Scanning device

Abstract

A scanning device, comprising: a support, an optomechanical assembly, and at least two groups of cameras, wherein the optomechanical assembly is mounted on the support and is configured to project light to an object to be measured; and the at least two groups of cameras are mounted on the support, the scanning ranges of the at least two groups of cameras are different, each group of cameras includes at least two cameras, the at least two cameras are respectively located on two sides of the optomechanical assembly, and each group of cameras is configured to scan an image of said object when the light is projected onto said object.

Description

Scanning equipment

[0001] This disclosure claims priority to Chinese Patent Application No. 202520443305.3, filed on March 13, 2025, entitled "Scanning Device", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application belongs to the field of 3D scanning technology, and in particular relates to a scanning device. Background Technology

[0003] A 3D scanner is a scientific instrument used to detect and analyze the shape (geometry) and appearance data (such as color, surface albedo, etc.) of objects or environments in the real world. The collected data is often used to perform 3D reconstruction calculations to create digital models of real objects in the virtual world.

[0004] In related technologies, most 3D scanning devices can only perform scanning within a single range. For scenarios that require switching the scanning range, it is necessary to manually replace the relevant equipment of the 3D scanning device (e.g., the camera), resulting in low efficiency in switching the scanning range. Summary of the Invention

[0005] This application provides a scanning device to solve the problem of low efficiency in switching scanning ranges due to the need to manually replace related equipment.

[0006] In a first aspect, embodiments of this application provide a scanning device, comprising: a support, an optomechanical assembly, and at least two cameras. The optomechanical assembly is mounted on the support and configured to project light onto a test object. At least two sets of cameras are mounted on the support, and the scanning ranges of the at least two sets of cameras are different. Each set of cameras includes at least two cameras, which are respectively located on both sides of the optomechanical assembly. Each set of cameras is configured to scan an image of the test object after the light has been projected.

[0007] In some embodiments, the optical engine assembly has multiple optical engine focal lengths, each corresponding to a set of cameras.

[0008] In some embodiments, the optomechanical assembly includes an optomechanical lens and a motor module, the optomechanical lens and the motor module being connected, and the motor module being configured to adjust the optomechanical focal length of the optomechanical lens according to the scanning range of a selected camera, so that the optomechanical lens projects light onto the object to be measured according to the optomechanical focal length.

[0009] In some embodiments, the motor module includes a stepper motor and a motor controller. The stepper motor is connected to the optical engine lens and the motor controller. The motor controller is configured to generate a focal length adjustment command based on the scan range of the selected camera. The stepper motor is configured to adjust the optical engine focal length of the optical engine lens according to the adjustment command.

[0010] In some embodiments, the scanning range of a set of cameras closer to the optomechanical assembly is smaller than the scanning range of another set of cameras farther away from the optomechanical assembly.

[0011] In some embodiments, at least two sets of cameras include a first set of cameras and a second set of cameras.

[0012] In some embodiments, the focal length of the first camera corresponding to the first group of cameras is different from the focal length of the second camera corresponding to the second group of cameras.

[0013] In some embodiments, the first group of cameras and the second group of cameras each include two cameras.

[0014] In some embodiments, both the first set of cameras and the second set of cameras include at least two cameras located on either side of the optical engine assembly.

[0015] In some embodiments, at least two sets of cameras have the same resolution.

[0016] The scanning device provided in this application includes: a support, an optomechanical assembly, and at least two sets of cameras. The optomechanical assembly is mounted on the support and configured to project light onto the object to be measured. At least two sets of cameras are mounted on the support, and the scanning ranges of the at least two sets of cameras are different. Each set of cameras includes at least two cameras, which are located on either side of the optomechanical assembly. Each set of cameras is configured to scan an image of the object to be measured after the light has been projected. By mounting at least two sets of cameras on the support, and ensuring that the scanning ranges of the at least two sets of cameras are different, the device can improve the efficiency of scanning range switching by automatically switching between different sets of cameras to achieve different scanning ranges. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 is a first structural schematic diagram of the scanning device provided in an embodiment of this application.

[0019] Figure 2 is a schematic diagram of the structure of the optomechanical component provided in the embodiment of this application.

[0020] Figure 3 is a schematic diagram of the second structure of the scanning device provided in an embodiment of this application. Detailed Implementation

[0021] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0023] 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 this application's specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. It should be understood that, unless otherwise stated, "at least one" means one or more. "More than one" means two or more. For example, at least one of a, b, or c can represent seven cases: a, b, c, a and b, a and c, b and c, and a, b, and c.

[0024] Existing 3D scanning equipment can only perform scans within a single area. For example, depth cameras such as Kinect, RealSense, and Mantis can achieve large-scale scans, while line structured light scanners and area structured light scanners can achieve small-to-medium-scale scans. For scenarios requiring switching of the scanning range—for example, when scanning the overall outline of an object, the scanning range of the 3D scanning equipment is large, while when scanning local details of the object, the scanning range is small—it is necessary to manually change the relevant equipment, such as replacing the lenses on the camera and optical engine.

[0025] However, the above method of switching the scanning range is cumbersome, and after switching the scanning range, recalibration is required before scanning can be performed, resulting in low efficiency in switching the scanning range.

[0026] In view of the above problems, embodiments of this application provide a scanning device that can switch between different scanning ranges by automatically switching between different groups of cameras, thereby improving the efficiency of switching scanning ranges.

[0027] Figure 1 is a first structural schematic diagram of the scanning device provided in an embodiment of this application. As shown in Figure 1, the scanning device 10 includes a support 11, an optomechanical assembly 12, and at least two sets of cameras. The optomechanical assembly 12 is mounted on the support 11 and configured to project light onto the object to be measured. At least two sets of cameras are mounted on the support 11, and the scanning ranges of the at least two sets of cameras are different. Each set of cameras includes at least two cameras, which are located on both sides of the optomechanical assembly 12. Each set of cameras is configured to scan the image of the object to be measured after the light is projected. The object to be measured may include automobiles, mechanical parts, people, animals, plants, buildings, etc. The embodiment of this application does not limit the form of the object to be measured.

[0028] In some embodiments, the optical-mechanical focal length affects the depth of field of each camera group, i.e., the range that can be clearly imaged. A shorter optical-mechanical focal length corresponds to a larger depth of field, suitable for photographing close-up objects, i.e., applicable to cameras with a smaller scanning range. A longer optical-mechanical focal length corresponds to a smaller depth of field, suitable for photographing distant objects, i.e., applicable to cameras with a larger scanning range. This application embodiment provides an optical-mechanical assembly 12 with adjustable optical-mechanical focal length. The optical-mechanical assembly 12 has multiple optical-mechanical focal lengths, each corresponding to a set of cameras. By providing an optical-mechanical assembly 12 with adjustable optical-mechanical focal length, the optical-mechanical assembly 12 can adjust the optical-mechanical focal length in a timely manner when switching between different sets of cameras, ensuring that the adjusted optical-mechanical focal length meets the scanning requirements of the switched camera and improving the scanning effect.

[0029] Figure 2 is a schematic diagram of the structure of the optomechanical assembly provided in an embodiment of this application. As shown in Figure 2, the optomechanical assembly 12 includes an optomechanical lens 121 and a motor module 122. The optomechanical lens 121 is connected to the motor module 122, and the motor module 122 is configured to adjust the optomechanical focal length of the optomechanical lens 121 according to the scanning range of the selected camera, so that the optomechanical lens 121 projects light onto the object under test according to the optomechanical focal length. In some embodiments, a correspondence between the optomechanical focal length and the scanning range is preset. By querying the correspondence, the optomechanical focal length corresponding to the scanning range of the selected camera can be determined. This embodiment of the application uses the motor module 122 to determine the scanning range of the selected camera and automatically adjusts the optomechanical focal length according to the scanning range, avoiding the problem of cumbersome operation caused by changing the optomechanical lens 121 and improving scanning efficiency.

[0030] In some embodiments, the motor module 122 includes a stepper motor 1221 and a motor controller 1222. The stepper motor 1221 is connected to the optical-mechanical lens 121 and the motor controller 1222. The motor controller 1222 is configured to generate a focal length adjustment command based on the scan range of the selected camera. The stepper motor 1221 is configured to adjust the optical-mechanical focal length of the optical-mechanical lens 121 according to the adjustment command. This embodiment utilizes the stepper motor 1221 to adjust the optical-mechanical focal length of the optical-mechanical lens 121, which improves the accuracy of the optical-mechanical focal length adjustment and thus improves the scanning effect.

[0031] In some embodiments, considering that the scanning accuracy of each group of cameras is related to the distance between the cameras within the group, when the distance between the cameras within the group is closer, more details of the object under test can be clearly distinguished and detected. When the distance between the cameras in the group is farther, a larger area of ​​the scene can be captured. A group of cameras with a smaller scanning range (e.g., a scanning range of 160mm) is positioned closer to the optical-mechanical assembly 12, and another group of cameras with a larger scanning range (e.g., a scanning range of 430mm) is positioned further away from the optical-mechanical assembly 12. That is, the scanning range of the group of cameras closer to the optical-mechanical assembly 12 is smaller than the scanning range of the other group of cameras further away from the optical-mechanical assembly 12. By setting the group of cameras with a smaller scanning range closer to the optical-mechanical assembly 12 and the other group of cameras with a larger scanning range further away from the optical-mechanical assembly 12, this embodiment of the application enables the group of cameras with a smaller scanning range to capture more local details of the object under test, and the other group of cameras with a larger scanning range to capture the overall outline of the object under test, thereby improving the scanning effect.

[0032] In some embodiments, at least two camera groups may include two or more camera groups, such as three or four camera groups. Each camera group may have a different scanning range, or some camera groups may have the same scanning range while others have different scanning ranges; this is not a limitation. This application embodiment uses at least two camera groups, including a first camera group 13 and a second camera group 14, as an example. The first camera group 13 includes at least two cameras, such as two, three, or four cameras; this is not a limitation. The second camera group 14 includes at least two cameras, such as two, three, or four cameras; this is not a limitation. This application embodiment uses two cameras per camera group as an example, meaning that both the first camera group 13 and the second camera group 14 include two cameras. By configuring the first camera group 13 and the second camera group 14 to include two cameras, they can simultaneously scan the object under test from different angles, thereby capturing more surface information of the object under test and improving the scanning effect.

[0033] In some embodiments, the focal length of the camera determines the field of view and imaging characteristics that the camera can capture. A smaller focal length results in a wider field of view, allowing the camera to capture more objects, resulting in a shallower depth of field and enhanced background blur. Conversely, a larger focal length results in a narrower field of view, allowing the camera to focus on the subject, leading to a deeper depth of field and reduced background blur. Thus, for larger-area scanning, a camera with a smaller focal length can be selected to capture images of the object under test over a larger area, obtaining the overall outline of the object. For smaller-area scanning, a camera with a larger focal length can be selected to capture images of the object under test over a smaller area, enabling fine scanning of local areas of the object. In some embodiments, the focal length of the first camera (first group of cameras 13) is different from the focal length of the second camera (second group of cameras 14), and the focal length of the first camera is greater than that of the second camera. This embodiment of the application improves scanning performance by setting different focal lengths for the first group of cameras 13 and the second group of cameras 14, enabling each group of cameras to capture images of the object under test within its corresponding scanning range.

[0034] In some embodiments, both the first group of cameras 13 and the second group of cameras 14 include at least two cameras located on either side of the optomechanical assembly 12. As shown in FIG1, the first group of cameras 13 includes a first camera 131 and a second camera 132, and the second group of cameras 14 includes a third camera 141 and a fourth camera 142. The first camera 131 and the third camera 141 are located on the left side of the optomechanical assembly 12, and the second camera 132 and the fourth camera 142 are located on the right side of the optomechanical assembly 12. By placing at least two cameras of the first group of cameras 13 and the second group of cameras 14 on either side of the optomechanical assembly 12, the embodiments of this application enable the first group of cameras 13 and the second group of cameras 14 to simultaneously scan the object under test from different angles, thereby capturing more surface information of the object under test and improving the scanning effect.

[0035] In some embodiments, at least two sets of cameras have the same resolution. For example, each set of cameras has a resolution of 12 megapixels (MPX). In other embodiments, cameras within a group have the same resolution, but different sets of cameras have different resolutions; for example, the first set of cameras 13 has a resolution of 12 megapixels, and the second set of cameras 14 has a resolution of 14 megapixels. In other embodiments, cameras within a group have different resolutions, and different sets of cameras have different resolutions; for example, in the first set of cameras 13, the first camera 131 has a resolution of 12 megapixels, and the second camera 132 has a resolution of 14 megapixels. In the second set of cameras 14, the third camera 141 has a resolution of 13 megapixels, and the fourth camera 142 has a resolution of 16 megapixels. This application describes embodiments using at least two sets of cameras with the same resolution as an example. By setting at least two sets of cameras to have the same resolution, parallax matching errors caused by resolution differences can be reduced, avoiding problems such as inaccurate depth and 3D model distortion, thus improving the scanning effect.

[0036] In the scanning device 10 provided in this application embodiment, by mounting at least two sets of cameras on the bracket 11, and the scanning ranges of the at least two sets of cameras being different, the switching efficiency of the scanning range can be improved by automatically switching between different sets of cameras. Furthermore, this application does not involve replacing the optical engine lens or camera lens, therefore there is no need to recalibrate the camera, which improves scanning efficiency.

[0037] Figure 3 is a second structural schematic diagram of the scanning device provided in an embodiment of this application. As shown in Figure 3, the scanning device 10 includes an optomechanical assembly 12, a first set of cameras 13, a second set of cameras 14, a communication module 15, a memory 16, a processor 17, an input / output (I / O) interface 18, and a bus 19. The processor 17 is coupled to the optomechanical assembly 12, the first set of cameras 13, the second set of cameras 14, the communication module 15, the memory 16, and the input / output interface 18 via the bus 19.

[0038] In some embodiments, the communication module 15 may include a wired communication module and / or a wireless communication module. The wired communication module may provide one or more wired communication solutions such as Universal Serial Bus (USB) and Controller Area Network (CAN). The wireless communication module may provide one or more wireless communication solutions such as Wireless Fidelity (Wi-Fi), Bluetooth (BT), mobile communication networks, frequency modulation (FM), near field communication (NFC), and infrared (IR).

[0039] In some embodiments, memory 16 may include one or more random access memory (RAM) and one or more non-volatile memory (NVM). The RAM can be directly read and written by the processor 17 and can be used to store executable programs (e.g., machine instructions) of other running programs, as well as user and application data. The RAM may include static random-access memory (SRAM), dynamic random-access memory (DRAM), synchronous dynamic random-access memory (SDRAM), double data rate synchronous dynamic random-access memory (DDR SDRAM), etc.

[0040] In some embodiments, memory 16 is used to store one or more computer programs. The one or more computer programs are configured to be executed by processor 17. The one or more computer programs include multiple instructions that, when executed by processor 17, implement a relevant scanning method on scanning device 10.

[0041] In some embodiments, the non-volatile memory may also store executable programs and user and application data, which can be pre-loaded into random access memory for direct reading and writing by the processor 17. The non-volatile memory may include disk storage devices and flash memory.

[0042] In other embodiments, the scanning device 10 also includes an external memory interface for connecting to an external memory to expand the storage capacity of the scanning device 10.

[0043] In some embodiments, processor 17 may include one or more processing units, such as an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), and / or a neural network processing unit (NPU). These different processing units may be independent devices or integrated into one or more processors.

[0044] In some embodiments, processor 17 provides computational and control capabilities, for example, processor 17 is used to execute computer programs stored in memory 16 to implement relevant scanning methods.

[0045] In some embodiments, the input / output interface 18 is used to provide a channel for user input or output. For example, the input / output interface 18 can be used to connect various input / output devices, such as a mouse, keyboard, touch device, display screen, etc., so that users can enter information or visualize information.

[0046] In some embodiments, bus 19 is at least used to provide a channel for communication between the communication module 15, memory 16, processor 17, and input / output interface 18 in the scanning device 10.

[0047] It is understood that the structures illustrated in the embodiments of this application do not constitute a specific limitation on the scanning device 10. In other embodiments of this application, the scanning device 10 may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0048] Furthermore, it is clear that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices described in this application may also be implemented by a single unit or device through software or hardware. The terms "first," "second," etc., are used to indicate names and do not indicate any specific order.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of this application without departing from the spirit and scope of the technical solutions of this application. Industrial applicability

[0050] The scanning device provided in this application includes: a support, an optomechanical assembly, and at least two sets of cameras. The optomechanical assembly is mounted on the support and configured to project light onto the object to be measured. At least two sets of cameras are mounted on the support, and the scanning ranges of the at least two sets of cameras are different. Each set of cameras includes at least two cameras, which are located on either side of the optomechanical assembly. Each set of cameras is configured to scan an image of the object to be measured after the light has been projected. By mounting at least two sets of cameras on the support, and ensuring that the scanning ranges of the at least two sets of cameras are different, the device can improve the efficiency of scanning range switching by automatically switching between different sets of cameras to achieve different scanning ranges.

Claims

1. A scanning device, wherein, The scanning device includes: support; An optomechanical assembly, mounted on the bracket, is configured to project light onto the object under test; At least two sets of cameras are mounted on the bracket. The scanning ranges of the at least two sets of cameras are different. Each set of cameras includes at least two cameras, which are located on both sides of the optomechanical assembly. Each set of cameras is configured to scan an image of the object under test after light is projected onto it.

2. The scanning device of claim 1, wherein, The optical engine assembly has multiple optical engine focal lengths, and each optical engine focal length corresponds to a set of cameras.

3. The scanning device of claim 1, wherein, The optomechanical assembly includes an optomechanical lens and a motor module. The optomechanical lens is connected to the motor module. The motor module is configured to adjust the optomechanical focal length of the optomechanical lens according to the scanning range of the selected camera, so that the optomechanical lens projects light onto the object under test according to the optomechanical focal length.

4. The scanning device of claim 3, wherein, The motor module includes a stepper motor and a motor controller. The stepper motor is connected to the optical engine lens and the motor controller. The motor controller is configured to generate a focal length adjustment command based on the scan range of the selected camera. The stepper motor is configured to adjust the optical engine focal length of the optical engine lens according to the adjustment command.

5. The scanning device of claim 1, wherein, The scanning range of a set of cameras closer to the optical engine assembly is smaller than the scanning range of another set of cameras farther away from the optical engine assembly.

6. The scanning device of claim 1, wherein, The at least two sets of cameras include a first set of cameras and a second set of cameras.

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

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

9. The scanning device of claim 8, wherein, Both the first group of cameras and the second group of cameras include at least two cameras located on either side of the optical engine assembly.

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

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