present application, wherein the external interface is plugged with a wireless network card.

[0042] Reference signs: 100, scanner; 10, frame; 11, connecting strut; 12, handle; 121, boss structure; 122, control button; 123, groove; 110, reserved gap; 20, marking point module; 30, connecting piece; 302, intermediate piece; 31, extended boss; 301, screw; 340, preset gap; 40, foot support; 41, support disc; 42, support foot; 50, laser module; 51, protective cover; 511, opening; 512, marking point; 60, camera module; 61, skeleton; 70, heat dissipation component; 101, external interface; 102, protective cover; 120, card insertion gap; 200, wireless network card. DETAILED DESCRIPTION

[0043] The above embodiments of the present application will be described in detail with specific reference to the drawings. The advantages and effects of the present application can be easily understood by those skilled in the art from the above description. The present application can be implemented or applied in other different embodiments, and the details in the specification can be modified or changed based on different views and applications without departing from the spirit of the present application.

[0044] In the detailed description of the embodiments of the present application, the schematic diagrams showing the structures of the devices are partially enlarged without the general scale for the convenience of illustration, and the schematic diagrams are only examples, which should not limit the scope of protection of the present application. In addition, the three-dimensional spatial dimensions including length, width and depth should be included in the actual manufacture.

[0045] For purposes of the description hereinafter, the terms "upper", "lower", "right", "left", "rear", "front", "vertical", "horizontal", and derivatives thereof shall relate to the application as it is oriented in the drawing figures. However, it is to be understood that the application can assume various alternative orientations and, accordingly, such terms are not to be taken as limitations of the present application.

[0046] In the context of the present application, structures described as being "on" or "over" a first feature and "under" or "beneath" a second feature can include embodiments where the first and second features form a direct contact, as well as embodiments where additional features are formed between the first and second features such that the first and second features can not be in direct contact.

[0047] It is noted that the illustrations can only be schematic and that all details thereof are intended to be exemplary only, and do not limit the scope of the application.

[0048] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0049] It should be noted that when an element is referred to as being "on" another element, it can be directly on the other element or intervening elements can also be present. In cases where an element is referred to as being "a" or "an" "coupled" to another element, it can be directly coupled to the other element or intervening elements can also be present. In cases where an element is referred to as being "fixed" to another element, it can be directly fixed to the other element or intervening elements can also be present.

[0050] 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 application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this description, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be understood that the terms "and / or", as used herein, refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0051] In order to reduce the weight of the scanner, a frame of the scanner can be made of a light carbon fiber material. However, the carbon fiber material is easy to break under stress, and is usually assembled into a connecting frame by a plurality of carbon fiber plates and metal parts. The marker point module is fixedly connected by the metal parts in the connecting frame. The plurality of carbon fiber plates and metal parts are assembled, which is time-consuming and laborious. The connecting frame is manually assembled by the carbon fiber plates and metal parts, so that the overall structure stability of the assembled scanner is not high, which is not conducive to the accurate scanning of the scanner. Based on this, the embodiments of the present application provide a scanner which does not need to be assembled complicatedly in use, a tracking three-dimensional scanner comprising the scanner, and an integrated connecting frame applied to the scanner. The scanner, the tracking three-dimensional scanner and the connecting frame provided by the embodiments of the present application will be described and explained in combination with FIGS. 1-15.

[0052] As shown in FIG. 1, the scanner 100 provided by an embodiment of the present application comprises a frame 10 and a plurality of marker point modules 20. The frame 10 is configured as an integrated structure, and a plurality of connecting parts 30 are embedded in the frame 10. The plurality of marker point modules 20 correspond to at least part of the connecting parts 30, and are respectively assembled on the frame 10 by the corresponding connecting parts 30. The marker point module 20 is used to be recognized by a tracker.

[0053] The frame 10 is set as an integrated structure, and a plurality of connecting parts 30 are embedded in the frame 10, so as to position and install the constituent parts in the scanner 100. The constituent parts such as the plurality of marker point modules 20 can be fixed on the frame 10 by the corresponding connecting parts 30, instead of being directly fixed on the frame 10. The frame 10 can be integrally formed by a material such as carbon fiber which has a light quality. Therefore, the scanner 100 provided by the embodiments of the present application does not need to be spliced for a long time, and the overall structure stability of the scanner 100 is high.

[0054] In some embodiments, the plurality of marker point modules 20 correspond to at least part of the connecting parts 30, that is, all of the connecting parts 30 can be used to fix and install the marker point modules 20, or part of the connecting parts 30 can be used to install and fix the marker point modules 20, and the other part can be used to fix and install other constituent parts in the scanner 100. The plurality of marker point modules 20 correspond to at least part of the connecting parts 30, that is, one marker point module 20 can correspond to one connecting part 30, or one marker point module 20 can correspond to a plurality of connecting parts 30. The marker point module 20 is assembled on the frame 10 by the fixed connection with the corresponding connecting part 30. The frame 10 will not bear a large force due to the fixation of the marker point module 20, so as not to be easily broken. The marker point module 20 comprises at least one marker point which can be recognized by the tracker. The tracker determines the attitude information of the scanner 100 in the scanning process based on the recognition result of the marker point.

[0055] In some embodiments, the frame 10 of the integral structure is formed by using carbon fiber material, so that the frame 10 is light in weight, and the sense of comfort of the scanner 100 when holding is improved.

[0056] Please continue to refer to FIG. 1, the frame 10 can enclose a containing space, that is, the containing space is the area defined by the frame 10. A plurality of marker point modules 20 are respectively arranged on the periphery of the frame 10, so as to be recognized by the tracking instrument. Among them, the periphery refers to the periphery of the containing space enclosed by the frame 10.

[0057] In some embodiments, the containing space enclosed by the frame 10 can have an opening, so that some components of the scanner 100 are arranged in the containing space based on the opening, thereby reducing the volume of the scanner 100.

[0058] In some embodiments, the plurality of connecting members 30 are respectively pre-embedded members in the integral forming process of forming the frame 10, that is, the plurality of connecting members 30 are respectively pre-embedded in the frame 10 through the integral forming process. As shown in FIG. 2, when the frame 10 is integrally formed in the mold, the connecting member 30 can be pre-placed in the mold, so that the connecting member 30 can be integrally prepared with the frame 10, which can make the combination between the connecting member 30 and the frame 10 more closely and firmly, and is beneficial to improve the overall stability of the scanner 100.

[0059] In some embodiments, the connecting member 30 can be formed by using a material with good ductility, for example, the connecting member 30 can be a metal connecting member. When the marker point module 20 and other components are fixed to the frame 10 through the connecting member 30, the connecting member 10 is not easy to be damaged due to the external force borne in the installation process of each component, which is beneficial to improve the stability of the scanner 100.

[0060] Please continue to refer to FIG. 1 and FIG. 2, the frame 10 includes a plurality of connecting struts 11, and a plurality of connecting members 30 are embedded between the plurality of connecting struts 11. That is, the connecting struts 11 are respectively connected between two adjacent connecting members 30. Among them, the frame strut 11 can be a hollow structure. That is, the frame 10 of this embodiment can be connected by the hollow connecting struts 11. Based on the hollow structure characteristics of the connecting struts 11, the bending resistance of the frame strut 11 can be improved to improve the structural strength of the frame 10, and the weight of the frame 10 can also be reduced. Of course, in some embodiments, the connecting struts 11 can also be filled with light materials, such as foamed materials arranged in the connecting struts 11.

[0061] In some embodiments, the connecting struts 11 can be configured as carbon fiber square tubes or carbon fiber round tubes, and the number and arrangement of the connecting struts 11 can be specifically configured according to the use requirements of the frame 10. For example, one connecting member 30 can be connected with multiple connecting struts 11 to be connected with other connecting members 30 around through the connecting struts 11, which is conducive to the stability of the scanner 100 and facilitates the arrangement of the marker point modules 20 at multiple angles so that the tracker can track the postures of the scanner 100 at different angles.

[0062] It should be noted that the connecting struts 11 constituting the frame 10 are not limited to the hollow structure shown in the drawings. In other embodiments, the connecting struts 11 can also be configured as solid structures based on requirements. In addition, in other embodiments, in order to reduce the weight of the frame 10, the connecting struts 11 can also be configured as hollow structures.

[0063] Referring to FIGS. 1 and 2, in some embodiments, the connecting struts 10 can be configured as curved structures to enhance the compression resistance and improve the stability of the frame 10.

[0064] In some embodiments, the multiple connecting struts 10 are respectively circular arc structures located on the same virtual sphere to improve the stability of the frame 10 and facilitate the uniform arrangement of the multiple marker point modules 20 on the frame 10 for identification by the tracker. Here, the virtual sphere is not a real sphere, but is used to illustrate the structural and positional relationship between the multiple connecting struts 11.

[0065] In some embodiments, the circular arc angles of the connecting struts 11 between any two adjacent marker point modules 20 in the multiple marker point modules 20 are equal to each other. That is, the multiple marker point modules 20 on the scanner 100 are uniformly arranged on the periphery of the frame 10, so that the identification of the marker point modules 20 on the scanner 100 by the tracker is facilitated. Of course, in other embodiments, the multiple marker point modules 20 can also be arranged on the frame 10 in other ways, which will not be described here.

[0066] In some embodiments, the connecting members 30 corresponding to the respective marker point modules 20 are located at the corresponding vertices of the same virtual regular polyhedron. Since the plurality of marker point modules 20 are fixed to the frame 10 by the corresponding connecting members 30, the plurality of marker point modules 20 assembled on the frame 10 by the corresponding connecting members 30 are also located at the corresponding vertices of the same virtual regular polyhedron, so as to realize the uniform distribution of the plurality of marker point modules 20 on the periphery of the frame 10. Based on this, the number of marker point modules 20 that can be sensed by the tracker at different angles is basically consistent, which facilitates the tracker to accurately obtain the pose of the scanner 100. The virtual regular polyhedron structure is not a real structure existing in the scanner 100, but is used to illustrate the positional relationship between the respective connecting members 30 corresponding to the marker point modules 20, that is, to illustrate that the plurality of marker point modules 20 are uniformly fixed to the frame 10 by the corresponding connecting members 30 according to the regular polyhedron vertex layout rule.

[0067] In some embodiments, the virtual regular polyhedron is an icosahedron as shown in FIG. 3, so that five marker point modules 20 can be seen from different angles. In other embodiments, the virtual regular polyhedron can also be a tetrahedron, a hexahedron, an octahedron, or a dodecahedron. It should be noted that the connecting members 30 corresponding to the marker point modules 20 are arranged on at least part of the vertices of the same virtual regular polyhedron, that is, the marker point modules 20 can cover the vertices of the virtual regular polyhedron, or can be arranged on only part of the vertices of the virtual regular polyhedron.

[0068] In some embodiments, the structure diagram of the scanner 100 formed by arranging the plurality of marker point modules 20 on the frame 10 according to the regular polyhedron vertex layout rule can be as shown in FIG. 4. In this embodiment, the frame 10 is a spherical structure with relatively high stability, and the plurality of marker point modules 20 are uniformly distributed on the spherical surface formed by the frame 10, so that the same number of marker point modules 20 can be observed by the tracker from different angles.

[0069] In some embodiments, the scanning module in the scanner 100 can be arranged inside the accommodating space enclosed by the frame 10, or arranged outside the accommodating space, or partially arranged inside the accommodating space and partially arranged outside the accommodating space. The scanning module includes a laser module 50 for emitting laser to the scanning object and a camera module 60 for collecting image information of the scanning object. The number of the camera module 60 is two, and the two camera modules 60 are fixed on a skeleton 61. The laser module 50 can also be fixed on the skeleton 61, that is, the laser module 50 and the two camera modules 60 are respectively fixed by the skeleton 61 and fixedly connected with the corresponding connecting piece 30 by the skeleton 61, so as to realize the fixed connection between the scanning module and the frame 10. The connecting rods 11 of the frame 10 form gaps therebetween, so that the laser module 50 arranged inside the accommodating space enclosed by the frame 10 can emit laser to the scanning object and / or the camera module 60 can collect the image information of the scanning object.

[0070] Please continue to refer to FIG. 1 and FIG. 5 to FIG. 8, in some embodiments, at least one marker point module 20 is connected with the corresponding connecting piece 30 through the intermediate piece 302. The scanner 100 further includes a foot support 40 connected with the intermediate piece 302, and the foot support 40 is used for supporting the scanner 100 on a placement position. In some embodiments, each intermediate piece 302 is connected with the foot support 40. Alternatively, in some embodiments, only part of the intermediate pieces 302 are connected with the foot support 40. Of course, in some embodiments, a preset gap 340 can be formed between the foot support 40 and the corresponding marker point module 20. Based on this, the scanner 100 provided by the embodiments of the present application can be directly placed on a placement position such as the ground by the foot support 40, and is convenient to use. In addition, the foot support 40 and the corresponding marker point module 20 have the preset gap 340, so that when the placed scanner 100 is supported by the foot support 40, the displacement of the corresponding marker point module 20 due to the force of the foot support 40 can be avoided, and the accuracy of the assembly position of the marker point module 20 on the frame 10 is ensured, and the deformation of the foot support 40 after being stressed will not adversely affect the corresponding marker point module 20. The corresponding marker point module 20 of the foot support 40 refers to the marker point module 20 connected with the foot support 40 on the same intermediate piece 302.

[0071] In some embodiments, the intermediate piece 302 can be an integral structure with the module shell of the marker point module 20. Specifically, the intermediate piece 302 and the module shell of the marker point module 20 are integrally formed, which is convenient for processing and manufacturing. Of course, in some embodiments, the intermediate piece 302 and the marker point module 20 are designed in a split type, and are further fixedly connected. For example, the intermediate piece 302 and the marker point module 20 can be fixedly connected by screws, buckles or adhesion.

[0072] In some embodiments, the foot props 40 are connected to the corresponding connecting members 30 via the intermediate pieces 302 and the corresponding marker point modules 20, so that a special base designed to support the scanner 100 can be omitted, which is conducive to reducing the weight of the scanner 100 and facilitating use. However, in other embodiments, the foot props 40 can also be connected to the corresponding connecting members 30 via other components or directly connected to the corresponding connecting members 30, which will not be described one by one here.

[0073] In some embodiments, the intermediate piece 302 is provided with an extension protruding column 31 at one end away from the frame 10, and the other end of the intermediate piece 302 is fixedly connected to the corresponding connecting member 30. The extension protruding column 31 penetrates through the corresponding marker point module 20 to fix the corresponding marker point module 20. The extension protruding column 31 penetrating through the corresponding marker point module 20 is connected to the foot prop 40 to fix the foot prop 40 on the intermediate piece 302, and a predetermined gap 340 is formed between the foot prop 40 and the corresponding marker point module 20. By penetrating the corresponding marker point module 20 through the extension protruding column 31 and then protruding a certain height relative to the marker point module 20, and then fixedly connecting the foot prop 40 with the protruding part, it can be ensured that the foot prop 40 and the corresponding marker point module 20 can form a predetermined gap 340, which is conducive to improving the stability of the scanner 100, and the implementation is simple.

[0074] In some embodiments, the intermediate piece 302 is provided with a plurality of extension protruding columns 31, and the plurality of extension protruding columns 31 are respectively penetrated through the corresponding marker point modules 20 and then respectively fixedly connected to the foot props 40, which is conducive to improving the stability of the foot props 40 and facilitating to improve the supporting force of the foot props 40 on the scanner 100.

[0075] In some embodiments, the foot prop 40 can be fixedly connected to the extension protruding column 31 penetrating through the corresponding marker point module 20 based on the screw 301, which is firm and reliable in connection. For example, one end of each intermediate piece 30 can be provided with three extension protruding columns 31, and each extension protruding column 31 is fixedly connected to the corresponding foot prop 40 via the screw 301 after penetrating through the corresponding marker point module 20.

[0076] In some embodiments, the foot prop 40 can be made of plastic to have a lighter weight, which is conducive to achieving the lightweight design requirement of the scanner 100.

[0077] In some embodiments, the number of foot props 40 can be set to three, and the corresponding three marker point modules 20 of the three foot props 40 are adjacent to each other. That is, the three foot props 40 are arranged in a triangular shape, so that the stability of the foot props 40 supporting the scanner 100 can be improved.

[0078] In some embodiments, the marker point module 20 is in a ball-and-plate structure. The plate surface of the ball-and-plate structure corresponding to the marker point module 20 is provided with one or more marker points identifiable by the tracking device, and the outer peripheral wall of the ball-and-plate structure is provided with a plurality of marker points distributed in the circumferential direction.

[0079] In some embodiments, the diameter of the outer peripheral wall of the ball-and-plate structure increases in the direction towards the frame 10, and the large end of the outer peripheral wall of the ball-and-plate structure can also be provided in a wavy structure, which is beneficial for the identification of the tracking device, so as to improve the scanning accuracy and flexibility of the scanning object. The outer periphery of the plate surface of the ball-and-plate structure can be provided with a hollow structure, so as to reduce the weight of the marker point module 20, and facilitate the lightweight design of the scanner 100.

[0080] In some embodiments, the foot support 40 includes a support plate 41 and a support foot 42 provided on the support plate 41. The support plate 41 is arranged opposite to the plate surface of the ball-and-plate structure corresponding to the marker point module 20 with a preset gap 340, and the support foot 42 is located on the side of the support plate 41 away from the aforementioned plate surface. When the scanner 100 is placed in the placement position by the foot support 40, the support foot 42 is supported on the placement position. The support feet 42 of the aforementioned three foot supports 40 are respectively protruded relative to the corresponding support plates 41 for support. The foot support 40 is provided with the protruded support foot 42 on only one side, so as to reduce the weight of the foot support 40. The support feet 42 of the three foot supports 40 are arranged in a triangular shape, so as to increase the stability of the placement of the scanner 100.

[0081] As shown in FIG. 1, the scanner 100 further includes a handle 12, and at least one of the plurality of connecting members 30 corresponds to the handle 12 for fixing the handle 12. The handle 12 is fixedly connected to the frame 10 by the corresponding connecting member 30, so that the influence of the force of the handle 12 on the frame 10 can be avoided, and the frame 10 is not easy to break.

[0082] In some embodiments, the center of gravity of the scanner 100 is arranged to fall on the handle 12. By using the action and reaction forces, the user feels that the force of the scanner 100 is more balanced when holding the handle 12, so as to improve the holding experience of the user when holding the scanner 100.

[0083] In some embodiments, the center of gravity of the scanner 100 falls on the part of the handle 12 for the hand to hold, so that the user has a better holding experience when holding the handle 12.

[0084] In some embodiments, the handle 12 is arranged in the containing space surrounded by the frame 10 and is fixedly connected to the frame 10 by the corresponding connecting member 30, which is beneficial for reducing the volume of the scanner 100. The containing space surrounded by the frame 10 is open, so that the user can reach into the containing space through the opening to hold the handle 12.

[0085] Referring to FIG. 1, the laser module 50 is fixed to the frame 10 by at least one connecting member 30, so as to be supported by the frame 10. In some embodiments, the laser module 50 is fixed to the outside of the accommodating space surrounded by the frame 10 by the corresponding connecting member 30, so as to scan the scanning object. Since the laser module 50 is fixed to the corresponding connecting member 30, the fixing process will not generate a large impact force on the frame 10, so as not to easily cause the fracture of the frame 10, so that the frame 10 has higher stability, and the laser module 50 fixed thereto can accurately scan the laser to the scanning object, so as to improve the scanning accuracy of the scanning object. However, in other embodiments, the laser module 50 can also be fixed to the inside of the accommodating space surrounded by the frame 10 by the corresponding connecting member 30, so as to reduce the volume of the scanner 100.

[0086] In some embodiments, the skeleton 61 for installing the two camera modules 60 of the scanner 100 is fixed to the frame 10 by at least one corresponding connecting member 30, so as to accurately collect the image information of the scanning object based on the frame 10 of the integrated structure. The skeleton 61 can be arranged on the periphery of the accommodating space surrounded by the frame 10, so as to collect the image of the scanning object by the two camera modules 60, or can be arranged in the accommodating space, so as to reduce the volume of the scanner 100.

[0087] In some embodiments, the laser module 50 can be individually fixed to the frame 10 based on the corresponding connecting member 30, or can be fixed to the skeleton 61, so as to be connected with the camera module 60 through the skeleton 61 and the corresponding connecting member 30, and be fixed to the frame 10. It should be noted that the arrangement mode of the laser module 50 and the camera module 60 is not particularly limited in the present application, for example, the laser module 50 and the two camera modules 60 can be arranged on the frame 10 along the first direction, or can be arranged on the frame 10 along the second direction. The first direction is the direction in which the foot support 40 provides support force in the placed position of the scanner 100, for example, the scanner 100 is supported on the ground by the foot support 40, and the first direction is the direction perpendicular to the ground. The second direction can be but not limited to the direction perpendicular to the first direction. The laser module 50 can be arranged between the two camera modules 60, so that the two camera modules 60 can collect more effective image information of the scanning object.

[0088] Referring to FIG. 1, FIG. 9 and FIG. 10, in some embodiments, the scanner 100 further comprises a protective cover 51 covering the laser module 50 to protect the laser module 50. The protective cover 51 has an opening 511, and the laser generated by the laser module 50 can be emitted outward through the opening 511 to scan the scanning object. In some embodiments, the number of the openings 511 can be multiple and correspond to the laser emitters of the laser module 50. In some embodiments, the number of the openings 511 can be one, and the laser emitters of the laser module 50 emit laser through the opening 511. Therefore, the protective cover 51 can protect the laser module 50 and will not affect the normal scanning of the scanning object.

[0089] In some embodiments, the protective cover 51 can be arranged with a plurality of marker points 512 along the circumferential direction thereof for the tracker to identify. The protective cover 51 can protect the laser module 50 and serve as a carrier of the marker points identifiable by the tracker, so as to achieve the same marking function as the marker point module 20. Therefore, based on the protective cover 51 provided with the marker points 512, one marker point module 20 and the corresponding connecting piece 30 of the marker point module 20 can be reduced, which is conducive to simplifying the structure of the scanner 100 and reducing the weight of the scanner 100.

[0090] In some embodiments, the protective cover 51 provided with the marker points 512 is located at the vertex of the aforementioned virtual polyhedron together with the plurality of marker point modules 20, which is convenient for the tracker to identify.

[0091] Referring to FIG. 1, FIG. 9 and FIG. 10, in some embodiments, the skeleton 61 is arranged in the accommodating space surrounded by the frame 10 to reduce the volume of the scanner 100. In this embodiment, the frame 10 is provided with two reserved gaps 110 corresponding to the two camera modules 60 to avoid the frame 10 from blocking the collection lines of sight of the two camera modules 60, i.e., the two camera modules 60 collect the image information of the scanning object through the corresponding reserved gaps 110.

[0092] In some embodiments, at least part of the camera module 60 is accommodated in the corresponding reserved gap 110. Then the camera module 60 can be limited through the corresponding reserved gap 110 to reduce or avoid the phenomenon of position deviation of the camera module 60 in the use process, effectively improving the collection accuracy. That is, at least part of the two camera modules 60 is accommodated in the reserved gap 110 of the frame 10, so that the scanner 100 as a whole is more compact in appearance, has better stability, and is more aesthetic.

[0093] In some embodiments, the two camera modules 60 can be fixed on the skeleton 61 first, and then the skeleton 61 with the camera modules 60 mounted thereon is arranged in the accommodating space surrounded by the frame 10 to be connected with the corresponding connecting member 30, so as to realize the fixation of the camera modules 60 on the frame 10. At least part of the camera modules 60 extends out of the accommodating space through the corresponding reserved gap 110 to accurately collect image information of the scanning object.

[0094] In some embodiments, the skeleton 61 can be arranged in the accommodating space surrounded by the frame 10 first to be connected with the corresponding connecting member 30, and then the two camera modules 60 are respectively inserted into the accommodating space through the corresponding reserved gap 100 to be fixedly mounted on the corresponding positions of the skeleton 61, so as to realize the fixed mounting of the camera modules 60.

[0095] In some embodiments, the skeleton 61 is fixed to the frame 10 through at least one connecting member 30, and the connecting member 30 can have an inner side facing the accommodating space and an outer side facing away from the accommodating space; the skeleton 61 is fixedly connected with the inner side of the connecting member 30, so that the two camera modules 60 respectively collect image information of the scanning object through the corresponding reserved gap 110. Specifically, the inner side of the connecting member 30 can be provided with a threaded hole to fix the skeleton 61 and the threaded hole of the connecting member 30 by a screw. Of course, the fixing mode between the connecting member 30 and the skeleton 61 is not limited to the screwing mode, but can also be welding or bonding, etc., which can be selected by those skilled in the art according to the actual situation, and will not be described here.

[0096] Continuing to refer to FIGS. 9 and 10, in some embodiments, the skeleton 61 and the laser module 50 are respectively fixed on two sides of the same connecting member 30. Among them, the laser module 50 is located on the outer side of the accommodating space surrounded by the frame 10, preferably, the laser module 50 is located outside the accommodating space, and the skeleton 61 is located on the inner side of the accommodating space. In some embodiments, the skeleton 61 is located inside the accommodating space. That is, in the present embodiment, the same connecting member 30 is provided with a connecting portion on both sides inside and outside the accommodating space to connect the skeleton 61 and the laser module 50, respectively. Using the same connecting member 30 to fixedly connect the laser module 50 and the skeleton 61 can reduce the number of connecting members 30, facilitate the simplification of the structure of the scanner 100, and reduce the weight of the scanner 100.

[0097] Please continue to refer to FIGS. 1, 11 and 12, in some embodiments, the handle 12 and the skeleton 61 are fixedly connected with the frame 10 through different connecting members 30. Therefore, in the present embodiment, the handle 12 will not affect the camera modules 60 when stressed, which is conducive to improving the image collection accuracy of the camera modules 60.

[0098] In some embodiments, the handle 12 and the laser module 50 are also fixed to the frame 10 by different connectors 30 respectively, so as to avoid the force of the handle 12 from affecting the laser scanning of the laser module 50.

[0099] In some embodiments, the handle 12 is provided with a boss structure 121 on the end away from the foot support 40, and the control button 122 is arranged on the end face of the boss structure 121 and electrically connected with the laser module 50 and the camera module 60 respectively. The control button 122 is arranged on one end of the handle 12, which is convenient for the user to operate.

[0100] In some embodiments, the scanner 100 further comprises a heat dissipation component 70 in thermal conduction connection with the skeleton 61. The skeleton 61 can be formed of metal material, and the heat generated by the camera module 60 during operation is transferred to the skeleton 61 and then to the heat dissipation component 70 for heat dissipation.

[0101] In some embodiments, the skeleton 61 and the handle 12 connected with the heat dissipation component 70 are arranged in the accommodating space surrounded by the frame 10. The handle 12 is provided with a groove 123 corresponding to the heat dissipation component 70, so that the heat dissipation component 70 can be accommodated in the groove 123, thereby reducing the space occupied by the heat dissipation component 70 and the handle 12 in the accommodating space, which is conducive to reducing the volume of the scanner 100.

[0102] In some embodiments, the laser module 50 and the camera module 60 are fixedly connected to the frame 10 at the preset positions, so that when the scanner 100 is placed on the placing position by the foot support 40, the laser module 50 and the camera module 60 can be inclined towards the handle 12, so that the overall center of gravity of the scanner 100 is backward, which can improve the stability of the scanner 100 when placed on the plane and prevent the scanner 100 from falling forward and causing damage to the laser module 50 and the camera module 60.

[0103] Please refer to FIG. 13, in some embodiments, the laser module 50 is installed on the skeleton 61 of the camera module 60. The skeleton 61 is fixed to the periphery of the frame 10 by the corresponding connector 30 and arranged on the end of the frame 10 away from the foot support 40, so that the center of gravity of the laser module 50 and the camera module 60 is close to the handle 12, thereby improving the overall stability of the scanner 100.

[0104] As shown in FIGS. 14-16, the scanner 100 is provided with an external interface 101, and a protective cover 102 is detachably connected to the external interface 101, the external interface 101 is used for plugging and unplugging the wireless network card 200; so that the scanner 100 can use the external wireless network card 200 to realize network connection, to facilitate people to use the scanner 100. Here, the protective cover 102 can be connected to the scanner 100 in a flip manner, so that when the protective cover 102 opens the external interface 101, the protective cover 102 will also be connected to the scanner 100, so that the loss of the protective cover 102 can be prevented.

[0105] In some embodiments, the external interface 101 is arranged at one end of the handle 12, the handle 12 is arranged in the accommodating space surrounded by the frame 10, the frame 10 has a card insertion gap 120 corresponding to the position of the external interface 101, so that the wireless network card 200 can pass through the card insertion gap 120 of the frame 10 and be inserted with the external interface 101. In this way, people can conveniently plug and unplug the wireless network card 200 on the external interface 101.

[0106] In addition, the application also provides a tracking type three-dimensional scanner, which comprises the scanner 100 described above.

[0107] The functions and effects of the tracking type three-dimensional scanner in each embodiment can be explained by contrast with the scanner 100 provided in the foregoing embodiments, and will not be repeated here.

[0108] In addition, the application also provides a connecting frame applied to the scanner 100, which comprises the frame 10 and the plurality of connecting pieces 30 provided in any one of the foregoing embodiments.

[0109] The functions and effects of the connecting frame in each embodiment can be explained by contrast with the scanner 100 provided in the foregoing embodiments, and will not be repeated here.

[0110] The technical features of the above embodiments can be combined in any manner, and in order to make the description concise, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combinations of the technical features do not exist contradictory, it should be considered that the combinations are within the scope of the present application.

[0111] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present application, and are not used as a limitation of the present application, and as long as the above embodiments are appropriately changed and varied within the scope of the spirit of the present application, all fall within the scope of the present application.

Claims

1. A scanner, characterized in that: include: The frame (10) is an integrated structure, and a plurality of connecting members (30) are embedded in the frame (10); A plurality of marking point modules (20) correspond to at least part of the connecting members (30) and are respectively assembled on the frame (10) through the corresponding connecting members (30) for being identified by a tracker.

2. The scanner according to claim 1, wherein The plurality of connecting parts (30) are respectively embedded parts in the integral molding process for forming the frame (10).

3. The scanner according to claim 1 or 2, characterized in that The frame (10) comprises a plurality of connecting rods (11), each connecting rod (11) being connected between two adjacent connecting members (30); The connecting rod (11) is a hollow structure, a hollow structure and / or a curved structure.

4. The scanner according to claim 3, wherein: The plurality of connecting rods (11) are respectively arc structures located on the same virtual sphere.

5. The scanner according to any one of claims 1 to 4, characterized in that The connecting parts (30) corresponding to each of the marking point modules (20) are respectively located at corresponding vertices in the same virtual regular polyhedron.

6. The scanner according to any one of claims 1 to 5, characterized in that At least one of the marking point modules (20) is connected to the corresponding connecting member (30) via an intermediate member (302); The scanner further comprises a foot support (40) connected to the middle piece (302), and the foot support (40) is used to support the scanner (100) in a placement position.

7. The scanner according to claim 6, wherein: A preset gap (340) is formed between the foot support (40) and the corresponding marking point module (20).

8. The scanner according to claim 6, wherein: An extension boss (31) is provided at one end of the middle piece (302) away from the frame (10); The extended protrusion (31) passes through the corresponding marking point module (20) and is connected to the corresponding foot support (40).

9. The scanner according to claim 6, wherein: The number of the foot supports (40) is three, and the three marking point modules (20) corresponding to the three foot supports (40) are adjacent to each other.

10. The scanner according to any one of claims 1 to 9, characterized in that Also includes: A handle (12) is fixedly connected to the frame (10) via at least one of the connecting members (30); wherein the center of gravity of the scanner (100) falls on the handle (12).

11. The scanner according to any one of claims 1 to 10, characterized in that Also includes: The laser module (50) is fixed to the frame (10) via at least one of the connecting members (30).

12. The scanner according to claim 11, wherein Also includes: a protective cover (51), which is disposed on the laser module (50) and has an opening (511), and the laser light generated by the laser module (50) when in operation can be emitted outward through the opening (511); The protective cover (51) has a plurality of marking points (512) arranged along its circumferential direction.

13. The scanner according to any one of claims 1 to 12, characterized in that It also includes two camera modules (60) and a frame (61), wherein the frame (61) is used to install the two camera modules (60); the frame (10) is surrounded by a receiving space; The frame (10) is provided with two reserved gaps (110) corresponding to the two camera modules (60); The skeleton (61) is fixed to the frame (10) via at least one of the connecting members (30), and the connecting member (30) has an inner side facing the accommodating space; the skeleton (61) is fixedly connected to the inner side of the connecting member (30), and the two camera modules (60) respectively collect image information of the scanned object through the corresponding reserved gaps (110).

14. The scanner according to claim 13, wherein: At least a portion of the camera module (60) is accommodated in the corresponding reserved gap (110).

15. The scanner according to claim 13 or 14, characterized in that The frame (61) and the laser module (50) of the scanner (100) are fixed on both sides of the same connecting member (30), wherein the laser module (50) is located outside the accommodation space surrounded by the frame (10).

16. The scanner according to any one of claims 13 to 15, characterized in that The skeleton (61) and the handle (12) of the scanner (100) are fixed to the frame (10) via different connecting members (30).

17. The scanner according to any one of claims 1 to 16, characterized in that The scanner (100) is provided with an external interface (101), and a protective cover (102) is detachably connected to the external interface (101), and the external interface (101) is used for plugging in and out the wireless network card (200); The wireless network card (200) is capable of passing through the frame (10) and being plugged into the external interface (101).

18. A tracking three-dimensional scanner, characterized in that: A scanner (100) comprising any one of claims 1 to 17.

19. A connecting frame, characterized in that: Applicable to scanners, including: The frame (10) is an integrated structure; A plurality of connecting members (30) are embedded in the frame (10); wherein at least some of the connecting members (30) correspond to a plurality of marking point modules (20) and are used to assemble the corresponding marking point modules (20) on the frame (10); wherein the marking point modules (20) are used to be identified by a tracker.

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