TWI421794B - Apparatus for reconstructing three-dimensional object model - Google Patents

Description

Device for reconstructing a three-dimensional model of an object

A device for reconstructing a three-dimensional model of an object, in particular, an object that performs multiple vertical sensing planes on a test object by a rotation of a rotating platform and a vertical linear movement of a laser sensor by a straight-through motor. Information collection, which integrates object information of multiple sensing planes to obtain a device for reconstructing a three-dimensional model of a three-dimensional model of an object.

The existing 3D model construction technology of 3D ultrasonic system performs reconstruction and depiction of 3D image data with the aid of magnetic phase and mechanical 3D positioning system. Due to the need of additional positioning assistance system, the overall equipment price is relatively high. It is expensive and the processing speed of the software is slow.

For operators of 3D ultrasonic systems (eg, ultrasonic instruments), without the aid of the positioning system, the hand-held acoustic wave probe can be used to scan the object to be tested, and the display screen can be obtained on the display screen. Accuracy of the 3D image data of the image will make the operation procedure more convenient, but the operation speed may be inconsistent due to the freehand scanning, so the three-axis scale may change continuously, so the situation of image distortion caused by the freehand scanning is extremely common, and The error caused by the construction of the 3D model is too large.

In view of the above situation, there are currently image reconstruction techniques such as Speckle Tracking and Registration that do not require a three-dimensional positioning system, but the algorithm of the above technology requires a long processing time, or requires a hardware device to speed up the processing, and invisibly Increased the complexity of the operating system and the cost of verifying the equipment.

In summary, it can be seen that the prior art has long existed the problem that the existing three-dimensional model construction device has a complicated structure, high cost, and low work efficiency, and therefore it is necessary to propose an improved technical means to solve this problem.

In view of the prior art, the existing three-dimensional model construction device has the problems of complicated structure, high cost and low work efficiency, and the present invention discloses a device for reconstructing a three-dimensional model of an object, wherein:

The device for reconstructing a three-dimensional model of an object disclosed in the present invention comprises: a base, a rotary motor, a straight-through motor, a rotating platform, a laser sensor, and a light shielding component.

a rotary motor is fixed on the base; a straight-moving motor is fixed on the base; a rotating platform is fixed on the rotating motor, and the rotating platform is horizontally rotated by a rotating motor, and the rotating platform is used to carry the test object; the laser sensor It is fixed on the straight-feed motor, and the laser sensor performs vertical linear movement by the straight-through motor, wherein the distance between the laser sensor and the rotating platform needs to be greater than the minimum sensing distance of the laser sensor; the light-shielding component is The base is fixed on the base, and the light shielding component surrounds at least the rotating platform and the laser sensor, and the height of the light shielding component needs to be greater than the maximum distance of the vertical linear movement of the laser sensor by the straight motor.

Wherein, the test object is vertically linearly moved by the rotation of the rotating platform and the laser sensor by the straight-through motor, and the laser sensor performs multiple measurements on the test object by an occupancy-grid-map algorithm. The object information collection of the sensing plane integrates the object information of the plurality of sensing planes to obtain a three-dimensional model of the test object.

The device disclosed in the present invention is different from the prior art in that the test object of the present invention is subjected to a vertical linear movement by a rotation of a rotating platform and a laser sensor by a straight-through motor, and is tested by a grid map algorithm. The object collects object information of multiple sensing planes, and integrates object information of multiple sensing planes to obtain a three-dimensional model of the test object.

Through the above technical means, the present invention can achieve the technical effect of providing simple structure, low cost and quick construction of three-dimensional model information.

The embodiments of the present invention will be described in detail below with reference to the drawings and embodiments, so that the application of the technical means to solve the technical problems and achieve the technical effects can be fully understood and implemented.

In the following, the device for reconstructing the three-dimensional model of the object disclosed in the present invention is first described. Referring to FIG. 1 and FIG. 2, FIG. 1 shows the three-dimensional model of the reconstructed object of the present invention. A schematic exploded view of the device; "Fig. 2" is a schematic perspective view of the device for reconstructing the three-dimensional model of the object of the present invention.

The apparatus for reconstructing a three-dimensional model of an object disclosed in the present invention comprises: a base 11, a rotary motor 12, a straight-through motor 13, a rotating platform 14, a laser sensor 15, and a light-shielding assembly 16.

The susceptor 11 is for fixing the rotary motor 12, the straight-feed motor 13, and the light-shielding unit 16, respectively, and the power supply and drive circuit required for the rotary motor 12, the straight-feed motor 13, and the laser sensor 15 are Both the control circuit and the processing circuit can be embedded in the susceptor 11.

The susceptor 11 is generally made of polycarbonate (Polycarbonate, PC), polyphthalamide (PPA) or other thermoplastic resin material commonly used as the susceptor 11, and is merely illustrative of the susceptor. The common material of 11 is not limited to the application scope of the present invention. In addition, the susceptor 11 can have non-reflecting light and non-transmissive properties to avoid laser sensing due to light reflection of the susceptor 11. The interference of the instrument 15 during sensing.

The rotating platform 14 is fixed to the rotating motor 12, and the rotating platform 14 is horizontally rotated by 12 rotations of the rotating motor, and the rotating motor 12 rotates clockwise and counterclockwise between 0 degrees and 360 degrees. That is, the rotary motor 12 can be rotated counterclockwise from 0 degrees to 360 degrees, and can be rotated clockwise from 360 degrees to 0 degrees, or the rotary motor 12 can be rotated clockwise from 0 degrees to 360 degrees, and can be rotated 360 degrees counterclockwise to 0 degrees. And rotating the motor into 12 must pay attention to the magnitude of the torque and the speed/acceleration during rotation to avoid the displacement of the test object 20 carried on the rotating platform 14 may be caused by the shaking of the rotating platform 14 or the rotational centrifugal force of the rotating platform 14 The laser sensor 15 is affected to sense an erroneous result.

The rotating platform 14 is used to carry the test object 20, and the rotating platform 14 can also be made of polycarbonate, polyphthalamide or other thermoplastic resin materials, which are merely illustrative and not limited thereto. In addition, the rotating platform 14 can have non-reflecting light and non-transmissive properties to avoid interference of the laser sensor 15 during sensing due to light reflection of the rotating platform 14.

The anti-slip element 141 can be further disposed on the plane of the rotating platform 14 carrying the test object 20. The anti-slip element 141 provides the anti-slip effect of the test object 20, that is, the anti-slip element 141 can prevent the test object 20 from passing through the rotating motor on the rotating platform 14. When the rotation of 12 causes the movement of the test object 20, the movement of the test object 20 causes the laser sensor 15 to sense an erroneous result.

The laser sensor 15 is fixed on the straight motor 13 and the laser sensor 15 is vertically linearly moved by the straight motor 13 . It is worth noting that the laser sensor 15 and the rotating platform 14 are between each other. The set distance needs to be greater than the minimum sensing distance of the laser sensor 15 , that is, when the set distance between the laser sensor 15 and the rotating platform 14 is less than the minimum sensing distance of the laser sensor 15 , the laser is caused. The sensor 15 cannot correctly sense the test object 20 on the rotating platform 14, thereby causing the laser sensor 15 to sense an erroneous result.

The light shielding component 16 is fixed on the base 11 and the light shielding component 16 surrounds at least the rotating platform 14 and the laser sensor 15, and the light shielding component 16 in the "Fig. 1" and "Fig. 2" drawings is The different shading assemblies 16 surround the rotating platform 14 and the laser sensor 15, respectively. For illustrative purposes only, the rotating platform 14 and the laser sensor 15 may be directly surrounded by a single shading assembly 16.

The light-shielding component 16 can also be made of polycarbonate, polyphthalamide or other thermoplastic resin materials, which is merely illustrative, and is not intended to limit the scope of application of the present invention, but it is worth noting that The shading assembly 16 must have non-reflecting light and non-transmissive properties. Since the laser sensor 15 is generally sensed by infrared light, when the shading assembly 16 is made of glass, metal or other mirror material, The infrared light of the laser sensor 15 is partially reflected, causing the laser sensor 15 to sense an erroneous sensing result, thereby avoiding the laser sensor 15 being sensed by the light reflection of the light shielding component 16. Interference, and at the same time, can avoid external light causing interference of the laser sensor 15 during sensing.

The height of the shading assembly 16 needs to be greater than the maximum distance of the laser sensor 15 for vertical linear movement by the straight-through motor. When the height of the shading assembly 16 is less than the maximum distance of the vertical linear movement of the laser sensor 15 by the straight-through motor. When the laser sensor 15 is vertically moved to the maximum distance, the light shielding component 16 cannot block the external light from the laser sensor 15, thereby causing interference of the laser sensor 15 during sensing.

Therefore, it can be seen from the above that the test object 20 also needs to be limited, that is, the test object 20 cannot exceed the range of the rotating platform 14, and the height of the test object 20 also needs to be smaller than the vertical linear movement of the laser sensor 15 by the straight-through motor. The maximum distance, thereby, when the laser sensor 15 senses the test object 20, it can simultaneously prevent the test object 20 from being located within the minimum sensing distance of the laser sensor 15, resulting in a laser sensor 15 detects the erroneous result, and the laser sensor 15 can completely sense the test object 20, and when the laser sensor 15 senses the test object 20, the light shielding component 16 can be protected from the outside light. Causes interference of the laser sensor 15 during sensing.

By combining the susceptor 11, the rotary motor 12, the straight-moving motor 13, the rotating platform 14, the anti-slip element 141, the laser sensor 15 and the light-shielding assembly 16, the apparatus 10 for reconstructing the three-dimensional model of the object of the present invention can be constructed. Refer to "Figure 2" for the results of the combination of the device 10 for reconstructing the 3D model of the object.

Please refer to "Fig. 2", "3rd figure" and "4th figure" at the same time. "Fig. 3" and "4th figure" show the test object sense of the apparatus for reconstructing the three-dimensional model of the object of the present invention. Schematic diagram of the test results.

The laser sensor 15 senses the test object 20 placed on the rotating platform 14 by using an occupancy-grid-map algorithm to determine possible object information, that is, a laser sensor The sensing plane range of 15 is discretized into two-dimensional grid points, and the sensing plane range of the laser sensor 15 will include the surrounding space of the test object 20 and the test object 20, and the actual feeling is estimated for each grid point. The measurement may be the probability of testing the object 20, and each grid point is subjected to the sensing of the laser sensor 15 to confirm the probability of the grid point in the range of 0 to 1. The probability of the grid point can be determined by Bayesian. The binary shell filter or the Dempster-Shafer rule is determined by way of example only, and is not limited to the application scope of the present invention. When the lattice probability is 0, it means that the grid point is not Test object 20, and when the grid rate is 1 When it is, the grid point is the test object 20, and when the grid point probability is 0.5, it means that the probability of the grid point is 50% is the test object 20, of course, the higher the probability is that the grid point is the test. The higher the chance of the object 20, the lower the probability that the lower the chance that the grid point is the test object 20.

And the probability of each grid point will be expressed in gray scale indicating the range of probability 0 to 1 has been performed in the range of the sensing plane, that is, the probability 0 corresponds to the white color, the probability 1 corresponds to the black color, and the probability is between 0 and 1. In order to correspond to different grayscale colors, the higher the probability, the more grayscale colors will be biased toward black color, and the lower the probability, the more grayscale colors will be biased toward white.

In "Fig. 3" and "Fig. 4", the sensing plane range 31 of the laser sensor 15 discretizes the surrounding space of the test object 20 and the test object 20 into 8 grid points, and the laser sensing The probability that the instrument 15 senses through the binary shell filter proposed by Bayesian or the Dempster-Shafer rule is "0" at the first lattice point 311 and the eighth lattice point 311, therefore, the first lattice point 311 and The eighth grid point 311 will be represented in white; the second grid point 312 and the seventh grid point 317 have a probability of "0.5" and the second grid point 312 and the seventh grid point 317 are laterally 3 from the laser sensor 15 The grid point is 8 grid points in the longitudinal direction, and according to the discrete grid points, the first grid point 311 and the eighth grid point 311 can be calculated from the depth of the laser sensor 15 to be "8", therefore, the second grid point 312 and the The seven grid points 317 will have a probability of gray scale color corresponding to "0.5"; while the probability of the third grid point 313 and the sixth grid point 316 is "0.75" and the third grid point 313 and the sixth grid point 316 are from the laser. The sensor 15 is horizontally 2 grid points and 8 grid points in the longitudinal direction, and the first grid point 311 and the eighth grid point can be calculated according to the discrete grid points. The depth of the laser sensor 15 is "8", so the third grid point 313 and the sixth grid point 316 will represent the gray scale color corresponding to the probability of "0.75"; and the fourth grid point 314 and The probability of the fifth grid point 315 is "1" and the fourth grid point 314 and the fifth grid point 315 are horizontally 8 grid points from the horizontal 1 grid point of the laser sensor 15, and the first grid point can be calculated according to the discrete grid points. The grid point 311 and the eighth grid point 311 are "8" from the depth of the laser sensor 15, and therefore, the fourth grid point 314 and the fifth grid point 315 will be represented by black, which is merely illustrative here. This does not limit the scope of application of the invention.

The laser sensor 15 is used to increase the accuracy of the sensing side object 20, that is, it is difficult to prevent the laser sensor 15 from detecting incorrect noise interference when the test object 20 is sensed. The error caused by the noise interference generated by the laser sensor 15 during the sensing can be eliminated by the occupancy map algorithm, and the object information of the plane of the test object 20 can be accurately obtained, that is, the test object 20 can be obtained on the plane. The precise depth of each grid point.

Since the occupancy map algorithm used by the laser sensor 15 discretizes the sensing plane range of the laser sensor 15 into a two-dimensional grid point, the laser sensor 15 obtains a sensing The object information of the plane, that is, the precise depth of each grid point of the sensing plane, when the rotating motor 12 rotates the rotating platform 14 at a specific angle, the test object 20 carried on the rotating platform 14 also follows the rotating platform 14 The rotation rotates a certain angle, so that the laser sensor 15 can obtain the object information of the sensing plane after rotating a specific angle by using the lattice map algorithm, that is, the accuracy of each grid point of the sensing plane after obtaining a specific angle of rotation The depth, the angle at which the angle is optimal is 18 degrees, that is, the rotation motor 12 needs to rotate the rotation platform 14 20 times, and when the rotation motor 12 rotates once, the laser sensor 15 can obtain 1 sensing plane. The object information, that is, the precise depth of each grid point of the sensing plane is obtained, and at the same height of the laser sensor 15, the object information of the sensing plane can be obtained 20 times, that is, each of the 20 sensing planes is obtained. Grid point Precise depth.

Then, the laser sensor 15 can be linearly moved by the straight-through motor 13 to adjust the height of the laser sensor 15. After the laser sensor 15 adjusts the height, the rotary motor 12 again rotates the platform 14 20 rotations are performed to obtain object information of 20 sensing planes at another height of the laser sensor 15, that is, to obtain a precise depth of each grid point of another height of 20 sensing planes.

That is, each grid point of each sensing plane can be converted into a three-dimensional coordinate according to a specific angle of rotation of the rotating platform 14, the height of the laser sensor 15, and the precise depth of each grid point of each sensing plane.

Repeating the height adjustment of the laser sensor 15 and rotating the platform 14 for 20 times, the object information of all the sensing planes of the test object 20 can be collected, and all the information information of the sensing plane is converted into Corresponding three-dimensional coordinates, and the object information of the plurality of sensing planes obtained by the laser sensor 15 , that is, the converted three-dimensional coordinates are integrated by coordinates such as matlab, autocad, pro-e, etc., and the test can be obtained. A three-dimensional model of the object 20.

In summary, it can be seen that the difference between the present invention and the prior art is that the test object of the present invention is vertically linearly moved by a linear motor by a rotation of a rotating platform and a laser sensor, and is tested by a grid map algorithm. The object collects object information of multiple sensing planes, and integrates object information of multiple sensing planes to obtain a three-dimensional model of the test object.

By means of this technical means, the existing three-dimensional model construction device existing in the prior art has the problems of complicated structure, high cost and low work efficiency, thereby achieving the technical effect of providing simple structure, low cost and quick construction of three-dimensional model information.

While the embodiments of the present invention have been described above, the above description is not intended to limit the scope of the invention. Any of the technical fields of the present invention A person skilled in the art can make some changes in the form and details of the implementation without departing from the spirit and scope of the invention. The scope of the invention is to be determined by the scope of the appended claims.

10‧‧‧ device

11‧‧‧Base

12‧‧‧Rotary motor

13‧‧‧Direct motor

14‧‧‧Rotating platform

15‧‧‧Laser sensor

16‧‧‧Shade components

20‧‧‧Test objects

31‧‧‧Sensing plane range

311‧‧‧ first grid

312‧‧‧second grid

313‧‧‧ third grid

314‧‧‧ fourth grid

315‧‧‧ fifth grid

316‧‧‧ sixth grid

317‧‧‧ seventh grid

318‧‧‧8th point

FIG. 1 is a perspective exploded view of the apparatus for reconstructing a three-dimensional model of an object according to the present invention.

FIG. 2 is a schematic perspective view showing the apparatus for reconstructing a three-dimensional model of an object according to the present invention.

FIG. 3 is a schematic diagram showing the sensing result of the test object of the apparatus for reconstructing the three-dimensional model of the object of the present invention.

FIG. 4 is a schematic view showing the sensing result of the test object of the apparatus for reconstructing the three-dimensional model of the object of the present invention.

10. . . Device for reconstructing a three-dimensional model of an object

11. . . Pedestal

12. . . Rotary motor

13. . . Straight forward motor

14. . . Rotating platform

15. . . Laser sensor

16. . . Shading component

20. . . Test object

Claims (6)

A device for reconstructing a three-dimensional model of an object, comprising: a base; a rotary motor fixed to the base; a motor that is fixed to the base; a rotary platform fixed to the base; The platform is fixed on the rotating motor, and the rotating platform is horizontally rotated by the rotating motor, the rotating platform is used to carry a test object; a laser sensor is fixed to the straight sensor a vertical linear movement of the laser sensor by the linear motor, wherein a distance between the laser sensor and the rotating platform needs to be greater than a minimum sensing distance of the laser sensor; An assembly, the shading assembly is fixed on the base, and the shading assembly surrounds at least the rotating platform and the laser sensor, and the height of the shading assembly needs to be greater than the laser sensor by the linear motor a maximum distance for performing a vertical linear movement; and wherein the test object is vertically linearly moved by the rotation of the rotating platform and the laser sensor by the linear motor, the sense of the laser Instrument to accounting grid map algorithm (occupancy-grid-map algorithm) multiple sensing plane of the test object to object information collection, multiple sensing plane of the object to get information about the integration of three-dimensional model of the test object. The apparatus for reconstructing a three-dimensional model of an object according to claim 1, wherein the rotary motor rotates clockwise and counterclockwise between 0 degrees and 360 degrees. The apparatus for reconfiguring a three-dimensional model of an object according to claim 1, wherein the rotating platform and the shading assembly have non-reflecting light and non-transmissive properties. The apparatus for reconstructing a three-dimensional model of an object according to claim 1, wherein the laser sensor collects object information of the plurality of sensing planes by using a grid map algorithm in a probability rate manner. Presented on the occupant map, the location on the occupant map is the object information of the plane of the test object. The apparatus for reconfiguring a three-dimensional model of an object according to claim 1, wherein the rotating platform further comprises a non-slip element disposed on a plane of the rotating platform carrying the test object. The apparatus for reconstructing a three-dimensional model of an object according to claim 1, wherein the test object has non-reflecting light and non-transmissive properties.