CN105571519A - Auxiliary device of point cloud registration of three-dimensional scanner and registration method of three-dimensional scanner - Google Patents
Auxiliary device of point cloud registration of three-dimensional scanner and registration method of three-dimensional scanner Download PDFInfo
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- CN105571519A CN105571519A CN201610092220.0A CN201610092220A CN105571519A CN 105571519 A CN105571519 A CN 105571519A CN 201610092220 A CN201610092220 A CN 201610092220A CN 105571519 A CN105571519 A CN 105571519A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The invention discloses an auxiliary device of point cloud registration of a three-dimensional scanner and a registration method of the auxiliary device. The auxiliary device comprises a cubic body and a magnetic base, wherein three planes, which are vertical to one another on the cubic body, comprise a first plane, a second plane and a third plane respectively; the magnetic base is fixedly connected with a fourth plane of the cubic body through a connection rod; the fourth plane is opposite to the second plane; and the magnetic base and a product are adsorbed together. With the adoption of the auxiliary device, a scanned part does not need to be scanned for the second time; however, the three planes of the cubic body with a relatively small size are scanned for the second time, and the efficiency can be improved by about 50%; a lug boss on the cubic body is used as a reference point for point cloud registration and the reference point can be easily found; the surface of the lug boss has a regular shape and point cloud data of the reference point are stable, so that errors of the point cloud registration are greatly reduced; and the auxiliary device disclosed by the invention is simple in structure, low in cost and convenient and rapid to operate.
Description
Technical field
The present invention relates to detection field, particularly a kind of servicing unit of some cloud of spatial digitizer and joining method thereof.
Background technology
3-D scanning integrates light, mechanical, electrical and new and high technology that is computer technology, is mainly used in scanning object space profile and structure, to obtain the volume coordinate of body surface.Its significance is the steric information of material object to be converted to the digital signal calculating function and directly process, for digitizing in kind provides quite conveniently means.
Spatial digitizer, as one measurement in space equipment fast, compensate for being easy to that three coordinate measuring machine exists and damages gauge head, scratches the shortcoming that the surface of tested part, measuring speed slowly, not easily obtain continuous print coordinate points and cannot measure frangible, yielding object.Because its measuring speed is fast, precision is high, noncontact, the advantage such as easy to use and more and more being applied.
Usually, the measurement data obtained after spatial digitizer scanning is made up of a large amount of three-dimensional coordinate points, according to the size of the character of scanner, sweep parameter and testee, by hundreds of point to millions of point not etc., these a large amount of three-dimensional data points are called " some cloud ".Use spatial digitizer to scan product, cloud data can be collected in computing machine the digital model (this process is called three-dimensional reconstruction) creating actual object.
When current use spatial digitizer scans product, because product is placed on the enterprising line scanning of platform, thus face be down scanning less than.In order to the three dimensional point cloud of an integral product can be obtained, first to carry out twice sweep to product, and then be spliced into an overall method and come.Method is as follows: the first step: product is put into the enterprising line scanning of platform, product as shown in Figure 2, and the cloud data of present scan comprises other five faces except the bottom surface (A face) of product; Second step: Product Level is overturn 180 °, then product is scanned again, product as shown in Figure 3, the cloud data of present scan comprises other five faces except the bottom surface (C face) of product; The cloud data of such twice sweep comprises the data in four faces jointly; 3rd step: the cloud data of twice sweep is carried out alignment splicing, namely finds the data of the total point on four total faces in the cloud data of twice sweep, make two point cloud chart automatic Mosaics become an entirety.
But need to carry out twice sweep to some position of product, done the work repeated, this needs the time of consumption about 60%, therefore inefficiency, and especially for bulky product, this respect impact is obvious especially; In addition, due to for some products in irregular shape, when finding total point in cloud data, lack suitable reference point, easily increase some cloud error.
The information being disclosed in this background technology part is only intended to increase the understanding to general background of the present invention, and should not be regarded as admitting or imply in any form that this information structure has been prior art that persons skilled in the art are known.
Summary of the invention
The object of the present invention is to provide a kind of servicing unit and joining method thereof of some cloud of spatial digitizer, thus overcome existing scan method inefficiency and put the large defect of cloud error.
For achieving the above object, the invention provides a kind of servicing unit of some cloud of spatial digitizer, servicing unit comprises: cube, three orthogonal planes on cube be respectively first surface, second and the 3rd; Magnetic bases, magnetic bases are fixedly connected with cubical fourth face by connecting link, and fourth face is relative with second, and magnetic bases and product are attached together.
Preferably, in technique scheme, first surface, second and the 3rd is respectively equipped with two boss.
Preferably, in technique scheme, the boss face of boss is circular, square or rectangular.
Present invention also offers a kind of some cloud method of spatial digitizer, comprise the steps: preparation process: prepare servicing unit, servicing unit comprises the cube and magnetic bases that are fixedly connected with, three orthogonal planes on cube be respectively first surface, second and the 3rd; Positioning step: product is placed on the table, the position that product is blocked by worktable is for covering position; Magnetic bases are adsorbed on product, make first surface, second and the 3rd face be positioned at sweep limit; First detecting step: spatial digitizer is scanned product is exposed to surface outside worktable and first surface, second and the 3rd, form the first cloud data; Spin step: rotated a certain angle together with servicing unit by product, makes to cover position and is exposed to outside worktable, and first surface, second and the 3rd face are positioned at sweep limit; Second detecting step: spatial digitizer is scanned cover the surface at position and first surface, second and the 3rd, form the second cloud data; Splicing step: find in the first cloud data and the second cloud data first surface, common ground on second and the 3rd data as a reference, thus the first point data and second point data to be stitched together.
Preferably, in technique scheme, in spin step, product and servicing unit are horizontally rotated 180 °.
Preferably, in technique scheme, first surface, second and the 3rd is respectively equipped with two boss, in splicing step, in the first cloud data and the second cloud data, find the data of the common ground on the boss of first surface, second and the 3rd as a reference, thus the first point data and second point data are stitched together.
Preferably, in technique scheme, the boss face of boss is circular.
Preferably, in technique scheme, in splicing step, find in the first cloud data and the second cloud data first surface, second and the 3rd boss boss face the center of circle data as a reference, thus the first point data and second point data to be stitched together.
Preferably, in technique scheme, the boss face of boss is square or rectangular.
Preferably, in technique scheme, in splicing step, find in the first cloud data and the second cloud data first surface, second and the 3rd boss boss face center data as a reference, thus the first point data and second point data to be stitched together.
Compared with prior art, the present invention has following beneficial effect:
The present invention without the need to carrying out rescan to scanning position, but carries out rescan to cubical three faces of small volume, and efficiency can be made to improve about 50%; Utilize the point-to-point as a reference cloud of the boss on cube to splice, be easy to find reference point, and due to the regular shape of boss face, the cloud data of reference point is stablized, and greatly reduces the error of a cloud; This assistant apparatus structure is simple, with low cost, convenient to operation.
Accompanying drawing explanation
Fig. 1 is the structural drawing of the servicing unit of some cloud according to spatial digitizer of the present invention.
Fig. 2 is the structural drawing of the first detecting step of some cloud method according to spatial digitizer of the present invention.
Fig. 3 is the structural drawing of the second detecting step of some cloud method according to spatial digitizer of the present invention.
Main Reference Numerals illustrates:
1-cube, 11-first surface, 111-boss, 12-second, 121-boss, 13-the 3rd, 131-boss, 2-connecting link, 3-magnetic bases, 4-product, 5-worktable.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail, but is to be understood that protection scope of the present invention not by the restriction of embodiment.
Clearly represent unless otherwise other, otherwise in whole instructions and claims, term " comprise " or its conversion as " comprising " or " including " etc. by be understood to include the element of stating or ingredient, and do not get rid of other element or other ingredient.
As shown in Figure 1, the servicing unit according to the some cloud of the spatial digitizer of the specific embodiment of the invention comprises cube 1, connecting link 2 and magnetic bases 3, and cube 1 is fixedly connected with by connecting link 2 with magnetic bases 3.
Three orthogonal planes (namely sharing three planes on same summit) on cube 1 are respectively first surface 11, second face 12 and the 3rd face 13, and first surface 11, second face 12 and the 3rd face 13 are respectively equipped with two boss, 111, two boss 121 and two boss 131.The boss face of boss 111, boss 121 and boss 131 is regular shape, as circle, rectangle, square, triangle etc.Magnetic bases 3 are fixedly connected with by the fourth face of connecting link 2 with cube 1, and fourth face is relative with the second face 12.
When utilizing this servicing unit to carry out a some cloud, comprise the steps:
Positioning step: product 4 is placed on worktable 5, the position that product 4 is blocked by worktable 5 is for covering position; Magnetic bases 3 are adsorbed on product 4, make first surface 11, second face 12 and the 3rd face 13 be positioned at sweep limit.
As an embodiment, as shown in Figure 2, product 4 is cubic, and its bottom surface is A face (namely covering position), and right flank is B face, and end face is C face, and left surface is D face, and trailing flank is E face, and leading flank is F face.Now, the first surface 11 of cube 1 is end face, and the second face 12 is right flank, and the 3rd face 13 is leading flank.
First detecting step: spatial digitizer is scanned product 4 is exposed to surface outside worktable 5 and first surface 11, second face 12 and the 3rd face 13 (comprising boss 111, boss 121 and boss 131), form the first cloud data.
Spin step: rotated a certain angle together with servicing unit by product 4, the position of covering of product 4 is exposed to outside worktable 5, and first surface 11, second face 12 and the 3rd face 13 is positioned at sweep limit.
Preferably, by product 4 flip horizontal 180 ° together with servicing unit.As described in Figure 3, after rotation, the A face (covering position) of product 4, is exposed to outside worktable 5 upward, and B face, D face, E face, F face are also exposed to outside worktable 5 simultaneously, and C face contacts with worktable, is not exposed to outside worktable 5.Now, the first surface 11 of cube 1 is bottom surface, and the second face 12 is right flank, and the 3rd face 13 is trailing flank.
Second detecting step: spatial digitizer is scanned cover the surface at position and first surface 11, second face 13 and the 3rd face 13 (comprising boss 111, boss 121 and boss 131), form the second cloud data; As shown in Figure 3, in this step, the A face of testing product 4 and first surface 11, second face 13 and the 3rd face 13.
Splicing step: find the data of the common ground on first surface 11, second face 13 and the 3rd face 13 as a reference in the first cloud data and the second cloud data, thus the first point data and second point data are stitched together.Preferably, the data of the common ground on boss 111, boss 121 and boss 131 are selected as a reference.Preferably, select the data of the center of circle of the boss face of boss 111, the boss face of boss 121, the boss face of boss 131 (for circular) or geometric center (for square, rectangle or triangle, as center, center etc.) as a reference.
The present invention without the need to carrying out rescan to scanning position, but carries out rescan to cubical three faces of small volume, because scan area is little, efficiency can be made to improve about 50%; Utilize the point-to-point as a reference cloud of the boss on cube to splice, be easy to find reference point, and due to the regular shape of boss face, the cloud data of reference point is stablized, and greatly reduces the error of a cloud; This assistant apparatus structure is simple, with low cost, convenient to operation.
The aforementioned description to concrete exemplary of the present invention is to illustrate and the object of illustration.These descriptions not want the present invention to be defined as disclosed precise forms, and obviously, according to above-mentioned instruction, can much change and change.The object selected exemplary embodiment and describe is to explain certain principles of the present invention and practical application thereof, thus those skilled in the art can be realized and utilize various different exemplary of the present invention and various different selection and change.Scope of the present invention is intended to limited by claims and equivalents thereof.
Claims (10)
1. a servicing unit for the some cloud of spatial digitizer, it is characterized in that, described servicing unit comprises:
Cube, three orthogonal planes on described cube be respectively first surface, second and the 3rd; And
Magnetic bases, described magnetic bases are fixedly connected with described cubical fourth face by connecting link, described fourth face with described second relative, and described magnetic bases and product are attached together.
2. the servicing unit of the some cloud of 3-D scanning according to claim 1, is characterized in that, described first surface, described second and described 3rd is respectively equipped with two boss.
3. the servicing unit of the some cloud of 3-D scanning according to claim 2, is characterized in that, the boss face of described boss is circular, square or rectangular.
4. a some cloud method for spatial digitizer, is characterized in that, comprise the steps:
Preparation process: prepare servicing unit, described servicing unit comprises the cube and magnetic bases that are fixedly connected with, three orthogonal planes on described cube be respectively first surface, second and the 3rd;
Positioning step: product is placed on the table, the position that described product is blocked by described worktable is for covering position; Described magnetic bases are adsorbed on product, make described first surface, described second and described 3rd face be positioned at sweep limit;
First detecting step: described spatial digitizer is scanned described product is exposed to surface outside described worktable and described first surface, described second and described 3rd, form the first cloud data;
Spin step: rotated a certain angle together with described servicing unit by described product, covers position and is exposed to outside described worktable described in making, and described first surface, described second and described 3rd face are positioned at sweep limit;
Second detecting step: make described spatial digitizer scan described in cover the surface at position and described first surface, described second and described 3rd, form the second cloud data;
Splicing step: find in described first cloud data and described second cloud data described first surface, common ground on described second and described 3rd data as a reference, thus described first point data and described second point data to be stitched together.
5. the some cloud method of spatial digitizer according to claim 4, is characterized in that, in described spin step, described product and described servicing unit is horizontally rotated 180 °.
6. the some cloud method of the spatial digitizer according to claim 4 or 5, it is characterized in that, described first surface, described second and described 3rd is respectively equipped with two boss, in described splicing step, in described first cloud data and described second cloud data, find the data of the common ground on the boss of described first surface, described second and described 3rd as a reference, thus described first point data and described second point data are stitched together.
7. the some cloud method of spatial digitizer according to claim 6, is characterized in that, the boss face of described boss is circular.
8. the some cloud method of spatial digitizer according to claim 7, it is characterized in that, in described splicing step, find in described first cloud data and described second cloud data described first surface, described second and described 3rd boss boss face the center of circle data as a reference, thus described first point data and described second point data to be stitched together.
9. the some cloud method of spatial digitizer according to claim 6, is characterized in that, the boss face of described boss is square or rectangular.
10. the some cloud method of spatial digitizer according to claim 9, it is characterized in that, in described splicing step, find in described first cloud data and described second cloud data described first surface, described second and described 3rd boss boss face center data as a reference, thus described first point data and described second point data to be stitched together.
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| CN201610092220.0A CN105571519B (en) | 2016-02-19 | 2016-02-19 | The auxiliary device and its joining method of the point cloud of spatial digitizer |
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| CN201610092220.0A CN105571519B (en) | 2016-02-19 | 2016-02-19 | The auxiliary device and its joining method of the point cloud of spatial digitizer |
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| CN110057545A (en) * | 2019-05-07 | 2019-07-26 | 北京大学口腔医学院 | The standard evaluation method of spatial digitizer scanning accuracy in a kind of mouth |
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