CN105300310A - Handheld laser 3D scanner with no requirement for adhesion of target spots and use method thereof - Google Patents
Handheld laser 3D scanner with no requirement for adhesion of target spots and use method thereof Download PDFInfo
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- CN105300310A CN105300310A CN201510754286.7A CN201510754286A CN105300310A CN 105300310 A CN105300310 A CN 105300310A CN 201510754286 A CN201510754286 A CN 201510754286A CN 105300310 A CN105300310 A CN 105300310A
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Abstract
The invention provides a handheld laser 3D scanner with no requirement for adhesion of target spots. The handheld laser 3D scanner comprises a handheld support, a video camera, laser emitters and processing equipment. The video camera and the laser emitters are fixed on the handheld support. There is one video camera. The laser emitters comprise a cross laser emitter and a linear laser emitter which emit cross laser rays and linear laser rays respectively. The linear laser rays are respectively intersected with the transverse rays and the vertical rays of the cross laser rays. Only one camera is required with no requirement for the target spots, the structure is novel, operation is simple and convenient, scanning is accurate and equipment cost is low. A three-dimensional space coordinate system is constructed by exposure of the cross rays and the linear rays, and then the acquired data are transmitted to the processing equipment to be analyzed. Multiple images are repeatedly photographed, then spatial positions are calculated via a three-dimensional algorithm and then real-time splicing is performed so that complete three-dimensional data are acquired.
Description
Technical field
The present invention relates to 3D scanister technical field, particularly do not paste Handheld laser 3D scanner and the using method thereof of target spot.
Background technology
3D scanning technique is a kind of contactless modeling work.The most outstanding benefit obtains profile exactly and don't can destroy the original looks of object because of contact, and this, for a lot of precious historical relic, more fragile object, has very important meaning.And there is a lot of object original paper volume very huge, only could realize the digitization modeling of computing machine by 3D scanner.
The principle of 3D scanner is very simple: get some points in scanned surface, calculate the distance between these point and scanners, when the point measured is abundant, just can obtain the profile of scanned object, between adjacent for these points, set up contact, be exactly the model of 3 D stereo.
Present laser 3D scanner, will be carried out the identification of coordinate system by the gauge point of customization, the mode of being spliced by gauge point carries out data identification.The service efficiency of this spatial digitizer reduced to a certain extent, and for the scanning errors that the gauge point of different objects different modes easily causes, and the difference of gauge point position easily causes the failure of splicing and the appearance in noise and assorted shop.Simultaneously according to the know-why of labelling spot scan, need to be realized by dual camera, this production for product has larger limitation with application.
Summary of the invention
The present invention will solve the problem of prior art, provides a kind of and only needs a camera, do not need to paste target spot, scan hand-held 3D scanner and using method accurately.
For achieving the above object, the technical solution used in the present invention is as follows:
Do not paste the Handheld laser 3D scanner of target spot, comprise hand-held support, video camera, generating laser and treatment facility, video camera and generating laser are fixed on hand-held support, described video camera is set to one, described generating laser comprises cross laser transmitter and a word generating laser, launch cross laser line and a word laser rays respectively, a word laser rays is crossing with the horizontal line of cross laser line and vertical line respectively.Two intersection points add the point at cross laser center, and line forms a right-angle triangle, determine a coordinate system by these 3, and integrating together with the coordinate system that video camera itself comprises just has two coordinate systems.
Preferably, the cross laser that described cross laser transmitter is launched is red, and a word laser of a described word laser transmitter projects is green.Be convenient to camera diabolo coordinate system reference point identifying, make three-dimensional model more accurate.
Preferably, described treatment facility is provided with interface, for connecting the display devices such as computing machine, can scan situation by Real Time Observation 3D.
Preferably, described treatment facility is provided with switch.Switch is multi-stag switch, and generating laser and video camera are opened with certain sequencing.
Do not paste the using method of the Handheld laser 3D scanner of target spot, be specially:
Join dependency software and hardware device and external connection display equipment, open switch, detect video camera and generating laser work whether normal, adjust the intersecting angle of red cross laser line and a green word laser rays, be generally 30 °, bind as structure light source and video camera, confirm to start shooting well, camera lens is utilized to carry out image data, in collection moment, red cross curve laser rays and a green wordline laser rays expose simultaneously, delay time error is less than 0.1s, the right-angle triangle that red green laser rays is crossed as, three points determine a coordinate system, two coordinate systems are integrated with together with the coordinate system that camera lens itself comprises, determine the coordinate of red cross curve laser rays and a green wordline laser rays, the positional information of gathered image data can be obtained thus.Along with the continuous follow shot of hand-held 3D scanner, therefore the trigonometric coordinates system obtained also changes, and related data stores by treatment facility.And the coordinate system of triangular coordinate system and video camera itself binds, both sides are reference each other, the movable information of video camera in space is isolated by the triangular coordinate system of adjacent two pictures, movable information change when determining each breadth data acquisition thus and the change of locus, and by the matching of three-dimensional algorithm, the spatial information data of same position is spliced, thus the image data that video camera obtains is converted into three-dimensional model.
Beneficial effect of the present invention is: only need a camera, does not need to paste target spot, novel structure, easy and simple to handle, and accurately, equipment cost is low in scanning.
Accompanying drawing explanation
Fig. 1 is plan structure figure of the present invention.
Fig. 2 is the image of cross laser of the present invention and a word laser.
Fig. 3 is workflow diagram of the present invention.
In figure: 1, video camera; 2, cross laser transmitter; 201, cross laser line; 3, a word generating laser; 301, a word laser rays; 4, treatment facility; 5, switch; 6, hand-held support.
Embodiment
Below by embodiment and accompanying drawing, the present invention is further illustrated.
As shown in Figure 1, do not paste the Handheld laser 3D scanner of target spot, comprise hand-held support 6, video camera 1, two generating lasers and treatment facility 4, video camera 1 and generating laser are fixed on hand-held support 6, generating laser comprises a word generating laser 3 of cross laser the transmitter 2 and transmitting green one word laser rays 301 launching red cross laser line 201, one word laser rays 301 is crossing with the horizontal line of cross laser line 201 and vertical line respectively, as shown in Figure 2; Treatment facility 4 is provided with interface and switch 5, and interface is for connecting the display devices such as computing machine.
Shown in composition graphs 3, embodiment is as follows:
S1, connect Handheld laser 3D scanner and to be correlated with software and hardware device, confirm that video camera 1, generating laser and treatment facility 4 is installed correctly on hand-held support 6, the interface external connection display equipment on treatment facility 4, as computing machine;
S2, open switch 5, generating laser and video camera 1 are opened sequentially;
Whether S3, detection video camera 1 and generating laser work is normal, and adjust the intersecting angle of red cross laser line 201 and a green word laser rays 301, initial angle is generally 30 ° and 60 °, binds as structure light source and video camera 1;
Start shooting after S4, confirmation well, hand held scanner constantly movement, utilizes video camera 1 lens shooting picture;
S5, image data, gather red cross curve laser rays 201 instantaneously to expose with a green wordline laser rays 301 simultaneously, delay time error is less than 0.1s, the right-angle triangle that red green laser rays is crossed as, three points determine a coordinate system, be integrated with two coordinate systems together with the coordinate system that video camera 1 camera lens itself comprises, red cross curve laser rays 201 and the coordinate of a green wordline laser rays 301 can be determined, the positional information of gathered image data can be obtained thus;
S6, data storing, the continuous follow shot of hand-held 3D scanner, the trigonometric coordinates system obtained also changes, and therefore treatment facility 4 will produce corresponding related data and store;
S7, data are spliced, the coordinate system of the triangular coordinate system that laser rays is formed and video camera 1 itself binds, both sides are reference each other, the movable information of video camera 1 in space is isolated by the triangular coordinate system of adjacent two pictures, movable information change when determining each breadth data acquisition thus and the change of locus, by the matching of three-dimensional algorithm, the spatial information data of same position is spliced, thus the image data that video camera 1 obtains is converted into 3D model.
The foregoing is only specific embodiments of the invention, but architectural feature of the present invention is not limited thereto, the present invention may be used on similar product, and any those skilled in the art is in the field of the invention, and the change done or modification are all encompassed among the scope of the claims of the present invention.
Claims (8)
1. do not paste the Handheld laser 3D scanner of target spot, comprise hand-held support (6), video camera (1), generating laser and treatment facility (4), video camera (1) and generating laser are fixed on hand-held support (6), it is characterized in that: described video camera (1) is set to one, described generating laser comprises cross laser transmitter (2) and a word generating laser (3), launch cross laser line (201) and a word laser rays (301) respectively, word laser (301) line is crossing with the horizontal line of cross laser line (201) and vertical line respectively.
2. the Handheld laser 3D scanner not pasting target spot according to claim 1, it is characterized in that: the cross laser (201) that described cross laser transmitter (2) is launched is for red, and the word laser (301) that a described word generating laser (3) is launched is for green.
3. the Handheld laser 3D scanner not pasting target spot according to claim 1, is characterized in that: described treatment facility (4) is provided with external interface.
4. the Handheld laser 3D scanner not pasting target spot according to any one of claim 1-3, is characterized in that: described treatment facility (4) is provided with switch (5).
5. the Handheld laser 3D scanner not pasting target spot according to claim 4, is characterized in that: described switch (5) is multi-stag switch.
6. do not paste the using method of the Handheld laser 3D scanner of target spot, it is characterized in that described using method comprises the following steps:
S1, connect Handheld laser 3D scanner and to be correlated with software and hardware device, confirm video camera (1), generating laser and treatment facility (4) hand-held support (6) upper install correct;
S2, open switch (5);
Whether S3, detection video camera (1) and generating laser work is normal, adjusts the intersecting angle of red cross laser line (201) and a green word laser rays (301), bind as structure light source and video camera (1);
Start shooting after S4, confirmation well, hand held scanner constantly movement, utilizes video camera (1) lens shooting picture;
S5, image data, gather red cross curve laser rays (201) and a green wordline laser rays (301) instantaneously to expose simultaneously, the right-angle triangle that red green laser rays is crossed as, three points determine a coordinate system, two coordinate systems are integrated with together with the coordinate system that video camera (1) camera lens itself comprises, determine red cross curve laser rays (201) and the coordinate of a green wordline laser rays (301), the positional information of gathered image data can be obtained thus;
Related data stores by S6, treatment facility (4);
S7, data are spliced, the coordinate system reference each other of the triangular coordinate system that laser rays is formed and video camera (1) itself, video camera (1) movable information in space is isolated by the triangular coordinate system of adjacent two pictures, movable information change when determining each breadth data acquisition thus and the change of locus, by the matching of three-dimensional algorithm, the spatial information data of same position is spliced, thus the image data that video camera (1) obtains is converted into 3D model.
7. the Handheld laser 3D scanner not pasting target spot according to claim 6, it is characterized in that: in described step S1,3D scanner can external connection display equipment.
8. the Handheld laser 3D scanner not pasting target spot according to claim 6, is characterized in that: in described step S3, and the initial intersecting angle of red cross laser line (201) and a green word laser rays (301) is 30 ° and 60 °.
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| CN201510754286.7A CN105300310A (en) | 2015-11-09 | 2015-11-09 | Handheld laser 3D scanner with no requirement for adhesion of target spots and use method thereof |
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| CN108347596A (en) * | 2017-11-02 | 2018-07-31 | 广东康云多维视觉智能科技有限公司 | A kind of laser aiming scanning system and method based on feedback |
| CN108347561A (en) * | 2017-10-27 | 2018-07-31 | 广东康云多维视觉智能科技有限公司 | Laser aiming scanning system and scan method |
| CN112113505A (en) * | 2020-09-23 | 2020-12-22 | 华中科技大学鄂州工业技术研究院 | Portable scanning measurement device and method based on line structured light |
| US10898306B2 (en) | 2016-11-25 | 2021-01-26 | 3M Innovative Properties Company | Dental treatment system |
| CN113960069A (en) * | 2021-10-22 | 2022-01-21 | 中铁二十二局集团第五工程有限公司 | Method for establishing surface morphology of cable through laser line scanning |
| CN114152213A (en) * | 2021-11-15 | 2022-03-08 | 东南大学 | Device and method for measuring rod model morphology characteristics by matching with handheld 3D scanner |
| CN117433450A (en) * | 2023-12-20 | 2024-01-23 | 派姆特科技(苏州)有限公司 | Cross line three-dimensional camera and modeling method |
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| CN112113505B (en) * | 2020-09-23 | 2022-02-01 | 华中科技大学鄂州工业技术研究院 | Portable scanning measurement device and method based on line structured light |
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| CN117433450A (en) * | 2023-12-20 | 2024-01-23 | 派姆特科技(苏州)有限公司 | Cross line three-dimensional camera and modeling method |
| CN117433450B (en) * | 2023-12-20 | 2024-04-19 | 派姆特科技(苏州)有限公司 | Cross line three-dimensional camera and modeling method |
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