CN206905709U - Hand-held large scale three-dimensional measurement scanner - Google Patents
Hand-held large scale three-dimensional measurement scanner Download PDFInfo
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- CN206905709U CN206905709U CN201720814463.0U CN201720814463U CN206905709U CN 206905709 U CN206905709 U CN 206905709U CN 201720814463 U CN201720814463 U CN 201720814463U CN 206905709 U CN206905709 U CN 206905709U
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Abstract
A kind of hand-held large scale three-dimensional measurement scanner, the camera and at least one pattern projector fixed including framing structural member and two positions being fixed on framing structural member, at least one camera in described two cameras is both is used for the photogrammetric multiplexing camera for being also used for 3-D scanning；The scanner also includes being used for the photogrammetric module for carrying out the three-dimensional coordinate of global mark point that is photogrammetric and obtaining body surface to measured object using the multiplexing camera；For to testee progress 3-D scanning and obtaining the 3-D scanning module of the three-D profile data of body surface using obtained mark point as the Global localization information of testee and using described two cameras and a pattern projector.The utility model has global photogrammetric and 3-D scanning function concurrently, hardware integration degree is high, operates with easy, high performance-price ratio.
Description
Technical field
The utility model belongs to three-dimensional measurement scanning device, more particularly to a kind of handheld three-dimensional measurement scanner.
Background technology
Recently as the continuous lifting of being continuously increased for computer hardware performance, and communication speed so that three-dimensional is swept
Technology also continuous iteration renewal therewith is retouched, from contact, hand-held is arrived again to fixed photo taking type.Hand-held 3-D scanning technology master
If being developed on the basis of fixed scanning technique, handheld three-dimensional scanner is different from the master of fixed three-dimensional scanning
It is that relative position dynamically can arbitrarily change between scanner and scanned object to want feature, i.e., scanner needs in real time to know certainly
Oneself relative tertiary location with scanned object, while recycle the acquisition measured object body surface of principle of stereoscopic vision actively or passively
The three-D profile data in face.
Hand-held spatial digitizer on the market is broadly divided into the hand-held white light formula spatial digitizer towards consumer field at present
With the major class of Handheld laser spatial digitizer two towards industrial neighborhood, the former is to utilize the geometry for recording and matching body surface
Feature or textural characteristics obtain relative tertiary location (such as patent 200880119267.5 of scanner and scanned object
《Combined object capturing system and display device and associated method》Described in system)；The latter is matched by identifying
The topology for being attached to the mark point of scanning body surface obtains the relative tertiary location of scanner and scanned object.In patent
US7912673《Auto-referenced system and apparatus for three-dimensional
scanning》In propose it is a kind of based on mark point splicing positioning dual camera 3 D scanning system be exactly that a kind of hand-held swashs
The implementation method of light spatial digitizer.Such method utilizes some mark point information that captured in real-time obtains and the mark obtained before
Note point set is matched, spliced, accumulating the quilt more newly arrived and realize that it is obtained after the change in location of scanner and testee
Survey object three-dimensional contour outline data and be transformed into original object coordinates system, so as to realize the continuous 3-D scanning of hand-held.From
For in theory, this method can scan the object of infinity, but the mark point due to newly obtaining can produce error in splicing
The error when the area of scanning constantly increases is caused constantly to be accumulated.In general, this hand-held spatial digitizer
Every meter of accumulated error is more than 10m in 0.1~0.3mm or so, therefore in the area of scanning2When (such as automobile so fly
The object of machine size), the error of accumulation may be other with regard to reaching grade.In another patent 201410794661.6《A kind of base
In the hand-held laser three-dimensional scanning method and apparatus of mark point track following》Middle proposition it is a kind of based on marker tracking positioning
Single camera 3 D scanning system is also the implementation method of a form of Handheld laser spatial digitizer, the patent proposes
Using mark point known to tracking in single camera view come location instrument and the spatial relation of testee, then identify
The three-dimensional coordinate of unknown mark point is obtained, and adds mark point storehouse.The hand-held three-dimensional that this method cleverly realizes one camera is swept
Retouch, compared to patent 200680014069.3《3-D scanning automatic reference system》Method improve the operational efficiency of system, drop
The low performance requirement of hardware, but the accumulation for measurement error remains unchanged and not improved --- add mistiming in new mark point
Difference is also introduced into immediately.Mark point accumulation is come location instrument and the hand-held 3-D scanning of scanned object when these are based on scanning
Instrument is when scanning large-sized object, it is necessary to which means in addition control its accumulated error.
Current relatively effective method is to coordinate hand-held spatial digitizer to carry out large scale with global Digital Photogrammetric System
The 3-D scanning of object.Before 3-D scanning, the three of all mark points of body surface are obtained using global Digital Photogrammetric System
Dimension coordinate, then the mark point set is imported into the software of hand-held spatial digitizer.The mark that scanner obtains in scanning
Point is directly matched with the mark point set that this is imported in advance, and the locus for obtaining scanner at that time and scanned object is closed
System, the three-dimensional data of contour of object is obtained finally by the structuring light for projecting to body surface is identified.In said process
In, the surface markers point storehouse of scanned object is not that continuous side identifies splicing edge in scanning process by hand-held scanner
Addition, but in advance as obtained from the overall situation is photogrammetric, it is thus eliminated that by tiring out caused by lasting matching splicing
Product error.
The content of the invention
In order to overcome existing 3-D scanning mode it is global it is photogrammetric separated with 3-D scanning, measurement process it is numerous and diverse not
Foot, the utility model provide one kind and have global photogrammetric and 3-D scanning function, hardware integration degree height concurrently, operate with letter
Just, the hand-held large scale three-dimensional measurement scanner of high performance-price ratio, the company of the photogrammetric and 3-D scanning of large-scale workpiece is realized
Progress is passed through, and finally obtains and both can guarantee that precision and can realized big face width three-D profile data.
Technical scheme is used by the utility model solves its technical problem：
A kind of hand-held large scale three-dimensional measurement scanner, including framing structural member and be fixed on framing structural member two
The camera and at least one pattern projector that individual position is fixed, at least one camera in described two cameras are
Both it is used for the photogrammetric multiplexing camera for being also used for 3-D scanning；The scanner also includes being used to image using the multiplexing
Head carries out the photogrammetric module of the three-dimensional coordinate of global mark point that is photogrammetric and obtaining body surface to measured object；With
Thrown in the Global localization information by the use of obtained mark point as testee and using described two cameras and a pattern
Shadow device carries out 3-D scanning to testee and obtains the 3-D scanning module of the three-D profile data of body surface.
Further, in two described cameras, a camera is multiplexing camera, and another camera is used only for
The alone camera of 3-D scanning.This is conventional selection scheme, certainly, if it is necessary, two cameras can also be used all
It is multiplexed camera.
Further, the supplementary lighting sources of the multiplexing camera are the LED of wave band 1 including center wave band and center wave band is
The LED of wave band 2；Wave band is the LED of wave band 2 centered on the supplementary lighting sources of the alone camera；Described multiplexing camera is adopted
Other light outside filtering out wave band 1 and wave band 2 with two waveband optical filter, described alone camera are filtered using single-pass optical filter
Other light in addition to wave band 2；Described pattern projector projects pattern with wave band 2 on testee surface.
Preferably, the wave band 1 is infrared band, and the wave band 2 is red spectral band.It is of course also possible to it is that other are different
Wave band.
Further, it is described multiplexing camera include be used for by way of potting gum or region of interest ROI side
Formula is come resolution adjustment module that its resolution ratio is adjusted.It is of course also possible to use other regulative modes.In the photography
When measurement module works, described multiplexing camera uses of a relatively high default resolution；In the 3-D scanning module work
When making, the multiplexing camera uses the relatively low resolution ratio same or like with the alone camera.
Technical concept of the present utility model is：Farthest multiplexing hardware resource, realizes the photogrammetric of large-scale workpiece
With the coherent progress of 3-D scanning, and finally obtain and both can guarantee that precision and can realized big face width three-D profile data.It is most direct
Method be that system uses three cameras, two of which is used for 3-D scanning, and another is dedicated for photogrammetric, but so
It can cause either in photogrammetric stage and 3-D scanning stage, can all there is that camera is idle, the weight of whole system can be because
This becomes unsuitable for hand-held, can also increase overall hardware cost.For realized using less hardware it is photogrammetric and
The fusion of hand-held 3-D scanning, two cameras are the very high feasible programs of rate of exchange cost performance, but photogrammetric and 3-D scanning
Requirement to camera is not very consistent.
Minute comprising more coded markings points, each mark point in the picture of every width shooting is needed due to photogrammetric
Resolution is more high just to have more preferable overall precision, it is therefore desirable to very high-resolution camera as multiplexing camera, typically
Need more than 3,000,000 pixels can relatively be adapted to.But camera is multiplexed in 3-D scanning and does not have to so high resolution ratio, its
Reason one is because more photogrammetric near from a distance from tested during hand-hold scanning, second, data transfer and the hardware of processing at this stage
Performance is also difficult to reach the requirement that two-way is higher resolution ratio, and the hand held scanner of dual camera on the market is taken the photograph at present
As head resolution ratio is below 2,000,000.To realize that photogrammetric and 3-D scanning is multiplexed camera, can be existed using camera is multiplexed
The function of potting gum when 3-D scanning, i.e., it is high-resolution multiplexing camera resolution adjustment into alone shooting
Same or similar resolution ratio；And measured using high-resolution of its acquiescence when photogrammetric.
Usually require to obtain bigger shooting face width typically to exist with a distance from farther from testee due to photogrammetric
Between 1.5m to 4.5m；And needed when holding 3-D scanning relatively closer from testee thin to obtain preferably scanning
Section, typically between 0.2m to 0.5m.That is it is multiplexed focal distance of the camera in 3-D scanning and is less than photography survey
Focal distance during amount, this for scanner camera must before dispatching from the factory by parameters such as its lens focusing distance and apertures all
Adjusted fixation and calibrate for internal reference be difficult by way of machinery, hardware or software in scanning survey when according to
Purposes is modified.To reach this purpose, an effectively method be according to same camera lens before iris setting is focused
Putting the distance of the longer focusing of wavelength, also (certainly, the manufacture craft of current camera lens eliminates to a certain extent for more remote principle
The skew of different-waveband light, but for infrared band, degree of compensation can be smaller), realized using two kinds of different-wavebands
Two kinds of shooting focal distances, so as to realize the multiplexing of camera.Farther distance is usually required due to photogrammetric, in this example
The middle infrared band using 850nm is shot, and light filling is carried out to scanned object by the LED of 850nm wave bands, and is multiplexed and is taken the photograph
As head by that can penetrate the optical filter of 850nm wave bands obtains photo site；And needed during 3-D scanning from testee
Relative close, thus it is used as the light source of pattern projector in this example using 660nm red laser, by 660nm LED
Light filling is carried out to scanned object, and two cameras obtain photo site by that can penetrate the optical filter of 660nm wave bands.
Because multiplexing camera had both been used for photogrammetric, be used for 3-D scanning again, thus optical filter of its configuration needs be 850nm with
The bilateral optical filter of 660nm two wavebands, and the LED of two kinds of wave bands carry out light filling.
The beneficial effects of the utility model are mainly manifested in：Have global photogrammetric large scale accuracy guarantee and three concurrently
Tie up the high reduction degree of minutia of scanning, simplify measurement scanning process, hardware integration degree height.
Brief description of the drawings
Fig. 1 is to be provided simultaneously with photogrammetric and 3-D scanning function hand-held large scale three-dimensional measurement beam scanner system
Implementation schematic diagram.
Fig. 2 is the functional block diagram of hand-held large scale three-dimensional measurement beam scanner system.
Fig. 3 is the working timing figure of hand-held large scale three-dimensional measurement beam scanner system, wherein, when (A) is photogrammetric
Sequence；(B) it is 3-D scanning sequential.
Fig. 4 is reference points matching schematic diagram, wherein, (A) is the present frame mark point set under instrument coordinates system；(B) it is
Mark point storehouse under world coordinate system.
Embodiment
The utility model is further described below in conjunction with the accompanying drawings.
1~Fig. 4 of reference picture, a kind of hand-held large scale three-dimensional measurement scanner, including framing structural member 103 and it is fixed on
The camera and at least one pattern projector 104 that two positions on framing structural member are fixed, described two cameras
In at least one camera to be both used for the photogrammetric multiplexing camera 101 for being also used for 3-D scanning；The scanner is also
Including for carrying out global mark point that is photogrammetric and obtaining body surface to measured object using the multiplexing camera
The photogrammetric module of three-dimensional coordinate；For the Global localization information by the use of obtained mark point as testee and use institute
Two cameras and a pattern projector is stated to carry out 3-D scanning to testee and obtain the three-D profile number of body surface
According to 3-D scanning module.
Further, in two described cameras, a camera is multiplexing camera 101, and another camera is only
Alone camera 102 for 3-D scanning.This is conventional selection scheme, certainly, if it is necessary, two cameras can also
All using multiplexing camera.
Further, the supplementary lighting sources of the multiplexing camera are the LED of wave band 1 including center wave band and center wave band is
The LED of wave band 2；Wave band is the LED of wave band 2 centered on the supplementary lighting sources of the alone camera；Described multiplexing camera is adopted
Other light outside filtering out wave band 1 and wave band 2 with two waveband optical filter, described alone camera are filtered using single-pass optical filter
Other light in addition to wave band 2；Described pattern projector projects pattern with wave band 2 on testee surface.
Preferably, the wave band 1 is infrared band, and the wave band 2 is red spectral band.The photogrammetric module is using red
Wave section, that is, be multiplexed the corresponding supplementary lighting sources of wave band 1 of camera and be multiplexed the wave band 1 of two waveband optical filter that camera uses for
Infrared band；3-D scanning module uses red spectral band, that is, is multiplexed the corresponding supplementary lighting sources of wave band 2 of camera and multiplexing camera
The wave band 2 of the two waveband optical filter used and the supplementary lighting sources of alone camera and optical filter is red spectral bands.Certainly, also may be used
To select other different wave bands.
Further, it is described multiplexing camera include be used for by way of potting gum or region of interest ROI side
Formula is come resolution adjustment module that its resolution ratio is adjusted.It is of course also possible to use other regulative modes.In the photography
When measurement module works, described multiplexing camera uses of a relatively high default resolution；In the 3-D scanning module work
When making, the multiplexing camera uses the relatively low resolution ratio same or like with the alone camera.
The framing structural member 103 for fixing two cameras and pattern projector is used to ensure that two cameras and pattern are thrown
The relative position of shadow device immobilizes；Pattern projector 104 can be that the single line that is operated on wave band 2 or multi-thread wire swash
Light, more line lasers can produce more profile stripeds so as to improve the efficiency of scanning in each frame, but be necessarily required to specific
Verification scheme identifies that the sequence number of laser rays (is used to verify the method for multi-stripe laser special on holding laser three-dimensional scanning system
Sharp document 201610824489.3《Three-dimension sensor system and three-dimensional data acquisition methods》In have a detailed description)；Supplementary lighting sources
Wave band is the LED of wave band 2 centered on 106, and wave band is the LED of wave band 1 centered on supplementary lighting sources 105, in photogrammetric module work
The LED for only starting the upper wave band 1 of multiplexing camera when making carries out light filling operation to scene, when 3-D scanning module works,
The LED for being multiplexed camera and the wave band 2 on alone camera carries out light filling to testee simultaneously；107 be wave band 1 and wave band 2
Bilateral optical filter, wave band is the single-pass optical filter of wave band 2 centered on 108.Projected by light filling LED and optical filter and pattern
The cooperation of device, it is possible to achieve system is operated in wave band 1 when the overall situation is photogrammetric, and wave band 2 is operated in 3-D scanning.
As shown in Fig. 2 the photogrammetric module of system is to obtain the non-coding mark on testee surface as follows
Remember the three-dimensional coordinate of point：1) the coded markings point containing coding information is placed on the surface of testee, without coding information
Non-coding mark point and both ends for the known length of coded markings point scale；2) described multiplexing camera is utilized from difference
Position and angle to testee carry out shooting obtain one group of original image 201；3) original image 201 is inputted to the first 2D
Image extractor, obtain the two-dimensional image coordinate 211 of the coded markings point and non-coding mark point in each image；4) is passed through
One 3D reconstructors carry out three-dimensional reconstruction to coded markings point and scale information, obtain each coded markings point in the unified world
The exterior orientation 213 of 3 d space coordinate and each image under coordinate system；5) obtained using the first 2D image extractors
The two-dimensional image coordinate 212 of non-coding mark point and the exterior orientation 213 of the image, calculated by the 2nd 3D reconstructors and obtain non-volume
Three-dimensional coordinate 204 of the code labeling point under the world coordinate system.
As shown in Fig. 2 3-D scanning module is to obtain testee surface tri-dimensional profile data as follows：1) will
The input of two dimensional image 202 and 203 that two cameras obtain simultaneously obtains non-in each image to the 2nd 2D image extractors
The two-dimensional image coordinate and pattern projector of coded markings point project the two-dimensional image of the characteristic point on testee surface
Coordinate 221；2) by the two-dimensional image coordinate 221 of the non-coding mark point in the image of two width synchronization gains and known two phases
The position relationship of machine is inputted to the 3rd 3D reconstructors to obtain the three-dimensional of the current non-coding mark point under current instrument coordinates system
Coordinate 222；3) three-dimensional coordinate 222 of the current non-coding mark point under the instrument coordinates system for obtaining previous step is inputted to mark
Point matching device, the reference points matching device by the topological characteristic of the mark point three-dimensional coordinate 222 under the instrument coordinates system of input with
Non-coding mark point storehouse 204 that the photogrammetric module obtains (or 3-D scanning module is constantly identified in scanning, spelled
Connect and add mark point mode dynamic construction mark point storehouse in real time) matched, so as to obtain under the world coordinate system
The three-dimensional coordinate of current non-coding mark point, further obtains current instrument coordinates system and is transformed into world coordinate system RT transition matrixes
223；4) pattern projector that the 2nd 2D image extractors are obtained projects the image two of the characteristic point on testee surface
Dimension coordinate inputs 224 to the 4th 3D reconstructors, calculates the three-dimensional point cloud coordinate for obtaining testee surface under instrument coordinates system
Data 225；5) three-dimensional point cloud that the RT transition matrixes 223 obtained using step 3) are exported previous step by coordinate converter
225 are transformed into world coordinate system from instrument coordinates system.
As shown in figure 3, triggering multiplexing camera captures a frame picture after pressing a button manually by user when photogrammetric,
The LED for triggering wave band 1 simultaneously enters line flicker light filling to testee, completes the shooting of shot measurement.The work of 3-D scanning
It is a cyclic process as sequential：System synchronizes triggering according to the frequency of setting to two cameras first, and touches simultaneously
The LED for sending out wave band 2 carries out light filling and triggering pattern projector to the non-coding mark point on testee surface to testee
Surface projects textured pattern.
A kind of bloom connected region being achieved in that on extraction two dimensional image of image extractor 1 and 2, then pass through image
The features such as the contour line that matching algorithm is projected to identifying coded markings point, non-coding mark point, pattern projector, then obtain
The coordinate set of the centre coordinate of mark point on image and the center line of contour line.This can find detailed in many documents
Discuss, such as number of patent application 201610824489.3《Three-dimension sensor system and three-dimensional data acquisition methods》, utilize patent
Number ZL201410794661.6《A kind of Handheld laser three-dimensional sect method and apparatus based on mark point track following》All carry
The algorithm of correlation is arrived.
The 3rd 3D is reconstructed as shown in figure 4, one kind of the reference points matching algorithm in reference points matching device is achieved in that
The directed line for the adjacent marker point in the range of each mark point under instrument coordinates system to periphery certain distance that device is inputted
Section L1~Ln relevant parameter (being one parameter of distance in the example) counts on { D in a data structure1,D2..Dn, the number
Each element according to structure is to carry out arrangement storage according to the size of its value.By the data structure and photogrammetric acquisition before
Mark point set { W under world coordinate system1,W2..WMThe relevant parameter of each mark point be ranked up by the size of time value
All ordered implicative parameter sets set { { D11,D12..D1n, { D21,D22..D2n}..{Dm1,Dm2..DmnEvery height
(due to being that scalar compares, it is possible to contrasted under two coordinate systems) is compared in collection, finds a correlation maximum
Mark point k as matched indicia point.The statistics of relevant parameter difference of minimum can simply be found by assessing the method for correlation
Value：Minimum statistical value illustrates mark point and surrounding under the two different coordinates
The topographic morphologies of mark point are the most close.Certainly, it is necessary to set a higher limit H of a relevant parameter statistical value, ifThen both topologys of explanation have notable difference, then are judged as not associating.If
Photogrammetric obtained mark point set { W1,W2..WMIn can not find any connective marker point, then judge present frame without
Method matches.Carry out same assessment to the mark point around it again after obtained possible connective marker point, obtain its neighborhood
The number of connective marker point in connective marker point set verifies whether the mark point is defined as matched indicia point.In order to improve
The accuracy of matching, relevant parameter can also also add by the vector of mark point itself or with the angle of the directed line segment of surrounding point
The consumption of computing resource when entering to assess, but can so increase real time scan.
The photogrammetric overall situation is very mature technology, such as German patent DE 19925462《Meβ-und Prüfsystem
sowie Meβ-und Prüfverfahren für einen dreidimensionalenin Zusammenhang
mit dessen Fertigung》, Chinese patent 200710195582.3《Goal spot global automatic positioning method》Deng all to it
Or its improved form is described later in detail.Its main principle is to shoot multiple photos from different perspectives using camera, then right
Identify that coded markings point is reconstructed in the photo of acquisition, obtain camera exterior orientation during this photo corresponding to shooting, be
The first 3D reconstructors in system are exactly to correspond to complete this function；Can is to the photos after the exterior orientation of camera is obtained
In non-coding mark point rebuild and matched, the 2nd 3D reconstructors in system are exactly corresponding to complete the function.
Claims (5)
- A kind of 1. hand-held large scale three-dimensional measurement scanner, it is characterised in that：The scanner includes skeleton structure and fixation The camera and at least one pattern projector that two positions in skeleton structure are fixed, in described two cameras At least one camera is both to be used for the photogrammetric multiplexing camera for being also used for 3-D scanning；The scanner also includes being used for The three-dimensional coordinate of global mark point that is photogrammetric and obtaining body surface is carried out to measured object using the multiplexing camera Photogrammetric module；Taken the photograph for the Global localization information by the use of obtained mark point as testee and using described two As head and a pattern projector carry out 3-D scanning to testee and obtain the three-dimensional of the three-D profile data of body surface Scan module.
- 2. hand-held large scale three-dimensional measurement scanner as claimed in claim 1, it is characterised in that：Two described cameras In, a camera is multiplexing camera, and another camera is used only for the alone camera of 3-D scanning.
- 3. hand-held large scale three-dimensional measurement scanner as claimed in claim 2, it is characterised in that：The multiplexing camera Supplementary lighting sources include the LED that center wave band is the LED of wave band 1 and center wave band is wave band 2；The light filling light of the alone camera Wave band is the LED of wave band 2 centered on source；Described multiplexing camera crossed using two waveband optical filter filter out wave band 1 and wave band 2 it Other outer light, described alone camera cross other light filtered out outside wave band 2 using single-pass optical filter；Described figure Case projector projects pattern with wave band 2 on testee surface.
- 4. hand-held large scale three-dimensional measurement scanner as claimed in claim 3, it is characterised in that：The wave band 1 is infrared Wave band, the wave band 2 are red spectral band.
- 5. the hand-held large scale three-dimensional measurement scanner as described in one of Claims 1 to 4, it is characterised in that：The multiplexing Camera include be used for by way of potting gum or region of interest ROI mode come its resolution ratio is adjusted point Resolution adjustment module.
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| CN201720814463.0U CN206905709U (en) | 2017-07-06 | 2017-07-06 | Hand-held large scale three-dimensional measurement scanner |
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| CN201720814463.0U CN206905709U (en) | 2017-07-06 | 2017-07-06 | Hand-held large scale three-dimensional measurement scanner |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108537879A (en) * | 2018-03-29 | 2018-09-14 | 东华智业（北京）科技发展有限公司 | Reconstructing three-dimensional model system and method |
| CN109099839A (en) * | 2018-08-23 | 2018-12-28 | 武汉中观自动化科技有限公司 | It is a kind of for measuring the scanner auxiliary accessories and method of workpiece surface circular hole |
| CN109540030A (en) * | 2018-11-27 | 2019-03-29 | 中国船舶重工集团公司第十二研究所 | A kind of handheld scanning device self poisoning accuracy checking method |
| CN113091635A (en) * | 2021-03-08 | 2021-07-09 | 华光三维（天津）科技有限公司 | Handheld three-dimensional scanner terminal acquisition system |
| CN113225447A (en) * | 2021-04-14 | 2021-08-06 | 杭州思看科技有限公司 | Three-dimensional scanning system, data processing method and device and computer equipment |
-
2017
- 2017-07-06 CN CN201720814463.0U patent/CN206905709U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108537879A (en) * | 2018-03-29 | 2018-09-14 | 东华智业（北京）科技发展有限公司 | Reconstructing three-dimensional model system and method |
| CN109099839A (en) * | 2018-08-23 | 2018-12-28 | 武汉中观自动化科技有限公司 | It is a kind of for measuring the scanner auxiliary accessories and method of workpiece surface circular hole |
| CN109540030A (en) * | 2018-11-27 | 2019-03-29 | 中国船舶重工集团公司第十二研究所 | A kind of handheld scanning device self poisoning accuracy checking method |
| CN113091635A (en) * | 2021-03-08 | 2021-07-09 | 华光三维（天津）科技有限公司 | Handheld three-dimensional scanner terminal acquisition system |
| CN113225447A (en) * | 2021-04-14 | 2021-08-06 | 杭州思看科技有限公司 | Three-dimensional scanning system, data processing method and device and computer equipment |
| CN113225447B (en) * | 2021-04-14 | 2024-03-26 | 思看科技(杭州)股份有限公司 | Three-dimensional scanning system, data processing method, data processing device and computer equipment |
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