CN104655044B - Three-dimensional laser scanning system - Google Patents
Three-dimensional laser scanning system Download PDFInfo
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- CN104655044B CN104655044B CN201510052530.5A CN201510052530A CN104655044B CN 104655044 B CN104655044 B CN 104655044B CN 201510052530 A CN201510052530 A CN 201510052530A CN 104655044 B CN104655044 B CN 104655044B
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Abstract
A three-dimensional laser scanning system comprises a control terminal, wherein the control terminal comprises a motion control terminal and an acquisition control terminal; the motion control terminal is connected with a motion controller; the motion controller is connected with a driver; the driver is connected with a motor; the sensor performs up-and-down moving scanning under the driving of a mechanical transmission mechanism; the sensor is connected with an image collector; the image collector is connected with the acquisition control terminal; the mechanical transmission component adopts a column structure shaped as a rectangular frame; the motor is arranged at the bottom of the column structure; a transmission screw is connected onto the motor; the sensor sleeves the transmission screw; an upper limit switch is arranged at an upper position of the left side surface of the column structure; a lower limit switch is arranged at a lower position of the left side surface of the column structure; an upper origin switch is arranged at an upper position of the right side surface of the column structure; a lower origin switch is arranged at a lower position of the right side surface of the column structure. The three-dimensional laser scanning system has the advantages of steady operation, rapid and accurate scanning and good protection.
Description
Technical field
The present invention relates to a kind of 3 D scanning system, more particularly to a kind of quick, precisely comprehensive to object using laser
Carry out non-contact scanning and carry out storing a kind of laser three-dimensional scanning system of analysis.
Background technology
With the fast development of the increasingly fierce and new and high technology of 21st century internationalization market competition, multimedia making
Increasing professional person is look for a kind of low cost system for being capable of rapid modeling in market.Laser 3 d scanner is exactly
The equipment that their demands can be met, it can be rapidly transformed into the three-dimensional image in real world can be empty in computer
Between the digital model that freely transmits.Laser three-dimensional scanning is to integrate light, mechanical, electrical and computer technology new and high technology,
It is mainly used in being scanned object space profile and structure, to obtain the space coordinates of body surface.Its significance exists
In steric information in kind being converted to into the data signal that computer capacity is directly processed, provide quite for digitlization in kind
Conveniently means.Laser 3 d scanner adopts an integrated structure light technology, phase measurement, computer vision technique
Complex three-dimensional non-contact measuring technology, using this measuring principle so that carry out photographic measurement to object and be possibly realized.Institute
Meaning photographic measurement, is just analogous to camera and the object in the visual field is taken a picture, and except for the difference that camera intake is object
Two dimensional image, and develop measuring instrument obtain be object three-dimensional information.Laser three-dimensional scanning and digitization system are anti-
Ask and play in engineering great function, 3 D scanning system is succeeded application in industries such as automobile, motorcycle, household electrical appliances, and
Laser 3 d scanner is applied in China's Duo Jia mould factories point, obtains good result.This system provides from model or
Material object scanning substantially reduces the development manufacturing cycle of mould to the various functions processed needed for desired model.Laser three
Dimension scanning technique can realize non-cpntact measurement, have the advantages that speed is fast, high precision.
The content of the invention
It is an object of the invention to provide a kind of quickly and accurately can carry out contactless sweeping to the comprehensive of object
Retouch and carry out a kind of laser three-D system for storing analysis.
The object of the present invention is achieved like this：Including control terminal machine, described control terminal machine includes motion control
Terminal processed and control terminal for data acquisition, described motion control terminal is connected with motion controller, described motion controller connection
There is a driver, described driver and motor connection, described motor is connected by mechanical transmission mechanism with sensor, described
Sensor moves up and down scanning under the drive of mechanical transmission mechanism, and described sensor includes a laser collection light source
With two video cameras, and it is all connected with being provided with image pick-up card on each video camera, described sensor connects with image acquisition device
Connect, described image acquisition device is connected with control terminal for data acquisition, connect between described control terminal for data acquisition and motion control terminal
Connect and be provided with telegon, be provided with velocity sensor between described motor and driver, described motor and image acquisition device
Between be provided with position-detection sensor, described mechanical transmission mechanism is the pillar construction of rectangular frame, and described motor sets
The bottom of pillar construction is placed in, described motor is connected with a drive lead screw by shaft coupling, and described sensor sleeve is connected on
On drive lead screw, described pillar construction left surface upper position is provided with upper limit position switch, described pillar construction left surface
Upper position is provided with lower position switch, and described pillar construction right flank upper position is provided with origin switch, described
Pillar construction right flank upper position is provided with lower origin switch, and described upper origin switch height face on the basis of ground level is low
In upper limit position switch highly, described lower origin switch height face on the basis of ground level is higher than lower position switch height.
It is servomotor that described motor is selected.
Described motor control mode elects semi-closed loop control system as.
Described motion controller controls four drivers, one motor of each driver drives simultaneously.
Four sensors are connected with described image acquisition device.
The beneficial effect comprise that：The present invention is provided with a control terminal machine, control terminal machine and installs fortune
Control control terminal and control terminal for data acquisition.Motion control terminal connection fortune control controller, motion controller is by pci bus and control
Terminating machine communication processed.Motion controller is connected by the interface of driver with driver, so as to control the state of driver.Motion
Controller controls four drivers, one motor of each driver drives simultaneously.Driver and motor connection, driver adopts arteries and veins
The mode of punching is controlled, and it has highly reliable, the advantage of signal good in anti-interference performance, and in motion, motor carries encoder
To driver, driver passes information to again motion controller to Real-time Feedback positional information.Motor is servomotor, using half
Closed-loop control system, servomotor adopts direct current or AC servo motor as driver part, by grating or inductosyn
High-precision full closed-loop position control system, therefore servomotor controllable speed, position essence are constituted as position detection device
Voltage signal very accurately, can be converted into torque and rotating speed with drive control object by degree, and semi-closed loop system also has price
Relatively low advantage, it is stable and reliable in work installed in the good airproof performance of the position feedback device of motor internal, almost need repairing.
Servo motor rotor rotating speed is controlled by input signal, and can fast reaction and with electromechanical time constant it is little, the linearity is high, initiating
The characteristics such as voltage, the angular displacement or angular speed output that the electric signal for being received can be converted on motor reel.Servomotor leads to
Cross mechanical transmission mechanism to be connected with sensor, sensor does upper and lower scanning motion under the drive of mechanical transmission mechanism.It is above-mentioned
Complete whole synchronous scanning system.A laser collection light source and two video cameras, two video cameras are mounted with sensor
Shooting angle can be debugged according to optimum efficiency, to reach omnidirectional shooting.Image pick-up card, Jing are installed on video camera
Crossing the image for shooting can quickly feed back to sensor after collection.Sensor is connected with image acquisition device, receives feedback
Sensor image is passed to into image acquisition device.Telegon is connected between control terminal for data acquisition and motion control terminal,
Telegon serves motion control terminal and matched well of the control terminal for data acquisition during sync pulse jamming.Servomotor and drive
Velocity sensor is provided between dynamic device, while position-detection sensor is also equipped between servomotor and image acquisition device,
Sensor synchronous acquisition image while motion is kept, has reached movement velocity and has met with matching for IMAQ speed
The requirement of systemic resolution.
The pillar construction of the rectangular frame of mechanical transmission mechanism, and arrangement four in rectangular configuration, motor is arranged at column knot
The bottom of structure, motor is connected with a drive lead screw by shaft coupling, and shaft coupling is yielding coupling, with stable drive, effect
Rate is high, the advantage of life-span length, reduces the high-precision requirement of the axiality in machinery adjustment.Sensor sleeve is connected on drive lead screw
On, drive lead screw drives the raising and lowering of sensor under the torsion of motor.Pillar construction left surface upper position is provided with
Upper limit position switch, pillar construction left surface upper position is provided with lower position switch, and pillar construction right flank upper position is arranged
There is upper origin switch, pillar construction right flank upper position is provided with lower origin switch, and upper limit position switch and lower position switch make
Whole system is safer in each placement location stroke up and down, and origin switch controls four sensors and makes it in same level
On, sensor starts to start scanning from bottom to top from respective zero point after system initialization, until the stroke range for needing, scanning
After the completion of, each sensor returns to the initial position in same level height, waits scanning next time.
Generally the present invention has and operates steadily, and realizes multi-axial Simultaneous operation, picture synchronization collection, and both can be very
The advantage of good matching, by adopting laser technology, realizes quickly, accurately scanning process, the requirement that the system of meeting is used,
Making analysis for the later stage provides important foundation.
Description of the drawings
Fig. 1 is laser three-dimensional scanning system schematic diagram of the present invention.
Fig. 2 is image capturing system schematic diagram of the present invention.
Fig. 3 is pillar construction schematic diagram of the present invention.
Fig. 4 is semi-closed loop control system schematic diagram of the present invention.
In figure：1st, pillar construction 2, motor 3, shaft coupling 4, drive lead screw 5, the sensor 6, upper limit are switch
7th, lower position switch 8, upper origin switch 9, lower origin switch.
Specific embodiment
Embodiment 1
As Figure 1-4, including control terminal machine, described control terminal machine includes motion control terminal and collection control
Terminal processed, described motion control terminal is connected with motion controller, and described motion controller is connected with driver, described
Driver and motor connection, described motor is connected by mechanical transmission mechanism with sensor, and described sensor is in machinery biography
Scanning is moved up and down under the drive of motivation structure, described sensor includes a laser collection light source and two video cameras,
And be all connected with that image pick-up card is installed on each video camera, described sensor is connected with image acquisition device, described image
Collector is connected with control terminal for data acquisition, and between described control terminal for data acquisition and motion control terminal coordination is connected with
It is provided with velocity sensor between device, described motor and driver, between described motor and image acquisition device position is provided with
Detection sensor is put, described mechanical transmission mechanism is the pillar construction 1 of rectangular frame, and described motor 2 is arranged at column knot
The bottom of structure 1, described motor 2 is connected with a drive lead screw 4 by shaft coupling 3, and described sensor 5 is socketed in driving wire
On bar 4, the described left surface upper position of pillar construction 1 is provided with upper limit position switch 6, and the described left surface of pillar construction 1 is leaned on
Bottom installs and is equipped with lower position switch 7, and the described right flank upper position of pillar construction 1 is provided with origin switch 8, described
The right flank upper position of pillar construction 1 is provided with lower origin switch 9, and the described height of upper origin switch 8 is on the basis of ground level
Face is less than the height of upper limit position switch 6, and the described height of lower origin switch 9 face on the basis of ground level is high higher than lower position switch 7
Degree.
The present invention is provided with a control terminal machine, control terminal machine and installs fortune control control terminal and acquisition control end
End.Motion control terminal connection fortune control controller, motion controller is communicated by pci bus with control terminal machine.Motion control
Device is connected by the interface of driver with driver, so as to control the state of driver.Driver and motor connection, driver is adopted
It is controlled with pulse mode, it has highly reliable, the advantage of signal good in anti-interference performance, in motion, motor carries volume
To driver, driver passes information to again motion controller to code device Real-time Feedback positional information.Motor is using direct current or friendship
Flow servo motor constitutes high-precision closed-loop by grating or inductosyn as driver part as position detection device
Position control system, therefore motor controllable speed, positional precision is very accurate, voltage signal can be converted into into torque and be turned
Speed is with drive control object.Rotor rotating speed is controlled by input signal, and can fast reaction and with electromechanical time constant it is little,
The characteristics such as linearity height, pickup voltage, can be converted into angular displacement on motor reel or angular speed is defeated the electric signal for being received
Go out.Motor is connected by mechanical transmission mechanism with sensor, and sensor does upper and lower scanning under the drive of mechanical transmission mechanism
Motion.It is above-mentioned to complete whole synchronous scanning system.It is mounted with laser collection light source and two video cameras on sensor, two
Individual video camera shooting angle can be debugged according to optimum efficiency, to reach omnidirectional shooting.Image is installed on video camera
Capture card, sensor can be quickly fed back to through the image for shooting after collection.Sensor is connected with image acquisition device,
Image is passed to image acquisition device by the sensor for receiving feedback.It is connected between control terminal for data acquisition and motion control terminal
Telegon, telegon serves motion control terminal and matched well of the control terminal for data acquisition during sync pulse jamming.Motor
Velocity sensor is provided between driver, while being also equipped with detection sensing in position between servomotor and image acquisition device
Device, sensor synchronous acquisition image while motion is kept has reached movement velocity full with matching for IMAQ speed
The foot requirement of systemic resolution.
The pillar construction of the rectangular frame of mechanical transmission mechanism, and arrangement four in rectangular configuration, motor is arranged at column knot
The bottom of structure, motor is connected with a drive lead screw by shaft coupling, and shaft coupling is yielding coupling, with stable drive, effect
Rate is high, the advantage of life-span length, reduces the high-precision requirement of the axiality in machinery adjustment.Sensor sleeve is connected on drive lead screw
On, drive lead screw drives the raising and lowering of sensor under the torsion of motor.Pillar construction left surface upper position is provided with
Upper limit position switch, pillar construction left surface upper position is provided with lower position switch, and pillar construction right flank upper position is arranged
There is upper origin switch, pillar construction right flank upper position is provided with lower origin switch, and upper limit position switch and lower position switch make
Whole system is safer in each placement location stroke up and down, and origin switch controls four sensors and makes it in same level
On, sensor starts to start scanning from bottom to top from respective zero point after system initialization, until the stroke range for needing, scanning
After the completion of, each sensor returns to the initial position in same level height, waits scanning next time.
Generally the present invention has and operates steadily, and realizes multi-axial Simultaneous operation, picture synchronization collection, and both can be very
The advantage of good matching, by adopting laser technology, realizes quickly, accurately scanning process, the requirement that the system of meeting is used,
Making analysis for the later stage provides important foundation.
Embodiment 2
As Figure 1-4, including control terminal machine, described control terminal machine includes motion control terminal and collection control
Terminal processed, described motion control terminal is connected with motion controller, and described motion controller is connected with driver, described
Driver and motor connection, described motor is connected by mechanical transmission mechanism with sensor, and described sensor is in machinery biography
Scanning is moved up and down under the drive of motivation structure, described sensor includes a laser collection light source and two video cameras,
And be all connected with that image pick-up card is installed on each video camera, described sensor is connected with image acquisition device, described image
Collector is connected with control terminal for data acquisition, and between described control terminal for data acquisition and motion control terminal coordination is connected with
It is provided with velocity sensor between device, described motor and driver, between described motor and image acquisition device position is provided with
Detection sensor is put, described mechanical transmission mechanism is the pillar construction 1 of rectangular frame, and described motor 2 is arranged at column knot
The bottom of structure 1, described motor 2 is connected with a drive lead screw 4 by shaft coupling 3, and described sensor 5 is socketed in driving wire
On bar 4, the described left surface upper position of pillar construction 1 is provided with upper limit position switch 6, and the described left surface of pillar construction 1 is leaned on
Bottom installs and is equipped with lower position switch 7, and the described right flank upper position of pillar construction 1 is provided with origin switch 8, described
The right flank upper position of pillar construction 1 is provided with lower origin switch 9, and the described height of upper origin switch 8 is on the basis of ground level
Face is less than the height of upper limit position switch 6, and the described height of lower origin switch 9 face on the basis of ground level is high higher than lower position switch 7
Degree.
It is servomotor that described motor 2 is selected.
Described motor control mode elects semi-closed loop control system as.
Described motion controller controls four drivers, one motor of each driver drives simultaneously.
Four sensors are connected with described image acquisition device.
The present invention is provided with a control terminal machine, control terminal machine and installs fortune control control terminal and acquisition control end
End.Motion control terminal connection fortune control controller, motion controller is communicated by pci bus with control terminal machine.Motion control
Device is connected by the interface of driver with driver, so as to control the state of driver.Motion controller controls four drives simultaneously
Dynamic device, one motor of each driver drives.Driver and motor connection, driver is controlled using pulse mode, its tool
Have highly reliable, the advantage of signal good in anti-interference performance, in motion, motor carries encoder Real-time Feedback positional information to drive
Dynamic device, driver passes information to again motion controller.Motor is servomotor, using semi-closed loop control system, servo electricity
Machine, as driver part, is constituted by grating or inductosyn using direct current or AC servo motor as position detection device
High-precision full closed-loop position control system, therefore servomotor controllable speed, positional precision is very accurate, can be by voltage
Signal is converted into torque and rotating speed with drive control object, and semi-closed loop system also has the advantages that price is relatively low, installed in motor
The good airproof performance of internal position feedback device, it is stable and reliable in work, almost need repairing.Servo motor rotor rotating speed is input into
Signal is controlled, and can fast reaction and with characteristics such as electromechanical time constant little, the linearity is high, pickup voltages, can be being received
Electric signal be converted into angular displacement on motor reel or angular speed output.Servomotor is by mechanical transmission mechanism and sensor
Connection, sensor does upper and lower scanning motion under the drive of mechanical transmission mechanism.It is above-mentioned to complete whole synchronous scanning system.
A laser collection light source and two video cameras are mounted with sensor, two video camera shooting angle can be according to optimum efficiency
Debugged, to reach omnidirectional shooting.Image pick-up card is installed on video camera, can after collection through the image for shooting
Quickly to feed back to sensor.Sensor is connected with image acquisition device, and image is passed to image and adopted by the sensor for receiving feedback
Storage.Telegon is connected between control terminal for data acquisition and motion control terminal, telegon serves motion control terminal
Matched well with control terminal for data acquisition during sync pulse jamming.Velocity pick-up is provided between servomotor and driver
Device, while being also equipped with position-detection sensor between servomotor and image acquisition device, sensor is while motion is kept
Synchronous acquisition image, movement velocity and IMAQ speed have been reached matches the requirement for meeting systemic resolution.
The pillar construction of the rectangular frame of mechanical transmission mechanism, and arrangement four in rectangular configuration, motor is arranged at column knot
The bottom of structure, motor is connected with a drive lead screw by shaft coupling, and shaft coupling is yielding coupling, with stable drive, effect
Rate is high, the advantage of life-span length, reduces the high-precision requirement of the axiality in machinery adjustment.Sensor sleeve is connected on drive lead screw
On, drive lead screw drives the raising and lowering of sensor under the torsion of motor.Pillar construction left surface upper position is provided with
Upper limit position switch, pillar construction left surface upper position is provided with lower position switch, and pillar construction right flank upper position is arranged
There is upper origin switch, pillar construction right flank upper position is provided with lower origin switch, and upper limit position switch and lower position switch make
Whole system is safer in each placement location stroke up and down, and origin switch controls four sensors and makes it in same level
On, sensor starts to start scanning from bottom to top from respective zero point after system initialization, until the stroke range for needing, scanning
After the completion of, each sensor returns to the initial position in same level height, waits scanning next time.
Generally the present invention has and operates steadily, and realizes multi-axial Simultaneous operation, picture synchronization collection, and both can be very
The advantage of good matching, by adopting laser technology, realizes quickly, accurately scanning process, the requirement that the system of meeting is used,
Making analysis for the later stage provides important foundation.
Claims (5)
1. a kind of laser three-dimensional scanning system, including control terminal machine, it is characterised in that：Described control terminal machine includes fortune
Dynamic control terminal and control terminal for data acquisition, described motion control terminal is connected with motion controller, described motion controller
It is connected with driver, described driver and motor connection, described motor is connected by mechanical transmission mechanism with sensor, institute
The sensor stated moves up and down scanning under the drive of mechanical transmission mechanism, and described sensor includes a laser collection
Light source and two video cameras, and be all connected with being provided with image pick-up card on each video camera, described sensor and IMAQ
Device connects, and described image acquisition device is connected with control terminal for data acquisition, described control terminal for data acquisition and motion control terminal it
Between be connected with telegon, be provided with velocity sensor between described motor and driver, described motor is adopted with image
It is provided with position-detection sensor between storage, described mechanical transmission mechanism is the pillar construction of rectangular frame, described electricity
Machine is arranged at the bottom of pillar construction, and described motor is connected with a drive lead screw, described sensor sleeve by shaft coupling
It is connected on drive lead screw, described pillar construction left surface upper position is provided with upper limit position switch, described pillar construction is left
Side upper position is provided with lower position switch, and described pillar construction right flank upper position is provided with origin switch, institute
The pillar construction right flank upper position stated is provided with lower origin switch, and described upper origin switch height is on the basis of ground level
Face less than upper limit position switch height, described lower origin switch height on the basis of ground level face higher than lower position switch height.
2. a kind of laser three-dimensional scanning system as claimed in claim 1, it is characterised in that：Described motor is selected as servo electricity
Machine.
3. a kind of laser three-dimensional scanning system as claimed in claim 2, it is characterised in that：Described motor control mode is elected as
Semi-closed loop control system.
4. a kind of laser three-dimensional scanning system as claimed in claim 1, it is characterised in that：The same time control of described motion controller
Four drivers of system, one motor of each driver drives.
5. a kind of laser three-dimensional scanning system as claimed in claim 1, it is characterised in that：Connect on described image acquisition device
There are four sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510052530.5A CN104655044B (en) | 2015-02-02 | 2015-02-02 | Three-dimensional laser scanning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510052530.5A CN104655044B (en) | 2015-02-02 | 2015-02-02 | Three-dimensional laser scanning system |
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| Publication Number | Publication Date |
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| CN104655044A CN104655044A (en) | 2015-05-27 |
| CN104655044B true CN104655044B (en) | 2017-04-26 |
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| CN201510052530.5A Expired - Fee Related CN104655044B (en) | 2015-02-02 | 2015-02-02 | Three-dimensional laser scanning system |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101476881A (en) * | 2009-01-23 | 2009-07-08 | 清华大学 | Line-shaped laser vertical rotation type three-dimensional appearance measuring apparatus and method thereof |
| CN101839700A (en) * | 2010-03-29 | 2010-09-22 | 重庆建设工业(集团)有限责任公司 | Non-contact image measuring system |
| CN102425991A (en) * | 2011-09-15 | 2012-04-25 | 武汉武大卓越科技有限责任公司 | Automation storage yard laser measurement device and application method thereof |
| CN204495297U (en) * | 2015-02-02 | 2015-07-22 | 郑州酷派电子设备有限公司 | A kind of laser three-dimensional scanning system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2003029921A2 (en) * | 2001-09-28 | 2003-04-10 | University Of North Carolina At Chapel Hill | Methods and systems for three-dimensional motion control and tracking of a mechanically unattached magnetic probe |
| US7365737B2 (en) * | 2004-03-23 | 2008-04-29 | Fujitsu Limited | Non-uniform gesture precision |
-
2015
- 2015-02-02 CN CN201510052530.5A patent/CN104655044B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101476881A (en) * | 2009-01-23 | 2009-07-08 | 清华大学 | Line-shaped laser vertical rotation type three-dimensional appearance measuring apparatus and method thereof |
| CN101839700A (en) * | 2010-03-29 | 2010-09-22 | 重庆建设工业(集团)有限责任公司 | Non-contact image measuring system |
| CN102425991A (en) * | 2011-09-15 | 2012-04-25 | 武汉武大卓越科技有限责任公司 | Automation storage yard laser measurement device and application method thereof |
| CN204495297U (en) * | 2015-02-02 | 2015-07-22 | 郑州酷派电子设备有限公司 | A kind of laser three-dimensional scanning system |
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