KR100892875B1 - Apparatus and method for three dimensional scanning using plural line patterns - Google Patents

Abstract

A 3D scanning apparatus utilizing a plurality of line patterns and a method thereof are provided to achieve the miniaturization and minimize the blind spots when generating the 3D data. A projection unit(131) radially projects a plurality of planes to be scanned(#1-#4) on at least partial region within a predetermined measuring space where a subject(10) is positioned. The projection unit projects the planes to be scanned so as to maintain a certain angle interval between adjacent planes to be scanned. A photographing unit(132) photographs a plurality of line patterns which are formed on a surface of the subject when the subject crosses the planes to be scanned. A data generation unit produces 3D data about the shape of the subject from the photographed line patterns.

Description

3D scanning apparatus and method using a plurality of line patterns {APPARATUS AND METHOD FOR THREE DIMENSIONAL SCANNING USING PLURAL LINE PATTERNS}

The present invention relates to a three-dimensional scanning apparatus and method, and more particularly, to a three-dimensional scanning apparatus utilizing multiple patterns for simultaneously forming a plurality of line patterns radially on a subject and generating three-dimensional data about the subject from them. And to a method.

In general, according to the conventional three-dimensional scanning technique, when one scanning plane is projected through a laser line projector, one stripe formed on the subject is photographed by a camera, from which three-dimensional data about the subject is captured. Is generated.

However, according to the related art, since the light emitter must be transported along the entire subject in order to generate the entire three-dimensional data about the subject, time delay according to the conveyance distance and enlargement of the conveying apparatus have been a problem.

In addition, depending on the subject, if there is a part parallel to the projected scanning plane, the shape of the original subject is generated through the three-dimensional data generated as the line is not properly formed or a dispersion is widely distributed therein. There was a problem that could not be implemented properly.

In addition, according to another conventional three-dimensional scanning technique, the position of the transmitter and the camera is fixed, and the pattern is projected from the transmitter in a predetermined direction, thereby photographing an image formed on the subject due to the pattern with one or two cameras. Three-dimensional data is generated.

In this case, however, a large number of cameras should be used to capture a large subject such as a whole body of the human body, and a large amount of floodlights are also required to minimize the blind spots, that is, hard to generate 3D data. It had to be installed as a disadvantage.

Meanwhile, according to another conventional three-dimensional scanning technique, a method of photographing a plurality of scanning planes from a transported light projector and thus forming a pattern formed on a subject has been proposed, but in this case, three-dimensional data is generated. In order to do this, there is a problem that a process of confirming identification (ID) is required for every pattern photographed.

An object of the present invention is to reduce the time required for three-dimensional scanning, to achieve a miniaturization in terms of the size of the device, and to create a three-dimensional scanning apparatus and method that can minimize the occurrence of blind spots in the generation of three-dimensional data To provide.

In order to achieve the above object, the present invention provides a three-dimensional scanning apparatus, comprising: projection means for radially projecting a plurality of scanning planes having a predetermined angular interval toward at least a portion of a predetermined measurement space in which a subject is located; Photographing means for photographing a plurality of line patterns formed on the surface of the subject by the subject meeting the plurality of scanning planes; And data generating means for generating three-dimensional data on the shape of the subject from the plurality of photographed line patterns.

Here, the projection means and the photographing means may be fixed to the relative position and angle to each other, the projection of the plurality of scanning planes and the photographing of the plurality of line patterns in the process of moving in parallel along the measurement space. have.

In addition, the measurement space may have an inner end and an outer end to prevent the phenomenon of overlapping between neighboring scanning planes from among the plurality of radially projected scanning planes when viewed from the viewpoint of the photographing means. .

In this case, the data generating means may generate the three-dimensional data only from those obtained in the measurement space among the plurality of line patterns.

The projection means may be infrared projection means for projecting the plurality of scanning planes in an infrared form, and the photographing means may be infrared imaging means for photographing the plurality of line patterns in an infrared form.

In addition, to achieve the above object, the present invention provides a three-dimensional scanning apparatus, comprising: a guide unit spaced apart from a predetermined measurement space in which a subject is located therein and disposed along the measurement space; A reciprocating slide is driven along the guide unit, and one side includes a projection unit radially projecting a plurality of scanning planes having a predetermined angular interval toward at least a portion of the measurement space, and on the other side, the subject meets the plurality of scanning planes. A scanning unit having a photographing unit for photographing a plurality of line patterns formed on the surface of the subject; And a data generation unit configured to generate three-dimensional data regarding the shape of the subject from the plurality of photographed line patterns.

Here, the guide unit may be arranged in plural at regular intervals around the measurement space, and at least one scanning unit may be provided for each guide unit.

Meanwhile, in order to achieve the above object, the present invention provides a three-dimensional scanning method, comprising: positioning a subject in a predetermined measurement space; Radially projecting a plurality of scanning planes having a constant angular interval toward at least a portion of the measurement space; Photographing a plurality of line patterns formed on a surface of the subject by the subject meeting the plurality of scanning planes; And generating three-dimensional data about the shape of the subject from the plurality of photographed line patterns.

Here, the measurement space may be defined such that the plurality of scanning planes exist within a range that does not overlap each other when the plurality of line patterns are photographed.

As described above, according to the three-dimensional scanning apparatus and the three-dimensional scanning method according to the present invention, by projecting means to radially project the plurality of scanning planes, thereby photographing a plurality of line patterns formed on the surface of the subject and three-dimensional data Since a large amount of three-dimensional data about the subject can be obtained through a single projection process, the time required for scanning can be shortened.

In addition, as the scanning plane is projected radially through the projection means, the scanning plane may be projected onto the subject at various angles, and thus, the line pattern may be easily formed in a blind spot such as a place parallel to the projection means. Therefore, it is possible to minimize the occurrence of these blind spots in the generation of three-dimensional data.

Further, when photographing a line pattern while moving projection means for projecting a plurality of scanning planes radially along the subject, the projection means can project the entire subject even if the projection means has a smaller transport length than the subject. Miniaturization and cost reduction of the three-dimensional scanning apparatus can be achieved.

3D scanning apparatus 100 according to an embodiment of the present invention, as shown in Figs. 1 and 2, comprising a base portion 110, a guide portion 120, a plurality of scanning unit 130 do.

The base unit 110 has a measurement space in which a subject such as a human body is located at the center and supports the guide unit 120 through both left and right end portions.

The guide unit 120 guides the up and down of the scanning unit 130 through the LM guide.

A precision timing belt 121 or a lead screw (not shown) is installed and driven inside the guide part 120 to allow the scanning part 130 to move up and down.

Each scanning unit 130 is provided such that the projector 131 and the camera 132 are paired up and down. In particular, the projector 131 and the camera 132 may be provided at the left and right ends of the scanning unit 130, respectively, so that they may be provided in two pairs in one scanning unit 130.

The projector 131 projects a beam toward the measurement space inside, and the camera 132 photographs a pattern in which the projected beam meets and forms the surface of the subject located in the measurement space.

As illustrated in FIG. 1, the projector 131 and the camera 132 may be arranged in parallel to each other vertically, but are not limited thereto. The projector 131 and the camera 132 may be configured as a pair arranged horizontally in parallel to each other. Of course, at this time, the other pair of projectors 131 'and the camera 132' are horizontally arranged side by side directly below the pair.

The 3D scanning apparatus 100 further includes data generating means (not shown) for generating 3D data regarding the shape of the subject from the photographed pattern.

The motor 122 is driven by the control of a control unit (not shown), and the power transmitted through the drive shaft of the motor 122 is rotated by the pulley 123. The high precision timing belt 121 is coupled to the pulley 123. ) Is rotated in the vertical direction, the scanning unit 130 coupled to one side of the timing belt 121 is moved up and down.

Meanwhile, instead of the belt 121-pulley 123 driving method, the scanning unit 130 may be driven up and down by rotating the lead screw.

As a characteristic feature of the three-dimensional scanning apparatus 100 according to the embodiment of the present invention as described above, the projector 131 of the scanning unit 130 projects a plurality of scanning planes in a vertical direction in a radial direction, and a camera 132 simultaneously photographs a plurality of line patterns in which the plurality of scanning planes meet and form the subject surface.

Therefore, according to the three-dimensional scanning apparatus 100, it is possible to obtain the effect of improving the scanning speed.

3 and 4 are diagrams for explaining an implementation principle of such simultaneous scanning.

First, referring to FIG. 3, the projector 131 projects radially the plurality of scanning planes # 1 to # 4 in a left-right direction (which corresponds to the up-down direction in FIG. 1). There is a constant angular spacing between neighboring scanning planes # 1 to # 4.

In order to project the plurality of scanning planes # 1 to # 4, a filter (not shown) having a plurality of parallel slits formed in front of the lens of the projector 131 may be mounted.

The projected scanning planes # 1 to # 4 meet the subject 10 to form a plurality of line patterns L1 to L4 on the surface thereof.

3 illustrates a state in which each line pattern L1 to L4 is formed in one-to-one correspondence with the scanning planes # 1 to # 4.

The camera 132 photographs a plurality of line patterns L1 to L4 formed on the surface of the subject 10.

In addition, the entire scanning unit 130, in which the projector 131 and the camera 132 are integrally transferred, is moved left and right by a predetermined distance, and the projection of the projector 131 and the photographing of the camera 132 are performed every transfer. Is repeated.

Therefore, according to the projector 131 projecting the plurality of scanning planes # 1 to # 4, the scanning time for the subject 10 can be greatly shortened. Specifically, the scanning speed may be as fast as the number of the scanning planes # 1 to # 4, compared to the conventional method of projecting a single scanning plane.

Meanwhile, the plurality of line patterns L1 to L4 photographed by the camera 132 when the plurality of scanning planes # 1 to # 4 are simultaneously projected to form the plurality of line patterns L1 to L4. Which scanning planes # 1 to # 4 each belong to may be a problem. That is, a device capable of giving identification for each of the plurality of line patterns L1 to L4 should be provided.

4 is a diagram for explaining the principle of assigning IDs between these line patterns L1 to L4.

As shown, when the projector 131 projects the plurality of scanning planes # 1 to # 4 radially from the left and right at an angular interval, the points where they meet the surface of the subject 10 located in the measurement space D ( L11 to L41 are photographed by the camera 132.

Since it is illustrated in plan in the drawing, it will be easily understood that the above-described line patterns L1 to L4 are represented by corresponding points L11 to L41 here.

At this time, when looking at these points (L11 to L41) from the camera 132 side, it can be seen that L11 is always formed by the scanning plane # 1 as long as it exists between the inner m1 and the outer n1.

It can be seen that L21 is also a point formed by scanning plane # 2 as long as it exists between m2 of the inner side and n2 of the outer side, and the same is true of L31 and L41.

That is, as long as the subject 10 is located in the measurement space D, the line pattern formed on the surface of the subject 10 can always check the ID.

At this time, it is necessary to note that the measurement space D is a straight line including the inner end Dmin of m1 to m4 and the outer end Dmax is a straight line including n1 to n4.

According to the measurement space D having the inner end Dmin and the outer end Dmax, the line segments m1n1, m2n2, m3n3 and m4n4 divided by the straight line Dmin and the straight line Dmax are viewed from each other when viewed from the camera 132. There is no overlap.

Line segment m1n1 belongs to scanning plane # 1, line segment m2n2 belongs to scanning plane # 2, line segment m3n3 belongs to scanning plane # 3, and line segment m4n4 belongs to scanning plane # 4.

Therefore, the points on each corresponding line segment also belong to each corresponding scanning plane.

If the subject 10 is not present in the measurement space D and is present closer than the medial end Dmin, as shown in FIG. The point L21 'meeting the scanning plane # 2 is recognized as a point present on the line segment m1n1 when viewed from the camera 132 side, and may be mistaken for belonging to the scanning plane # 1. In this case, the three-dimensional data generated from them does not properly implement the subject.

FIG. 5 is a diagram illustrating a positional relationship grasped when the measuring space D having the inner end Dmin and the outer end Dmax is viewed from the camera 132 side.

The point m1 of FIG. 4 may be represented by the leftmost line in FIG. 5, and the point m2 or n1 of FIG. 4 may be represented by the second line from the left in FIG. 5. m3 and m4 and n2 to n4 may also be expressed in the same manner as the lines shown in FIG. 5.

In FIG. 4, since L11 is a point existing on the line pattern formed by the scanning plane # 1 and the subject 10, it is represented by the line pattern L1 including the L11 in FIG. 5. The same applies to L2 to L4.

As shown, for example, it can be seen that L1 is always present in the m1 and m2 lines. That is, since L1 belongs to the scanning plane # 1, its ID can always be checked.

Meanwhile, in FIG. 4, Dmin and Dmax mean threshold values at which the points L11 to L41 do not overlap when viewed from the perspective of the camera 132, and m1 to m4 and n1 to n4 are present on these lines. In FIG. 5, the m2 line overlaps the n1 line, the m3 line overlaps the n2 line, and the m4 line overlaps the n3 line.

Accordingly, a problem may occur in that the ID of the points existing on the m2 line, the m3 line, or the m4 line cannot be properly confirmed at the time of the camera 132.

To this end, in FIG. 4, a modified measurement having an inner end Dmin_corrected and an outer end Dmax_corrected by moving the inner end Dmin and the outer end Dmax of the measurement space D to a predetermined distance, respectively. You can define the space D_corrected.

According to the corrected measurement space D_corrected, the subject 10 existing therein may be expressed as shown in FIG. 6 when viewed from the perspective of the camera 132.

That is, of the plurality of line patterns L1 to L4 formed on the surface of the subject 10 always in the corrected measurement space D_corrected, L1 is in the m1_corrected line and n1_corrected line, L2 is in the m2_corrected line and n2_corrected line, and L3 Is always in the m3_corrected and n3_corrected lines, and L4 is always in the m4_corrected and n4_corrected lines.

Therefore, in this case, since there is no overlap between the m1_corrected to m4_corrected lines and the n1_corrected to n4_corrected lines, it is easy to check the scanning plane to which the points belong even if they exist on each line.

FIG. 7 illustrates line patterns formed on the subject when four scanning planes are projected on the cylindrical subject existing in the corrected measurement space D_corrected so as to have a constant angular interval up and down from the projector 131. L1 to L4 are taken by the camera 132.

As shown in the figure, of the line patterns L1 to L4, L1 is in m1_corrected and n1_corrected lines, L2 is in m2_corrected and n2_corrected lines, L3 is in m3_corrected and n3_corrected lines, and L4 is always in m4_corrected and n4_corrected lines. As a result, for the scanning plane to which each line pattern belongs, L1 is in scanning plane # 1, L2 is in scanning plane # 2, L3 is in scanning plane # 3, and L4 is in scanning plane # 4. It can be recognized that it belongs.

8A to 8D sequentially show the results of projecting and photographing the projector 131 and the camera 132 while moving the scanning unit 130 by placing the mannequin as a subject in the corrected measurement space D_corrected as described above. It is shown as. Of course, a plurality of projection and photographing processes may be interposed between the drawings of FIGS. 8A to 8D.

FIG. 8A illustrates line patterns L2_t1 to L4_t1 obtained by scanning the scanning unit 130 moving at a constant speed at a time t1 and FIG. 8B illustrates a time point t2 when the scanning unit 130 continues to move at constant speed. The line patterns L1_t2 to L4_t2 obtained when the position becomes.

The three-dimensional scanning apparatus 100 according to the embodiment of the present invention further includes data generating means (not shown) for generating three-dimensional data relating to the shape of the subject from the respective line patterns.

The data generating means includes external variables such as the position of the scanning unit 130 at the corresponding point in time, the positional relationship between the projector 131 and the camera 132 in the scanning unit 130, the focal length of the lens, the distortion coefficient, and the like. 3D data regarding the shape of the subject is calculated from the above-described line patterns in a state in which the internal variable of is previously calculated.

As a technique for generating three-dimensional data from a line pattern formed by the projected scanning plane on the surface of a subject, a generally known technique may be used, and thus a detailed description thereof will be omitted.

On the other hand, according to the three-dimensional scanning apparatus 100 according to an embodiment of the present invention, when the scanning unit 130 is moved in the vertical direction, as shown in Figure 9, the projector 131 is a constant angle interval A plurality of scanning planes (# 1 to # 4) having a can be radially projected in the vertical direction.

Therefore, the scanning unit 130 does not need to move from the top to the bottom of the subject 10, and the first scanning plane # 1 at the top and the fourth scanning plane # 4) only needs to be moved up and down to the extent that the upper and lower ends of the subject 10 are respectively projected. That is, since the scanning unit 130 needs only to move the H section in FIG. 9, the scanning unit 130 may have a shorter moving distance than the conventional method of projecting the scanning plane on a straight line.

On the other hand, the three-dimensional scanning apparatus 100 may be made to project and shoot using infrared.

That is, the projector 131 of the scanning unit 130 projects the plurality of scanning planes in an infrared form, and the camera 132 is equipped with an infrared filter to photograph a plurality of line patterns in the infrared form.

As such, when infrared is used when scanning a subject, there is no fear of damaging the retina of a human body, especially an eye, and there is no need to use a dark space such as a dark room for photographing, so that scanning is convenient.

On the other hand, the three-dimensional scanning apparatus 100 described above and the three-dimensional scanning method inherent therein is only an embodiment for helping the understanding of the present invention is understood that the scope of the present invention to the technical scope is limited to these Can not be done.

The scope of the invention to the technical scope is defined by the claims and equivalents described below.

1 is a perspective view of a three-dimensional scanning apparatus according to an embodiment of the present invention,

2 is a side view of the three-dimensional scanning apparatus of FIG.

3 and 4 are schematic views for explaining the principle of operation of the three-dimensional scanning apparatus of FIG.

5 and 6 are diagrams for explaining the line pattern of the subject viewed from the viewpoint of the camera which is one component of the three-dimensional scanning apparatus of FIG.

7 and 8A to 8D are photographs of line patterns formed on the surface of a subject using the 3D scanning apparatus of FIG. 1, respectively.

FIG. 9 is a schematic diagram illustrating a use state of the 3D scanning apparatus of FIG. 1.

        <Explanation of symbols for main parts of the drawings>

100: three-dimensional scanning device 110: base portion

120: guide portion 121: timing belt

122: motor 123: pulley

130: scanning unit 131: projector

132: camera

Claims (9)

In the three-dimensional scanning apparatus, A plurality of scanning planes # 1 to # 4 are radially projected on at least some areas within a predetermined measurement space Dmin to Dmax where the subject 10 is located, and neighboring scanning planes # 1 to # 4. 4) projection means (131) to have a constant angle interval between; Photographing means (132) for photographing a plurality of line patterns (L1 to L4) formed on the surface of the subject (10) by the subject (10) meeting the plurality of scanning planes (# 1 to # 4); And And data generating means for generating three-dimensional data relating to the shape of the subject (10) from the plurality of photographed line patterns (L1 to L4). The method of claim 1, The projection means 131 and the photographing means 132 have relative positions and angles fixed, and the plurality of scanning planes (# 1 to ˜) in a process of moving in parallel in the longitudinal direction of the measurement spaces Dmin to Dmax. Projection of # 4) and photographing of the plurality of line patterns L1 to L4. The method according to claim 1 or 2, The measurement spaces Dmin to Dmax overlap with each other among the scanning planes # 1 to # 4 projected radially from the perspective of the photographing means 132. And a medial end Dmin_corrected and an outer end Dmax_corrected so as not to occur. The method of claim 3, The data generating means generates the three-dimensional data only from the ones obtained between the inner end Dmin_corrected and the outer end Dmax_corrected of the measurement space among the plurality of line patterns L1 to L4. Scanning device. The method of claim 1, The projection means 131 is infrared projection means for projecting the plurality of scanning planes (# 1 ~ # 4) in the form of infrared rays, The photographing means (132) is a three-dimensional scanning device, characterized in that the infrared photographing means capable of photographing the plurality of line patterns (L1 ~ L4) of the infrared form. In the three-dimensional scanning apparatus, A guide part 120 spaced apart from a predetermined measurement space (Dmin ~ Dmax) in which the subject 10 is located and disposed along the measurement space (Dmin ~ Dmax); The reciprocating slide is driven along the guide part 120, and one side of the plurality of scanning planes # 1 to # 4 is radially projected on at least a portion of the measurement spaces Dmin to Dmax, but the neighboring scanning planes ( The projection unit 131 is provided to have a constant angular interval between # 1 to # 4, and on the other side, the subject 10 encounters the plurality of scanning planes # 1 to # 4 so that the subject 10 A scanning unit 130 including a photographing unit 132 for photographing a plurality of line patterns L1 to L4 formed on the surface of the substrate; And And a data generator for generating three-dimensional data relating to the shape of the subject (10) from the plurality of photographed line patterns (L1 to L4). The method of claim 6, The guide portion 120 is provided with a plurality is arranged at a predetermined interval in the circumferential direction around the measurement space (Dmin ~ Dmax), At least one scanning unit (130) is provided for each guide unit (120). In the three-dimensional scanning method, Positioning the subject 10 in the predetermined measurement spaces Dmin to Dmax; Projecting a plurality of scanning planes (# 1 to # 4) radially on at least some areas in the measurement spaces (Dmin to Dmax) so as to have a constant angular spacing between neighboring scanning planes (# 1 to # 4); ; Photographing a plurality of line patterns (L1 to L4) formed on the surface of the subject (10) by the subject (10) meeting the plurality of scanning planes (# 1 to # 4); And And generating three-dimensional data about the shape of the subject (10) from the plurality of photographed line patterns (L1 to L4). The method of claim 8, The measurement spaces Dmin to Dmax are defined such that the plurality of scanning planes # 1 to # 4 exist within a range not overlapping each other when the plurality of line patterns L1 to L4 are photographed. Dimensional scanning method.

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