WO2023212797A1

WO2023212797A1 - Handheld 3d scanner with thermal management system with circulation device

Info

Publication number: WO2023212797A1
Application number: PCT/CA2022/050718
Authority: WO
Inventors: Nicolas Lebrun; Antoine Thomas Caron; Jean-Nicolas OUELLET; Gabriel VACHON-BEAUDOIN
Original assignee: Creaform Inc.
Priority date: 2022-05-06
Filing date: 2022-05-06
Publication date: 2023-11-09
Also published as: CN220570839U

Abstract

A handheld scanner is presented for generating 3D data relating to a surface of a target object. The scanner has a scanner body defining a substantially closed internal volume filled with cooling fluid and a circulation device for managing heat generated by one or more optical imaging modules of the scanner, wherein, during use of the scanner, the circulation device circulates the cooling fluid within the substantially closed internal volume so as to reduce magnitudes of thermal gradients between different portions of the substantially closed internal volume. In some specific implementations, the substantially closed internal volume may be in the form of internal channel defining a circulation loop within the scanner body. The scanner may also include heat sinks arranged along portions of the internal channel to establish a thermal coupling between the one or more optical imaging modules and the cooling fluid in the substantially closed internal volume.

Description

TITLE: HANDHELD 3D SCANNER WITH THERMAL MANAGEMENT SYSTEM WITH CIRCULATION DEVICE

TECHNICAL FIELD

[0001] The present disclosure generally relates to the field of handheld three-dimensional (3D) scanners and more particularly to thermal management systems and methods for handheld 3D scanners.

BACKGROUND

[0002] Transportable measuring systems such as handheld scanners are used for accurately measuring 3D points on objects and recreating digital representations of 3D surfaces. For example, conventional handheld scanners comprise optical components, or optical imaging modules, such as cameras and/or a light source rigidly fixed with respect to each other (e.g., a camera stereo pair configuration), which may be used to scan objects. Specifically, scanning of a surface of an object may be achieved by holding the handheld scanner in one or two hands and moving it to several viewpoints of the object while capturing, at each viewpoint, a portion of the surface of the object with the optical imaging modules. The 3D scanner including one or more processors for controlling the operation of the various optical imaging modules and for receiving data from at least some of these modules in order to perform 3D image reconstruction. The images obtained from the different viewpoints are then combined using various techniques in order to create a digital 3D representation of the object.

[0003] The optical imaging modules of the 3D scanner, as well as the one or more processors, generate a significant amount of heat when they are in operation. To maintain the integrity of these components and ensure that they perform to their desired specification, it is necessary to maintain the temperature of these components within a desirable temperature range. Typically, it is desirable to maintain these components at temperatures below 70°C, although the specific temperature may vary depending on the nature of the specific components. [0004] Existing 3D scanners use different mechanisms for managing heat generated by the optical imaging modules.

[0005] In one approach, heat sinks that establish a thermal coupling with the optical imaging modules and are used to absorb heat from the optical imaging modules and dissipate it outside the scanner. An example of the use of heat sinks is described in Chinese utility models CN211904059U and CN212300269U to Scantech, which disclose handheld scanners comprising frames having reinforcement portions and comprising an integrated heat sink made of aluminum alloy, magnesium alloy, copper or other conductive materials. The contents of the aforementioned documents are incorporated herein by reference. A deficiency with the use of heat sinks is that they add significant weight to the scanner. Due to this added weight, such handheld scanners are often not easily manipulatable and users of such scanner are prone to fatigue, which may require them to pause the scanning process to rest. Moreover, the materials used to construct the heat sinks, such as aluminum alloy, magnesium alloy, copper or other conductive materials, are subject to significant cost variations and, in the past few years, the price of such materials has increased significantly, impacting the overall manufacturing cost of the scanner.

[0006] An alternate approach used in handheld 3D scanners for managing heat generated by the optical imaging modules is to use a fan configured to draw cool outside air into the scanner through inlets and to expel the air through outlets formed on the scanner body. This creates a flow of air, into and out of the scanner, which serves to cool the optical imaging modules. An example of the use of a fan is described in U.S. Patent No. 11,096,765 to Align Technology, Inc., which discloses an intraoral handheld 3D scanner (a “wand”) for scanning teeth. The contents of the aforementioned document are incorporated herein by reference. The wand comprises light projectors and cameras on a distal end and to manage heat generated by these components, the wand also comprises a heat pipe to draw heat towards a proximal end and a fan in a handle region to draw heat out of the wand. An advantage of using a fan as part of the cooling mechanism is that an effective fan can be made with a lightweight and relatively inexpensive material, such as plastic, which results in a lighter construction and less costly relative to the use of heat sinks. While the use of fans is generally effective at managing heat generated by the optical imaging modules, this typically works best in a laboratory setting or other relatively clean environments. In environments where there are significant amount of dust and/or other airborne debris, such as on a shop floor for example, the air flow created by typical fan configurations introduces debris into the scanner, which is undesirable and may damage the optical and electronic components.

[0007] Yet another approach used in handheld 3D scanners for managing heat generated by the optical imaging modules is to use a fan and heat sinks in combination. An example of the combined use of a fan and heat sinks is described in U.S. Patent Application Publication No. 2021/0131788A1 to Faro Technologies Inc. The contents of the aforementioned document are incorporated herein by reference. The handheld scanner described in this document also comprises a fan assembly configured to draw in cool outside air through perforations in a rear cover of the scanner. The air flow generated by the fans travels inside the scanner along an air flow path and exits through an exit port open to the outside environment. The handheld scanner also comprises heat sinks in different areas of the scanner. To reduce the likelihood of debris entering the scanner, a water-tight and dust-tight seal is provided to isolate the other components of the scanner from the air flow path. Providing such a water-tight and dust-tight seal increases the manufacturing cost of the scanners. In addition, debris and dust remain an issue in the air flow path.

[0008] Against the background described above, it is clear that there remains a need in the industry to provide improved handheld 3D scanners that alleviate at least some of the deficiencies of conventional handheld 3D scanners.

SUMMARY

[0009] This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify all key aspects and/or essential aspects of the claimed subject matter. [00010] In accordance with various aspects of this disclosure, a handheld 3D scanner is provided for generating 3D data relating to a target object, the scanner having a circulation device and heat sinks for managing heat generated by one or more optical imaging modules of the scanner, wherein the scanner has a scanner body defining a substantially closed internal volume filled with cooling fluid and wherein, during use of the scanner, the circulation device circulates the cooling fluid within the substantially closed internal volume so as to reduce magnitudes of thermal gradients between different portions of the substantially closed internal volume.

[00011] In some implementations, the substantially closed internal volume may include a first internal volume portion positioned near the one or more optical imaging modules of the scanner and a second internal volume portion positioned remote from the one or more optical imaging modules of the scanner. In such implementations, the circulation device may be configured for dissipating at least some heat absorbed in the first internal volume portion into the second internal volume portion by circulating the cooling fluid within the substantially closed internal volume thereby reducing a magnitude of a thermal gradient between the first internal volume portion and the second internal volume portion.

[00012] In some specific implementations, the substantially closed internal volume may include an internal channel defining a circulation loop within the scanner body and wherein the circulation device circulates the cooling fluid through the circulation loop defined by the internal channel, the circulation loop including the first internal volume portion and the second internal volume portion. At least some of the heat sinks may be arranged along portions of the internal channel.

[00013] In some implementations, the handheld scanner may comprise one or more processors operatively connected to the one or more optical imaging modules, the one or more processors being positioned within an interior of the scanner body and being configured for receiving data generated by the one or more optical imaging modules and for controlling the one or more optical imaging modules. In such implementations, the circulation loop may be configured for circulating the cooling fluid near at least some of the one or more processor such as to establish a thermal exchange between at least some of the one or more processors and the cooling fluid. [00014] In some implementations, the scanner body may have a main member upon which are positioned the one or more optical imaging modules and a handle member, opposite to the main member configured to be grasped by a hand of a user. In such implementations, the first internal volume portion may lie within the main member of the handheld 3D scanner and/or the second internal volume portion may lie within the handle member of the handheld 3D scanner.

[00015] In some implementations, the heat sinks may include a plurality of fins arranged to establish a thermal coupling between the one or more optical imaging modules and the cooling fluid in the substantially closed internal volume. For example, at least some of the heat sinks may be arranged on or near the one or more optical imaging modules of the scanner.

[00016] In some implementations, the one or more optical imaging modules may include at least one optical imaging module selected from the set consisting of a pattern generator and a camera. For example, the one or more optical imaging modules may include a pattern generator and one or more cameras. In some specific embodiments, the optical imaging modules may include a two(2) cameras; in other embodiments three(3) cameras and in other embodiments even more cameras.

[00017] In some implementations, the substantially closed internal volume may be a sealed internal volume so that the cooling fluid remains captive within the substantially sealed internal volume. For example, in embodiments in which the cooling fluid is a cooling liquid (such as for example but not limited to: a suitable type of oil (such as mineral oil-type transfer oil or another type of oil), water, Dynalene HC-30, Galden HT200 or water mixed with another substance such as Ethylene Glycol or other suitable substance), a sealed internal volume may be desired. In such implementations, the circulation device may include at least one circulation pump.

[00018] In alternate embodiments, in use, an amount of leakage of the cooling fluid may occur between the substantially closed internal volume and a space external to the scanner body. For example, in embodiments in which the cooling fluid is a cooling gas, a fully sealed internal volume may not be an absolute necessity and a certain amount of leakage may be permitted. In such embodiments the cooling gas may include air and the circulation device may include at least one fan.

[00019] In some implementations, the handheld scanner may further comprise a manually operable control device mounted to the scanner body for controlling operations of the handheld scanner, wherein at least a specific volume portion of the substantially closed internal volume may lie near the manually operable control device and wherein the circulation device is configured for dissipating within the substantially closed internal volume at least some heat absorbed from the manually operable control device into the specific volume portion. In some specific practical implementations, the manually operable control device may include at least one of a touch- sensitive screen; and a keypad including at least one electro-mechanical keys.

[00020] In accordance with other various aspects of this disclosure, a handheld 3D scanner is provided for generating 3D data relating to a target object, the scanner having a circulation device and heat sinks for managing heat generated by one or more optical imaging modules of the scanner, wherein the scanner has a scanner body defining an internal circulation loop within the scanner body. During use of the scanner, the circulation device circulates a cooling fluid through the internal circulation loop so as to reduce magnitudes of thermal gradients between different portions of the internal circulation loop, and the heat sinks include a plurality of fins arranged to establish a thermal coupling between the one or more optical imaging modules and the cooling fluid in the internal channel.

[00021] In accordance with other various aspects of this disclosure, a handheld 3D scanner is provided for generating 3D data relating to a target object. The handheld scanner comprises a scanner body comprising a main member upon which are positioned one or more optical imaging modules including at least one of: a pattern generator comprising a light source; and a set of cameras including a least a first camera and a second camera for generating image data, the first camera and second cameras having at least partially overlapping fields of view. The scanner body comprises a handle member, opposite to said main member configured to be grasped by a hand of a user. The scanner body defines an internal circulation loop within the scanner body holding a cooling fluid. The handheld scanner comprises a heat management system configured to dissipate heat generated by at least some of the one or more optical imaging modules, the heat management system including a circulation device configured for circulating the cooling fluid through the internal circulation loop so as to reduce magnitudes of thermal gradients between different portions of the internal circulation loop.

[00022] In some implementations, a first internal volume portion of the internal circulation loop may lie in the main member of the scanner body and at least a second internal volume portion of the internal circulation loop may lie in the handle member of the scanner body, wherein the circulation device is configured for dissipating at least some heat absorbed in the first internal volume portion into the second internal volume portion by circulating the cooling fluid within the internal circulation loop.

[00023] In some implementations, the heat management system may further comprise heat sinks including a plurality of fins arranged to establish a thermal coupling between the at least some of the one or more optical imaging modules and the cooling fluid in the internal circulation loop. In some specific practical implementations, at least some of the heat sinks may be arranged along portions of the internal circulation loop. In some specific practical implementations at least some of the heat sinks may be arranged on or near the one or more optical imaging modules of the scanner.

[00024] In some implementations, the handheld scanner may comprise one or more processors operatively connected to the one or more optical imaging modules, the one or more processors being positioned within an interior of the scanner body and being configured for receiving data generated by the one or more optical imaging modules and for controlling the one or more optical imaging modules. In such implementation, the internal circulation loop may be configured for circulating the cooling fluid near at least some of the one or more processor such as to establish a thermal exchange between the at least some of the one or more processors and the cooling fluid. [00025] In some implementations, the one or more optical imaging modules may include the pattern generator and the set of cameras. In some specific implementations, the light source of the pattern generator may be an infrared light source and the first and second cameras may be infrared cameras. In some specific implementations, the set of optical imaging modules may further include a third camera, the third camera being a color camera.

[00026] All features of exemplary embodiments which are described in this disclosure and are not mutually exclusive can be combined with one another. Elements of one embodiment or aspect can be utilized in the other embodiments/aspects without further mention.

[00027] These and other aspects of this disclosure will now become apparent to those of ordinary skill in the art upon review of a description of embodiments that follows in conjunction with accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

[00028] The above-mentioned features and objects of the present disclosure will become more apparent with reference to the following description taken in conjunction with the accompanying drawings, wherein like reference numerals denote like elements and in which:

[00029] Figure 1 is a schematic view of a handheld 3D scanner in accordance with an embodiment of the disclosure in the process of scanning a surface of a target object;

[00030] Figures 2 to 8 are different views of the scanner of Figure 1 including: a perspective view (Fig. 2), a front elevation view (Fig. 3), a left side elevation view (Fig. 4), a rear elevation view (Fig. 5), a right side elevation view (Fig. 6), a top view (Fig. 7) and a bottom view (Fig. 8);

[00031] Figure 9 shows an angle between a generator direction and a first camera direction; [00032] Figure 10 shows an angle between the generator direction and a second camera direction;

[00033] Figure 11 shows an angle between the first camera direction and the second camera direction;

[00034] Figure 12 shows a perspective view of an interior of the scanner of Figure 1;

[00035] Figure 13 shows a left side elevation view of the interior of the scanner of Figure

1;

[00036] Figure 14 shows a functional block diagram of a processing system for the scanner of Figure 1 in accordance with a specific example of implementation;

[00037] Figure 15 A shows an embodiment of an external computing device in communication with the handheld scanner of Figure 1 in accordance with a specific example of implementation;

[00038] Figure 15B shows an embodiment of a display device in communication with the handheld scanner of Figure 1 in accordance with a specific example of implementation;

[00039] Figure 16 is a rear elevation view of a handheld 3D scanner for scanning a surface of a target object, the scanner comprising a user operable control device including a keypad in accordance with an alternative example of implementation; of the handheld scanner of Figure 1;

[00040] Figure 17 is a perspective view of a handheld 3D scanner for scanning a surface of a target object, the scanner comprising heat sinks on an outer side of the scanner in accordance with a second embodiment of the disclosure;

[00041] Figure 18 is a left side elevation view of a handheld 3D scanner for scanning a surface of a target object, the scanner being free of an opening between imaging modules and handle regions in accordance with a third embodiment of the disclosure;

[00042] Figure 19 is a left side elevation view of an interior of the handheld 3D scanner of Figure 18;

[00043] Figure 20 is a handheld 3D scanner for scanning a surface of a target object, the scanner having an overall half-moon shape in accordance with a fourth embodiment of the disclosure;

[00044] Figure 21 is a left side elevation view of an interior of the handheld 3D scanner of Figure 20;

[00045] Figure 22 is a handheld 3D scanner for scanning a surface of a target object, the scanner having an overall crescent shape in accordance with a fifth embodiment of the disclosure;

[00046] Figure 23 is a left side elevation view of an interior of the handheld 3D scanner of Figure 22;

[00047] Figure 24 is a left side elevation view of a handheld 3D scanner for scanning a surface of a target object, the scanner comprising a frame structure having an inner periphery defining an opening, wherein the opening is partially enclosed by the frame leaving a gap along the inner periphery of the frame in accordance with a sixth embodiment of the disclosure;

[00048] Figure 25 is a left side elevation view of an interior of the handheld 3D scanner of Figure 24;

[00049] Figure 26 is a left side elevation view of a handheld 3D scanner for scanning a surface of a target object, the scanner comprising a frame structure having an inner periphery defining an opening, wherein the opening is partially enclosed by the frame leaving a gap along the inner periphery of the frame in accordance with a seventh embodiment of the disclosure;

[00050] Figure 27 is a left side elevation view of an interior of the handheld 3D scanner of Figure 26;

[00051] Figure 28 is a front elevation view of a handheld 3D scanner for scanning a surface of a target object in accordance with another embodiment of the disclosure;

[00052] Figure 29 is a front elevation view of another embodiment of a handheld 3D scanner free of a pattern generator in accordance with yet another embodiment of the disclosure;

[00053] Figure 30 shows the handheld 3D scanner with a protective sheath covering a portion of the scanner frame in accordance with a specific embodiment of the disclosure;

[00054] Figures 31 and 32 show the handheld 3D scanner with a removeable protective lens cover module for protecting the set of imaging modules of the scanner in accordance with a specific embodiment of the disclosure; and

[00055] Figures 33 and 34 are schematic representations of heat transfer to, through and from imaging modules, a processing system and a casing of the handheld scanner of Figure 1.

[00056] In the drawings, embodiments are illustrated by way of example. It is to be expressly understood that the description and drawings are only for purposes of illustrating certain embodiments and are an aid for understanding. They are not intended to be a definition of the limits of the invention.

DETAILED DESCRIPTION OF EMBODIMENTS

[00057] A detailed description of one or more specific embodiments of the invention is provided below along with accompanying Figures that illustrate principles of the invention. The invention is described in connection with such embodiments, but the invention is not limited to any specific embodiment. In particular, the present detailed description presents, amongst other, some embodiments in which the frame of the scanner has a substantially triangular outer periphery and has an inner periphery defining a substantially triangular opening wherein respective handle regions are provided around the substantially triangular opening on each of the three sides of the substantially triangular inner opening. It is to be appreciated that the embodiments described are being provided only for the purpose of illustrating the inventive principles and should not be considered as limiting. In particular, alternate embodiments will become apparent to the person skilled in the art in view of the present description, for example embodiments in which the outer periphery and/or inner periphery have a generally polygonal shape other than a generally triangular shape or a shape in which at least some of the portions are curved (rather than elongated such as, for example, a crescent shape or a half moon shape); in which the opening is partially (rather than fully) enclosed by the frame; in which there is no opening as well as other suitable alternate constructions. The scope of the invention is limited only by the claims. Numerous specific details are set forth in the following description in order to provide a thorough understanding of the invention. These details are provided for the purpose of describing non-limiting examples and the invention may be practiced according to the claims without some or all of these specific details. For the purpose of clarity, technical material that is known in the technical fields related to the invention has not been described in great detail so that the invention is not unnecessarily obscured.

[00058] Figure 1 shows an embodiment of a handheld scanner 10, i.e., a scanner that is holdable in one or two hands, for scanning a target object 6 and generating 3D data 12 relating to a surface 8 of the target object 6. The scanner 10 comprises a frame structure 20 imparting stiffness to the scanner 10, and one or more imaging modules 30 affixed to the frame structure 20 for scanning the surface 8 of the target object 6. The scanner 10 also includes one or more processors (not shown in Figure 1) positioned within an interior of frame structure 20 and operatively connected to the one or more imaging modules 30. The one or more processors may be configured for receiving and processing data generated by the one or more imaging modules 30 during scanning. The one or more processors may also be configured for controlling the one or more imaging modules 30 to generate the data in accordance with any suitable method. Various suitable methods for controlling imaging components and for processing data generated by such components are known to persons of skill in the art and will therefore not be described in further detail here. [00059] As depicted in Figure 1, during use, the scanner 10 may have a scanning direction 14 and the imaging modules 30 are configured to scan surface towards the scanning direction 14.

[00060] As further described below, the scanner 10 is configured to manage heat generated by the imaging modules 30 and the one or more processors while substantially shielding internal components from outside elements such a dust particles, debris and others. To achieve this, the scanner 10 may comprise a heat management system 100 configured to regulate the inner temperature of the scanner 10 by dissipating and/or dispersing heat generated by the imaging modules 30 and processors.

[00061] The frame structure 20 may be ergonomically configured to facilitate its manipulation by a user and allow to easily scan a surface from different viewpoints and orientations. For instance, in some embodiments, the scanner 10 may have an overall shape 10 that is configured to provide stiffness of the scanner 10 and facilitate manipulation of the scanner 10 by a user. The overall shape of the scanner 10 may, for example, be defined by a shape of an outer periphery 19 of the frame structure 20. The outer periphery 19 of the frame structure 20 may have any suitable overall shape, such as, for example: a generally polygonal shape (e.g. a generally triangular shape, a generally trapezoidal shape, a generally hexagonal shape, a generally octagonal shape or other generally polygonal shape); a half-moon shape; a crescent shape, and the like. More particularly, in the embodiment depicted in Figures 1 to 16, the outer periphery 19 of the frame structure 20 has a generally triangular shape.

[00062] In the embodiment depicted in Figures 1 to 16, the frame structure 20 has an inner side 16 and an outer side 18. The inner side 16 may define an inner periphery 17 of the frame structure 20 and the outer side 18 may define the outer periphery 19 of the frame structure 20. More particularly, in the embodiment depicted in Figures 1 to 16, the inner periphery 17 defines an opening 21 on the inner side 16 of the frame structure 20. The opening 21 may in some implementations have a shape that is similar to the overall shape of the scanner 10 defined by the outer periphery 19 of the frame structure 20. In other embodiments, the opening 21 may have a shape that is different from the overall shape of the scanner 10. In practical implementations, the opening 21 may have any suitable shape, such as, for example: a generally polygonal shape (e.g. a generally triangular shape, a generally trapezoidal shape, a generally hexagonal shape, a generally octagonal shape or other generally polygonal shape); a half-moon shape; a crescent shape, and the like. More particularly, in the embodiment depicted in Figures 1 to 16, the opening 21 defined by the inner periphery 17 of the frame structure 20 has a generally triangular shape. As will be described later below, it some alternative practical examples, there may be no opening defined by frame structure of the scanner so that the body of the scanner is continuous.

[00063] In the embodiment depicted in Figures 1 to 16, the frame structure 20 is formed by a plurality of members 50. For instance, the members 50 of the frame structure 20 may include a main member 52, a first handle member 54 and a second handle member 56.

[00064] As shown in this example, the main member 52 may be elongate and may comprise a first end 61 and a second end 63 opposite the first end 61. The main member 52 may comprise an inner side 67 and an outer side 69. The imaging modules 30 may be positioned on the frame structure 20 on the outer side 69 of the main member 52. The outer side 69 of the main member 52 may comprise an outer surface 71. The scanner 10 may also have one or more windows configured to cover the imaging modules 30 and forming part of the outer surface 71 of the main member 52.

[00065] In practical implementations, the handle members 54, 56 may be configured to have different shapes. In the implementations depicted in Figures 2 to 16, the handle members 54, 56 are both elongated members.

[00066] In the embodiment depicted in Figures 2 to 16, the first handle member 54 is adjacent to the main member 52 and extends from near the first end 61 of the main member 52. The first handle member 54 is also transverse to the main member 52, i.e., it extends in a direction (or has an orientation) that is different from that of the main member 52. For instance, the first handle member 54 and the main member 52 may together define an angle a (shown in Figures 4 and 6).

[00067] Also, in this example, the second handle member 56 is adjacent the main member 52 and the first handle member 54. The second handle member 56 may extend from near the second end 63 of the main member 52. The second handle member 56 may be transverse to the first handle member 54, i.e., it extends in a direction (or has an orientation) that is different from that of the first handle member 54. For instance, the first handle member 54 and the second handle member 56 may together define an angle P (shown in Figures 4 and 6).

[00068] As may be observed in Figures 4 and 6, the second handle member 56 is also transverse to the main member 52, i.e., it extends in a direction (or has an orientation) that is different from that of the main member 52. For instance, the main member 52 and the second handle member 56 may together define an angle y.

[00069] The angles a, P and y may have any suitable value. For instance, in some embodiments, the angle P may be larger than the angle y, and the angle y may be larger than the angle a. For instance, the angle a may be between 15° and 45°, the angle y may be between 45° and 75° and the angle P may be between 75° and 105°. In some very specific embodiments, the angle a may be about 30°, the angle y may be about 60° and the angle p may be about 90°. It is to be appreciated that while the example shown illustrate the angle y as being larger than the angle a, in alternate embodiment angle a may be larger than angle y. Moreover, while the examples have shown angle a and angle y as having different values, in alternate embodiments (not shown in the figures) angle a and angle y may have substantially similar values thereby resulting the inner periphery of the frame forming an opening having substantially isosceles triangular shape.

[00070] In this embodiment, the members 50 of the frame structure 20 (which include main member 52 and handle member 54 and 56) are contiguous to one another and form a loop. More particularly, the main member 52 is contiguous with each of the first and second handle members 54, 56; the first handle member 54 is contiguous with each of the main member 52 and the second handle member 56; and the second handle member 56 is contiguous with each of the main member 52 and the first handle member 54.

[00071] In this embodiment, as shown in Figure 16, the members 50 are generally coplanar. That is, a single plan Q may bisect the members 50, including the main member 52, the first handle member 54 and the second handle member 56.

[00072] With reference to figures 4 and 6, the inner periphery 17 defines an opening 21 on the inner side 16 of the frame structure 20. The scanner 10 comprises a plurality of handle regions 60 are provided around the opening 21, the plurality of handle regions defining regions where the handheld scanner is configured to be holdable by a hand of a user. As such, the scanner 10 is holdable by the hand of the user by one of the handle regions 60. The handle regions 60 may comprise a first handle region 62 disposed in the first handle member 54 and a second handle region 64 disposed in the second handle member 56. In use, by gripping the first handle region 62, the user can orient the scanner 10 in a first orientation, and by gripping the second handle region 64, the user can orient the scanner 10 in a second orientation different from the first orientation.

[00073] The scanner 10 may comprise any suitable number of handle regions 60. For instance, in this embodiment, the handle regions 60 further comprise a third handle region 66 disposed around the opening 21 on the main member 52. In some embodiments, the handle regions comprise at least two handle regions, in some embodiments at least three handle regions, in some embodiments four handle regions and in some embodiments even more.

[00074] More generally, an embodiment in which the internal opening 21 defined by the inner periphery of the frame structure defines a polygonal shape of X sides (not shown in the figures), the frame may be comprised of a main member and (X-l) handle members together either partially or fully surrounding internal opening. Respective handle regions may be provided on at least two (and up to X-l) of the (X-l) handle members and optionally on the main member as well. More specifically, the user may hold the scanner 10 by gripping one of the handle regions 60 or by gripping one of several parts of the outer periphery of the frame structure 20. The geometry of the members 50 and the location of the regions 60 may allow the user to hold the scanner 10 using one of a plurality of grips.

[00075] The scanner 10 is configured to allow the user to manipulate the scanner 10 and position the scanner 10 in different orientations with generally minimal displacements of the user’s arm. In particular, the user can manipulate and position in the scanner 10 so that the scanning direction 14 is positioned in different orientations by selectively holding the scanner 10 using selected different handle regions 60. A scanner with such a configuration may render the scanning process less tiresome for the user and may lower the risk of injuries.

[00076] In the embodiment depicted, the frame structure 20 may comprise an internal frame portion 22 and a scanner body 24 defining at least part of an exterior of the frame structure 20. More specifically, in this embodiment, the scanner body 24 is an external casing portion of the frame structure 20. The external casing portion 24 of the frame structure 20 may include a shell that defines the overall shape of the scanner 10 and may be hollow to allow the internal frame portion 22 as well as some functional components to fit inside the external casing portion 24. More specifically, the external casing portion 24 may define an internal volume 27. More specifically, in this embodiment, the internal volume 27 is substantially closed during use of the scanner 10. That is, in some cases, the external casing portion 24 may not be sealed and the internal volume 27 may not be hermetically closed. For instance, in some embodiments, the external casing portion 24 may comprise apertures and/or joints that provide gaps each having relatively small area. A sum of the areas of the apertures and/or joints of the external casing portion 24 may be relatively small compared to an overall surface area of the external casing portion 24. For instance, in some embodiments, the sum of the areas of the apertures and/or joints may amount to less than 2% of the overall surface area of the external casing portion 24, in some embodiments to less than 1% of the overall surface area of the external casing portion 24, in some embodiments to less than 0.5% of the overall surface area of the casing 24, and in some embodiments to even less (e.g., 0.1%) of the overall surface area of the casing 24. In some alternative embodiments, the external casing portion 24 may be sealed during use, may be free of apertures and open joints, and the internal volume 27 may be hermetically closed.

[00077] In this embodiment, the external casing portion 24 may be configured to shield the internal frame portion 22 and the imaging modules 30 from loads and impacts caused by environmental factors and/or events (e.g., a collision with an object, a drop of the scanner 10, etc.). In particular, the external casing portion 24 may be configured such that little to no mechanical load may be transmitted between the external casing portion 24 and the internal frame portion 22. For instance, in this embodiment, the frame structure 20 may comprise connectors 26 connecting the internal frame portion 22 to the external casing portion 24. The connectors 26 may provide a flexibility between the internal frame portion 22 and the external casing portion 24 such that when the external casing portion 24 is subject to an impact, at least part of the impact is dissipated and/or absorbed by the connectors 26 and the internal frame portion 22 is shielded from the at least part of the impact. In this embodiment, the internal frame portion 22 and the components that are rigidly affixed thereto (such as the imaging modules 30, heat sinks connected to the imaging modules, etc.) may form an internal frame portion assembly 28. In order to shield the internal frame portion 22 and the imaging modules 30 from loads and impacts caused by environmental factors and/or events, at least part of the internal frame portion assembly 28 may be surrounded by a clearance where the internal frame portion assembly 28 is spaced from any other solid component of the scanner 10. More specifically, in this embodiment, at least a majority of the internal frame portion assembly 28 may be surrounded by the clearance. More specifically, in this embodiment, at least 90% of the internal frame portion assembly 28 may be surrounded by the clearance. More specifically, in this embodiment, at least 95% of the internal frame portion assembly 28 may be surrounded by the clearance. More specifically, in this embodiment, almost an entirety of the internal frame portion assembly 28 may be at least partly surrounded by the clearance. More specifically, in this embodiment, the entirety of the internal frame portion assembly 28 that is spaced from the connectors 26 may be surrounded by the clearance. As such, the internal frame portion assembly 28 may be viewed as “floating” in the interior of the external casing portion 24. The clearance may have any suitable dimension. For instance, in some embodiments, the clearance may be of at least 1 mm, in some embodiments of at least 2 mm, in some embodiments of at least 3 mm, and in some embodiments even more (e.g., at least 4 mm).

[00078] Another purpose of the external casing portion 24 may be to shield electronic components of the scanner 10 that may be mounted to the internal frame portion 22 and/or to an internal portion of the external casing portion from environmental elements (e.g. water, dust and debris for example) that may be damaging to these components as well as to provide a package that is aesthetically pleasing and ergonomically sound for the user. The external casing portion 24 may be comprised of a material that is relatively lightweight so as not to add to the overall weight of the scanner 10. The external casing portion 24 may be comprised of a material such as, but without being limited to, a polymeric material (for e.g. a plastic). In some specific practical implementations, the polymeric material may be embedded with reinforcement fibers such as chopped fibers of another material to increase a stiffness of the casing 24. For example, the polymeric material (such as a plastic) may have therein embedded chopped fibers including glass fibers, carbon fibers or any other suitable fiber.

[00079] The external casing portion 24 may be manufactured in any suitable way. For example, the casing 24 may be molded, extruded or machined (e.g., using a CNC machine).

[00080] The internal frame portion 22 is configured to impart stiffness to the frame structure 20 of the scanner 10 and may be comprised of a material that is relatively rigid. For instance, in some embodiments, a Young modulus of the material of the frame structure 20 may be at least 40 GPa, in some embodiments at least 50 GPa, in some embodiments and least 60 GPa, and in some embodiments even more (e.g., at least 69 GPa). In some embodiment, the material of the internal frame portion 22 may have a coefficient of linear thermal expansion that is relatively low. For instance, in some embodiments, the coefficient of linear thermal expansion of the material of the internal frame portion 22 may be less than 30xl0^-6K^-1, in some embodiments less than 25xlO^-6K^_ \ less than 20xl0^-6K^-1, less than 15xlO^-6K^-1, and in some embodiments even less (e.g., less than 10X10^-6K^-1). Any suitable type of material may be used to construct the internal frame portion 22 of frame structure 20 including, but without being limited to, metallic materials (e.g. aluminum, titanium, steel, etc.); polymeric materials; composite materials; and material comprising glass fibers, carbon fibers and other suitable materials.

[00081] Optionally, as shown in Figure 30, a protective sheath 2700 may be provided to cover portions of the outer surfaces the frame structure 20. In the embodiment depicted, the protective sheath 2700 is configured to cover at least a portion of the main member 52. A cut-out is provided in the protective sheath 2700 around the set of imaging modules 30 so as not to obstruct their fields of view when the protective sheath 2700 is on the scanner. It is to be appreciated that other configurations for the protective sheath 2700 may be contemplated in alternate practical implementations (not shown in the figures) including configurations that cover portions of the first handle member 54 and/or portions of second handle member 56 instead of or in addition to the portions of the main member 52. The protective sheath 2700 may be comprised of a material different from the material of the external casing portion 24 of the frame structure 20 and is preferably a material that has some level of elasticity and resiliency. In particular, the material may be flexible to that it can be placed on and removed from the outer surfaces the frame structure 20 by stretching the material. In specific examples of implementation, the protective sheath 2700 may be made of a material such as, but not being limited to, silicone and rubber.

[00082] Optionally still, as shown in Figures 31 and 32, a removeable lens cap 2800 may be provided to cover and protect the set of imaging modules 30. The removeable lens cap 2800 is releasably fastened to be outer surface of the main member 52 using any suitable type of fastener such as one or more clips, hooks or other suitable device to secure the removeable lens cap 2800 to the main member. The fastener may be positioned about the periphery of the removeable lens cap 2800 and are configured to engage corresponding structures in the main member. The removeable lens cap 2800 is typically used when the scanner 10 is not in use to protect the set of imaging modules 30. In the embodiment depicted in Figures 31 and 32, the removeable lens cap 2800 includes a release actuator 2802 on its outer surface to allow a user to release the fasteners and disengage the removeable lens cap 2800 from the main member 52 of the frame structure 20. More specifically, in this embodiment, the actuator 2802 is toollessly operable (i.e. operable without requiring any tool), and more specifically, the actuator 2802 is manually operable. The removeable lens cap 2800 may be comprised of a material similar to the material of the external casing portion 24 of the frame structure 20 or may be comprised of a suitable different material. In some specific implementations, the removeable lens cap 2800 is comprised of a material that has some level of rigidity so that is better suited to protect the set of imaging modules 30. For example, the removeable lens cap 2800 may be comprised of a material such as, but without being limited to, a polymeric material (for e.g. a plastic). In some specific practical implementations, the polymeric material may be embedded with reinforcement fibers such as chopped fibers of another material to increase a stiffness of the removeable lens cap 2800. For example, the polymeric material (such as a plastic) may have therein embedded chopped fibers including glass fibers, carbon fibers or any other suitable fiber.

[00083] Returning to the embodiment depicted in Figures 1 to 16, as shown, the main member 52 is configured to define a recessed portion 76 on the outer periphery of the frame structure 20 and the set of imaging modules 30 is positioned within the recessed portion 76. Optionally a projection at least partially surrounds the recessed portion 76 defined by main member 52, the projection extending above the set of imaging modules 30 and forming a protective bumper 72 for the set of imaging modules. The protective bumper 72 is configured to engage a surface (such as the ground, a flat surface, etc.) and avoid contact between the surface and one of more of the imaging modules in the set of imaging modules 30 For instance, in this embodiment, the protective bumper has an overall rectangular shape which surrounds the imaging modules 30. The projection forming the protective bumper 72 may extend above the highest of the imaging modules in the set of imaging modules 30 by any suitable height Hp (shown in Figure 4) The projection forming the protective 72 may be comprised of any suitable material such as plastic and/or a resilient material including but not limited to silicon, rubber, foam, or any other suitable material.

[00084] The recessed portion 76 defined in the main member 52 may have any suitable height HR spanning from a bottom surface of the recessed portion 76 to a base of the projection forming a protective bumper 72. [00085] While in the embodiments described above, the set of imaging modules 30 includes at least one camera, in some practical embodiments, the scanner 10 may also include one or more additional cameras and/or one or more pattern generators, each of the one or more pattern generators including one or more light sources. The set of imaging modules 30 is mounted to the frame structure 20 and the imaging modules in the set 30 are preferably arranged alongside one another so that the field of view of at least some of the modules at least partially overlap. In the specific embodiment depicted in Figures 1 to 16, the set of imaging modules 30 comprises three cameras, namely a first camera 31, a second camera 32 and a third camera 34. The set of imaging modules 30 also includes a pattern generator 36 comprising a light source 38. As depicted, the imaging modules 30 are disposed alongside one another on the main member 52, and more specifically in the recess 76 defined on the main member 52.

[00086] In some specific implementations, the first and second cameras 31, 32 may be monochrome cameras. The cameras 31, 32 may be any suitable type of camera including, but not limited to monochrome or color visible spectrum and near infrared cameras. The type of cameras used for the first and second cameras will depend on the type of the light source 38 used by the pattern generator 36. The cameras 31, 32 may implement any suitable shutter technology, including but not limited to: dire rolling shutters, global shutters, mechanical shutters and optical liquid crystal display (LCD) shutters and the like.

[00087] In some specific implementations, the third camera 34 may be a color camera (a.k.a. a texture camera). The texture camera may implement any suitable shutter technology, including but not limited to, rolling shutters, global shutters, mechanical shutters and optical LCD shutters and the like.

[00088] With reference to Figure 6, the pattern generator 36 includes a light source 38 and is oriented in a generator direction DPG and is configured to project a pre-determined light pattern in the generator direction DPG over a field of projection FOP. For instance, the light pattern projected may be comprised of an array of generally parallel lines that a processing system (not shown in Figures 1 to 16) used in connection with the scanner 10 may use to reconstruct a surface based on data obtained by the first 31, second 32 and/or third 34 cameras. The use of light patterns in 3D surface reconstruction processes is beyond the scope of the present application and as such, this will not be described further here. The light source 38 may be of any suitable type and may include, without being limited to: one or more light emitting diode (LED) and one or more lasers (e.g., a VCSEL, a solid-state laser, a semiconductor laser, etc.). In some specific embodiments, the light source 38 may be configured to emit a white light; an infrared light; a near-infrared light; and/or a blue light. For example, in some embodiments, the light source 38 may be configured to emit light having a wavelength between 405 nm and 940 nm.

[00089] In this embodiment, each of the imaging modules 30 may comprise a lens 40.

[00090] As described above, the scanner 10 may also include one or more windows configured to cover the imaging modules 30 and forming a protective part of the outer surface 71 of the main member 52 of the frame structure 20. In a specific implementation of the type depicted in the Figures, windows may be provided to cover each of the individual imaging modules 30 in these set. In this example this would include a window for each of the first camera 31, second camera 32, third camera 34 and pattern generator 36. In alternate embodiments, the scanner 10 may comprises fewer windows than the number of imaging modules 30. In addition, in some alternate embodiments, at least some of the windows may cover more than one of the imaging modules 30. For instance, in some embodiments, the scanner 10 may comprise a single window covering all of the imaging modules 30.

[00091] With reference more particularly to Figures 2 and 6, the first camera 31 is positioned on the main member 52 of the frame structure 20 and may be positioned alongside the pattern generator 36. The first camera 31 is generally oriented in a first camera direction Dei and configured to have a first camera field of view FOVci at least partially overlapping with the field of projection FOP of the pattern generator 36.

[00092] The second camera 32 is also positioned on the main member 52 of the frame structure 20 and may be spaced from the first camera 31 and from the pattern generator 36. The second camera 32 is oriented in a second camera direction Dc2 and is configured to have a second camera field of view F0Vc2 at least partially overlapping with the field of projection FOP of the pattern generator 36 and at least partially overlapping with the first field of view FOVci.

[00093] The first camera 31 may be spaced from the pattern generator 36 by any suitable distance and the first camera direction Dei may be slightly angled towards the pattern generator direction DPG. For instance, in some embodiments, a distance between the pattern generator 36 and the first camera 31 may be at least 1 cm, in some embodiments at least 2 cm, in some embodiments at least 4 cm, and in some embodiments even more (e.g., at least 6 cm). In some embodiments, as shown in Figure 9, an angle e between the pattern generator direction DPG and the first camera direction Dei may be at least 2°, in some embodiments at least 4°, in some embodiments at least 6°, and in some embodiments even more. In other embodiments, the generator direction DPG and the first camera direction Dei may be parallel to each other. In a similar fashion, in some embodiments, as shown in Figure 10, an angle 9 between the pattern generator direction DPG and the second camera direction Dc2 may be at least 6°, in some embodiments at least 10°, in some embodiments at least 14°, and in some embodiments even more. In other embodiments, the generator direction DPG and the first camera direction Dc2 may be parallel to each other.

[00094] The second camera 32 may be spaced from the first camera 31 by any suitable distance and the second camera direction Dc2may be slightly angled towards the pattern generator direction DPG and towards the first camera direction Dei. For instance, in some embodiments, a distance between the first camera 31 and the second camera 32 may be at least 6 cm, in some embodiments at least 12 cm, in some embodiments at least 18 cm, and in some embodiments even more. In some embodiments, as shown in Figure 11, an angle 1 between the first camera direction Dei and the second camera direction Dc2 may be at least 6°, in some embodiments at least 12°, in some embodiments at least 18°, and in some embodiments even more. In other embodiments, the first camera direction Dei and the second camera direction Dc2 may be parallel to each other. [00095] With additional reference to Figures 2 and 6, the texture camera 34 is also positioned on the main member 52 of the frame structure 20 and, as depicted, may be positioned alongside the first camera 31, the second camera 32 and the pattern generator 36. The texture camera 34 is oriented in a third camera direction Dc3 and is configured to have a third camera field of view FOVcs at least partially overlapping with the field of projection FOP, with the first field of view FOVci and with the second field of view FOVc2.

[00096] With reference to Figure 5 and to Figure 16, the handheld scanner 10 may in some implementations comprise a user operable control device 125 mounted to the frame structure 20 for controlling operations of the handheld scanner 10. More particularly, in this embodiment, the user operable control device 125 may be mounted to the outer periphery 19 of the frame structure 20 and may be positioned opposite to one of the at least two distinct handle regions 62, 64 so that, in use, the user can hold the scanner 10 by one of the handle regions 62, 64 and access the user operable control device 125 using a same hand. More particularly, in the embodiments depicted in Figure 5 and 16, the user operable control device 125 may comprises one or both of: a touch- sensitive screen 127; and a keypad 129 including at least one electro-mechanical keys.

[00097] At least part of functionality of the handheld 3D scanner 10 may be implemented by a processing system 1200. In this embodiment, the processing system 1200 may be located in the internal volume 27 of the casing 24 and may be mounted to the frame structure 20 (e.g., in this embodiment to the external casing portion 24 of the frame structure 20, in other embodiments to the inner frame portion 22 of the frame structure 20). Such a processing system 1200 typically includes a processing unit 1202 (which may include one or more processors) and a memory 1204 that is connected to the processing unit 1202 by a communication bus 1208. The memory 1204 includes program instructions 1206 and data 1210. The processing unit 1202 is adapted to process the data 1210 and the program instructions 1206 in order to implement at least some of the functionality related to the handheld 3D scanner 10 including processes for generating 3D data relating to a surface of a target object. The processing system 1200 may also comprise one or more VO interfaces for receiving or sending data elements to various modules external and internal to the handheld 3D scanner 10. In some embodiments, the processing unit 1202 and the memory 1204 may be implemented by an external computing device 1220 configured for rendering 3D surface images based on data collected by the scanner and/or for issuing control signals to the scanner. The external computing device may be any suitable computing device such as, for example, one of: a computer, a smartphone, a laptop, a tablet computer and a phablet, on which program instructions are executed so as to process the data collected by the scanner 10 and/or issue control signals to the scanner 10. For instance, in this embodiment, the processing system 1200 may comprise an VO interface for exchanging signal between the external computing device implementing the processing unit 1202 and the memory 1204 and the imaging modules 30 (including one or more cameras and optionally a pattern generator). In particular, the VO interface may comprise data cables 145 connecting the external computing device with the imaging modules 30. Signals exchanged over the VO interface between the external computing device and the imaging modules 30 may comprise, notably, image data generated by the cameras 31, 32, 34, control signals generated by the external computing device, etc. The processing system 1200 may also comprise an VO interface for exchanging signal between the external computing device implementing the processing unit 1202 and the memory 1204 and a user operable control device (such as for example user operable control device 125 shown in Figures 5 and 22) mounted on the scanner 10. In particular, the VO interface may comprise data cables 145 connecting the external computing device with the user operable control device. Signals exchanged over the VO interface between the external computing device and the user operable control device may comprise, notably, feedback signals generated from the external computing device for communicating with the operator of the scanner 10 (e.g., via a display device, a speaker, a vibration generator, etc.), command signals generated by the user operable control device in response to user input, etc.

[00098] In some embodiments, as shown in Figure 14, at least part of (i.e., part of, a majority of, or all of) the processing unit 1202 and the memory 1204 may be provided on the scanner 10. In particular, the processing system 1200, may comprise an VO interface 1214 with the imaging modules 30 (including one or more cameras and optionally a pattern generator), an VO interface 1216 for exchanging signals with a user operable control device (such as for example user operable control device 125 shown in Figures 5 and 16) mounted to the frame structure 20 of the handheld 3D scanner 10 for receiving user inputs and conveying information to the user. In some embodiments, the processing system 1200 may also comprise an I/O interface 1212 forexchanging signals with an external computing device (not shown in the Figures) configured for rendering 3D surface images based on data collected by the scanner and/or for issuing control signals to the scanner. In some embodiments, the user operable control device may be omitted from the handheld 3D scanner 10 and the control may be provided by the external computing device via input/output device an VO interface 1212.

[00099] In this example of implementation, the processing system 1200 may be configured for receiving image data from the cameras 31, 32, 34 (shown in Figure 2) through VO interface 1214, processing the image data using the processing unit 1202 to execute the program instructions 1206. The processing system 1200 may also generate and transmit signals based on the image data to an external computing device via an VO interface 1212 for deriving and conveying, amongst other, 3D surface information to a user via a display device for example.

[000100] As the display device may be part of a device separate from the scanner 10 such as for example, one of: a computer, a smartphone, a laptop, a tablet computer and a phablet, on which program instructions are executed so as to process the image data obtained by the imaging modules 30 and convey information to a user of the scanner 10.

[000101] A very specific example of a display device 150 in communication with the handheld scanner 10 is depicted in Figure 21. In this very specific example, this display device 150 is in the form of a smartphone programmed with suitable software for performing the desired functions. For example, the display device 150 may be programmed for example with 3D image reconstruction software and/or computer-aided design (CAD) software and be used to process the 3D data received from the handheld scanner to generate a 3D model of a surface of the target object.

[000102] The display device 150 comprises a screen 137 for displaying a user interface (e.g., a graphical user interface) for interacting with a user and a processing entity (not shown) for processing data received from the handheld scanner 10 and generating a suitable user interaction depending on the data. In this embodiment, the display device 150 also includes a speaker 138 for generated audio signals in response to certain desired events identified by the display device 150. The person skilled in the art will appreciate that various suitable computer tools and methods may be provided by the display device. Such computer tools and methods are beyond the scope of the present disclosure and will therefore not be described in further detail here.

Thermal management system 100 and related process

[000103] A mentioned earlier, the scanner 10 is configured to manage heat generated by the imaging modules 30 and the one or more processors while substantially shielding internal components from outside elements such a dust particles, debris and others, by way of a heat management system 100. The heat management system 100 is configured to regulate the inner temperature of the scanner 10 by dissipating and/or dispersing heat generated by the imaging modules 30 and processors.

[000104] As shown schematically in Figures 33 and 34, during use, the imaging modules 30 and the processing system 1200 may generate heat which impacts temperature of the internal volume 27 of the scanner. More specifically, Figure 33 schematically illustrates different components of the scanner 10 involved in the generation and/or transfer of heat. Figure 34 is a thermal diagram of the components of the scanner 10 illustrating the transfer of heat to, through and from components of the scanner 10.

[000105] In Figures 33 and 34: QI designates a heat transfer rate of the gap pads 128; Q2 designates a heat transfer rate of the heat sinks 120; Q3 designates a heat transfer rate of the fluid (e.g. a cooling gas (such as ambient air) or a liquid (such as water or oil)) between the heat sinks 120 and the internal volume 27 of the scanner 10; Q4 designates a heat transfer rate between the casing 24 and the internal volume 27 of the scanner 10; Q5 designates a heat transfer rate of the casing 24; Q6 designates a heat transfer rate between the casing 24 and the external environment of the scanner 10; and Q7 designates a heat transfer rate of the fluid (e.g. a cooling gas (such as ambient air) or a liquid (such as water or oil)) between the processing system 1200 and the internal volume 27 of the scanner 10; . [000106] Figures 12 and 13 depict a view of a cross section of the scanner 10. As depicted, the scanner 10 may comprise a heat management system 100 configured to dissipate and/or disperse heat generated by the imaging modules 30 and the processing system 1200. In this example, the heat management system 100 comprises heat sinks 120 for managing heat generated by the one or more optical imaging modules 30 of the scanner 10. The heat management system 100 may also comprise a circulation device 110 for displacing and/or dissipated heat generated by one or more optical imaging modules of the scanner 10.

[000107] At least part of the internal volume 27 of the scanner 10 may be filled with a cooling fluid. During use of the scanner 10, the circulation device 110 circulates the cooling fluid within the internal volume 27 so as to reduce magnitudes of thermal gradients between different portions of the internal volume 27. In some embodiments wherein the part of the internal volume 27 filled with the cooling fluid casing is hermetically sealed, the cooling fluid may remain captive within the internal volume 27 during use of the scanner 10. In other embodiments in which the part of the internal volume 27 holding the cooling fluid is only substantially closed, an amount of leakage of the cooling fluid may occur between the internal volume 27 and a space external to the casing 24.

[000108] The portion of the internal volume 27 holding the cooling fluid may include a first internal volume portion Ti positioned near the imaging modules 30 and/or the processing unit 1202 of the scanner 10 and a second internal volume portion T2 positioned remote from the imaging modules 30 of the scanner 10. More specifically, the first internal volume portion Ti may be located in or near the main member 52 of the frame structure 20 (near the imaging modules 30 so as to be thermally coupled thereto), and the second internal volume portion T2 may be located in one or both of the handle members 54, 56 of the frame structure 20. During use, as the circulation device 110 circulates the cooling fluid within the internal volume 27, a maximal temperature of the internal volume 27 may be located in the first internal volume portion Ti and a minimal temperature of the internal volume 27 may be located in the second internal volume portion T2.

[000109] In this embodiment, the circulation device 110 is configured for dispersing and dissipating at least some heat absorbed in the first internal volume portion Ti into the second internal volume portion T2 by circulating the cooling fluid within the internal volume 27. Thereby, the circulation device 110 reduces a magnitude of a thermal gradient between the internal volume portions Ti, T2.

[000110] More particularly, as depicted in Figures 13 and 14, the internal volume 27 may include an internal channel 130 defining a circulation loop 114 within the casing 24 of the scanner 10. In particular, the circulation loop 114 defined by the internal channel 130 includes the internal volume portions Ti, T2. During use, the circulation device 110 may circulate the cooling fluid through the circulation loop 114 defined by the internal channel 130.

[000111] The internal channel 130 may have any suitable dimension. For instance, in some embodiments, the internal channel 130 may have a minimal cross-sectional area where the cooling fluid flows during use that is at least 2 cm², in some embodiments at least 4 cm², in some embodiments at least 5 cm², in some embodiments at least 10 cm², and in some embodiments the minimal cross-sectional area of the channel 130 may be even larger (e.g., at least 15 cm²). In some embodiments, the internal channel 130 may have a maximal cross-sectional area where the cooling fluid flows during use that is no more than 50 cm², in some embodiments no more than 40 cm², in some embodiments no more than 30 cm², in some embodiments no more than 20 cm², in some embodiments no more than 10 cm², and in some embodiments the maximal cross-sectional area of the channel 130 may be even smaller (e.g., less than 5 cm²).

[000112] The circulation loop 114 may have any suitable shape. For instance, the circulation loop 114 may define an overall shape that is similar to the overall shape of the scanner 10. Furthermore, in some embodiments, the loop 114 may comprise portions where the internal channel 130 is split in two sub-channels (e.g., which may be substantially parallel to one another in some cases).

[000113] The dimensions of the circulation loop 114 will generally vary with the dimension of the scanner 10 so that larger scanners will have large and longer circulation loops than scanners of smaller dimension. In some cases, the circulation loop 114 may have a length that is significantly larger in comparison with the overall dimensions of the scanner 10. For instance, in some embodiments, the length of the circulation loop 114 may be at least 20 cm, in some embodiments at least 30 cm, in some embodiments at least 40 cm, in some embodiments at least 50 cm and in some embodiments even longer (e.g., at least 55 cm), and a ratio of the length of the circulation loop over the height Hs of the scanner 10 may be at least 1.5, in some embodiments at least 2, in some embodiments at least 2.5 and in some embodiments even more (e.g., at least 3).

[000114] In the embodiment depicted in Figures 12 and 13, the heat management system 100 is free of a fluid input port and of a fluid output port thereby providing an substantially closed internal volume 27 . That is, during use, at least a majority of (i.e., a majority of or an entirety of) the cooling fluid may remain within the internal volume 27 after circulating in the channel 130 through the circulation loop 114. For instance, in some embodiments at least 90%of a volume of the cooling fluid, in some embodiments at least 93%% of the volume of the cooling fluid, in some embodiments at least 95% of the volume of the cooling fluid, in some embodiments at least 98% of the volume of the cooling fluid and in some embodiments all of the cooling fluid remains in the internal volume 27 after circulating in the channel 130 through the circulation loop 114.

[000115] Advantageously, by providing a substantially closed internal volume 27 and circulating the fluid therein, heat generated by the imaging modules 30 and the one or more processors is managed while substantially shielding internal components from outside elements such a dust particles, debris and others. Moreover, while in some embodiments the closed internal volume 27 can be hermetically sealed (for example in embodiments using a liquid as a cooling fluid), other embodiments (for example where the cooling fluid is a cooling gas) may provide closed internal volume 27 that permit some level of leakage between the substantially closed internal volume 27 and a space external to the scanner body. This in turn provides options for less costly practical implementations.

[000116] In the specific embodiment depicted in Figures 12 and 13, the heat sinks 120 include a plurality of fins 132 arranged to establish a thermal coupling between the imaging modules 30 and the cooling fluid in the internal volume 27. To this end, the heat sinks 120 may be arranged on or near the imaging modules 30 of the scanner 10. For instance, as shown in Figures 12 and 13, the heat sinks 120 may be provided on respective back sides of the cameras 31, 32, 34 and of the pattern generator 36. More specifically, as illustrated in Figure 33, the scanner 10 may comprise gap pads 128 comprising two opposed sides. At least some of (i.e., some of, a majority of, or all of) the imaging modules 30 may be mounted on a first one of the two opposed sides of the gap pads 128 at least some of the heat sinks 120 may be mounted on a second one of the two opposed sides of the gap pads 128, such that the gap pads 128 connect respective ones of the imaging modules 30 and the heat sinks 120. The gap pads 128 may also thermally connect the imaging modules 30 to the heat sinks 120. For instance, the gap pads 128 may comprise a material that conducts heat to advantageously cool the imaging modules 30 during use. For instance, in some embodiments, the material of the gap pads 128 may have a thermal conductivity of at least 0.5 W/(m-K), in some embodiments of at least 1 W/(m-K), in some embodiments of at least 2 W/(m-K), and in some embodiments of even more (e.g., at least 2.5 W/(m-K)).

[000117] As shown in the example depicted in Figures 12 and 13, at least some of (i.e., some of, a majority of or all of) the heat sinks 120 may be arranged along portions of the internal channel 130. In some cases, the heat sinks 120 may be fastened, glued, mechanically interlocked and/or welded to the respective back sides of the cameras 31, 32, 34 and of the pattern generator 36.

[000118] The heat sinks 120 may be comprised of any suitably conductive material, such as a metallic material (e.g. copper, aluminum and alloys thereof), a polymeric material, and may be manufactured in any suitable manner known in the art.

[000119] The circulation device 110 and the heat sinks 120 may contribute to maintain a temperature near the imaging components 30 below an operating temperature by dissipating heat within the internal volume 27 of the scanner 10 so that heat is not left to be concentrated at the imaging components 30. For instance, in some embodiments, when an ambient temperature (a temperature of an environment of the scanner 10) is below 40°C, the circulation device 110 and the heat sinks 120 may maintain the temperature of the imaging components 30 below 95 °C, in some embodiments below 90°C, in some embodiments below 87°C, in some embodiments below 85°C, in some embodiments below 80°C, and in some embodiments even less (e.g., below 70°C, below 60°C). [000120] The circulation device 110 may also be configured for dispersing and dissipating at least some heat generated by the processors of the processing unit 1202 of the processing system 1200 (shown in Figure 14). For instance, the channel 130 may be configured to have portions lying close to least some of the processors of the processing unit 1202 so that, in use, the circulation device 110 circulates cooling fluid these components such as to establish a thermal exchange between the processors and the cooling fluid.

[000121] The circulation device 110 may also be configured for dispersing and dissipating at least some heat generated by the user operable control device 125 of the handheld scanner 10. For instance, as shown in Figures 12 and 13, the internal volume 27 may comprise an internal volume portion T3 lying near the touch-sensitive screen 127 and/or keypad 129 of the user operable control device 125. The circulation device 110 may be configured for dissipating within the internal volume 27 at least some heat absorbed from the manually operable control device 125 into the volume portion T3.

[000122] To achieve the dispersing and dissipating of the heat, the circulation device 110 may be configured for circulating any suitable flow of cooling fluid. For instance, in some embodiments, during use, the circulation device 110 may be configured to create a flow of any suitable rate, such as for example at least 1000 cm³/s of cooling fluid inside the channel 130 and through the loop 114, in some embodiments at least 2000 cm³/s, in some embodiments at least 3000 cm³/s, and in some embodiments even more.

[000123] The cooling fluid may be comprised any suitable fluid. For instance, in some embodiments, the cooling fluid may be a cooling liquid and the circulation device 110 may be comprised of at least one circulation pump. For instance, the cooling fluid may comprise water and/or a suitable glycol and/or a suitable oil. In other embodiments, the cooling fluid may be a suitable cooling gas and the circulation device 110 comprises at least one fan 112 for circulating that cooling gas. For instance, the cooling fluid may comprise an inert gas such as argon or nitrogen. In this embodiment, the cooling fluid comprises ambient air. [000124] As depicted in Figures 12 and 13, the fan 112 may be located inside one of the handle regions 62, 64 and may be distanced from the imaging modules 30. In particular, the fan 112 may be located at a distance Dv from a front side of the main member 52. The distance Dv may be sufficient to avoid or reduce transmission of vibrations generated by the fan 112 during use to the imaging modules 30. The distance Dv may also improve ergonomic aspects of the scanner 10 by moving a center of gravity of the scanner 10 away from the front of the main member 52 towards one of the handles regions 62, 64 of the scanner 10. For instance, in some embodiments, the distance Dv may be at least 1 cm, in some embodiments at least 2 cm, in some embodiments at least 5 cm, and in some embodiments even more (e.g., at least 5.5 cm).

[000125] Furthermore, in this embodiment, the fan 112 may be configured to reduce or avoid effects of vibrations generated by the fan 112 on the scanning during use to the imaging modules 30. For instance, in some embodiments, the fan 112 may be configured to run only when the scanner 10 is not scanning objects that are in a scanning range. Specifically, in this example, the processing system 1200 may be configured to generate and transmit a command signal causing the fan 112 to stop when an object is detected in the scanning range of the scanner 10 and when the imaging modules 30 are scanning said object. Advantageously, this may allow obtaining image data in which the effect of vibrations due to cooling in minimized.

[000126] The fan 112 may be any suitable type of fan. For instance, in the embodiment depicted in Figures 12 and 13, the fan 112 is an axial fan.

[000127] Alternative configurations for handheld scanner

[0001] While a detailed description of an embodiment of a scanner according to the present disclosure has been presented in detail with reference to Figures 1 to 16, various alternative embodiments of scanners including thermal management systems of the type contemplated in the present disclosure may be considered by persons skilled in the art. [0002] A first example of an alternative embodiment is depicted in Figure 17. As shown, the handheld scanner 10’ may comprise heat sinks 180 located on an outer surface of the casing 24’ (analogous to the casing 24 depicted in Figure 2) in addition to the heat sinks 120’ disposed in the internal volume 27’ of the casing 24’ (respectively analogous to the heat sinks 120 and internal volume 27 depicted in Figure 12). The heat sinks 180 may be adjacent to the imaging modules 30’ (analogous to the imaging modules 30 depicted in Figure 2) and may be configured to disperse and/or dissipate at least part of the heat generated by the imaging modules 30’ and the processing unit 1202’ into an exterior environment of the scanner 10’. For instance, in this example, each heat sink 180 may comprise a plurality of fins 182 arranged to establish a thermal coupling between the imaging modules 30 and the exterior environment of the scanner 10’. The heat sinks 180 may comprise any suitably material, such as a metallic material, a polymeric material, and the like.

[0003] A second example of an alternative embodiment is depicted in Figures 18 and 19. As shown, the handheld scanner 10” may be free of an opening defined by the members 50” (analogous to the members 50 shown in Figure 2). More specifically, in this example, the casing 24” (analogous to the casing 24 depicted in Figure 2) may comprise parts connecting the members 50” of the frame structure 20” such that there is no opening defined by the members 50”. In this embodiment, the internal volume 27” (analogous to the internal volume 27 depicted in Figure 12) may be free of a channel, air path or loop. More specifically, in this example, the circulation device 110” (analogous to the circulation device 110 depicted in Figure 12) may be configured to force movement of the cooling fluid inside the internal volume 27” without requiring that the internal volume 27” forms a channel defining an air path which may form a loop so as to reduce magnitudes of thermal gradients between different portions Ti T2 and T3 of the internal volume 27”.

[0004] A third example of an alternative embodiment is depicted in Figures 20 and 21. As shown, the handheld scanner 10’” may have an overall half-moon shape. In this example, the scanner 10’” comprises a curve handle member 154 and a main member 52’” (analogous to main member 52 depicted in Figure 2) and the curved handle member 154 may at least partially enclose the opening 21’” (analogous to opening 21 in Figure 4). In this embodiment, the main member 52” ’and curved handle member 154 are contiguous with one another and fully enclose the opening 21”’. More specifically, the curved handle member 154 may connect with the main member 52’” at each of the ends 61’”, 63’” of the main member 52’”. It is to be appreciated that in a variant of this embodiment (not shown in the Figures), the curved handle member 154 and the main member 52’” may only partially enclosed an opening formed by an inner periphery of the frame so that there is a gap along the inner periphery of the frame.

[0005] A fourth example of an alternative embodiment is depicted in Figures 22 and 23. As shown, the handheld scanner 10”” may have an overall crescent shape. In this example, at least part of the main member 52”” (analogous to main member 52 depicted in Figure 2) are curved near the ends 61””, 63”” of the main member 52”” and the scanner 10”” comprises a curved handle member 154”” that connects with the main member 52”” at each of the ends 61””, 63”” of the main member 52””. In this example, a first handle region 60” may be considered to lie on the handle member 154”” and a second handle region may be considered to lie on the main member 52” ” .

[0006] Fifth and sixth examples of alternative embodiments are depicted in Figures 24 to 27. As shown, the handheld scanners 10’”” and 10”””, the frame is formed of a plurality of elongated members including a main member and two handle members, wherein the plurality of elongated members partially enclose an opening defined by the frame so as to leave a gap 2200 2200’ in the inner periphery of the frame. In these embodiments, the circulation devices 110’”” and 110””” (analogous to the circulation device 110 depicted in Figure 12) may be configured to force a circulation of the cooling fluid inside the internal volume without requiring that the internal volume forms a channel defining an air path forming a closed loop.

[0007] In addition to having different possible configurations for the frame of the scanner, yet other alternative embodiments, different types and/or number of imaging modules as part of the set of imaging modules mounted to the frame of the scanner. [0008] A first example of such an alternative embodiment is depicted in Figure 28. As shown, the scanner io’””” has a set of imaging modules including one (1) camera 31”””’ _and one pattern generator, i.e., the scanner may be free of second and third cameras.

[0009] A second example of such an alternative embodiment is depicted in Figure 29. As shown, the scanner 10” ” ” ” has a set of imaging modules including three (3) cameras 31’ ” ” ” , 32” ” ” ’ , 34”””’ but no pattern generator, i.e., the scanner 10 may be free of a pattern generator.

[00010] It will be appreciated that various other suitable combinations of cameras and pattern generators may also be used as part of the set of imaging modules in alternative embodiments.

[00011] In yet another alternative to the embodiments described to date, while the embodiments have provided a frame with a main member and one or more handle members (be they elongated or curved) wherein all frame members have been substantially coplanar, in some alternate embodiments, one or more handle members lying in a different plan may be provided. In this regard, Figure 29 shows the scanner 10 depicted in Figures 1 to 16 which has been constructed to add an additional handle member 254 extending on a plan different from that of the main portion 52 and the two handle portions 52, 53. In this particular example, the handle member 254 extends in a direction that is generally orthogonal to the plan in which lie each of the main member 52, the first handle member 54 and the second handle member 56.

[00012] In some embodiments, any feature of any embodiment described herein may be used in combination with any feature of any other embodiment described herein.

[00013] Certain additional elements that may be needed for operation of certain embodiments have not been described or illustrated as they are assumed to be within the purview of those of ordinary skill in the art. Moreover, certain embodiments may be free of, may lack and/or may function without any element that is not specifically disclosed herein. [00014] It will be understood by those of skill in the art that throughout the present specification, the term “a” used before a term encompasses embodiments containing one or more to what the term refers. It will also be understood by those of skill in the art that throughout the present specification, the term “comprising”, which is synonymous with “including,” “containing,” or “characterized by,” is inclusive or open-ended and does not exclude additional, un-recited elements or method steps. As used in the present disclosure, the terms “around”, “about” or “approximately” shall generally mean within the error margin generally accepted in the art. Hence, numerical quantities given herein generally include such error margin such that the terms “around”, “about” or “approximately” can be inferred if not expressly stated.

[00015] In describing embodiments, specific terminology has been resorted to for the sake of description, but this is not intended to be limited to the specific terms so selected, and it is understood that each specific term comprises all equivalents. In case of any discrepancy, inconsistency, or other difference between terms used herein and terms used in any document incorporated by reference herein, meanings of the terms used herein are to prevail and be used.

[00016] References cited throughout the specification are hereby incorporated by reference in their entirety for all purposes.

[00017] Although various embodiments of the disclosure have been described and illustrated, it will be apparent to those skilled in the art in light of the present description that numerous modifications and variations can be made. The scope of the invention is defined more particularly in the appended claims.

Claims

1. A handheld 3D scanner for generating 3D data relating to a target object, the scanner having a circulation device and heat sinks for managing heat generated by one or more optical imaging modules of the scanner, wherein the scanner has a scanner body defining a substantially closed internal volume filled with cooling fluid and wherein, during use of the scanner, the circulation device circulates the cooling fluid within the substantially closed internal volume so as to reduce magnitudes of thermal gradients between different portions of the substantially closed internal volume.

2. A handheld 3D scanner as defined in claim 1, wherein the substantially closed internal volume includes: a. a first internal volume portion positioned near the one or more optical imaging modules of the scanner; b. a second internal volume portion positioned remote from the one or more optical imaging modules of the scanner; wherein the circulation device is configured for dissipating at least some heat absorbed in the first internal volume portion into the second internal volume portion by circulating the cooling fluid within the substantially closed internal volume thereby reducing a magnitude of a thermal gradient between the first internal volume portion and the second internal volume portion.

3. A handheld 3D scanner as defined in claim 2, wherein the substantially closed internal volume includes an internal channel defining a circulation loop within the scanner body and wherein the circulation device circulates the cooling fluid through the circulation loop defined by the internal channel, the circulation loop including the first internal volume portion and the second internal volume portion.

4. A handheld 3D scanner as defined in claim 3, wherein at least some of the heat sinks are arranged along portions of the internal channel. A handheld scanner as defined in any one of claims 3 to 4, comprising one or more processors operatively connected to the one or more optical imaging modules, said one or more processors being positioned within an interior of said scanner body and being configured for receiving data generated by the one or more optical imaging modules and for controlling the one or more optical imaging modules, said circulation loop being configured for circulating the cooling fluid near at least some of said one or more processor such as to establish a thermal exchange between the at least some of said one or more processors and the cooling fluid. A handheld scanner as defined in any one of claims 2 to 5, wherein the scanner body has: a. a main member upon which are positioned the one or more optical imaging modules; b. a handle member, opposite to said main member configured to be grasped by a hand of a user. A handheld 3D scanner as define in claim 6, wherein the first internal volume portion lies within the main member of the handheld 3D scanner. A handheld 3D scanner as define in claim 7, wherein the second internal volume portion lies within the handle member of the handheld 3D scanner. A handheld 3D scanner as defined in any one of claims 1 to 8, wherein the heat sinks include a plurality of fins arranged to establish a thermal coupling between the one or more optical imaging modules and the cooling fluid in the substantially closed internal volume. A handheld 3D scanner as defined in ay one of claims 1 to 9, wherein at least some of the heat sinks are arranged on or near the one or more optical imaging modules of the scanner. A handheld 3D scanner as defined in any one of claims 1 to 10, wherein the one or more optical imaging modules include at least one optical imaging module selected from the set consisting of a pattern generator and a camera.

12. A handheld 3D scanner as defined in claim 11, wherein the one or more optical imaging modules include a pattern generator and at least one camera.

13. A handheld 3D scanner as defined in claim 12, wherein the one or more optical imaging modules include a pattern generator and at least two cameras.

14. A handheld 3D scanner as defined in any one of claims 1 to 13, wherein the substantially closed internal volume is a sealed internal volume so that the cooling fluid remains captive within the substantially sealed internal volume.

15. A handheld 3D scanner as defined in any one of claims 1 to 13, wherein in use, an amount of leakage of the cooling fluid occurs between the substantially closed internal volume and a space external to the scanner body.

16. A handheld 3D scanner as defined in claim 14, wherein the cooling fluid is a cooling liquid and wherein the circulation device includes at least one circulation pump.

17. A handheld 3D scanner as defined in claim 16, wherein the cooling liquid is water.

18. A handheld 3D scanner as defined in claim 16, wherein the cooling liquid is oil.

19. A handheld 3D scanner as defined in claim 15, wherein the cooling fluid is a cooling gas and wherein the circulation device includes at least one fan.

20. A handheld 3D scanner as defined in claim 19, wherein the cooling gas includes ambient air.

21. A handheld scanner as defined in any one of claims 1 to 20, comprising a manually operable control device mounted to the scanner body for controlling operations of the handheld scanner, wherein at least a specific volume portion of the substantially closed internal volume lies near the manually operable control device and wherein the circulation device is configured for dissipating within the substantially closed internal volume at least some heat absorbed from the manually operable control device into the specific volume portion. A handheld scanner as defined in claim 21, wherein the manually operable control device includes at least one of: a touch- sensitive screen; and a keypad including at least one electro-mechanical keys. A handheld 3D scanner for generating 3D data relating to a target object, the scanner having a circulation device and heat sinks for managing heat generated by one or more optical imaging modules of the scanner, wherein the scanner has a scanner body defining an internal circulation loop within the scanner body and wherein, during use of the scanner, the circulation device circulates a cooling fluid through the internal circulation loop so as to reduce magnitudes of thermal gradients between different portions of the internal circulation loop, and wherein the heat sinks include a plurality of fins arranged to establish a thermal coupling between the one or more optical imaging modules and the cooling fluid in the internal channel. A handheld 3D scanner as defined in claim 23, wherein at least some of the heat sinks are arranged along portions of the internal circulation loop. A handheld scanner as defined in any one of claims 23 to 24, comprising one or more processors operatively connected to the one or more optical imaging modules, said one or more processors being positioned within an interior of said scanner body and being configured for receiving data generated by the one or more optical imaging modules and for controlling the one or more optical imaging modules, said internal circulation loop being configured for circulating the cooling fluid near at least some of said one or more processors such as to establish a thermal exchange between the at least some of said one or more processors and the cooling fluid. A handheld scanner as defined in any one of claims 23 to 25, wherein the scanner body has: a. a main member upon which are positioned the one or more optical imaging modules; b. a handle member, opposite to said main member configured to be grasped by a hand of a user.

27. A handheld 3D scanner as define in claim 26, wherein the internal circulation loop includes: a. a first internal volume portion lying within the main member of the handheld 3D scanner; and b. a second internal volume portion lying within the handle member; wherein the circulation device is configured for dissipating at least some heat absorbed in the first internal volume portion into the second internal volume portion by circulating the cooling fluid within the internal circulation loop thereby reducing a magnitude of a thermal gradient between the first internal volume portion and the second internal volume portion.

28. A handheld 3D scanner as defined in any one of claims 23 to 27, wherein at least some of the heat sinks are arranged on or near the one or more optical imaging modules of the scanner.

29. A handheld 3D scanner as defined in any one of claims 23 to 28, wherein the one or more optical imaging modules include at least one optical imaging module selected from the set consisting of a pattern generator and a camera.

30. A handheld 3D scanner as defined in claim 29, wherein the one or more optical imaging modules include a pattern generator and at least one camera.

31. A handheld 3D scanner as defined in claim 30, wherein the one or more optical imaging modules include a pattern generator and at least two cameras.

32. A handheld 3D scanner as defined in any one of claims 23 to 31, wherein the internal circulation loop is substantially sealed so that the cooling fluid remains substantially captive within the internal circulation loop.

33. A handheld 3D scanner as defined in any one of claims 23 to 31, wherein in use, an amount of leakage of the cooling fluid occurs between the internal circulation and a space external to the scanner body.

34. A handheld 3D scanner as defined in claim 32, wherein the cooling fluid is a cooling liquid and wherein the circulation device includes at least one circulation pump.

35. A handheld 3D scanner as defined in claim 34, wherein the cooling liquid is water.

36. A handheld 3D scanner as defined in claim 34, wherein the cooling liquid is oil.

37. A handheld 3D scanner as defined in claim 33, wherein the cooling fluid is a cooling gas and wherein the circulation device includes at least one fan.

38. A handheld 3D scanner as defined in claim 37, wherein the cooling gas includes air.

39. A handheld scanner as defined in any one of claims 23 to 38, comprising a manually operable control device mounted to the scanner body for controlling operations of the handheld scanner, wherein at least a specific volume portion of the internal circulation loop lies near the manually operable control device and wherein the circulation device is configured for dissipating within the internal circulation loop at least some heat absorbed from the manually operable control device into the specific volume portion.

40. A handheld scanner as defined in claim 39, wherein the manually operable control device includes at least one of: a touch- sensitive screen; and a keypad including at least one electro-mechanical keys.

41. A handheld 3D scanner for generating 3D data relating to a target object, the handheld scanner comprising: a scanner body comprising: o a main member upon which are positioned one or more optical imaging modules including at least one of:

■ a pattern generator comprising a light source; and

■ a set of cameras including a least a first camera and a second camera for generating image data, the first camera and second cameras having at least partially overlapping fields of view; o a handle member, opposite to said main member configured to be grasped by a hand of a user; wherein the scanner body defines an internal circulation loop within the scanner body holding a cooling fluid; a heat management system configured to dissipate heat generated by at least some of the one or more optical imaging modules, the heat management system including a circulation device configured for circulating the cooling fluid through the internal circulation loop so as to reduce magnitudes of thermal gradients between different portions of the internal circulation loop. A handheld 3D scanner as defined in claim 41, wherein a first internal volume portion of the internal circulation loop lies in the main member of the scanner body and at least a second internal volume portion of the internal circulation loop lies in the handle member of the scanner body, wherein the circulation device is configured for dissipating at least some heat absorbed in the first internal volume portion into the second internal volume portion by circulating the cooling fluid within the internal circulation loop. A handheld 3D scanner as defined in any one of claims 41 and 42, wherein the heat management system further comprises heat sinks including a plurality of fins arranged to establish a thermal coupling between the at least some of the one or more optical imaging modules and the cooling fluid in the internal circulation loop. A handheld 3D scanner as defined in claim 43, wherein at least some of the heat sinks are arranged along portions of the internal circulation loop.

45. A handheld 3D scanner as defined in any one of claims 43 and 44, wherein at least some of the heat sinks are arranged on or near the one or more optical imaging modules of the scanner.

46. A handheld scanner as defined in any one of claims 41 to 45, comprising one or more processors operatively connected to the one or more optical imaging modules, said one or more processors being positioned within an interior of said scanner body and being configured for receiving data generated by the one or more optical imaging modules and for controlling the one or more optical imaging modules, said internal circulation loop being configured for circulating the cooling fluid near at least some of said one or more processor such as to establish a thermal exchange between the at least some of said one or more processors and the cooling fluid.

47. A handheld 3D scanner as defined any one of claims 41 to 46, wherein the one or more optical imaging modules include the pattern generator and the set of cameras.

48. A handheld 3D scanner as defined in claim 47, wherein the light source of the pattern generator is an infra-red light source and wherein the first and second cameras are infrared cameras.

49. A handheld scanner as defined in any one of claims 47 and 48, wherein the set of optical imaging modules includes a third camera, the third camera being a color camera.

50. A handheld 3D scanner as defined in any one of claims 41 to 49, wherein the internal circulation loop is a substantially sealed internal volume so that the cooling fluid remains substantially captive within the internal circulation loop.

51. A handheld 3D scanner as defined in any one of claims 41 to 49, wherein, in use, an amount of leakage of the cooling fluid occurs between the internal circulation loop into a space external to the scanner body.

52. A handheld 3D scanner as defined in claim 50, wherein the cooling fluid is a cooling liquid and wherein the circulation device includes at least one circulation pump.

53. A handheld 3D scanner as defined in claim 52, wherein the cooling liquid is water.

54. A handheld 3D scanner as defined in claim 52, wherein the cooling liquid is oil.

55. A handheld 3D scanner as defined in claim 49, wherein the cooling fluid is a cooling gas and wherein the circulation device includes at least one fan.

56. A handheld 3D scanner as defined in claim 55, wherein the cooling gas includes air .

57. A handheld scanner as defined in any one of claims 41 to 56, comprising a manually operable control device mounted to the scanner body for controlling operations of the handheld scanner, wherein at least a specific volume portion of the internal circulation loop lies near the manually operable control device and wherein the circulation device is configured for dissipating within the internal circulation loop at least some heat absorbed from the manually operable control device into the specific volume portion.

58. A handheld scanner as defined in claim 57, wherein the manually operable control device includes at least one of: a touch- sensitive screen; and a keypad including at least one electro-mechanical keys.