CN204944431U - Adopt the hand-held laser 3 d scanner of flashing mode projection - Google Patents
Adopt the hand-held laser 3 d scanner of flashing mode projection Download PDFInfo
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- CN204944431U CN204944431U CN201520603250.4U CN201520603250U CN204944431U CN 204944431 U CN204944431 U CN 204944431U CN 201520603250 U CN201520603250 U CN 201520603250U CN 204944431 U CN204944431 U CN 204944431U
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
A kind of hand-held laser 3 d scanner adopting flashing mode to project, comprise two and the above camera for image acquisition, two and the above laser projector for carrying out laser pattern projector and the controller in order to control described camera and laser projector work, described controller comprises the camera control module in order to control camera work according to exposure activation period, it is characterized in that: described controller also comprises for being worked as in the double exposure cycle of camera, relative to one of them laser projector that a front exposure cycle starts, the alternately flashing mode projection control module of rear another laser projector of one-shot, described alternately flashing mode projection control module is connected with on-off circuit, described on-off circuit is connected with described laser projector.The hand-held laser 3 d scanner that the utility model provides a kind of effective reduction error probability, the employing flashing mode of improving sweep efficiency projects.
Description
Technical field
The utility model relates to a kind of hand-held laser 3 d scanner.
Background technology
The advantages such as hand-held the Airborne Laser Scan is strong with its antijamming capability, accuracy of detection is high, easy to use are progressively used in the fields such as various industry, archaeology, medical treatment, teaching.Compare the spatial digitizer of White Light Projection principle, laser 3 d scanner can organize from each a part of surface point cloud that extract surface feature calculation synchronization frame image obtains scanned object, and can expose with the aperture time not producing motion blur due to the larger camera catching its image that thus allows of light intensity of laser projection, therefore more can be applicable to scanning under the state of continuous continuous moving by hand-held mode.In addition, due to the unicity of the wave band of laser, the impact of ambient light on its scanning process can be removed to a great extent by installing the logical optical filtering of band before camera additional, making it be applicable to the 3-D scanning of the profiling object surface under outdoor natural light environment.
If the situation that the laser lines that there is projection in the pattern due to a laser projector projection intersect, then carry out mating at two width synchronous images in the process obtaining laser spots and there will be polysemy and need to verify, increase the probability of makeing mistakes, cause obtaining the accurate three dimensional point cloud in scanned surface.Therefore the pattern projected for the laser projector of hand-held 3-D scanning is generally many and is Uncrossedly similar to parallel laser lines, during scanning, this laser lines group has certain probability and projects on the gauge point of scanned surface, and gauge point is once there be laser projection lines to pass through, then can destroy the integrality that scanner obtains the gauge point pattern in image, thus cause reference point identifying precision sharply to reduce, even None-identified, is therefore in this case usually rejected by the gauge point of laser rays projection process and does not participate in calculating.If effective gauge point is less than 3 in the instrument visual field, then cannot complete the self-align of instrument, also just cannot obtain the point cloud of scanned object now.User needs the relative position direction repeatedly adjusting scanner and scanned object to carry out complementary scan, causes the reduction of scan efficiency.
Summary of the invention
In order to overcome the deficiency that error probability is comparatively large, scan efficiency is lower of existing spatial digitizer, the hand-held laser 3 d scanner that the utility model provides a kind of effective reduction error probability, the employing flashing mode of improving sweep efficiency projects.
The utility model solves the technical scheme that its technical matters adopts:
A kind of hand-held laser 3 d scanner adopting flashing mode to project, comprise two and the above camera for image acquisition, two and the above laser projector for carrying out laser pattern projector and the controller in order to control described camera and laser projector work, described controller comprises the camera control module in order to control camera work according to exposure activation period, described controller also comprises for being worked as in the double exposure cycle of camera, relative to one of them laser projector that a front exposure cycle starts, the alternately flashing mode projection control module of rear another laser projector of one-shot, described alternately flashing mode projection control module is connected with on-off circuit, described on-off circuit is connected with described laser projector.
Further, described alternately flashing mode projection control module also comprises the cycle alternation subelement for controlling two and the startup of above laser projector cycle alternation.
Further again, described hand-held laser 3 d scanner also comprises the supplementary lighting sources for illuminating target object surface unique point matched with camera, described controller comprises the light filling control module in order to control supplementary lighting sources work according to flicker activation period, described light filling control module is connected with driving circuit, and described driving circuit is connected with described supplementary lighting sources.
The beneficial effects of the utility model are mainly manifested in: effectively reduce error probability, improving sweep efficiency.
Accompanying drawing explanation
Fig. 1 is the working state schematic representation in hand-held laser 3 d scanner continuous two cycles of flashing mode projection, and wherein, (a) is the t1 cycle, and (b) is the t2 cycle.
Fig. 2 is the laser projection schematic diagram in hand-held laser 3 d scanner continuous two cycles of flashing mode projection, and wherein (a) is the projection result in t1 cycle, and (b) is the projection result in t2 cycle.
Fig. 3 is the control principle drawing of hand-held laser 3 d scanner.
Fig. 4 is the schematic diagram of activation schedule.
Embodiment
Below in conjunction with accompanying drawing, the utility model is further described.
With reference to Fig. 1 ~ Fig. 4, a kind of hand-held laser 3 d scanner adopting flashing mode to project, comprise two and the above camera for image acquisition, two and the above laser projector for carrying out laser pattern projector and the controller in order to control described camera and laser projector work, described controller comprises the camera control module in order to control camera work according to exposure activation period, described controller also comprises for being worked as in the double exposure cycle of camera, relative to one of them laser projector that a front exposure cycle starts, the alternately flashing mode projection control module of rear another laser projector of one-shot, described alternately flashing mode projection control module is connected with on-off circuit, described on-off circuit is connected with described laser projector.
Further, described alternately flashing mode projection control module also comprises the cycle alternation subelement for controlling two and the startup of above laser projector cycle alternation.
Further again, described hand-held laser 3 d scanner also comprises the supplementary lighting sources for illuminating target object surface unique point matched with camera, described controller comprises the light filling control module in order to control supplementary lighting sources work according to flicker activation period, described light filling control module is connected with driving circuit, and described driving circuit is connected with described supplementary lighting sources.
Hand-held laser 3 d scanner of the present invention provides a kind of scheme of the projection that multiple laser projector can be circulated successively in the camera exposure cycle of continuous print same number, namely avoids and occurs that the laser projection image of intersection lines in turn ensure that the efficiency of scanning.As shown in Figure 4, when first exposure cycle of camera, 1# laser instrument carries out triggering and opens, camera obtains the first width laser projection image, when second exposure cycle of camera, 2# laser instrument carries out triggering and opens, camera obtains the second width laser projection image, when the 3rd exposure cycle of camera, 3# laser instrument carries out triggering and opens, and camera obtains the 3rd width laser projection image, when the 4th exposure cycle of camera, 1# laser instrument triggers unlatching again, and camera obtains the 4th width laser projection image, circulates with this order.
Two laser projectors are comprised with hand-held laser 3 d scanner, the linear laser that each laser projector projects three myopia parallel is example, as shown in Figure 2, t1 and t2 is the double exposure activation period of camera, 1# laser projector triggers startup in the t1 cycle, 2# laser projector triggers startup in the t2 cycle, then 1# laser projector starts again, circulation like this, two laser projectors alternately trigger startup, three that all only have a laser projector to project in any two field picture of camera collection linear lasers in the same way, and the effect of continuous sweep is equal to two laser projectors projects target object surface simultaneously.In the image that camera obtains, when laser rays is through being attached to the gauge point of target object surface, can causes accurately cannot extracting the edge of gauge point, thus the center of gauge point cannot be determined.Generally in the scanning process of hand-held laser 3 d scanner ensureing precision, if this gauge point is just got rid of through gauge point by the laser rays in image, do not participate in calculating.If but when the significant notation point in scan vision is less than three, the locus of instrument just cannot be obtained, the some cloud coordinate of the laser wheel profile being incident upon target object surface also just cannot be calculated.As shown in Fig. 2 (a), three linear lasers are through scanner 4 gauge points within the vision, and only a surplus gauge point is effective, therefore cannot obtain the current spatial location of instrument and the three-dimensional point cloud coordinate of laser wheel profile; The linear laser that Fig. 2 (b) shows different angles scans situation during the same area, only have a gauge point by laser rays process, the position of instrument and the three-dimensional point cloud coordinate of laser wheel profile can be calculated accurately by remaining 4 significant notation points.Because gauge point is Non-regular distribute at body surface, therefore the laser projection pattern of different angles is used, many groups linear laser of such as different directions, each bar laser rays less parallel often in group, can reduce because gauge point most in the visual field is passed through by laser projection and cause scanning the probability of the contoured three-dimensional point in this region of target object surface.
For the hand-held laser 3 d scanner that two cameras and three laser projectors form, due to supplementary lighting sources and camera one_to_one corresponding, therefore supplementary lighting sources is also two, as shown in Figure 3.Controller by signal isolation circuit with is connected with the exposure trigger interface of two-way camera simultaneously, control two-way camera synchronously exposes; Be connected with highlighted LED supplementary lighting sources by two constant current driver circuit for LED, control it and glimmer by the frequency set and opening time; Control three laser projectors respectively by three metal-oxide-semiconductors and carry out laser pattern projector with the frequency of setting and opening time.
Claims (3)
1. the hand-held laser 3 d scanner adopting flashing mode to project, comprise two and the above camera for image acquisition, two and the above laser projector for carrying out laser pattern projector and the controller in order to control described camera and laser projector work, described controller comprises the camera control module in order to control camera work according to exposure activation period, it is characterized in that: described controller also comprises for being worked as in the double exposure cycle of camera, relative to one of them laser projector that a front exposure cycle starts, the alternately flashing mode projection control module of rear another laser projector of one-shot, described alternately flashing mode projection control module is connected with on-off circuit, described on-off circuit is connected with described laser projector.
2. adopt the hand-held laser 3 d scanner of flashing mode projection as claimed in claim 1, it is characterized in that: described alternately flashing mode projection control module also comprises the cycle alternation subelement for controlling two and the startup of above laser projector cycle alternation.
3. the hand-held laser 3 d scanner adopting flashing mode projection as claimed in claim 1 or 2, it is characterized in that: described hand-held laser 3 d scanner also comprises the supplementary lighting sources for illuminating target object surface unique point matched with camera, described controller comprises the light filling control module in order to control supplementary lighting sources work according to flicker activation period, described light filling control module is connected with driving circuit, and described driving circuit is connected with described supplementary lighting sources.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520603250.4U CN204944431U (en) | 2015-08-12 | 2015-08-12 | Adopt the hand-held laser 3 d scanner of flashing mode projection |
| PCT/CN2016/084376 WO2017024869A1 (en) | 2015-08-12 | 2016-06-01 | Hand-held laser three-dimensional scanner performing projection using blinking method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520603250.4U CN204944431U (en) | 2015-08-12 | 2015-08-12 | Adopt the hand-held laser 3 d scanner of flashing mode projection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204944431U true CN204944431U (en) | 2016-01-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520603250.4U Active CN204944431U (en) | 2015-08-12 | 2015-08-12 | Adopt the hand-held laser 3 d scanner of flashing mode projection |
Country Status (2)
| Country | Link |
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| CN (1) | CN204944431U (en) |
| WO (1) | WO2017024869A1 (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017024869A1 (en) * | 2015-08-12 | 2017-02-16 | 杭州思看科技有限公司 | Hand-held laser three-dimensional scanner performing projection using blinking method |
| CN108548489A (en) * | 2018-05-24 | 2018-09-18 | 郑州辰维科技股份有限公司 | A method of precision measure being carried out to solid surface antenna using optical markers |
| CN108548506A (en) * | 2018-05-24 | 2018-09-18 | 郑州辰维科技股份有限公司 | A method of the measurement of planeness being carried out to high precision plane using optical markers |
| CN110030946A (en) * | 2019-04-12 | 2019-07-19 | 杭州思看科技有限公司 | A kind of instruction device and method of handheld three-dimensional scanning device multi-mode and state |
| CN110388883A (en) * | 2019-05-17 | 2019-10-29 | 武汉易维晟医疗科技有限公司 | A kind of hand-hold wireless real-time three-dimensional scanner |
| CN110470238A (en) * | 2019-07-02 | 2019-11-19 | 杭州非白三维科技有限公司 | A kind of hand-held laser 3 d scanner, scan method and device |
| CN113063370A (en) * | 2021-03-10 | 2021-07-02 | 杭州思看科技有限公司 | Calibration method, system, electronic device and storage medium of multiband scanner |
| CN116086320A (en) * | 2023-03-14 | 2023-05-09 | 安格利(成都)仪器设备有限公司 | Handheld 3D scanner and use method |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102018004782A1 (en) * | 2018-06-15 | 2019-12-19 | Daimler Ag | Method and device for detecting an environment, and vehicle with such a device |
| CN111292381B (en) * | 2019-12-31 | 2023-11-24 | 山东理工大学 | Camera calibration method without calibration field based on laser point cloud |
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| JP2002191058A (en) * | 2000-12-20 | 2002-07-05 | Olympus Optical Co Ltd | Three-dimensional image acquisition device and three- dimensional image acquisition method |
| JP2010276607A (en) * | 2009-05-27 | 2010-12-09 | Koh Young Technology Inc | Apparatus and method for measuring three-dimensional shape |
| TWI407075B (en) * | 2010-03-16 | 2013-09-01 | Test Research Inc | Measuring system for a 3d profile of object |
| CN102200431B (en) * | 2010-03-26 | 2013-10-02 | 德律科技股份有限公司 | System for measuring stereo object |
| CN102012217B (en) * | 2010-10-19 | 2012-07-04 | 南京大学 | Method for measuring three-dimensional geometrical outline of large-size appearance object based on binocular vision |
| CN104501740B (en) * | 2014-12-18 | 2017-05-10 | 杭州鼎热科技有限公司 | Handheld laser three-dimension scanning method and handheld laser three-dimension scanning equipment based on mark point trajectory tracking |
| CN204944431U (en) * | 2015-08-12 | 2016-01-06 | 杭州思看科技有限公司 | Adopt the hand-held laser 3 d scanner of flashing mode projection |
-
2015
- 2015-08-12 CN CN201520603250.4U patent/CN204944431U/en active Active
-
2016
- 2016-06-01 WO PCT/CN2016/084376 patent/WO2017024869A1/en active Application Filing
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017024869A1 (en) * | 2015-08-12 | 2017-02-16 | 杭州思看科技有限公司 | Hand-held laser three-dimensional scanner performing projection using blinking method |
| CN108548489A (en) * | 2018-05-24 | 2018-09-18 | 郑州辰维科技股份有限公司 | A method of precision measure being carried out to solid surface antenna using optical markers |
| CN108548506A (en) * | 2018-05-24 | 2018-09-18 | 郑州辰维科技股份有限公司 | A method of the measurement of planeness being carried out to high precision plane using optical markers |
| CN110030946A (en) * | 2019-04-12 | 2019-07-19 | 杭州思看科技有限公司 | A kind of instruction device and method of handheld three-dimensional scanning device multi-mode and state |
| CN110388883A (en) * | 2019-05-17 | 2019-10-29 | 武汉易维晟医疗科技有限公司 | A kind of hand-hold wireless real-time three-dimensional scanner |
| CN110470238A (en) * | 2019-07-02 | 2019-11-19 | 杭州非白三维科技有限公司 | A kind of hand-held laser 3 d scanner, scan method and device |
| CN113063370A (en) * | 2021-03-10 | 2021-07-02 | 杭州思看科技有限公司 | Calibration method, system, electronic device and storage medium of multiband scanner |
| CN113063370B (en) * | 2021-03-10 | 2023-01-31 | 思看科技(杭州)股份有限公司 | Calibration method, system, electronic device and storage medium of multiband scanner |
| CN116086320A (en) * | 2023-03-14 | 2023-05-09 | 安格利(成都)仪器设备有限公司 | Handheld 3D scanner and use method |
| CN116086320B (en) * | 2023-03-14 | 2023-06-16 | 安格利(成都)仪器设备有限公司 | Handheld 3D scanner and use method |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2017024869A1 (en) | 2017-02-16 |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: Room 102, Unit 1, Building 12, No. 998, Wenyi West Road, Wuchang Street, Yuhang District, Hangzhou City, Zhejiang Province, 311121 Patentee after: Sikan Technology (Hangzhou) Co.,Ltd. Address before: Room 611, Building 4, Zhejiang Overseas High-level Innovation Park, No. 998, Wenyi West Road, Yuhang District, Hangzhou City, Zhejiang Province, 311121 Patentee before: HANGZHOU SCANTECH Co. |
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| CP03 | Change of name, title or address |