CN208125072U - For obtaining the wireless hand-held three-dimensional scanning device of object surface three-dimensional morphology - Google Patents

Abstract

The utility model provides a kind of for obtaining the wireless hand-held three-dimensional scanning device of object surface three-dimensional morphology, mobile processing platform including one group for analyzing image data and controlling headend equipment state, the processing platform respectively with pattern projecting device, image sensing apparatus, data transmission blocks, the connection of mobile power source module, the detection for realizing image data to object detection results compressed data export, it realizes equipment state detection, realizes and exchanged with the data of host computer and order.This equipment has higher scanning resolution and scanning speed, using treated data, cooperates data compression, breaks through original limitation, higher resolution, the scanning of higher speed may be implemented.

Description

For obtaining the wireless hand-held three-dimensional scanning device of object surface three-dimensional morphology

Technical field

The utility model belongs to the 3-D scanning field of body surface geometry, especially a kind of to have at Data Frontend Manage the wireless handheld three-dimensional scanning device of function.

Background technique

The 3-D scanning and digitizing technique of what shape of body surface are applied generally now in many industrial kimonos In business, its application field is very extensive.Some examples of these application fields are as follows：Shape in industrial production system Consistency check and measurement；The digitlization to design a model with exemplar in Industrial Moulding Design；Zero with complex geometric shapes The reverse-engineering of component；Interactive virtual reality technology in multimedia and game application；Historical relic, the high-value items such as art work Non-contact three-dimensional digitlization.

Distance measuring sensor can be with the distance between one group of point in measurement sensor and body surface, to obtain target surface The three-dimensional coordinate that upper each point is fastened in sensor coordinates.But the three-dimensional coordinate set obtained at this time is only surface visible part Range measurement.In order to completely obtain the digitlization shape of whole object, sensor must move visual angle to cover whole object Surface.The part three fastened according to orientation of each visual angle in global common coordinate system and corresponding visual angle sensor coordinates Tie up coordinate, the whole local coordinate set of rotation translation combination, it can obtain the full digitized external shape of entire object Shape.

Many different theories are developed about distance measuring sensor, wherein interference measure (interferometry) flies The principle of row time (TOF) and multi-angle of view photogrammetry is well known theory, according to required precision, sensor and object it Between distance and the depth of field requirement, each theory have its applicable range.

We pay special attention to the distance measuring sensor based on multi-angle of view photogrammetry principles, and sensors with auxiliary electrode is commonly available to closely The range measurement of range measurement, especially decimetre~rice length scale.The three-dimensional binocular vision of such method simulation biology, people Two observations of same target must be collected from two different perspectivess, the two visual angle relative positions are fixed.Comprehensive visual angle top The line and two radiation directions of point, can know the relative position being observed a little, i.e., using a line in triangle it is long and Two angles solve triangular apex.Further, if replaced with the ray cast device for emitting one group of light on direction is known at oneself For light detector, then one of visual angle of the direction line substitution binocular scheme using projector, also can detecte light Solve triangle.

The use of ray cast device while can provide intensive surface point and survey instead of the complex detection of image object object Quantity set.Typical light source has the laser light source of incident point light, illumination plane or the arrangement of other simple geometry patterns.CCD and CMOS digital camera is most common light detector.

The information for seeking to put on collection body surface an of object is scanned, and is configured to curve (profile) or deep Spend the form of image.In order to scan the whole surface of object, movable sensor realization is needed to cover all around.In general, it passes Sensor typically at least includes a light detector and a projector, and light detector and projector are rigidly integrated. Object rotary scanning is surrounded by driving or holding using mechanical system, is very suitable to quickly scan object or object must be existing The case where field scan.

Above step obtains scan data of the object under device coordinate system, and scanning overall profile is needed data conversion To being fixed global common coordinate system for object, this needs the position and direction of continuous assessment instrument.It is a kind of Method is to be completed by using the positioning device being coupled with distance measuring sensor, but there is the complexity and cost for increasing instrument And the problem of integrated quality of data may be limited.Another alternative solution is used in the measurement knot being collected on rigid objects Fruit comes relative position and direction between computing equipment and object, but this system places one's entire reliance upon the geometry of object and It is more difficult to the accurate evaluation of kept posture.

In order to improve above-mentioned method, the fixed point and feature of the extraction from scene can be used, pass through multi-angle of view spy Sign matching, so that it may use photographic measurement law theory.But the natural point in this scene is insufficient there are density or quality Using the fixation target being manually arranged, it is insufficient or be difficult to accurately to detect can preferably further to solve characteristic point for problem Problem.Using such system, the frame of characteristic target is generally measured and established first, uses the target in scan image Information realizes the split of current location detection data and overall goals data.

Object rotary scanning is surrounded by driving or holding using mechanical system, is very suitable to quickly scan object or object The case where must scanning at the scene.Existing handheld device is limited by power supply and data line length, scanning large size or surface When the more complex target of structure, operation is limited or very inconvenient, and in order to improve above-mentioned method, wireless transmission and electricity can be used Battery-powered mode, while in order to solve the problems, such as to add high volume of transmitted data, using front-end processing+can wirelessly obtain Obtain better usage experience.

However, how a large amount of calculating and the power dissipation of radio equipment of front-end image processing needs, improve the cruising ability of equipment； The data volume of high frame rate original image is greater than under conditions of effective bandwidth, how a large amount of detection data of stable transmission；At front end How reason and the variation of wireless transmission bring weight of equipment and the conflict of portability are coordinated, and are technologies to be solved in the utility model Problem.

Utility model content

The purpose of the utility model is to overcome in place of the deficiencies in the prior art, provide one kind to obtain in world coordinate system The portable hand-held 3D laser measuring equipment of body surface space coordinate point.

The utility model technical scheme applied to solve the technical problem is：

A kind of wireless handheld three-dimensional scanning device with Data Frontend processing function, pattern projecting device, image sensing Equipment, wireless communication module, mobile power source module further includes one group for analyzing image data and control headend equipment state Mobile processing platform realizes that image data arrives the output of object detection results compressed data, realizes equipment state detection, realize and The data of host computer are exchanged with order.

Pattern projecting device, image sensing apparatus, wireless communication module, mobile power source module, temperature sensor are all connected with On the interface of processing unit.Pattern projecting device, image sensing apparatus, wireless communication module, mobile power source module and core Mobile processing unit be desirably integrated into inside a structural member, can also will be suspended to outside mobile processing unit and existing only include In wired handheld device of pattern projecting device, image sensing apparatus and driving circuit.This equipment further includes audio-frequency information feedback Equipment, the abnormality of alarm equipment；Mobile power source module uses bimodulus power supply module, and external power supply and two kinds of battery can be used Powering mode.Pattern projecting device is to be combined by several lasers and LED by certain crevice projection angle, has independent or uniformly lights The equipment of timing.

The mobile processing platform includes at least one mobile processing unit, and mobile processing unit includes at least one front end Calculator, the front end calculator is for carrying out front end data operation；The front end calculator extracts scanning mesh from image The 2D characteristic for marking object surface markers point and surface point carries out three-dimensional reconstruction according to 2D characteristic data set and obtains three-dimensional feature number According to collection.

Wherein, mobile processing unit uses the composition scheme of CPU+GPU, and wherein high rate burst communication module is real using GPU It is existing；Also DSP, FPGA, ARM realization can be used.The mobile processing platform that above-mentioned mobile processing unit and its support circuit are constituted, It is highly integrated due to above-mentioned core scheme instead of the camera control circuit for including in the hand-hold front end of existing transmission image Degree, even if additionally contain battery and radiator, the headend equipment weight of optimization design structure is also only slightly higher than existing Some hand-hold front ends, due in scanning without using power supply and cable, or both integrated connecting line, the convenience used is significantly It improves.

Mobile processing unit includes front-end image processor, which receives camera image with high frame rate, which can be with The geometric parameter and optical parameter that at least four scanning target surface marker is extracted from image, can also mention from image Take the coordinate position and optical parameter of the pattern projecting device pattern that diffusing reflection obtains on scanning target surface；This programme Surface marker is circle, and corresponding geometric parameter is elliptical 5 geometric parameters；Optical parameter is the segmentation put in target zone Luminance Distribution statistical value.Above two detection function can be run simultaneously, can also isolated operation.This module uses calculated equilibrium skill Art is assigned to the part that can be carried out simultaneously in calculating in the different electronic chips for constituting the mobile processing unit, can be with The limited resource in front end is made full use of, hardware requirement is reduced.

Mobile processing unit includes real-time device parametric regulation module, is calculated using high rate burst communication module Liang Ge branch Optical parameter statistical value, calculate modification pattern projecting device and image sensing apparatus operating parameter；By with it is mobile at Platform completes the real-time control for receiving image according to state modulator above equipment.Since above equipment is directly handled with mobile Unit connection, the rate and integrity degree of signal are above the connection type that existing host computer sends control, the real-time of control More preferably.

Mobile processing unit includes data compression and sending module, and above-mentioned detection data is stored using the data of structuring, Data are merged into that information is identical but data volume less data packet by compression module by compression algorithm；Then by above-mentioned data packet It is sent to host computer, compressed data can be reduced to prototype structure data in host computer.Due to using front-end image processor, on It states and sends the data volumes of data and be lower than the 10% of raw image data amount, under conditions of wireless transmission rate is certain, when unit Between can transmit the detection data of the bigger image in different resolution of more multiframe, effectively support the higher speed scanning of total system.Above-mentioned number Also include data check according to compression module, can effectively detect and handle the exception of local data caused by transmission, comparison is difficult to error correction Raw image data, it is abnormal that error of transmission bring burst scanning accuracy is effectively reduced.

Mobile processing unit includes that state sends and receivees module, and the interface of mobile processing platform and peripheral equipment obtains Device parameter, power module parameter, device temperature information, the information constitution equipment state data packets such as device keys movement, then Above-mentioned data are sent to host computer and front end portable display screen；Meanwhile the partial information of above- mentioned information can also use equipment The warning lamp and sound module that end includes complete abnormality alarming.

Mobile processing unit includes equipment link control module, and module includes link information by obtain host computer offer Two dimensional code, the wirelessly or non-wirelessly connection for realizing equipment and host computer is simultaneously arranged in the corresponding host computer target of identification equipment.

Finally, mobile processing unit further includes function scheduling and kernel control module, which realizes above-mentioned whole modules Scheduling and mobile processing unit hardware state control, mobile processing unit can be set to full performance, common and low-power consumption Equal multiple-working modes；According to the state switch mode of front-end image processor, the cruise duration of headend equipment is effectively extended.

This equipment includes the wireless communication module being connected on mobile processing unit, real using WiFi chip and built-in antenna It is existing；Simultaneously using wireless and wired two kinds of changeable modes, the compressed data is transmitted；The wireless mode is received and dispatched using WiFi Order and data, the wireline mode receive and dispatch order and data using USB3.0 and gigabit network cable；The switching method user Work and automatic detection front end condition of contact both of which can also be not there is no wireless connection is enabled when wired connection automatically It is suitble to be changed to wired connection in wireless environment.

In addition, the way of realization of equipment is not limited only to above-mentioned integrated front end, split-type design also can be used into one Step mitigates scanning weight bearing.Scheme is mobile processing unit, and wireless communication module and mobile power source module collectively constitute external place Manage box；Imaging sensor, pattern projecting device and other sensors constitute the front end minimized；Handle box hangs over user's clothing In surface or pocket, by short-range flexible cable with minimum front end be connected；Front end weight is minimized greatly to reduce, it is long The more difficult fatigue of time sweep.In addition, only the external scheme of mobile power source module is also possible.

Other than traditional host computer is shown, there is the portable display screen being connected on the headend equipment, institute in this equipment Display screen is stated for showing device status information and scan model image；The scan model image is generated by host computer, is used Wireless HDMI transmission；The information includes the configuration parameter of the pattern projecting device；Include the mobile power source module Status information.Traditional big object of wired hand-hold scanning is that upper computer equipment both ends is needed ceaselessly to observe host computer screen back and forth On the opposite scan position of scanning result and front end, be limited to the eyesight of connection line length and operator, scanned copy is larger Shi Keneng also needs constantly to move host computer, extremely inconvenient, and the carry-on display design of this programme greatly improves operation just Benefit and scan efficiency.

This equipment and host computer connect and compose complete measuring system, and host computer includes back end perspective reconstructing arrangement, three-dimensional Splice equipment, model generation device and model display equipment etc..

Pattern projecting device includes laser and LED light source, will be schemed using the laser projector being fixed on headend equipment Case projects on said surface；It is constituted using by the arrangement of at least three LED light source regular polygon, geometric center and a sensor The optical centre of lens group is close and the approximately parallel light source irradiation of the optical axis direction of the direction of the launch and sensor lens group described in Marker；The marker is the symmetrical double layer geometrical pattern of different reflecting rate materials building, the geometrical pattern be it is round but It is not limited only to circle, the label is fixed on the surface of the object and can supplement addition during the scanning process.

The pattern projecting device includes to be penetrated using the camera lens of the light filter device of specific wavelength, the filter device Light is two kinds of frequencies, corresponding with the laser projecting apparatus and the respective light frequency of LED grenade instrumentation respectively；

Described image sensing equipment includes synchronous trigger control module, for starting to trigger in image acquisition period The laser projecting apparatus and LED grenade instrumentation；

Mobile processing unit reads the image of described image sensing equipment acquisition, calculates marker and surface on the surface The position data and optical parameter of upper irreflexive pattern, and compress it transmission；The data host computer receive and it is complete It is reduced to the position data and optical parameter；

Mobile processing unit reads the optical parameter for the pattern that marker and diffusing reflection obtain on the surface, calculates and controls The parameter of institute's pattern projecting device processed, realizes optimal detection effect.

The advantages of the utility model and beneficial effect：

1, this equipment has higher scanning speed, and existing hand-hold scanning equipment is only realized that image receives the scheme of transmission, changed When being wireless, it is limited to bandwidth, scanning speed is poor, and this programme cooperates data compression using treated data, breaks through original Limitation, may be implemented the scanning of higher speed.

2, this equipment has higher scanning accuracy, and the equipment with front end processing capabilities supports higher scanning to differentiate Rate, less bandwidth occupancy support headend equipment to use the camera of higher resolution, provide higher scanning accuracy.

3, this equipment has higher entire scan system speed, and front end calculates and the mode of existing transmission original image It compares, reduces the calculation amount of upper computer end, facilitate entirety and reach higher scanning speed.

4, for this equipment using being wirelessly connected, battery power supply is steady within 10 meters not by the length limitation of data line and power supply line Fixed connection, scanning is more convenient, when especially scanning big object；Mobile processing unit includes two-dimensional code scanning mode, can be simple Realize the connection of equipment to host computer.

5, this equipment has display screen, when scan position can not see display screen clearly far from host computer, provides with oneself Scanning process show, adjusted at any time convenient for user；Equipment state and warning information can be intuitively shown on screen, far Better than the common upper computer end of existing line scan and equipment sound production prompt, the convenience and scanning effect of operation are greatly improved Rate.

Detailed description of the invention

Fig. 1 is the circuit block diagram of this equipment；

Fig. 2 is the three-dimensional structure diagram of this equipment；

Fig. 3 is the diagram for the surface portion that reference target is attached thereto and figure is projected thereon；

Fig. 4 is that the process flow module of this equipment illustrates；

Fig. 5 is the structural schematic diagram of this equipment split-type design.

Specific embodiment

The utility model can be practiced by example as described below, in the following description, with reference to attached drawing be in order to illustrate Example.The utility model can be practiced by the example, can also not depart from revealed the scope of the utility model In the case where realized by implementing other embodiments.

A kind of wireless handheld three-dimensional scanning device with Data Frontend processing function, as shown in Figure 1, including mobile processing Platform, and the pattern projecting device (laser projection device, LED grenade instrumentation), the image that connect respectively with mobile processing platform pass Sensor, battery module, carry-on display screen, distance alarm device, key, equipment state sensor.Mobile processing platform includes intelligence It can device control module, image and data processor and data transmission blocks.Smart machine control module respectively with image sum number It is connected according to processor, data transmission blocks, image and data processor are connect with data transmission blocks.

Mobile processing platform realizes the output of image data to object detection results compressed data, realizes that equipment state is visited It surveys, realizes and exchanged with the data of upper computer end post-processing part and order.

Fig. 2 is the three-dimensional structure diagram of this equipment, including shell, laser projection device 3, imaging sensor 1 and LED projection dress 2 are set, the shell is made of pedestal 4 and 6 two parts of hand-held part, it is vertically fixedly mounted with the hand-held part of a bar shaped in the top surface of pedestal, The front of hand-held part is fixedly mounted with the LED of an annular between the upper and lower every being symmetrically fixedly mounted with two imaging sensors on each imaging sensor Grenade instrumentation is fixedly mounted with laser projection device on the shell between two imaging sensors, in the display screen of hand-held part side installation 5, mounting circuit boards and battery in pedestal.Above-mentioned display screen can be connect by movable rotation-shaft and buckle with hand-held part side wall, Using the movable rotation-shaft of the connection of equipment side and screen as shaft, the buckle for opening the other side is dug outward, can make screen cover To user；Display screen can also take out display screen completely, hold observation.

In addition, there is also the deformation branch of plug-in mode, the mobile processing platform, data transmission blocks for above structure External handle box 7, image sensing apparatus, pattern projecting device and corresponding sensor structure are collectively constituted with mobile power source module At the front end 9 of minimum, handle box is hung in user's clothing surface or pocket, passes through short-range flexible cable 8 and minimum Change front end to be connected, as shown in Figure 5.

Fig. 3 is the diagram for the surface portion that reference target is attached thereto and figure is projected thereon, before equipment operation, The target of high reflecting rate is attached in scene and measured object first.In this example, reference target is that surface has recurrence anti- The target of characteristic is penetrated, pattern is visible under the luminescence band of polygon lamp group, and material is (such as black by antiradar reflectivity color Color) ring surround, help to accurately identify target in the image of sensor.Due to using the material with retro-reflective characteristic Material, the surface of object need to be illuminated to allow the appropriate identification to reference target.

Fig. 4 is that the process flow module of this equipment illustrates, and in this example, uses above-mentioned apparatus by polygon lamp first The intersecting line pattern of light and laser project measured object surface, camera can simultaneously synchronization acquistion scene two images, make With the two dimensional image processing technique encapsulated in computing chip, the 2D of the target and the laser pattern is obtained in each image Position；Then, it is sent the structural data for calculating core compression on back-end processing software using wireless communication module；It is next Step matches the 2D in two images using Epipolar geometry constraint (epi-polar geometry constraints) Position；Using the target corresponding relationship in the two images, obtained under device coordinate system using triangle stereoscopic imaging method The target and the laser pattern the position 3D, wherein the position 3D of laser pattern is exactly the measured object of pattern projected area The 3D location information on surface；Finally by the position 3D of the reference target of matching primitives image sequence, single acquisition image is constructed Target and the position laser point 3D and regulation initial position transformational relation, by transformational relation obtain world coordinate system under The 3D location sets of the 3D location sets of laser pattern, reconstruct laser pattern obtain the 3D location information on measured object surface.

In this example, it is equidistantly constituted using by multiple LED, regular polygon arrangement is fixed near camera front end, center In camera optical axis and direction and the consistent lamp group of camera optical axis direction of observation realize that the light filling of label target illuminates, LED light Intensity can be adjusted to make target and background in image have enough luminance differences, facilitate quasi- in the image of sensor Really identification target.

In this example, laser projection device is mounted on the red laser using 3 pairs or more patterns, Other kinds of projection arrangement equally also can be used, such as white light graphics projectors or blue led graphics projectors；Extract figure The 3D location information on the measured object surface of sample projected area by according to the type of laser projection device and applied method and Variation.

In this example, using a pair of of camera, camera lens front end exists and the light mistake of the matched filtering structure of laser Filter device；It can also add several cameras to this device, more accurately matching or higher precision are obtained with same principle Final coordinate.Camera exposure process is synchronous with above-mentioned LED and laser luminescence process, by can be in camera captured image Clearly obtain the imaging of target and laser pattern.

In this example, due to using circular target label, the non-distortion profile for extracting reflectance target in the picture can To be indicated with cartouche.Because camera is calibrated, non-distortion profile can be used well known method in fields and come Removal distortion, in this example, needs to obtain the optical property parameter of camera from camera parameter memory.According to ellipse in image The equation of circular contour can calculate the orientation of the cartouche in the 3 d space, can be with reference to " to 3D computer vision The Chapter 11 of introductory technology (Introductory techniques for 3D computer vision) " is to obtain more in detail Thin discussion.Because the circle projects the center of projection of camera, the circle in the 3 d space with conical intersection.It is extracting After profile point, the model being fitted on local 3D point set can be plane or the quadratic polynomial for bigger precision.? In the case where the latter, least squares method is applied using with drag, is then obtained using common elliptic parameter calculation method Its geometric parameter.

Z=ax²+bxy+cy²+dx+ey+f

In this example, laser pattern uses 3 pairs or more patterns, is calculated by image procossing and obtains line The 2D coordinate position of upper each point, likewise, well known side in fields can be used in non-distorted coordinates because camera is calibrated Method is distorted to remove.In this example, the light intensity of the time for exposure of camera, gain and laser be it is adjustable, can pass The image of sensor generates narrow clearly lines pattern, facilitates the 2D coordinate position for accurately extracting each point on pattern.

In this example, above-mentioned processing step calculates realization on the CPU and GPU of equipment end, obtains single frames acquisition The target point of two width figures building and the coordinate position of surface point.Above-mentioned data need to be transferred to complete in the processing software of upper computer end At subsequent 3D reconstruct and surface modeling, in this example, using the above-mentioned data of wireless communication transmissions, while also supporting in high electricity The mode of cable-network transmission is switched in the environment of magnetic disturbance.

In this example, the position 3D of target uses trigonometric calculations, and the normal direction of target uses the associated side of direction of visual lines Method calculates.Firstly the need of the location parameter for obtaining two cameras from target size memory, generally with the light of one of camera Center is dot, then constrains building basis matrix according to Epipolar geometry, the matching of marker dots is searched for by polar curve equation Relationship；One group of matched mark point position is finally gone out into the position 3D by trigonometric calculations, i.e., single reference target is sat in equipment Spatial position under mark system.

In this example, the Coordinate calculation method basic one of the 3D coordinate calculation of laser pattern and above-mentioned target's center It causes.In view of the insufficient caused matching of single laser point feature is according to missing and error hiding, need to press the several of projection pattern What feature combination, the matching of the point set with geometrical characteristic is calculated by combined result, then reuses the seat with target's center Mark calculation method.In this example, projection pattern is cross spider, therefore uses line segment as matched geometrical characteristic, likewise, Using different projection patterns, need using different feature and combination, principle is consistent.

During the scanning process, object sensor at least one may be held in its hand and move to realize surface point by user All standing, the data that the above step of each frame obtains at this time are all based on the device coordinate system of present frame, due to equipment Movement, coordinate system with respect to world coordinate system be it is continually changing, the 3D point in sensor coordinate system needs six rigid transformations The coordinate system of parameter sensors of freedom degree be mapped in model coordinate systems (world coordinate system).

In this example, the calculating of transformation parameter is realized using the matching of mark point.Use the target calculated in present frame Coordinate and parameter find the best match set based on position angular position relationship in the object module of accumulation, obtain accumulation Target in matching relationship corresponding with current reference target, thus calculate it is described by the coordinate system of sensor be mapped to model sit Target rigid transformation；Then 3D surface point is used into identical rigid transformation, accordingly from the coordinate system transformation of sensor to mould Type coordinate system；New transformed reference target and 3D surface point are finally run up into existing target framework and surface point set In.

Likewise, above-mentioned rigid transformation is it is also contemplated that use space position or acceleration sensing directly acquire.

Influence in view of scanning distance to precision, in this example, equipment end is towards there are one on the surface of user A range indicator passes through the variation reflection current device of color and the state of scanning object distance.Likewise, sound also can be used The mode of sound prompt realizes above-mentioned function.

Since there are the influences of noise for surface point, it is difficult to it is directly used in display and measurement, in this example, above-mentioned 3D table Millet cake needs to generate surface model by reconstruct, and finally, reconstructed surface is sent to user interface display.

For the ease of the scanning of large volume target, in this example, user interface display is divided into upper computer end connection Basic display unit and the carry-on display screen show scanning result and equipment shape wherein carry-on display screen is connected on headend equipment State transmits data using HDMI interface.In this example, the equipment state includes and is not limited to temperature, electricity, power supply shape State, close to display platen edge Overlapping display.All kinds of temperature of the status data in connection equipment, the sensing such as electricity Device.

For the ease of the scanning of large volume target, in this example, use replaceable rechargeable battery as headend equipment Power supply the power adapter of wired connection also equally can be used.

Although above description is related to the example embodiment considered at present such as the utility model people, it should be appreciated that this is practical The equivalent method of the novel equivalent comprising element described herein and process in its broader aspects.Above-described implementation Example is intended merely to be illustrative.Therefore, the scope of the utility model wishes to be limited only by the appended claims.

Claims (21)

1. it is a kind of for obtaining the wireless hand-held three-dimensional scanning device of object surface three-dimensional morphology, including：

Pattern projecting device, for providing projection pattern on the body surface；

Image sensing apparatus, including at least two cameras, camera are used to obtain the 2D of the body surface from different points of view Image；

Data transmission blocks are sent to the subsequent calculating of host computer progress and reception for will move the data that processing platform obtains Position machine order is simultaneously sent to the mobile processing platform；

Mobile power source module, for powering for the three-dimensional scanning device；

It is characterized in that：Further include mobile processing platform, provides arithmetic core for equipment, the mobile processing platform includes at least One mobile processing unit, mobile processing unit includes at least one front end calculator, before the front end calculator is for carrying out End data operation.

2. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The mobile processing unit packet Real-time device parametric regulation module is included, realizes the real-time control for receiving the quality of image.

3. wireless hand-held three-dimensional scanning device according to claim 2, it is characterised in that：Real-time device parametric regulates and controls mould Block uses the statistic of the characteristic and characteristic, adjusts the control parameter of pattern projecting device；Above-mentioned parameter is led to The circuit connecting with mobile processing unit is crossed, pattern projecting device is controlled.

4. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The mobile processing unit packet Include data compressing module.

5. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The mobile processing unit packet Dispatching control module is included, which realizes whole scheduling of module and the control of mobile processing unit hardware state.

6. wireless hand-held three-dimensional scanning device according to claim 5, it is characterised in that：The dispatching control module according to Mobile processing unit is set to according to the working condition of modules the plurality of operating modes of different power consumption.

7. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The mobile processing unit Including state receiving module, device status information is obtained, constitution equipment state data packets are periodically sent to host computer.

8. wireless hand-held three-dimensional scanning device according to claim 7, it is characterised in that：The device status information Including equipment adjustment parameter, equipment for power information, battery information, device temperature information, device keys action message.

9. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The mobile processing unit Including equipment link control module.

10. wireless hand-held three-dimensional scanning device according to claim 9, it is characterised in that：The equipment connects control Molding block controls the two dimensional code comprising link information that camera shooting host computer provides, and identifies the corresponding host computer target of equipment, Then wired connection state is detected, the wirelessly or non-wirelessly connection that user setting realizes equipment and host computer is read.

11. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The mobile processing unit It the use of several electronic chips is that carrier executes the processing function, the electronic chip is using in CPU, GPU, ARM, FPGA, DSP At least one or more of combined mode is constituted.

12. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The data send mould Block realizes the data exchange with host computer using wirelessly or non-wirelessly mode.

13. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The data send mould Block has both wireless, wired two kinds of transmission modes, and the switching of two ways is realized by switching module.

14. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The equipment further include with The associated portable display screen of equipment shows device status information and scan model image.

15. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The mobile power source module It is Smart Power Module, obtains the electricity of power supply, status data feature, by state receiving module in the host computer and portable Display screen is shown.

16. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The mobile power source module Using two kinds of powering modes of external power supply and battery, according to external power supply and battery status automatic switching apparatus power supply source.

17. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The equipment further includes sound Frequency information feedback device, the abnormality of alarm equipment.

18. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The mobile processing is flat Platform, data transmission blocks, mobile power source module, image sensing apparatus, pattern projecting device are commonly mounted on a shell, structure At complete equipment.

19. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The mobile processing is flat Platform, data transmission blocks and mobile power source module collectively constitute external handle box, image sensing apparatus, pattern projecting device and Corresponding sensor constitutes the front end minimized, and handle box is hung in user's clothing surface or pocket, by short-range soft Property cable with minimize front end be connected.

20. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The mobile power source mould Block is separately formed external power supply, mobile processing platform, data transmission blocks, image sensing apparatus, and pattern projecting device is pacified jointly On a shell, light-weighted equipment is constituted.

21. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：This equipment and host computer connect It connects and constitutes complete measuring system, host computer includes back end perspective reconstructing arrangement, 3 D spliced equipment, model generation device and mould Type presentation device.