CN107976157A - A kind of wireless hand-held three-dimensional scanning device in acquisition object surface three-dimensional morphology - Google Patents

Abstract

The present invention provides a wireless hand-held three-dimensional scanning device for acquiring the three-dimensional shape of the surface of an object, which includes a set of mobile processing platforms for analyzing image data and controlling the status of front-end equipment. Sensing equipment, data sending module, and mobile power module are connected to realize the detection output from image data to target detection result compressed data, realize equipment status detection, and realize data and command communication with the host computer. This device has higher scanning resolution and scanning speed, uses the processed data, cooperates with data compression, breaks through the original limitation, and can achieve higher resolution and higher speed scanning.

Description

A wireless handheld 3D scanning device for acquiring the 3D topography of the object surface

technical field

The invention belongs to the field of three-dimensional scanning of object surface geometry, in particular to a wireless handheld three-dimensional scanning device with data front-end processing function.

Background technique

The three-dimensional scanning and digitization technology of the shape of the object surface is now widely used in many industries and services, and its application fields are very extensive. Some examples of these application areas are as follows: shape conformity inspection and measurement in industrial production systems; digitization of design models and prototypes in industrial design; reverse engineering of parts with complex geometries; Interactive virtual reality technology; non-contact 3D digitization of high-value items such as cultural relics and artworks.

The ranging sensor can measure the distance between the sensor and a group of points on the object surface, so as to obtain the three-dimensional coordinates of each point on the target surface in the sensor coordinate system. But the set of three-dimensional coordinates obtained at this time is only the distance measurement of the visible part of the surface. In order to fully obtain the digitized shape of the entire object, the sensor must move the viewing angle to cover the entire object surface. According to the orientation of each viewing angle on the global common coordinate system and the local three-dimensional coordinates on the corresponding viewing angle sensor coordinate system, the complete digital external shape of the entire target can be obtained by combining all the local coordinate sets with rotation and translation.

Many different theories have been developed for ranging sensors, among which the principles of interferometry, time-of-flight (TOF) and multi-view photogrammetry are well-known theories, depending on the accuracy requirements, the distance between the sensor and the object and Depth of field requirements, each theory has its scope of application.

We are particularly interested in ranging sensors based on the principle of multi-view photogrammetry, which are generally suitable for close-range measurements, especially at the decimeter to meter length level. This type of method simulates the stereoscopic binocular vision of organisms. People must collect two observations of the same target from two different perspectives, and the relative positions of the two perspectives are fixed. The relative position of the observed point can be obtained by combining the connection line of the vertices of the viewpoint and the directions of the two rays, that is, using one side length and two angles in the triangle to solve the triangle vertices. Furthermore, if the light detector is replaced by a light projector that emits a set of rays in a known direction, then using the direction line of the projector instead of one of the viewing angles of the binocular solution, the light rays can also be detected to solve the triangle.

The use of ray projectors replaces complex inspection of image objects while providing a dense set of surface point measurements. Typical light sources are laser light sources that project point rays, light planes, or other simple geometric patterns. CCD and CMOS digital cameras are the most commonly used light detectors.

Scanning an object is to collect information about points on the object's surface and construct it in the form of curves (contours) or depth images. In order to scan the entire surface of an object, a mobile sensor is required to achieve full coverage. In general, a sensor usually contains at least one light detector and a projector, and the light detector and projector are rigidly integrated. By using the mechanical system to drive or hand-held to rotate and scan around the object, it is very suitable for scanning objects quickly or when the object must be scanned on site.

The above steps obtain the scanning data of the object in the device coordinate system. Scanning the overall profile needs to convert the data to a global common coordinate system that is fixed relative to the object, which requires continuous evaluation of the position and orientation of the instrument. One class of methods is accomplished by using a positioning device coupled with a ranging sensor, but there are problems of increasing the complexity and cost of the instrument and possibly limiting the quality of the integrated data. Another alternative is to use measurements collected on a rigid object to calculate the relative position and orientation between the instrument and the object, but such systems are completely dependent on the geometry of the object and accurate assessment of the held posture is difficult.

In order to improve the above method, the fixed points and features extracted from the scene can be used, and the photogrammetry theory can be used through multi-view feature matching. However, the density or quality of natural points in this scene is insufficient. Further, using artificially set fixed targets can better solve the problem of insufficient feature points or difficult to accurately detect. Using this type of system, generally first measure and establish the frame of the characteristic target, and use the target information in the scanned image to realize the stitching of the current position detection data and the overall target data.

By using the mechanical system to drive or hand-held to rotate and scan around the object, it is very suitable for scanning objects quickly or when the object must be scanned on site. Existing handheld devices are limited by the length of power supply and data lines. When scanning large-scale or complex surface structures, the operation is limited or very inconvenient. In order to improve the above methods, wireless transmission and battery-powered modes can be used. At the same time, for To solve the problem of additional high data transmission volume, a better user experience can be obtained by using front-end processing + wireless.

However, front-end image processing requires a large amount of calculation and wireless device power consumption, how to improve the endurance of the device; under the condition that the data volume of high frame rate original image is greater than the effective bandwidth, how to stably transmit a large amount of detection data; front-end processing and wireless transmission The technical problem to be solved by the present invention is how to coordinate the conflict between the resulting change in equipment weight and portability.

Contents of the invention

The object of the present invention is to overcome the shortcomings of the prior art, and provide a portable handheld 3D laser measuring device for obtaining spatial coordinate points on the surface of an object in a world coordinate system.

The technical scheme that the present invention solves technical problem adopts is:

A wireless handheld three-dimensional scanning device with data front-end processing function, pattern projection device, image sensing device, wireless communication module, mobile power supply module, and a set of mobile processing platforms for analyzing image data and controlling the status of front-end equipment, Realize the output of compressed data from image data to target detection results, realize equipment status detection, and realize data and command communication with the host computer.

The pattern projecting device, the image sensing device, the wireless communication module, the mobile power supply module, and the temperature sensor are all connected to the interface of the processing unit. The pattern projection device, image sensing equipment, wireless communication module, mobile power supply module and core mobile processing unit can be integrated into a structural part, or the mobile processing unit can be plugged into the existing pattern projection device, image sensing device, etc. devices and drive circuits on wired handheld devices. The device also includes an audio information feedback device, and an abnormal state of the alarm device; the mobile power module adopts a dual-mode power supply module, and can use two power supply modes of external power supply and battery. The pattern projection device is a device that combines several lasers and LEDs according to a certain projection angle, and has independent or unified lighting timing.

The mobile processing platform includes at least one mobile processing unit, the mobile processing unit includes at least one front-end calculator, and the front-end calculator is used to perform front-end data calculation; the front-end calculator extracts the surface marker points and The 2D feature data of the surface points are reconstructed according to the 2D feature data set to obtain the 3D feature data set.

Among them, the mobile processing unit uses a composition scheme of CPU+GPU, and the high-speed image processing module is realized by using GPU; it can also be realized by using DSP, FPGA, and ARM. The mobile processing platform composed of the above-mentioned mobile processing unit and its supporting circuit replaces the camera control circuit contained in the existing hand-held front-end for image transmission. The weight of the front-end device with the designed structure is only slightly higher than that of the existing handheld front-end. Since the scanning does not need to use power supply and network cable, or the connecting line integrated between the two, the convenience of use is greatly improved.

The mobile processing unit includes a front-end image processor, this module receives the camera image at a high frame rate, this module can extract the geometric parameters and optical parameters of at least 4 scanning target surface markers from the image, and can also extract the pattern projection from the image The coordinate position and optical parameters of the pattern obtained by the diffuse reflection of the device on the surface of the scanning target; the surface marker of this scheme is a circle, and the corresponding geometric parameters are 5 geometric parameters of the ellipse; the optical parameters are the segmentation of points within the target range Brightness distribution statistics. The above two detection functions can be operated simultaneously or independently. This module uses calculation balance technology to distribute the part of the calculation that can be performed simultaneously to different electronic chips that constitute the mobile processing unit, which can make full use of the limited front-end resources and reduce hardware requirements.

The mobile processing unit includes a real-time equipment parameter control module, which uses the statistical values of the optical parameters calculated by the two branches of the high-speed image processing module to calculate and modify the operating parameters of the pattern projection device and image sensing equipment; The device completes the real-time control of the received image. Since the above-mentioned devices are directly connected with the mobile processing unit, the rate and integrity of the signal are higher than that of the existing upper computer transmission control connection mode, and the real-time performance of the control is better.

The mobile processing unit includes a data compression and sending module. The above-mentioned detection data uses structured data storage. The compression module combines the data into a data packet with the same information but a small amount of data through a compression algorithm; then sends the above-mentioned data packet to the host computer. Compressed data can be restored to original structured data on the host computer. Due to the use of the front-end image processor, the data volume of the above-mentioned sent data is less than 10% of the original image data volume. Under the condition of a certain wireless transmission rate, more frames of detection data with larger resolution images can be transmitted per unit time, effectively supporting Higher speed scanning of the overall system. The above-mentioned data compression module also includes data verification, which can effectively detect and deal with local data anomalies caused by transmission, compare the original image data that is difficult to correct, and effectively reduce sudden abnormal scanning accuracy caused by transmission errors.

The mobile processing unit includes a status receiving and sending module, the interface between the mobile processing platform and peripheral devices, obtains device parameters, power module parameters, device temperature information, device button actions and other information to form a device status data packet, and then sends the above data to the host computer and front-end portable display screen; at the same time, part of the above information can also use the warning lights and sound modules included in the device to complete abnormal alarms.

The mobile processing unit includes a device connection control module. The module identifies the target of the upper computer corresponding to the device by obtaining the two-dimensional code provided by the upper computer and includes the connection information, and sets to realize the wireless or wired connection between the device and the upper computer.

Finally, the mobile processing unit also includes a function scheduling and core control module, which realizes the scheduling of all the above modules and the control of the hardware status of the mobile processing unit, and can set the mobile processing unit to work in full performance, normal and low power consumption, etc. mode; switch modes according to the state of the front-end image processor, effectively prolonging the battery life of the front-end device.

This device includes a wireless communication module connected to the mobile processing unit, which is realized by using a WiFi chip and a built-in antenna; it uses two switchable modes of wireless and wired at the same time to transmit the compressed data; the wireless mode uses WiFi to send and receive commands and data, The wired mode uses USB3.0 and Gigabit network cables to send and receive commands and data; the switching method uses two modes of manual and automatic detection of front-end connection conditions, and wireless connections are automatically enabled when there is no wired connection, and it can also be used in situations that are not suitable for wireless The environment is changed to a wired connection.

In addition, the implementation form of the device is not limited to the above-mentioned integrated front end, and a split design can also be used to further reduce the scanning load. The solution is that the mobile processing unit, the wireless communication module and the mobile power supply module together form an external processing box; the image sensor, pattern projection device and other sensors form a minimized front end; the processing box is hung on the surface of the user's clothing or in the pocket, The short-distance flexible cable is connected to the minimal front end; the weight of the minimal front end is greatly reduced, and it is less likely to be fatigued for long-term scanning. In addition, a solution in which only the mobile power module is external is also possible.

In addition to the traditional upper computer display, this device has a portable display connected to the front-end device, and the display is used to display device status information and scan model images; the scan model images are generated by the upper computer, using wireless HDMI transmission; the information includes configuration parameters of the pattern projection device; includes status information of the mobile power module. The traditional wired handheld scanning of large objects requires both ends of the host computer to continuously observe the scan results on the screen of the host computer and the scanning position facing the front end. Due to the limitation of the length of the connecting line and the vision of the operator, the scanned image is relatively large. It may be necessary to constantly move the host computer, which is extremely inconvenient. The portable display design of this solution greatly improves the convenience of operation and scanning efficiency.

The device is connected with the upper computer to form a complete measurement system. The upper computer includes back-end three-dimensional reconstruction equipment, three-dimensional splicing equipment, model generation equipment and model display equipment, etc.

The pattern projection device includes a laser and an LED light source, and a laser projector fixed on the front-end equipment is used to project the pattern on the surface; an optical system composed of at least 3 LED light sources arranged in a regular polygon, the geometric center and a sensor lens group is used The marker is irradiated by a light source whose center is close and whose emission direction is approximately parallel to the optical axis direction of the sensor lens group; the marker is a symmetrical double-layer geometric pattern constructed of materials with different reflectivity, and the geometric pattern is circular but not limited to Circular, the marker is fixed on the surface of the object and can be supplemented during scanning.

The pattern projection device includes a lens using a light filter device of a specific wavelength, and the light transmitted by the filter device has two frequencies, corresponding to the respective optical frequencies of the laser projector and the LED projection device;

The image sensing device includes a synchronous trigger control module for triggering the laser projector and the LED projection device at the beginning of an image acquisition cycle;

The mobile processing unit reads the image collected by the image sensing device, calculates the position data and optical parameters of the marker on the surface and the diffusely reflected pattern on the surface, and compresses and transmits it; the data is received by the host computer and Full reduction to said position data and optical parameters;

The mobile processing unit reads the optical parameters of the marker on the surface and the pattern obtained by diffuse reflection, calculates and controls the parameters of the pattern projection device, and achieves the best detection effect.

Advantages and beneficial effects of the present invention:

1. This device has a higher scanning speed. The existing handheld scanning device only realizes the image receiving and transmission scheme. When it is changed to wireless, it is limited by the bandwidth and the scanning speed is poor. This scheme uses the processed data and cooperates with data compression. By breaking through the original limitation, higher speed scanning can be realized.

2. This device has higher scanning accuracy. Devices with front-end processing capabilities support higher scanning resolution, and less bandwidth occupation supports front-end devices to use higher-resolution cameras to provide higher scanning accuracy.

3. This device has a higher overall scanning system speed. Compared with the existing mode of transmitting original images, the front-end calculation reduces the amount of calculation on the upper computer side, which helps to achieve a higher overall scanning speed.

4. This device adopts wireless connection, battery power supply, not limited by the length of the data line and power line, stable connection within 10 meters, and scanning is more convenient, especially when scanning large objects; the mobile processing unit includes a QR code scanning mode, which can It is easy to realize the connection between the device and the host computer.

5. This device has a display screen. When the scanning position is far away from the host computer and the display screen cannot be seen clearly, it provides a portable scanning process display, which is convenient for users to adjust at any time; the device status and alarm information can be intuitively displayed on the screen, far superior The host computer terminal and equipment that are commonly used in existing wired scans give voice prompts, which greatly improves the convenience of operation and scanning efficiency.

Description of drawings

Figure 1 is a circuit block diagram of the device;

Figure 2 is a three-dimensional structure diagram of the device;

Figure 3 is an illustration of a portion of a surface to which a reference target is attached and onto which a graphic is projected;

Fig. 4 is the schematic diagram of the processing flow module of this equipment;

Figure 5 is a schematic structural diagram of the split design of the device.

Detailed ways

The invention can be practiced by the examples described below, and in the following description, reference is made to the accompanying drawings for the purpose of illustrating the examples. The invention may be practiced by the examples described and by implementing other embodiments without departing from the scope of the invention as disclosed.

A wireless handheld three-dimensional scanning device with data front-end processing function, as shown in Figure 1, includes a mobile processing platform, and a pattern projection device (laser projection device, LED projection device) respectively connected to the mobile processing platform, an image sensor, a battery Modules, portable display screens, distance alarm devices, buttons, and equipment status sensors. The mobile processing platform includes a smart device control module, an image and data processor and a data sending module. The smart device control module is respectively connected with the image and data processor and the data sending module, and the image and data processor is connected with the data sending module.

The mobile processing platform realizes the output of compressed data from image data to target detection results, realizes equipment status detection, and realizes data and command communication with the post-processing part of the host computer.

Fig. 2 is a three-dimensional structural diagram of the device, including a housing, a laser projection device 3, an image sensor 1 and an LED projection device 2. The housing is composed of a base 4 and a hand-held part 6. A strip-shaped hand-held part is fixed, and two image sensors are fixed symmetrically at intervals up and down on the front of the hand-held part. A ring-shaped LED projection device is fixed on each image sensor, and a ring-shaped LED projection device is fixed on the housing between the two image sensors. Laser projection device, the display screen 5 that is installed on the side of the hand-held part, circuit board and battery are installed in the base. The above-mentioned display screen can be connected to the side wall of the handheld part through a movable shaft and a buckle, and the movable shaft connected to the side of the device and the screen is used as the rotating shaft, and the buckle on the other side is opened and turned outward, so that the screen can face the user; The display screen can also be completely taken out for hand-held observation.

In addition, the above-mentioned structure also has a variant branch of the plug-in mode. The mobile processing platform, the data sending module and the mobile power supply module together form the external processing box 7, and the image sensing equipment, the pattern projection device and the corresponding sensors constitute a minimum The front end 9 of the front end, the processing box is hung on the user's clothing surface or in the pocket, and is connected to the front end of the minimization by a short-distance flexible cable 8, as shown in Figure 5.

Figure 3 is an illustration of the part of the surface on which the reference target is attached and the graphics are projected onto. Before the device is operated, the target with high reflectivity is first attached to the scene and the object to be measured. In this example, the reference target is a target with a surface that has retroreflective properties, and whose pattern is visible in the emission band of the polygonal light set, the material is surrounded by a ring of low reflectivity color (such as black), which helps in the sensor's reflection. Accurately identify objects in images. Due to the use of materials with retroreflective properties, the surface of the object needs to be illuminated to allow proper identification of the reference target.

Figure 4 is a schematic diagram of the processing flow module of this device. In this example, first use the above-mentioned device to project the light of the polygonal lamp and the cross-hatch pattern of the laser on the surface of the measured object, and the camera can capture two images of the scene synchronously at the same time. Calculate the two-dimensional image processing technology packaged in the chip to obtain the 2D position of the target and the laser pattern in each image; then, use the wireless communication module to send the structured data compressed by the calculation core to the back-end processing software ; Next step, use epi-polar geometry constraints to match the 2D positions in the two images; using the target correspondence in the two images, use the triangular stereo imaging method to obtain the device coordinates The 3D position of the target and the laser pattern under the system, wherein the 3D position of the laser pattern is the 3D position information of the surface of the measured object in the pattern projection area; finally, by matching and calculating the 3D position of the reference target of the image sequence, a single The conversion relationship between the 3D position of the target and the laser point of the second acquisition image and the specified initial position, through the conversion relationship, the 3D position set of the laser pattern in the world coordinate system is obtained, and the 3D position set of the laser pattern is reconstructed to obtain the 3D position of the surface of the measured object information.

In this example, a light group consisting of multiple LEDs equidistant, arranged in a regular polygon, fixed near the front of the camera, centered on the optical axis of the camera and in the same direction as the viewing direction of the optical axis of the camera is used to achieve supplementary lighting for the marked target On, the intensity of the LED light can be adjusted so that there is enough brightness difference between the target and the background in the image to help accurately identify the target in the sensor's image.

In this example, the laser projection device is installed on the red laser using 3 or more cross-hatch patterns, but other types of projection devices can also be used, such as a white light graphic projector or a blue LED graphic projector; the extracted The 3D position information of the measured object surface in the pattern projection area will vary depending on the type of laser projection device and the applied method.

In this example, a pair of cameras are used, and there is a light filter device with a filter structure matching the laser at the front of the camera lens; it is also possible to add several cameras to this device to obtain more accurate matching or higher precision by using the same principle. final coordinates. The camera exposure process is synchronized with the above-mentioned LED and laser light emitting process, and the imaging of the target and the laser pattern can be clearly obtained on the image captured by the camera.

In this example, due to the use of circular target markers, extraction of the undistorted contour of the reflective target in the image can be represented by an elliptical contour. Since the camera is calibrated, the undistorted profile can be undistorted using methods well known in the art, in this instance the optical characteristic parameters of the camera need to be obtained from the camera parameter memory. From the equation of an elliptical contour in an image, the orientation of said elliptical contour in 3D space can be calculated, which can be found in Chapter 11 of "Introductory techniques for 3D computer vision" for A more detailed discussion. Because the circle is projected onto the camera's projected center, the circle intersects the cone in 3D space. After extracting the contour points, the model fitted to the local 3D point set can be a plane or a quadratic polynomial for greater precision. In the latter case, the least squares method is applied using the following model, and then its geometric parameters are obtained using a commonly used ellipse parameter calculation method.

z＝ ^ax2 +bxy+ ^cy2 +dx+ey+f

In this example, the laser pattern uses 3 or more pairs of cross-line patterns, and the 2D coordinate positions of each point on the line are obtained through image processing calculations. Similarly, because the camera is calibrated, the undistorted coordinates can be obtained using well-known methods in the art. method to remove distortion. In this example, the exposure time of the camera, the gain and the light intensity of the laser are adjustable, which can generate a narrow and clear line pattern in the image of the sensor, which helps to accurately extract the 2D coordinate position of each point on the pattern.

In this example, the above-mentioned processing steps are calculated and implemented on the CPU and GPU of the device, and the coordinate positions of the target point and the surface point constructed from the two images collected in a single frame are obtained. The above data needs to be transmitted to the processing software on the host computer to complete the subsequent 3D reconstruction and surface modeling. In this example, the above data is transmitted using wireless communication, and it also supports switching to wired network transmission in an environment with high electromagnetic interference. model.

In this example, the 3D position of the target is calculated using trigonometry, and the normal to the target is calculated using a gaze direction correlation method. Firstly, the position parameters of the two cameras need to be obtained from the target size memory, and the optical center of one of the cameras is generally used as a dot, and then the basic matrix is constructed according to the epipolar geometric constraints, and the matching relationship of the marked dots is searched through the epipolar line equation; finally, the A set of matched marker positions are triangulated to calculate the 3D position, which is the spatial position of a single reference target in the device coordinate system.

In this example, the 3D coordinate calculation method of the laser pattern is basically the same as the above-mentioned coordinate calculation method of the target center. Considering the lack of matching basis and mismatching caused by insufficient features of a single laser point, it is necessary to combine the geometric features of the projected pattern by point pressing, and calculate the matching of the point set with geometric features according to the combination result, and then use the coordinate calculation with the center of the target method. In this example, the projected pattern is a crossing line, so the line segment is used as the matching geometric feature. Similarly, different projected patterns need to use different features and combinations, and the principle is the same.

During the scanning process, the user may move at least one of the object sensors in his hand to achieve full coverage of the surface points. At this time, the data obtained in the above steps of each frame are based on the device coordinate system of the current frame, because For the movement of the device, the coordinate system is constantly changing relative to the world coordinate system. The 3D point in the sensor coordinate system needs six rigid transformation parameters of the degrees of freedom. The sensor coordinate system is mapped to the model coordinate system (world coordinate system).

In this example, the calculation of the transformation parameters is achieved using the matching of marked points. Using the target coordinates and parameters calculated in the current frame, find the best matching set based on the position triangle position relationship in the accumulated target model, and obtain the matching relationship corresponding to the current reference target in the accumulated target, thereby calculating the sensor The coordinate system of the model is mapped to the rigid transformation of the model coordinates; then the 3D surface points are transformed from the sensor coordinate system to the model coordinate system correspondingly using the same rigid transformation; finally, the new transformed reference target and 3D surface points are accumulated into In the existing target frame and surface point collection.

Similarly, the aforementioned rigid transformation can also be directly obtained by using a spatial position or acceleration sensing device.

Considering the impact of the scanning distance on the accuracy, in this example, there is a distance indicator on the surface of the device facing the user, and the color changes to reflect the current state of the distance between the device and the scanned object. Similarly, the above functions can also be realized by means of voice prompts.

Due to the influence of noise on the surface points, it is difficult to be directly used for display and measurement. In this example, the above-mentioned 3D surface points need to be reconstructed to generate a surface model, and finally, the reconstructed surface is sent to the user interface display.

In order to facilitate the scanning of large-volume targets, in this example, the user interface display is divided into the main display connected to the host computer and the portable display, wherein the portable display is connected to the front-end device to display scanning results and device status. The HDMI interface transmits data. In this example, the device status includes but is not limited to temperature, battery power, and power status, which are superimposed and displayed near the edge of the display screen. The state data mentioned above come from various temperature and power sensors on the connected device.

In order to facilitate the scanning of large-volume targets, in this example, a replaceable rechargeable battery is used as the power source of the front-end device, and similarly, a wired-connected adapter power source can also be used.

While the above description refers to example embodiments as presently contemplated by the inventors, it is to be understood that the invention in its broadest aspects encompasses equivalents of the elements described herein and equivalents of processes. The embodiments described above are intended to be exemplary only. Accordingly, it is intended that the scope of the invention be limited only by the appended claims.

Claims (24)

1. a kind of wireless hand-held three-dimensional scanning device for being used to obtain object surface three-dimensional morphology, including：

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

Image sensing apparatus, including at least two cameras, camera are used for the 2D that the body surface is obtained from different points of view Image；

Mobile processing platform, arithmetic core is provided for equipment, and the mobile processing platform includes at least one mobile processing unit, Mobile processing unit includes at least one front end calculator, and the front end calculator is used to carry out front end data computing；

Data transmission blocks, the data sending for the mobile processing platform to be obtained subsequently are calculated and connect to host computer Receive host computer order and be sent to the mobile processing platform；

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

2. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The front end calculator from Extraction scanning target surface mark point and the 2D characteristics of surface point in image.

3. wireless hand-held three-dimensional scanning device according to claim 2, is further characterized in that：The front end calculator Three-dimensional reconstruction is carried out according to 2D characteristic data sets and obtains three-dimensional feature data set.

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

5. wireless hand-held three-dimensional scanning device according to claim 4, it is characterised in that：Real-time device parametric regulates and controls mould Block uses the statistic of the characteristic and characteristic, adjusts the control parameter of pattern projecting device；Above-mentioned parameter is led to The circuit being connected with mobile processing unit is crossed, controls pattern projecting device.

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

7. wireless hand-held three-dimensional scanning device according to claim 6, it is characterised in that：The compression module is by described in The data that front end calculator obtains are merged into by compression algorithm can be in the structural data that host computer is reduced.

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

9. wireless hand-held three-dimensional scanning device according to claim 8, it is characterised in that：The dispatching control module according to Mobile processing unit is arranged to the plurality of operating modes of different power consumption according to the working status of modules.

10. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The mobile processing list Member includes state receiving module, obtains status information of equipment, constitution equipment state data packets, periodically send to host computer.

11. wireless hand-held three-dimensional scanning device according to claim 10, it is characterised in that：The equipment state letter Breath includes equipment adjustment parameter, equipment for power information, battery information, device temperature information, device keys action message.

12. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The mobile processing list Member includes equipment link control module.

13. wireless hand-held three-dimensional scanning device according to claim 12, it is characterised in that：The equipment connection control The Quick Response Code for including link information that molding block control camera shooting host computer provides, the corresponding host computer target of identification equipment, Then wired connection state is detected, reads the wirelessly or non-wirelessly connection that user setting realizes equipment and host computer.

14. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The mobile processing unit The processing function is performed for carrier using some electronic chips, the electronic chip is used in CPU, GPU, ARM, FPGA, DSP The mode of at least one or more of combination is formed.

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

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

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

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

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

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

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

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

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

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