CN103017679A - Lumen scanning system based on laser ranging sensor - Google Patents
Lumen scanning system based on laser ranging sensor Download PDFInfo
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- CN103017679A CN103017679A CN2012104836780A CN201210483678A CN103017679A CN 103017679 A CN103017679 A CN 103017679A CN 2012104836780 A CN2012104836780 A CN 2012104836780A CN 201210483678 A CN201210483678 A CN 201210483678A CN 103017679 A CN103017679 A CN 103017679A
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Abstract
The invention provides a lumen scanning system based on a laser ranging sensor, which comprises two parts, namely a lumen scanning control system and the laser ranging sensor (a laser displacement sensor). The lumen scanning control system comprises a linear motion unit for adjusting the scanning height of the laser ranging sensor and a rotary motion unit for controlling the scanning direction of the laser ranging sensor. The laser ranging sensor is used for scanning an object to be measured. The lumen scanning system based on the laser ranging sensor disclosed by the invention is capable of accurately scanning various lumen profiles automatically and rapidly. A method and equipment adopted in the invention are simple in structure and lower in cost and have strong robustness. Three-dimensional profile modeling and processing of the measured object are carried out by utilizing obtained data, so that the lumen scanning system has high application value in different fields. Typically, after a model of a human body is obtained clinically, the lumen scanning system disclosed by the invention can be used for scanning the internal profile of a human-body female mould, so that scanning and modeling of a human-body surface profile are realized.
Description
Technical field
The present invention relates to the various fields such as rehabilitation, medical treatment, machinery, more particularly relate to a kind of inner chamber scanning system.
Background technology
Inner chamber scanning refers to obtain the process of inside cavity profile three-dimensional data, and the inner chamber scanning system can be applied in a lot of fields, for the internal diameter that obtains object being measured (cavity) and interior profile etc.; And then utilize resulting data that object being measured is carried out the modeling of three-D profile, further processes and the application of other different field aspect.
Conventional inner chamber scanning technique comprises scanning behind the materials such as cutting scanning, inner perfusion silica gel, CT scan etc., and said method exists needs the problems such as destruction testee, complicated operation or cost are higher.Therefore design cooperates the inner chamber scanning system of automaton based on non-contact measuring technology, and realization is automatically, inner chamber scans fast and accurately,
Utilize this contactless inner chamber scanning system to measure, can obtain the geometric data of various inner chamber profiles.For example, aspect mechanical field, can utilize the inner chamber profile of inner chamber scanning system acquisition irregular (complexity) part etc., be convenient to the further treatment and processing to part; At biomedical aspect, cooperate human body to get the type technology, can be used in human body contour outline 3-D scanning and the modeling of (comprising the various piece limbs), realize the reconstruction of human body upper body profile.
Summary of the invention
For more automatic, obtain the geometric data of human needs's various inner chamber profiles fast and accurately, the invention provides a kind of inner chamber scanning system based on laser range sensor.Described system can scan accurately to various inner chamber profiles, and then utilizes resulting data that measured object is carried out the modeling of three-D profile, further processes and the application of other different field aspect.
Inner chamber scanning system based on laser range sensor of the present invention, its body part comprises: linear motion system, the system that rotatablely moves and be used for the laser range sensor (laser displacement sensor) of scanning.Its control collecting part comprises: host computer, the next single-chip microcomputer, electric machine control system etc., be used for to realize to the control of body part kinematic system with to the collection of sensing data.
Linear motion system uses stepper motor to drive, and the elevating movement by linear motion unit realization laser range sensor realizes the adjustment to scanning height.The system that rotatablely moves uses stepper motor to drive, and directly drives laser range sensor by the stepper motor output shaft and rotates, and realizes the collection to inner chamber profile one weekly data.
The control collecting part adopts the structure of upper and lower machine, and host computer uses PC, is used for realizing that human-computer interaction interface, steering order send and the scan-data acquisition process; Slave computer uses single-chip microcomputer, realizes that steering order is converted to actual gating pulse moves with Driving Stepping Motor, simultaneously sensor output data is carried out the A/D conversion, is transferred to upper PC; Use serial ports to carry out communication between the upper and lower machine.
During the scanning beginning, testee is placed on the system shell upside, object lumen centers line is overlapped with the sensor rising trace substantially.The pulse number that sends by upper PC control single chip computer is controlled the climb of linear motion unit, makes it reach suitable preliminary sweep height.During scanning, drive turntable by the Single-chip Controlling electric rotating machine and rotate clockwise a week, make laser range sensor finish the measurement of a face profile; Then stop after the distance (interlamellar spacing) that the linear motion unit rising is fixed; Turntable rotates a circle counterclockwise again afterwards, finishes the measurement of next face profile.So repeatedly, turntable all the time dextrorotation circles, and rotates a circle counterclockwise again, twines with the cable that prevents laser range sensor.Until finish the scanning of whole inner chamber.By the each distance that rises of control linear motion unit, the i.e. interlamellar spacing of capable of regulating measurement.
The present invention utilizes laser range sensor scanning, thereby obtains the some cloud of object geometric jacquard patterning unit surface, and these points can be used to the surface configuration that interpolation becomes object, and more intensive some cloud can create more accurate model.By adjusting the rotating speed of electric rotating machine, the i.e. sampling number of each face profile of capable of regulating.
The inner chamber scanning system based on laser range sensor of the present invention's design has advantage simple in structure, easy to use, lower-cost, can obtain easily the data of various inner chamber profiles, has preferably value for applications.
Description of drawings
Fig. 1 is a kind of inner chamber scanning system structural representation based on laser range sensor of the present invention;
Fig. 2 is the control system schematic diagram of a kind of inner chamber scanning system based on laser range sensor of the present invention.
Embodiment
As shown in Figure 1, the inner chamber scanning system based on laser range sensor of the present invention's proposition comprises that housing 1, line slideway 2, leading screw 3, linear slider 4, straight line units motor 5, support bar 6, sensor are by mouth 7, rotary unit motor 8, transverse slat 9, sensor base 10, laser range sensor 11.Housing 1 consists of the cube framework by metal material, and inner being used for held other parts, and upper surface can be used for placing inner chamber to be scanned.Line slideway 2 vertically is installed in housing 1 inside, and two ends and housing 1 inner upper and lower surface are fixed.Leading screw 3 two ends are fixed on the line slideway 2.Linear slider 4 connects on the leading screw 3, can move along a straight line with the rotation of leading screw 3.Straight line units motor 5 is fixed on the line slideway 2, and output shaft connects with leading screw 3, makes linear slider 4 motions thereby can drive leading screw 3 rotations.Support bar 6 is fixed on the linear slider 4, and parallel with line slideway 2.Housing 1 upper surface has sensor by mouthfuls 7, can make support bar 6 with laser range sensor 11 from 1 li emersion of housing, realize profile scan.There is transverse slat 9 support bar 6 upper ends, and rotary unit motor 8 is fixed on the transverse slat 9.Sensor base 10 connects with the output shaft of rotary unit motor 8, can be by rotary unit motor 8 driven rotary.Laser range sensor 11 is installed on the sensor base 10, can be with sensor base 10 rotations.
As shown in Figure 2, host computer 201 carries out communication by serial ports and the next single-chip microcomputer 202, the next single-chip microcomputer can send respectively gating pulse to straight line units motor driver 203 and rotary unit motor driver 204, control movement velocity and the anglec of rotation of motor, straight line units motor driver 203 is accepted to be converted to the driving signal after the gating pulse, and control straight line units stepper motor 205 is finished motion; Rotary unit motor driver 204 is accepted to be converted to the driving signal after the gating pulse, and control rotary unit stepper motor 206 is finished motion.The next single-chip microcomputer 202 also gathers the measuring-signal of laser range sensor 207 by the A/D translation interface, by serial communication the data transmission that collects is used for the follow-up processing such as profile modeling to host computer 201 again.
The inner chamber scanning system based on laser range sensor that embodiment uses the present invention to propose is carried out the scanner uni Measurement and analysis to the trunk profile
The trunk profile is scanned the personalized three-dimensional model that can set up trunk, some dimensional parameters is accurately measured, can be Extraordinary body orthosis design foundation is provided, important meaning and purposes are widely arranged in the rehabilitation project field.
Should obtain first trunk former methods such as (can take out by plaster bandage or vacuum obtain) types before the scanning beginning.During scanning the trunk former is placed on system's housing 1 upper surface, is substantially alignd by mouth 7 center lines with the sensor of system housing 1 upper surface in trunk former center.Control the next single-chip microcomputer by host computer and send gating pulse, thereby control straight line units motor 5 turns over suitable angle, makes linear slider 4 rise to suitable preliminary sweep height.Then, control the next single-chip microcomputer by host computer equally and send gating pulse, circle so that rotary unit motor 8 drives laser range sensor 11 dextrorotations, make laser range sensor 11 finish the scanning of a face profile; And then stop after controlling the fixing distance (interlamellar spacing) of straight line units motor 5 drive linear slider 4 risings; Make again afterwards rotary unit motor 8 drive laser range sensor 11 and be rotated counterclockwise a week, finish the measurement of next face profile.So repeatedly, rotary unit motor 8 all the time dextrorotation circles, and rotates a circle counterclockwise again, twines with the cable that prevents laser range sensor 11, until finish the scanning of whole inner chamber.By the angle of control straight line units motor 5 each rotations, i.e. interlamellar spacing between two adjacent profiles of capable of regulating.
By the flat scanning of multilayer, can access the surperficial cloud data of human body contour outline, can access afterwards the three-dimensional model of human body contour outline by the profile modeling, on described model, can carry out the accurate measurement of various sizes.More intensive some cloud can create more accurate model, therefore by adjusting the rotating speed of rotary unit motor 8, i.e. the sampling number of each face profile of capable of regulating is by adjusting the each rotational angle of straight line units motor 5, can the key-course spacing, thus the density of a cloud is adjusted.
The drawing reference numeral explanation
1, housing 2, line slideway 3, leading screw
4, linear slider 5, straight line units motor 6, support bar
7, sensor is by mouth 8, rotary unit motor 9, transverse slat
10, sensor base 11, laser range sensor.
Claims (2)
1. the inner chamber scanning system based on laser range sensor is characterized in that comprising: inner chamber scanning control system and laser range sensor, i.e. laser displacement sensor; The inner chamber scanning control system comprises linear motion system, is used for regulating the scanning height of laser range sensor; The system that rotatablely moves is used for the control laser range sensor and carries out circular scan; Laser range sensor is used for the scanning testee; Described inner chamber scanning system based on laser range sensor comprises that housing (1), line slideway (2), leading screw (3), linear slider (4), straight line units motor (5), support bar (6), sensor are by mouthful (7), a rotary unit motor (8), transverse slat (9), sensor base (10), laser range sensor (11).Housing (1) consists of the cube framework by metal material, and inner being used for held other parts, and upper surface can be used for placing inner chamber to be scanned; Line slideway (2) vertically is installed in housing 1 inside, and the inner upper and lower surface of two ends and housing (1) is fixed; Leading screw (3) two ends are fixed on the line slideway (2); Linear slider (4) connects on the leading screw (3), can move along a straight line with the rotation of leading screw (3); Straight line units motor (5) is fixed on the line slideway (2), and output shaft connects with leading screw (3), can drive leading screw (3) thereby rotate to make linear slider 4 motions; Support bar (6) is fixed on the linear slider (4), and parallel with line slideway (2); Housing (1) upper surface has sensor by mouthful (7), can make support bar (6) with laser range sensor (11) from the inner emersion of housing (1), the realization profile scan; Support bar (6) upper end has transverse slat (9), rotary unit motor (8) to be fixed on the transverse slat (9); Sensor base (10) connects with the output shaft of rotary unit motor (8), can be by rotary unit motor (8) driven rotary; Laser range sensor (11) is installed on the sensor base (10), can rotate with sensor base (10).
2. the inner chamber scanning system based on laser range sensor according to claim 1, it is characterized in that: host computer (201) carries out communication by serial ports and the next single-chip microcomputer (202), the next single-chip microcomputer can send respectively gating pulse to straight line units motor driver (203) and rotary unit motor driver (204), control movement velocity and the anglec of rotation of motor, straight line units motor driver (203) is accepted to be converted to the driving signal after the gating pulse, and control straight line units stepper motor (205) is finished motion; Rotary unit motor driver (204) is accepted to be converted to the driving signal after the gating pulse, and control rotary unit stepper motor (206) is finished motion.The next single-chip microcomputer (202) also gathers the measuring-signal of laser range sensor (207) by the A/D translation interface, by serial communication the data transmission that collects is used for the follow-up processing such as profile modeling to host computer (201) again.
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| CN2012104836780A CN103017679A (en) | 2012-11-23 | 2012-11-23 | Lumen scanning system based on laser ranging sensor |
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| CN2012104836780A CN103017679A (en) | 2012-11-23 | 2012-11-23 | Lumen scanning system based on laser ranging sensor |
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| CN103471554A (en) * | 2013-09-27 | 2013-12-25 | 唐山市建华自动控制设备厂 | Charge level three-dimensional imaging measurement and control system |
| CN104613874A (en) * | 2015-02-03 | 2015-05-13 | 缙云县伟创电子有限公司 | Ranging instrument and method |
| CN105962964A (en) * | 2016-07-25 | 2016-09-28 | 天津医科大学 | Self-adaptive multimode X-ray CT imaging scientific research experimental platform |
| CN106091961A (en) * | 2016-05-25 | 2016-11-09 | 天津工业大学 | High-rate laser inner diameter measurement system |
| CN106989690A (en) * | 2017-02-20 | 2017-07-28 | 上海大学 | Portable non-contact object inner chamber pattern spy testing digitizer |
| CN107084982A (en) * | 2017-03-20 | 2017-08-22 | 上海大学 | A kind of Portable non-contact historical relic profile and texture collection equipment |
| CN107432731A (en) * | 2017-08-31 | 2017-12-05 | 宁波视睿迪光电有限公司 | Endoscope and endoscopic detection method |
| CN108120373A (en) * | 2017-11-23 | 2018-06-05 | 北京星航机电装备有限公司 | A kind of Complex Different Shape casting measurement inspection method based on laser tracking measurement |
| WO2018188306A1 (en) * | 2017-04-10 | 2018-10-18 | 苏州盖恩茨电子科技有限公司 | Electronically controlled angle-type ranging detection apparatus |
| CN108891894A (en) * | 2018-08-27 | 2018-11-27 | 镇江仕德汽车零部件有限公司 | A kind of feeding device automatic adjusting mechanism |
| CN109081026A (en) * | 2018-07-13 | 2018-12-25 | 山东省科学院自动化研究所 | Robot de-stacking system and method based on range laser radar orientation direction |
| CN109443242A (en) * | 2018-12-17 | 2019-03-08 | 睿力得智能设备技术(昆山)有限公司 | A kind of deceleration box cavity profile tolerance detection device |
| CN109540043A (en) * | 2018-11-09 | 2019-03-29 | 武汉中飞扬测控工程有限公司 | A method of slab conicity instrument taper is measured using laser distance measuring principle |
| CN109781005A (en) * | 2019-02-28 | 2019-05-21 | 西安交通大学 | Using the poor shell class workpiece fitted position measuring system and method for bidifly optical sensor |
| CN110207611A (en) * | 2019-05-17 | 2019-09-06 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of engine stator process parameter measurement device |
| CN110207612A (en) * | 2019-05-17 | 2019-09-06 | 中国航空工业集团公司北京航空精密机械研究所 | A kind of engine stator profile parameters measuring device |
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| CN111928797A (en) * | 2020-10-12 | 2020-11-13 | 山东海德智汇智能装备有限公司 | 3D high-precision detection system based on laser scanning imaging |
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| CN111308694B (en) * | 2020-04-01 | 2023-05-23 | 重庆金樾光电科技有限公司 | Laser scanning system capable of adaptively adjusting distance and automatic distance adjusting method |
| CN111308694A (en) * | 2020-04-01 | 2020-06-19 | 重庆金樾光电科技有限公司 | Laser scanning system capable of adaptively adjusting pitch distance and automatic distance adjusting method |
| CN111494071A (en) * | 2020-04-24 | 2020-08-07 | 国家康复辅具研究中心 | Method and system applied to weight-bearing model taking of artificial leg socket |
| CN111521122A (en) * | 2020-05-15 | 2020-08-11 | 南京航空航天大学 | Method and device for measuring outer diameter of pipe shell based on photoelectric sensing |
| CN111879243A (en) * | 2020-07-20 | 2020-11-03 | 广西福美耀节能门窗有限公司 | Door opening automatic measuring equipment |
| CN111928797B (en) * | 2020-10-12 | 2021-01-01 | 山东海德智汇智能装备有限公司 | 3D high-precision detection system based on laser scanning imaging |
| CN111928797A (en) * | 2020-10-12 | 2020-11-13 | 山东海德智汇智能装备有限公司 | 3D high-precision detection system based on laser scanning imaging |
| CN114136233A (en) * | 2021-11-19 | 2022-03-04 | 新拓三维技术(深圳)有限公司 | Inner hole surface profile measuring system and method |
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Application publication date: 20130403 |