Search

CN-116625267-B - Three-dimensional scanner

CN116625267BCN 116625267 BCN116625267 BCN 116625267BCN-116625267-B

Abstract

Embodiments of the present disclosure provide a three-dimensional scanner. The three-dimensional scanner includes a mounting device including a camera mounting bracket having a ring-shaped structure and a radar mounting portion located at one side in an axial direction of the camera mounting bracket, a plurality of image pickup devices arranged in a circumferential direction of the camera mounting bracket and adapted to each acquire image data of an object within a camera field of view outwardly in a radial direction of the camera mounting bracket, the camera fields of view each being centered on a camera normal line and the plurality of camera fields of view partially overlapping, and a laser radar arranged on the radar mounting portion and adapted to acquire point cloud data of the object within a radar field of view centered on the radar normal line, the radar field of view being at a non-zero angle with respect to a normal line at which the plurality of camera normal lines are located, and the radar field of view partially overlapping the plurality of camera fields of view. The radar view field and the camera view fields are partially overlapped, so that the precision of calibration parameters can be improved, errors are reduced, and the data processing effect is improved.

Inventors

  • LIU JUNXIA
  • SUN HAITAO

Assignees

  • 北京有竹居网络技术有限公司

Dates

Publication Date
20260505
Application Date
20230303

Claims (13)

  1. 1. A three-dimensional scanner, comprising: A mounting device (100) comprising a camera mounting bracket (102) having a ring-shaped structure and a radar mounting portion located at one side in an axial direction of the camera mounting bracket (102); A plurality of image acquisition devices (202) arranged on the camera mounting bracket (102) and adapted to each acquire image data of an object within a camera field of view (2022) outwardly in a radial direction of the camera mounting bracket (102), the camera fields of view (2022) each being centered on a camera normal (2021) and the plurality of camera fields of view (2022) partially overlapping, and A laser radar (203) arranged on the radar mounting portion and adapted to acquire point cloud data of an object within a radar field of view (2031), the radar field of view (2031) being centered on a radar normal (1011), the radar normal (1011) being at a non-zero angle to a normal at which a plurality of the camera normals (2021) are located, and the radar field of view (2031) partially overlapping the plurality of camera fields of view (2022), Wherein the camera mounting bracket (102) includes a plurality of positioning portions (1021) arranged in a circumferential direction, the plurality of positioning portions (1021) being arranged at predetermined distances in the circumferential direction on the camera mounting bracket of the annular structure and adapted to position and mount the plurality of image pickup devices (202) such that a plurality of camera normals (2021) of the plurality of image pickup devices (202) intersect at a normal intersection point (1023), and Wherein a normal plane in which the camera normals (2021) of the plurality of the image pickup devices (202) are located is a plane, and the radar normals (1011) are perpendicular to the normal plane, or The normal line surface on which the camera normals (2021) of the plurality of image pickup devices (202) are located is a conical surface, and the radar normals (1011) are collinear with the center line of the conical surface.
  2. 2. The three-dimensional scanner of claim 1, wherein the radar mounting portion comprises a first radar alignment portion, and The lidar (203) comprises a second radar alignment part, the first radar alignment part being adapted to be coupled with the second radar alignment part for positioning and mounting the lidar (203) on the radar mounting part, and a radar normal (1011) of the lidar (203) passing through the normal intersection point (1023).
  3. 3. The three-dimensional scanner of claim 2, wherein the mounting device (100) further comprises: A main mounting bracket (101) including a first camera alignment structure, and Wherein the camera mounting bracket (102) comprises a second camera alignment structure at one end in the axial direction, the second camera alignment structure being adapted to couple with the first camera alignment structure to couple the camera mounting bracket (102) to the main mounting bracket (101).
  4. 4. A three-dimensional scanner according to any of claims 1-3, wherein the plurality of image acquisition devices (202) are arranged circumferentially within a range of more than 180 ° of the camera mounting bracket (102).
  5. 5. A three-dimensional scanner according to claim 3, the mounting device (100) further comprising: An auxiliary mounting bracket (103) arranged on the main mounting bracket (101) at an end opposite to the radar mounting part, and Wherein the three-dimensional scanner further comprises: -a rotation head (204) arranged on the mounting device (100) via the auxiliary mounting bracket (103) and adapted to drive the plurality of image acquisition devices (202) and the lidar (203) in rotation along a rotation axis (R) perpendicular to the radar normal (1011) and passing through the normal intersection point (1023).
  6. 6. The three-dimensional scanner of claim 5, wherein the auxiliary mounting bracket (103) comprises: A pair of mounting bodies (1031) are symmetrically arranged based on the center plane of the mounting device (100) for the rotation stage (204) to be arranged therebetween.
  7. 7. The three-dimensional scanner of claim 5, further comprising: a housing (201) adapted to house the mounting device (100), the plurality of image pickup devices (202), the lidar (203), and the rotating pan head (204), and including a body including an annular recessed portion (2011) and a hemispherical projected portion (2012) arranged at one side in an axial direction of the annular recessed portion (2011), the annular recessed portion (2011) including a plurality of camera windows (2018), Wherein the plurality of image acquisition devices (202) are arranged at positions corresponding to the plurality of camera windows (2018) to acquire image data within the camera field of view (2022) through the plurality of camera windows (2018), and the lidar (203) is arranged in the hemispherical protrusion (2012).
  8. 8. The three-dimensional scanner of claim 7, wherein the body further comprises: a first protruding portion (2015) located between the annular recessed portion (2011) and the hemispherical protruding portion (2012), and A second protruding portion (2016) located at a side of the annular recessed portion (2011) axially away from the first protruding portion (2015), and Wherein the annular recess (2011) is recessed a predetermined distance in a radial direction with respect to the first protruding portion (2015) and the second protruding portion (2016).
  9. 9. The three-dimensional scanner of claim 8, wherein the body further comprises: A first vent hole (2013) arranged at an end of the second protruding portion (2016) in an axial direction of the annular recessed portion (2011).
  10. 10. The three-dimensional scanner of claim 8, wherein the body further comprises: a second vent hole (2014) formed on the first protruding portion (2015) around the hemispherical protruding portion (2012).
  11. 11. The three-dimensional scanner of claim 7, the housing (201) further comprising: A bottom cover disposed at a bottom of the body longitudinally away from the annular recessed portion (2011) and having a third vent hole (2017).
  12. 12. The three-dimensional scanner of claim 11, the rotating head (204) comprising: A pan-tilt portion (2041) adapted to be exposed to the outside from an opening of the bottom cover and flush with the bottom cover, the pan-tilt portion (2041) adapted to be coupled with a fixing member to fix the three-dimensional scanner on the fixing member.
  13. 13. The three-dimensional scanner according to any one of claims 7-11, wherein the main mounting bracket (101) comprises a through hole for the passage of an air flow.

Description

Three-dimensional scanner Technical Field Example embodiments of the present disclosure generally relate to a three-dimensional scanner. Background A three-dimensional scanner is a scientific instrument using three-dimensional scanning technology, which is used to detect and analyze shape and appearance data of objects or environments in the real world. The three-dimensional scanning technology has important significance in practical application, namely, the three-dimensional information of a real object is converted into a digital signal which can be recognized and directly processed by a computer, and the non-contact measurement of the object is realized. Data collected by a three-dimensional scanner is often used to perform three-dimensional reconstruction calculations to create a digital model of the real object in the virtual world. One of the uses of three-dimensional scanners is to build a point cloud of the geometric surface of an object, which points can be used to interpolate the surface shape of the object, a denser point cloud can build a more accurate model (this process is called three-dimensional reconstruction). If the scanner is capable of obtaining the surface color, a texture map, so-called texture printing, may be further attached to the reconstructed surface. Three-dimensional scanners are also increasingly being used for the measurement and scanning of building construction. For example, in scanning indoor environments, three-dimensional scanners are typically placed in fixed locations within a room being scanned, with their optical detection portions (including cameras and lidars, etc.) typically driven through one rotation by a drive member to complete the scanning of the room configuration. Disclosure of Invention In a first aspect of the present disclosure, a three-dimensional scanner is provided. The three-dimensional scanner includes a mounting device including a camera mounting bracket having a ring-shaped structure and a radar mounting portion located at one side in an axial direction of the camera mounting bracket, a plurality of image pickup devices arranged in a circumferential direction of the camera mounting bracket and adapted to each acquire image data of an object within a camera field of view outwardly in a radial direction of the camera mounting bracket, the camera fields of view each being centered on a camera normal line and the plurality of camera fields of view partially overlapping, and a laser radar arranged on the radar mounting portion and adapted to acquire point cloud data of the object within a radar field of view centered on the radar normal line, the radar field of view being at a non-zero angle with respect to a normal line at which the plurality of camera normal lines are located, and the radar field of view partially overlapping the plurality of camera fields of view. By partially overlapping the fields of view of the plurality of cameras, calibration of parameters of the plurality of image acquisition devices can be facilitated. The accurate calibration of the parameters is beneficial to the subsequent accurate processing of the data. In addition, the overlapping arrangement of the radar view field and the camera view field is beneficial to parameter calibration between the laser radar and the image acquisition device. On the other hand, the overlapping arrangement of the radar field and the camera field enables the laser radar and the image acquisition device of the three-dimensional scanner to acquire data simultaneously (for example, in a certain stationary state), and to fuse the point cloud data and the image data acquired simultaneously to generate a virtual reality image with depth information. In this way, the accuracy and reliability of data fusion between image acquisition devices and between the image acquisition devices and the radar can be improved. In addition, the interference between the radar field of view and the laser field of view can be reduced or avoided by the non-zero angle between the radar normal and the normal, so that the arrangement between the radar field of view and the laser field of view is facilitated, and the miniaturization of the three-dimensional scanner is facilitated. In some embodiments, the camera mounting bracket includes a plurality of positioning portions arranged in a circumferential direction, the plurality of positioning portions being adapted to position the plurality of image capturing devices so that a plurality of camera normals of the plurality of image capturing devices intersect at a normal intersection point. By using the positioning part, a plurality of image acquisition devices can be simply and reliably assembled in place accurately, and the acquisition parallax between the plurality of image acquisition devices can be eliminated by intersecting the normals of the cameras at the intersection point of the normals, and the data fusion effect and the accuracy of the image acquisition devices are