CN105571519B - The auxiliary device and its joining method of the point cloud of spatial digitizer - Google Patents
The auxiliary device and its joining method of the point cloud of spatial digitizer Download PDFInfo
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- CN105571519B CN105571519B CN201610092220.0A CN201610092220A CN105571519B CN 105571519 B CN105571519 B CN 105571519B CN 201610092220 A CN201610092220 A CN 201610092220A CN 105571519 B CN105571519 B CN 105571519B
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- face
- point cloud
- boss
- cloud data
- spatial digitizer
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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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- General Physics & Mathematics (AREA)
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- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The invention discloses the auxiliary device and its joining method of a kind of point cloud of spatial digitizer, auxiliary device includes：Cube, three orthogonal planes on cube are respectively the first face, the second face and third face；Magnetic bases, magnetic bases are fixedly connected by connecting rod with cubical fourth face, and fourth face is opposite with the second face, and magnetic bases are attached together with product.The present invention is not necessarily to carry out rescan to scanned position, but carries out rescan to cubical three faces of small volume, and efficiency can be made to improve 50% or so；Using the boss on cube, point-to-point cloud is spliced as reference, it is easy to be found reference point, and since the regular shape of boss face, the point cloud data of reference point are stablized, be greatly reduced the error of a cloud；The assistant apparatus structure is simple, of low cost, easy to operate.
Description
Technical field
The present invention relates to detection field, more particularly to the auxiliary device of the point cloud of a kind of spatial digitizer and its splicing
Method.
Background technology
3-D scanning is to integrate light, mechanical, electrical and computer technology new and high technology, is mainly used for outside to object space
Shape and structure are scanned, to obtain the space coordinate of body surface.Its significance is can be by three-dimensional letter in kind
Breath is converted to the digital signal that computer capacity is directly handled, and quite conveniently means are provided in kind digitize.
Spatial digitizer compensates for as a kind of quick measurement in space equipment and is easy to damage existing for three coordinate measuring machine
Gauge head scratches that the surface of tested part, measuring speed is slow, is not easy to obtain continuous coordinate points and can not be to frangible, yielding
The shortcomings that object measures.Because its measuring speed is fast, precision is high, non-contact, the advantages that easy to use due to obtain it is more and more
Application.
In general, obtained measurement data is made of a large amount of three-dimensional coordinate point after spatial digitizer scanning, according to sweeping
The property of instrument, the size of sweep parameter and testee are retouched, is differed to millions of points by hundreds of points, these a large amount of three-dimensional datas
Point is known as " point cloud ".Product is scanned using spatial digitizer, point cloud data can be collected in computer and be created in fact
The mathematical model of border object (this process is referred to as three-dimensional reconstruction).
When being scanned at present to product using spatial digitizer, it is scanned because product is placed on platform, downward
Face scan less than.In order to obtain the three dimensional point cloud of an integral product, first have to sweep product twice
It retouches, is then spliced into the method for an entirety again to complete.Method is as follows：The first step：Product is put on platform and is scanned,
The point cloud data of product as shown in Figure 2, present scan includes other five faces in addition to the bottom surface (faces A) of product；Second step：
Product Level is overturn 180 °, then product is scanned again, product as shown in Figure 3, the point cloud data of present scan
Include other five faces in addition to the bottom surface (faces C) of product；The common number for including four faces of point cloud data of twice sweep in this way
According to；Third walks：The point cloud data of twice sweep is carried out alignment splicing, i.e., finds four in the point cloud data of twice sweep altogether
The data for having the shared point on face, make two point cloud chart automatic Mosaics at an entirety.
However, it is desirable to which certain positions to product carry out twice sweep, the work repeated is done, this needs consumption 60% left
The right time, therefore working efficiency is low, particularly with bulky product, this respect influences particularly evident；In addition, due to for
Some products in irregular shape lack suitable reference point when finding shared point in point cloud data, are easy increase point cloud and spell
Connect error.
Being disclosed in the information of the background technology part, it is only intended to increase understanding of the overall background of the invention, without answering
It has been the prior art well known to persons skilled in the art when being considered as recognizing or imply that the information is constituted in any form.
Invention content
The purpose of the present invention is to provide a kind of spatial digitizer point cloud auxiliary device and its joining method, from
And overcomes existing scan method working efficiency low and put the big defect of cloud error.
To achieve the above object, the present invention provides a kind of auxiliary device of the point cloud of spatial digitizer, auxiliary dresses
Set including：Cube, three orthogonal planes on cube are respectively the first face, the second face and third face；Magnetic bottom
Seat, magnetic bases are fixedly connected by connecting rod with cubical fourth face, and fourth face is opposite with the second face, and magnetic bases
It is attached together with product.
Preferably, in above-mentioned technical proposal, two boss are respectively equipped on the first face, the second face and third face.
Preferably, in above-mentioned technical proposal, the boss face of boss is round, square or rectangular.
The present invention also provides a kind of point cloud methods of spatial digitizer, include the following steps：Preparation process：Prepare
Auxiliary device, auxiliary device include the cube and magnetic bases being fixedly connected, three orthogonal planes on cube
Respectively the first face, the second face and third face；Positioning step：Product is placed on the table, is blocked by workbench on product
Position be masking position；Magnetic bases are adsorbed on product, the first face, the second face and third face is made to be located at scanning range
It is interior；First detecting step：Make to be exposed to surface and the first face, the second face except workbench on spatial digitizer scanning product
And third face, form the first point cloud data；Spin step：Product and auxiliary device are rotated a certain angle together, make screening
It covers position to be exposed to except workbench, and the first face, the second face and third face are located in scanning range；Second detection step
Suddenly：Surface and the first face, the second face and third face for making spatial digitizer scanning masking position, form second point cloud number
According to；Splice step：It is found in the first point cloud data and the second point cloud data common on the first face, the second face and third face
The data of point as reference, so that the first point cloud data and the second point cloud data are stitched together.
Preferably, in above-mentioned technical proposal, in spin step, product and auxiliary device are rotated horizontally 180 °.
Preferably, in above-mentioned technical proposal, two boss, splicing step are respectively equipped on the first face, the second face and third face
In rapid, the common ground on the boss in the first face, the second face and third face is found in the first point cloud data and the second point cloud data
Data as reference, so that the first point cloud data and the second point cloud data are stitched together.
Preferably, in above-mentioned technical proposal, the boss face of boss is circle.
Preferably, in above-mentioned technical proposal, splice in step, the is found in the first point cloud data and the second point cloud data
On one side, the data in the center of circle of the boss face of the boss in the second face and third face as reference, to by the first point cloud data and
Second point cloud data is stitched together.
Preferably, in above-mentioned technical proposal, the boss face of boss is square or rectangle.
Preferably, in above-mentioned technical proposal, splice in step, the is found in the first point cloud data and the second point cloud data
On one side, the data at the center of the boss face of the boss in the second face and third face as reference, to by the first point cloud data and
Second point cloud data is stitched together.
Compared with prior art, the present invention has the advantages that：
The present invention is not necessarily to carry out rescan to scanned position, but is carried out to cubical three faces of small volume
Rescan can make efficiency improve 50% or so；Using the boss on cube, point-to-point cloud is spliced as reference, is held very much
Reference point is easily found, and since the regular shape of boss face, the point cloud data of reference point are stablized, greatly reduces a cloud
Error；The assistant apparatus structure is simple, of low cost, easy to operate.
Description of the drawings
Fig. 1 is the structure chart of the auxiliary device of the point cloud of spatial digitizer according to the present invention.
Fig. 2 is the structure chart of the first detecting step of the point cloud method of spatial digitizer according to the present invention.
Fig. 3 is the structure chart of the second detecting step of the point cloud method of spatial digitizer according to the present invention.
Main appended drawing reference explanation：
1- cubes, the first faces 11-, 111- boss, the second faces 12-, 121- boss, 13- thirds face, 131- boss, 2-
Connecting rod, 3- magnetic bases, 4- products, 5- workbench.
Specific implementation mode
Below in conjunction with the accompanying drawings, the specific implementation mode of the present invention is described in detail, it is to be understood that the guarantor of the present invention
Shield range is not restricted by specific implementation.
Unless otherwise explicitly stated, otherwise in entire disclosure and claims, term " comprising " or its change
It changes such as "comprising" or " including " etc. and will be understood to comprise stated element or component, and do not exclude other members
Part or other component parts.
As shown in Figure 1, including according to the auxiliary device of the point cloud of the spatial digitizer of the specific embodiment of the invention
Cube 1, connecting rod 2 and magnetic bases 3, cube 1 are fixedly connected with magnetic bases 3 by connecting rod 2.
Three orthogonal planes (three planes for sharing the same vertex) on cube 1 are respectively the first face
11, it is convex to be respectively equipped with two boss 111, two on first face 11, the second face 12 and third face 13 for the second face 12 and third face 13
Platform 121 and two boss 131.The boss face of boss 111, boss 121 and boss 131 is regular shape, such as round, rectangular
Shape, square, triangle etc..Magnetic bases 3 are fixedly connected by connecting rod 2 with the fourth face of cube 1, fourth face and second
Face 12 is opposite.
When carrying out cloud using the auxiliary device, include the following steps：
Positioning step：Product 4 is placed on workbench 5, the position blocked by workbench 5 on product 4 is masking position；
Magnetic bases 3 are adsorbed on product 4, the first face 11, the second face 12 and third face 13 is made to be located in scanning range.
As one embodiment, as shown in Fig. 2, product 4 is cubic, bottom surface is the faces A (covering position), right side
Face is the faces B, and top surface is the faces C, and left side is the faces D, and trailing flank is the faces E, and leading flank is the faces F.At this point, the first face 11 of cube 1
For top surface, the second face 12 is right side, and third face 13 is leading flank.
First detecting step：Make to be exposed to the surface and the first face except workbench 5 on spatial digitizer scanning product 4
11, the second face 12 and third face 13 (including boss 111, boss 121 and boss 131) form the first point cloud data.
Spin step：Product 4 and auxiliary device are rotated a certain angle together, the masking position of product 4 is made to be exposed to
Except workbench 5, and the first face 11, the second face 12 and third face 13 are located in scanning range.
Preferably, by 180 ° of product 4 and auxiliary device together flip horizontal.As described in Figure 3, after rotation, the faces A of product 4
(masking position) upward, is exposed to outside workbench 5, while the faces B, the faces D, the faces E, the faces F are also exposed to outside workbench 5, the faces C and work
Platform contacts, and is not exposed to outside workbench 5.At this point, the first face 11 of cube 1 is bottom surface, the second face 12 is right side, third face
13 be trailing flank.
Second detecting step：Make spatial digitizer scanning masking position surface and the first face 11, the second face 13 and
Third face 13 (including boss 111, boss 121 and boss 131) forms the second point cloud data；As shown in figure 3, in the step
In, detect the faces A and the first face 11, the second face 13 and third face 13 of product 4.
Splice step：The first face 11, the second face 13 and third are found in the first point cloud data and the second point cloud data
The data of common ground on face 13 as reference, so that the first point cloud data and the second point cloud data are stitched together.Preferably,
Select the data of boss 111, boss 121 and the common ground on boss 131 as reference.Preferably, selection boss 111 is convex
Table top, the boss face of boss 121, the center of circle (for circle) of the boss face of boss 131 or geometric center are (to square, length
For rectangular or triangle, such as center, center) data as reference.
The present invention is not necessarily to carry out rescan to scanned position, but is carried out to cubical three faces of small volume
Rescan can make efficiency improve 50% or so since scan area is small；It is point-to-point as reference using the boss on cube
Cloud is spliced, it is easy to find reference point, and due to the regular shape of boss face, the point cloud data of reference point is stablized, greatly
The big error for reducing a cloud；The assistant apparatus structure is simple, of low cost, easy to operate.
The description of the aforementioned specific exemplary embodiment to the present invention is in order to illustrate and illustration purpose.These descriptions
It is not wishing to limit the invention to disclosed precise forms, and it will be apparent that according to the above instruction, can much be changed
And variation.The purpose of selecting and describing the exemplary embodiment is that explaining the specific principle of the present invention and its actually answering
With so that those skilled in the art can realize and utilize the present invention a variety of different exemplary implementation schemes and
Various chooses and changes.The scope of the present invention is intended to be limited by claims and its equivalents.
Claims (8)
1. a kind of auxiliary device of the point cloud of spatial digitizer, which is characterized in that the auxiliary device includes：
Cube, three orthogonal planes on the cube are respectively the first face, the second face and third face, and described
On one side, be respectively equipped with two boss on second face and the third face, the boss face of the boss be round, square or
Rectangle；And
Magnetic bases, the magnetic bases are fixedly connected by connecting rod with the cubical fourth face, the fourth face with
Second face is opposite, and the magnetic bases are attached together with product.
2. a kind of point cloud method of spatial digitizer, which is characterized in that include the following steps：
Preparation process：Prepare auxiliary device, the auxiliary device includes the cube and magnetic bases being fixedly connected, described cube
Three orthogonal planes on body are respectively the first face, the second face and third face；
Positioning step：Product is placed on the table, the position blocked by the workbench on the product is masking position；
The magnetic bases are adsorbed on product, first face, second face and the third face is made to be located at scanning range
It is interior；
First detecting step：Make the spatial digitizer scan the surface being exposed on the product except the workbench and
First face, second face and the third face form the first point cloud data；
Spin step：The product and the auxiliary device are rotated a certain angle together, the masking position is made to be exposed to
Except the workbench, and first face, second face and the third face are located in scanning range；
Second detecting step：The spatial digitizer is set to scan surface and first face, described the at the masking position
Two faces and the third face form the second point cloud data；
Splice step：First face, second face are found in first point cloud data and second point cloud data
And the data of the common ground on the third face are as reference, thus by first point cloud data and the second point cloud number
According to being stitched together.
3. the point cloud method of spatial digitizer according to claim 2, which is characterized in that in the spin step,
The product and the auxiliary device are rotated horizontally 180 °.
4. the point cloud method of spatial digitizer according to claim 2 or 3, which is characterized in that first face, institute
It states and is respectively equipped with two boss on the second face and the third face, in the splicing step, in first point cloud data and institute
The data for stating the common ground on the boss for finding first face, second face and the third face in the second point cloud data are made
To refer to, to which first point cloud data and second point cloud data are stitched together.
5. the point cloud method of spatial digitizer according to claim 4, which is characterized in that the boss face of the boss
For circle.
6. the point cloud method of spatial digitizer according to claim 5, which is characterized in that in the splicing step,
First face, second face and the third face are found in first point cloud data and second point cloud data
Boss boss face the center of circle data as reference, to will first point cloud data and second point cloud data spelling
It picks up and.
7. the point cloud method of spatial digitizer according to claim 4, which is characterized in that the boss face of the boss
It is square or rectangle.
8. the point cloud method of spatial digitizer according to claim 7, which is characterized in that in the splicing step,
First face, second face and the third face are found in first point cloud data and second point cloud data
Boss boss face center data as reference, to will first point cloud data and second point cloud data spelling
It picks up and.
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| Application Number | Priority Date | Filing Date | Title |
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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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| CN106679585A (en) * | 2016-08-29 | 2017-05-17 | 广州魁科机电科技有限公司 | Auxiliary device for inverse measurement of three-dimensional scanner |
| CN108731615B (en) * | 2018-03-19 | 2020-12-25 | 苏州玻色智能科技有限公司 | Equipment and method for detecting curved glass panel |
| 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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| JP2001108421A (en) * | 1999-10-13 | 2001-04-20 | Sanyo Electric Co Ltd | Method and apparatus for three-dimensional modeling, and medium recording three-dimensional modeling program |
| CN101762244A (en) * | 2010-01-20 | 2010-06-30 | 首都师范大学 | Cylindrical target for three-dimensional laser scanning system |
| CN103335606A (en) * | 2013-06-21 | 2013-10-02 | 华东建筑设计研究院有限公司 | Three dimensional laser scanning and surveying and mapping method |
| CN203837715U (en) * | 2014-01-02 | 2014-09-17 | 中冶建筑研究总院有限公司 | Target applied to three-dimensional laser scanning |
| CN103759669B (en) * | 2014-01-03 | 2016-11-23 | 河南科技大学 | A kind of monocular vision measuring method of heavy parts |
| CN204202572U (en) * | 2014-11-13 | 2015-03-11 | 天津敏捷云科技有限公司 | Three-dimensional scanner scanning measurement's appurtenance |
| CN205537540U (en) * | 2016-02-19 | 2016-08-31 | 广西玉柴机器股份有限公司 | Auxiliary device of spatial digitizer's some cloud concatenation |
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