CN111351447B - A hand intelligent 3D information collection and measurement device - Google Patents
A hand intelligent 3D information collection and measurement deviceDownload PDFInfo
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- CN111351447B CN111351447BCN202010070154.3ACN202010070154ACN111351447BCN 111351447 BCN111351447 BCN 111351447BCN 202010070154 ACN202010070154 ACN 202010070154ACN 111351447 BCN111351447 BCN 111351447B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1072—Measuring physical dimensions, e.g. size of the entire body or parts thereof measuring distances on the body, e.g. measuring length, height or thickness
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0033—Features or image-related aspects of imaging apparatus, e.g. for MRI, optical tomography or impedance tomography apparatus; Arrangements of imaging apparatus in a room
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1077—Measuring of profiles
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
- A61B5/1079—Measuring physical dimensions, e.g. size of the entire body or parts thereof using optical or photographic means
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Abstract
Translated fromChinese
Description
Technical Field
The invention relates to the technical field of hand shape measurement, in particular to the technical field of 3D shape measurement.
Background
When 3D measurement of the hand is performed, one-dimensional and two-dimensional measurement methods are generally adopted, for example, the length, width and height of the hand are measured by using a measuring tool, and the obtained data can be used for selecting a glove with a proper size for a user. However, such gloves are factory-streamlined and designed according to size specifications, and the industry is not currently making any further size subdivisions. Gloves of different sizes and shapes should be custom designed for each user in order to give the user a better wearing experience. To achieve this, 3D acquisition and measurement of the human hand is necessary. But the acquisition speed and accuracy requirements are very high for customization to thousands of different customers, which would otherwise result in a dramatic reduction in the customer experience.
In addition, the hand contains fingerprint and palm print information, and can be used for identity identification. For example, the transaction identity is confirmed by hand information during the transaction. However, the conventional fingerprint and palm print information are acquired in a 2D mode, and although some 3D fingerprint or palm print acquisition schemes are available at present, acquisition time and accuracy are difficult to be compatible, which is unacceptable for transactions.
For the acquisition of 3D information of feet, a common method at present includes acquiring pictures of an object from different angles by using a machine vision mode, and matching and splicing the pictures to form a 3D model. When pictures at different angles are collected, a plurality of cameras can be arranged at different angles of the object to be detected, and the pictures can be collected from different angles through rotation of a single camera or a plurality of cameras. However, both of these methods involve problems of synthesis speed and synthesis accuracy. The synthesis speed and the synthesis precision are a pair of contradictions to some extent, and the improvement of the synthesis speed can cause the final reduction of the 3D synthesis precision; to improve the 3D synthesis accuracy, the synthesis speed needs to be reduced, and more pictures need to be synthesized. In the prior art, in order to simultaneously improve the synthesis speed and the synthesis precision, the synthesis is generally realized by a method of optimizing an algorithm. And the art has always considered that the approach to solve the above problems lies in the selection and updating of algorithms, and no method for simultaneously improving the synthesis speed and the synthesis precision from other angles has been proposed so far. However, the optimization of the algorithm has reached a bottleneck at present, and before no more optimal theory appears, the improvement of the synthesis speed and the synthesis precision cannot be considered.
In the prior art, it has also been proposed to use empirical formulas including rotation angle, object size, object distance to define camera position, thereby taking into account the speed and effect of the synthesis. However, in practical applications it is found that: unless a precise angle measuring device is provided, the user is insensitive to the angle and is difficult to accurately determine the angle; the size of the target is difficult to accurately determine, and particularly, the target needs to be frequently replaced in certain application occasions, each measurement brings a large amount of extra workload, and professional equipment is needed to accurately measure irregular targets. The measured error causes the camera position setting error, thereby influencing the acquisition and synthesis speed and effect; accuracy and speed need to be further improved.
Therefore, the following technical problems are urgently needed to be solved: firstly, the synthesis speed and the synthesis precision of the hand 3D model can be improved simultaneously; and secondly, the hand 3D acquisition modeling cost is reduced, and the complexity and the volume of excessive equipment are not increased. The operation is convenient, professional equipment is not needed, and excessive measurement is not needed.
Disclosure of Invention
In view of the above, the present invention has been developed to provide a collecting device that overcomes, or at least partially solves, the above-mentioned problems.
The invention provides a hand 3D information acquisition and/or measurement device and a method, comprising an image acquisition device and a bearing plate, wherein the image acquisition device and the bearing plate are arranged on the same plane
The image acquisition device and the bearing plate are arranged oppositely;
the bearing plate is used for bearing the hand part;
the image acquisition device is arranged on the rotating device, and an included angle gamma is formed between an optical axis of the image acquisition device and the rotating plane.
Optionally, when the image acquisition device rotates around the bearing plate, the following conditions are satisfied at two adjacent acquisition positions:
μ <0.482, or μ <0.357, or μ < 0.198;
wherein L is the linear distance between the optical centers of the two adjacent image acquisition positions; f is the focal length of the image acquisition device; d is the rectangular length of the photosensitive element of the image acquisition device; m is the distance from the photosensitive element of the image acquisition device to the surface of the target object along the optical axis; μ is an empirical coefficient.
Optionally, the rotating device is a rotating arm, and an included angle between an optical axis of the image acquisition device and the rotating arm is γ.
Optionally, the image capturing device is two cameras respectively located at two ends of the rotating arm.
Optionally, the at least two image capturing devices are respectively located above and below the bearing plate.
Optionally, the image capturing device is connected to the rotating arm via a connecting member in an angle-adjustable manner.
Optionally, the image capturing device is slidable relative to the rotating arm to change its attachment position on the rotating arm.
Optionally, a lighting source is disposed above the carrier plate.
Optionally, the bearing plate has an indication mark thereon.
The invention also provides a method and equipment for manufacturing the hand attachment, and the equipment and the method are used.
Invention and technical effects
1. The method for forming the included angle between the optical axis of the camera and the rotating plane is put forward for the first time to simultaneously improve the synthesis speed and the synthesis precision of the hand 3D model.
2. The position of a camera for collecting pictures is optimized, so that the 3D synthesis speed and the synthesis precision of the hand part can be improved; and when the position is optimized, the angle and the target size do not need to be measured, and the applicability is stronger.
3. The angles and the distances of the two cameras are adjustable, so that accurate collection can be achieved through adjustment under the condition that the difference of the sizes of hands is large.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a schematic structural diagram of a hand 3D information acquisition device according to an embodiment of the present invention;
FIG. 2 is a schematic view of the position of the image capturing device and the connecting member according to the present invention;
FIG. 3 is a schematic view of the connecting post of the image capturing device sliding in the sliding slot to another position according to the present invention;
FIG. 4 is a schematic diagram of an image capturing device according to the present invention with a camera position adjusted on a slide rail;
FIG. 5 is a schematic structural diagram of a hand 3D information acquisition device according to another embodiment of the present invention;
the correspondence of the components to the reference numerals is as follows:
the device comprises animage acquisition device 1, abearing plate 2, a rotatingarm 3, arotation driving device 4, a connectingpiece 5 and a slidingrail 6.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Hand 3D information acquisition devicePlacing structure
In order to solve the above technical problem, the present invention provides a hand 3D information collecting device, which includes animage collecting device 1, abearing plate 2, arotating arm 3, and arotation driving device 4, as shown in fig. 1.
Theimage acquisition device 1 is connected with therotating arm 3 through a connectingpiece 5 and is arranged at one end of therotating arm 3. Theimage acquisition device 1 can adjust the pitch angle through the connectingpiece 5, thereby changing the included angle between the optical axis and therotating arm 3. One conventional way to change pitch is: the connectingpiece 5 is provided with a circular arc-shaped sliding groove, the connecting column of theimage acquisition device 1 slides in the sliding groove, and the connecting column is fastened in the sliding groove after the preset pitch angle is changed, as shown in fig. 2 and 3. The change of the pitch angle can adapt to different sizes of human hands.
The connectingmember 5 is connected to therotary arm 3 by means of a slidingrail 6, so that the connectingmember 5 can move on therotary arm 3, thereby changing the position of theimage capturing device 1 on therotary arm 3, as shown in fig. 4. Instead of the slide rails 6, a screw connection can also be used, by rotating the screw, the position of the connectingpiece 5 on theswivel arm 3 being changed. After the position of theimage acquisition device 1 is determined, it is fixed by a fastening device.
Preferably, theimage capturing devices 1 have two, one at each end of therotating arm 3. In this case, the relative distance of the twoimage capturing devices 1 can be changed by moving.
Meanwhile, a rotating disk may be used as the rotating means in addition to therotating arm 3. The image acquisition device is positioned at the outer edge of the rotating disk. The other structures are the same as described above.
The middle of the rotating arm is provided with a rotating shaft which is connected with arotating driving device 4. Therotary drive 4 may be an electric motor or a combination of an electric motor and a transmission. Which drives the rotating arm to rotate through the rotating shaft. Typically, the transmission is a gear or set of gears.
The periphery of the upper part of thebearing plate 2 is provided with a circular ring-shaped illumination light source which is arranged on the inner wall of the shell and below theimage acquisition device 1. The radius of the annular light source is larger than the rotation radius of the image acquisition device, so that the interference caused by the direct incidence of the light source into theimage acquisition device 1 is prevented on the premise of illuminating the hand. Meanwhile, a shielding device can be arranged at the upper part of the light source to prevent light from directly entering theimage acquisition device 1. The light source can be an LED light source or an intelligent light source, namely, the light source parameters are automatically adjusted according to the conditions of the target object and the ambient light. Usually, the light sources are distributed around the lens of theimage capturing device 1, for example, the light sources are ring-shaped LED lamps around the lens. In particular, a light softening means, for example a light softening envelope, may be arranged in the light path of the light source. Or the LED surface light source is directly adopted, so that the light is soft, and the light is more uniform. Preferably, an OLED light source can be adopted, the size is smaller, the light is softer, and the flexible OLED light source has the flexible characteristic and can be attached to a curved surface.
The bearingplate 2 has an indication mark thereon for indicating the position of palm placement to help the user place the palm within the field of view of theimage capturing device 1. The indication mark can be a line on thebearing plate 2, and can also be a convex or concave structure. More preferably, it may be a projected laser line. In the laser line projection scheme, the size of the indicating pattern formed by the laser line can be changed according to the size of the hand of the customer, so that the marks with the closest size are projected to help different customers to determine the hand placement position to the greatest extent. Therefore, the side collection obstacle caused by insufficient finger opening amplitude can be prevented; and the difference between the palm and the indication line can be prevented from causing different ranges of the fingers opened by the user each time, so that the acquisition precision is reduced. The mode of indicating by an external light source can also be adopted: in the user preparation stage, the hand region is projected on the light-transmitting material through the external light source, and the palm of the user is helped to be placed at the right position. But at the beginning of the acquisition the light source is switched off. This prevents the marking of the hand region from affecting the subsequent 3D synthesis modeling. In another method, the device further comprises a display connected to the camera and capable of displaying an image of the hand captured by the camera. Meanwhile, marks of the hand area are displayed on the display, the image of the hand collected by the camera is overlapped with the marks on the display, and the position of the hand can be adjusted by observing the display, so that the hand is aligned with the marks.
The device also comprises a processing unit which can be directly arranged in the shell of theimage acquisition device 1 and also can be connected with theimage acquisition device 1 through a data line or in a wireless mode. For example, an independent computer, a server, a cluster server, or the like may be used as a processing unit, and the image data acquired by theimage acquisition apparatus 1 may be transmitted thereto to perform 3D synthesis. Meanwhile, the data of theimage acquisition device 1 can be transmitted to the cloud platform, and 3D synthesis is performed by using the powerful computing capability of the cloud platform.
In a further development, as shown in fig. 5, the carrier (carrier plate) is made of a light-transmitting material. The other set of image acquisition device and the rotating arm are also arranged below the bearing device, namely the upper part and the lower part of the hand are respectively provided with the image acquisition device for acquiring images of the palm and the back of the hand. The upper and lower sets of image acquisition devices can synchronously rotate or respectively rotate. However, the refractive index of the light-transmitting material is different from that of air, and some light rays are reflected or scattered by the light-transmitting material, and the reflected or scattered light rays are also collected by the image collecting device, and form an object reflection on the collected image, so that the image becomes a noise image. To solve this problem, an antireflection film may be provided on the transparent material so that the light of the hand is totally transmitted to the lower side without being reflected, preventing a noisy image from appearing. However, both the antireflection film and the antireflection film have an operating wavelength, and therefore, when the above film system is used, a light source having a corresponding wavelength should be selected. Of course, these noise images can also be removed by preprocessing the subsequent images.
In order to facilitate the measurement of the actual size of the hand of the user, a mark point with known coordinates may be set at a position where theimage capturing device 1 can capture the hand. For example, a hand marking on thecarrier plate 2 can be selected. By collecting the marker points and combining the known coordinates thereof, the absolute dimensions of the 3D synthetic model are obtained.
In this hand 3D information acquisition equipment use, the user stretches into the shell with the hand, and the centre of palm is upwards to place on loadingboard 2, align the index mark on loadingboard 2. Therotation driving device 4 drives therotation arm 3 to rotate, so as to drive theimage acquisition device 1 to rotate around the hand. Every time theimage acquisition device 1 rotates a certain distance, two groups of cameras of theimage acquisition device 1 acquire an image of a target object, and when therotating arm 3 rotates for a half circle, each camera also rotates for a half circle around the hand of a user. If only one camera is provided, a complete rotation of therotary arm 3 is required. At this time, theimage capturing device 1 can capture a set of images of the hand 360 °. Since theimage capturing device 1 may comprise a plurality of sets of cameras, each set of cameras will obtain a corresponding set of images. The image acquisition process can be completed synchronously with the rotation, and at the moment, a shutter of the camera needs to be set, and a higher shutter is needed. Or the camera can rotate for a certain distance and then stop, and then continue to rotate after shooting, and so on. And transmitting the plurality of groups of images to a processing unit, and constructing a 3D model of the hand of the user in the processing unit by using a 3D synthesis modeling algorithm.
Particularly, after the image acquisition in the palm direction of the user is finished, the user can turn over the palm to acquire the image on the back of the hand. And (4) sending the two groups of images acquired twice into a processing unit for 3D synthesis, so that a 3D model of the whole palm can be synthesized.
Acquisition position optimization of image acquisition device
When 3D acquisition is performed, the direction of the optical axis of the image acquisition device at different acquisition positions does not change relative to the target object, and is generally approximately perpendicular to the surface of the target object, and at this time, the positions of two adjacentimage acquisition devices 1, or two adjacent acquisition positions of theimage acquisition devices 1, satisfy the following conditions:
μ＜0.482
wherein L is the linear distance between the optical centers of the two adjacent acquisition positionimage acquisition devices 1; f is the focal length of theimage acquisition device 1; d is the rectangular length of a photosensitive element (CCD) of the image acquisition device; m is the distance from the photosensitive element of theimage acquisition device 1 to the surface of the target along the optical axis; μ is an empirical coefficient.
When the two positions are along the length direction of the photosensitive element of theimage acquisition device 1, d is a rectangular length; when the two positions are along the width direction of the photosensitive element of theimage pickup device 1, d takes a rectangular width.
In theimage capturing device 1, the distance from the photosensitive element to the surface of the target object along the optical axis is M in any one of the two positions.
As mentioned above, L should be a straight-line distance between the optical centers of the twoimage capturing devices 1, but since the optical center positions of theimage capturing devices 1 are not easily determined in some cases, the center of the photosensitive element of theimage capturing device 1, the geometric center of theimage capturing device 1, the axial center of the image capturing device connected to the pan/tilt head (or platform, support), and the center of the lens proximal or distal surface may be used instead in some cases, and the error caused by the displacement is found to be within an acceptable range through experiments, and therefore, the range is also within the protection scope of the present invention.
Experiments were conducted using the apparatus of the present invention, and the following experimental results were obtained.
From the above experimental results and a lot of experimental experience, it can be concluded that the value of μ should satisfy μ <0.482, and at this time, it is already possible to synthesize a part of the 3D model, and although some parts cannot be automatically synthesized, it is acceptable in the case of low requirements, and the part that cannot be synthesized can be compensated manually or by replacing the algorithm. Particularly, when the value of μ satisfies μ <0.357, the balance between the synthesis effect and the synthesis time can be optimally taken into consideration; mu <0.198 can be chosen for better synthesis, where the synthesis time increases but the synthesis quality is better. When μ is 0.5078, it cannot be synthesized. It should be noted that the above ranges are only preferred embodiments and should not be construed as limiting the scope of protection.
The above data are obtained by experiments for verifying the conditions of the formula, and do not limit the invention. Without these data, the objectivity of the formula is not affected. Those skilled in the art can adjust the equipment parameters and the step details as required to perform experiments, and obtain other data which also meet the formula conditions.
The adjacent acquisition positions refer to two adjacent positions on a movement track where acquisition actions occur when the image acquisition device moves relative to a target object. This is generally easily understood for the image acquisition device movements. However, when the target object moves to cause relative movement between the two, the movement of the target object should be converted into the movement of the target object, which is still, and the image capturing device moves according to the relativity of the movement. And then measuring two adjacent positions of the image acquisition device in the converted movement track.
Hand attachment production
In order to make a suitable glove for a user, a 3D model can be synthesized by collecting 3D information of the hand of the user, so that the suitable glove can be designed or selected according to the size of the 3D model of the hand.
In addition to the production of gloves, a prosthetic can also be produced based on the above data. For example, a patient's hand requires amputation, and the acquisition and construction of a 3D model of the hand is performed prior to amputation, so that a suitably sized prosthesis can be provided for the hand after amputation.
In addition, any processing or creation that can be performed using hand data is possible, and the present invention is not limited thereto.
The rotation movement of the invention is that the front position collection plane and the back position collection plane are crossed but not parallel in the collection process, or the optical axis of the front position image collection device and the optical axis of the back position image collection device are crossed but not parallel. That is, the capture area of the image capture device moves around or partially around the target, both of which can be considered as relative rotation. Although the embodiment of the present invention exemplifies more orbital rotation, it should be understood that the limitation of the present invention can be used as long as the non-parallel motion between the acquisition region of the image acquisition device and the target object is rotation. The scope of the invention is not limited to the embodiment with track rotation.
The adjacent acquisition positions refer to two adjacent positions on a movement track where acquisition actions occur when the image acquisition device moves relative to a target object. This is generally easily understood for the image acquisition device movements. However, when the target object moves to cause relative movement between the two, the movement of the target object should be converted into the movement of the target object, which is still, and the image capturing device moves according to the relativity of the movement. And then measuring two adjacent positions of the image acquisition device in the converted movement track.
The target object, and the object all represent objects for which three-dimensional information is to be acquired. The object may be a solid object or a plurality of object components. For example, the head, hands, etc. The three-dimensional information of the target object comprises a three-dimensional image, a three-dimensional point cloud, a three-dimensional grid, a local three-dimensional feature, a three-dimensional size and all parameters with the three-dimensional feature of the target object. The utility model discloses the three-dimensional is that to have XYZ three direction information, especially has degree of depth information, and only two-dimensional plane information has essential difference. It is also fundamentally different from some definitions, which are called three-dimensional, panoramic, holographic, three-dimensional, but actually comprise only two-dimensional information, in particular not depth information.
The capture area in the present invention refers to a range in which an image capture device (e.g., a camera) can capture an image. The image acquisition device can be a CCD, a CMOS, a camera, a video camera, an industrial camera, a monitor, a camera, a mobile phone, a tablet, a notebook, a mobile terminal, a wearable device, intelligent glasses, an intelligent watch, an intelligent bracelet and all devices with image acquisition functions.
The 3D information of multiple regions of the target obtained in the above embodiments can be used for comparison, for example, for identification of identity. Firstly, the scheme of the invention is utilized to acquire the 3D information of the face and the iris of the human body, and the information is stored in a server as standard data. When the system is used, for example, when the system needs to perform identity authentication to perform operations such as payment and door opening, the 3D acquisition device can be used for acquiring and acquiring the 3D information of the face and the iris of the human body again, the acquired information is compared with standard data, and if the comparison is successful, the next action is allowed. It can be understood that the comparison can also be used for identifying fixed assets such as antiques and artworks, namely, the 3D information of a plurality of areas of the antiques and the artworks is firstly acquired as standard data, when the identification is needed, the 3D information of the plurality of areas is acquired again and compared with the standard data, and the authenticity is identified.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It will be appreciated by those skilled in the art that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some or all of the components in an apparatus in accordance with embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (12)
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| CN202010070154.3ACN111351447B (en) | 2020-01-21 | 2020-01-21 | A hand intelligent 3D information collection and measurement device |
| CN202110406262.8ACN113100754B (en) | 2020-01-21 | 2020-01-21 | 3D information acquisition measuring equipment |
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|---|---|---|---|---|
| CN112082486B (en)* | 2020-10-15 | 2022-05-27 | 天目爱视（北京）科技有限公司 | Handheld intelligent 3D information acquisition equipment |
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| CN113100754A (en) | 2021-07-13 |
| CN113100754B (en) | 2023-02-03 |
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