CN105635516B - Table top type 3D scanners - Google Patents
Table top type 3D scanners Download PDFInfo
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- CN105635516B CN105635516B CN201610098534.1A CN201610098534A CN105635516B CN 105635516 B CN105635516 B CN 105635516B CN 201610098534 A CN201610098534 A CN 201610098534A CN 105635516 B CN105635516 B CN 105635516B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
- H04N1/04—Scanning arrangements, i.e. arrangements for the displacement of active reading or reproducing elements relative to the original or reproducing medium, or vice versa
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
- H04N1/00127—Connection or combination of a still picture apparatus with another apparatus, e.g. for storage, processing or transmission of still picture signals or of information associated with a still picture
- H04N1/00204—Connection or combination of a still picture apparatus with another apparatus, e.g. for storage, processing or transmission of still picture signals or of information associated with a still picture with a digital computer or a digital computer system, e.g. an internet server
- H04N1/00236—Connection or combination of a still picture apparatus with another apparatus, e.g. for storage, processing or transmission of still picture signals or of information associated with a still picture with a digital computer or a digital computer system, e.g. an internet server using an image reading or reproducing device, e.g. a facsimile reader or printer, as a local input to or local output from a computer
- H04N1/00241—Connection or combination of a still picture apparatus with another apparatus, e.g. for storage, processing or transmission of still picture signals or of information associated with a still picture with a digital computer or a digital computer system, e.g. an internet server using an image reading or reproducing device, e.g. a facsimile reader or printer, as a local input to or local output from a computer using an image reading device as a local input to a computer
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N1/00—Scanning, transmission or reproduction of documents or the like, e.g. facsimile transmission; Details thereof
- H04N1/04—Scanning arrangements, i.e. arrangements for the displacement of active reading or reproducing elements relative to the original or reproducing medium, or vice versa
- H04N1/047—Detection, control or error compensation of scanning velocity or position
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- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- General Engineering & Computer Science (AREA)
- Computing Systems (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of Table top type 3D scanners, including：Information gathering portion and information treatment part, wherein, information gathering portion is simple for structure, and easy to manufacture, cost is relatively low, is easy to popularize, has a good application prospect；Traditional triangle telemetry is combined by information treatment part with modern common CMOS, utilize the collocation of linear laser and electrical turntable, pass through the data processing that the later stage is accurate, realize in a short time to measurement object closely, high-precision laser ranging, there is higher scanning accuracy compared to the scanner of depth of field camera-type, provided the user good 3D scanning experience.
Description
Technical field
The present invention relates to a kind of 3D scanners, and in particular to a kind of Table top type 3D scanners, for certain size article
The measurement of the structure and relevant parameter of 3D models, belongs to reverse-engineering field.
Background technology
3D scanning techniques are that a kind of new technique of a 3D model in kind is obtained by related scans equipment.With skill
The progress of art, the 3D technology using 3D printing as representative is vigorously developed, and progressively comes into our life.3D scannings are as therewith
A kind of related and provided basic technology to a certain extent, there will be wide prospect in future.
Current 3D scanning devices existing on the market towards client be usually enterprise or school, although precision is high, into
This and cost are also very high, and this will necessarily influence the popularization that 3D scans this technology that should be brought benefit to the mankind.
With the appearance of family expenses level 3D printer, society will have strong need to corresponding family expenses level 3D scanners
Ask.
In the market in spite of some equipment suitable for home use that 3D scannings are realized using depth of field camera, such as based on
Microsoft Kinect 3D scanning devices, but such a 3D scanning devices there is scanning accuracy it is relatively low the problem of.
The content of the invention
To solve the deficiencies in the prior art, it is an object of the invention to provide a kind of Table top type 3D scanners, it is not only swept
Precision height is retouched, and cost is low.
In order to realize above-mentioned target, the present invention adopts the following technical scheme that：
A kind of Table top type 3D scanners, including：Information gathering portion and information treatment part, it is characterised in that
Aforementioned information collection portion includes：Base (11), cmos image collector (14), electrical turntable (15) and two are linear
Laser (12,13), foregoing cmos image collector (14) are arranged on base (11) by vertical support (16), foregoing electric rotating
Platform (15) is located at the front of cmos image collector (14), is arranged on by turret supports (17) on base (11), and by step
Stepper motor (18) driving rotates in the horizontal plane, and aforementioned linear laser (12,13) is with cmos image collector (14) positioned at same
On one horizontal plane, and the both sides of the axis of cmos image collector (14) are symmetrically distributed in, two linear lasers (12,13)
The infrared wordline got intersects, and cross spider overlaps with the axis of electrical turntable (15)；
The point that the infrared wordline that linear laser (12,13) is got is demarcated on object to be scanned, signal are narrow by 850nm
Band optical filter carries out information gathering, during electrical turntable (15) rotates a circle, CMOS by cmos image collector (14)
Image acquisition device (14) can complete just body surface a little information gathering work, all images signal collected by
USB interface be transferred to information treatment part store etc. it is pending.
Foregoing Table top type 3D scanners, it is characterised in that aforementioned information processing unit will be collected using virtual coordinates
Picture signal is converted to 3D models, and specific transfer process is：
First, right angled triangle ABC is built：
(1) optical center of cmos image collector (14) is designated as point C；
(2) taken on the axis of electrical turntable (15) a little and be designated as point A, point A and point C is contour, the light in straight line AC directions
Line vertical incidence cmos image collector (14)；
(3) the vertical line BC that point C makees straight line AC is crossed in the horizontal plane, and vertical line BC gets infrared by one with linear laser (12)
The reverse extending line of wordline or an infrared wordline intersects at point B；
(4) point A, point B, point C form right angle triangles ABC；
2nd, the plane of reference is built：
(1) the outer any point of point A is removed on the part that line segment AB is in cmos image collector (14) visual field and is remembered
It is straight line AC vertical line EF, vertical line EF and straight line AC for point E, passing point E and intersects at point F；
(2) plane perpendicular to plane ABC is taken as the plane of reference by line segment EF；
3rd, relevant parameter is determined：
(1) EF distances, BE distances, BC distances, AB distances are measured；
(2) calculate multiplication factor n, foregoing multiplication factor n refer to the actual physics length in kind on the plane of reference and institute into
The pixel number purpose ratio of picture；
4th, relative altitude h, the relative level distance l of object point are calculatedbo：
(1) picture point corresponding to mark point E is point E ', and the picture point corresponding to the object point point O ' on surface in kind is point O ", point
O " corresponding points E ' relative coordinate is (x, y)；
(2) make point O ' be projected as point O on plane ABC, it is similar to triangle OBC according to triangle OED, calculating OB away from
From lbo：
(3) tie point O ' and point C, line segment O ' C hands over the plane of reference in point D ', projection intersection sections of the line segment O ' C in horizontal plane A BC
EF is similar to triangle O ' OC according to triangle D ' DC in point D, tie point D ' and point D, seeks line segment O ' O length h：
5th, establish cylindrical coordinate and determine cylindrical coordinates parameter：
(1) using point A as origin, cross point A and do the straight line perpendicular to plane ABC, it is z-axis to remember the straight line, using straight line AC as x-axis
Establish cylindrical coordinate；
(2) cylindrical coordinates parameter r, θ, z are respectively：
R=lab-lbo
θ=ω t
Z=h
In formula, ω is the rotational angular velocity of electrical turntable (15), and t is the rotation time of electrical turntable (15)；
(3) so far, the picture signal collected has been completely converted into 3D models by information treatment part.
Foregoing Table top type 3D scanners, it is characterised in that the line width of the laser rays of linear laser (12,13) is taken as one
Individual pixel wide.
Foregoing Table top type 3D scanners, it is characterised in that aforementioned information processing unit changes the picture signal collected
Before 3D models, the picture signal collected is first subjected to binary conversion treatment, and purified by filtering algorithm of making an uproar.
The present invention is advantageous in that：
(1) traditional triangle telemetry is combined with modern common CMOS, utilizes linear laser and electrical turntable
Collocation, by the data processing that the later stage is accurate, realize in a short time to measurement object closely, high-precision laser
Ranging, there is higher scanning accuracy compared to the scanner of depth of field camera-type, provided the user good 3D scanning experience；
(2) simple for structure, easy to manufacture, cost is relatively low, is easy to popularize, has a good application prospect.
Brief description of the drawings
Fig. 1 is the structural representation in the information gathering portion of the Table top type 3D scanners of the present invention；
Fig. 2 is the top view in the information gathering portion in Fig. 1；
Fig. 3 is the schematic diagram of traditional trigonometry laser ranging；
Fig. 4 is the schematic diagram of the trigonometry laser ranging of the present invention.
The implication of reference in figure：11- bases, 12- linear lasers, 13- linear lasers, 14-CMOS images are adopted
Storage, 15- electrical turntables, 16- found support, 17- turret supports, 18- stepper motors, 19- objects.
Embodiment
Make specific introduce to the present invention below in conjunction with the drawings and specific embodiments.
The Table top type 3D scanners of the present invention include：Information gathering portion and information treatment part.
First, information gathering portion
Referring to Figures 1 and 2, information gathering portion includes：Base 11, cmos image collector 14, electrical turntable 15, linear swash
Light device 12 and linear laser 13.
Cmos image collector 14 is installed on the pedestal 11 by vertical support 16.
Electrical turntable 15 is located at the front of cmos image collector 14, is installed on the pedestal 11 by turret supports 17,
And driven by stepper motor 18 and rotated in the horizontal plane.
Linear laser 12 and linear laser 13 are located in same level with cmos image collector 14, and symmetrically
It is distributed in the both sides of the axis of cmos image collector 14, the infrared wordline that linear laser 12 and linear laser 13 are got
Intersect, cross spider overlaps with the axis of electrical turntable 15.
The point that the infrared wordline that linear laser 12 and linear laser 13 are got is demarcated on object 19 to be scanned, signal
Information gathering is carried out by cmos image collector 14 by 850nm narrow band pass filters, in the process that electrical turntable 15 rotates a circle
In, cmos image collector 14 can complete just body surface a little information gathering work.
2nd, information treatment part
The all images signal that cmos image collector 14 collects is transferred to information treatment part by USB interface, by information
Processing unit is stored, and the picture signal collected then is converted into 3D models.
Fig. 3 is the principle of traditional trigonometry laser ranging.
According to the principle of laser triangulation ranging, the position of each point imaging on cmos image collector on laser rays
With this apart from the position of cmos image collector into a fixed functional relation.
In figure 3, S is the distance between laser and camera at grade, and β is the laser of laser transmitting
Angle between the plane that direction and laser and camera are formed, one can be calculated according to angle β and camera focal length f
The intersection point of dotted line and camera in virtual point, i.e. figure, it then can be obtained measuring object relative laser according to similar triangles relation
The distance between the plane that device and camera are formed q：
In formula, x represents relative abscissa of the picture point corresponding to measurement point with respect to cmos image collector central point.
Due to the specific Parameter uncertainties of low side cmos image collector, so measurement be present in traditional trigonometry laser ranging
As a result the deficiencies of randomness is larger, measurement accuracy is not ideal enough.
In order to overcome above-mentioned deficiency, present invention employs a kind of new algorithm, and the algorithm is by increasing a new reference
Face, and determine relevant parameter, it is possible to achieve in a short time to measurement object closely, high-precision laser ranging, compare
There is higher scanning accuracy in the scanner of depth of field camera-type, more preferable 3D scannings experience can be provided the user.
Electrical turntable 15 continuously rotates, and the information that cmos image collector 14 gathers is mainly a series of image,
Due to being influenceed by veiling glare, the picture signal collected is first carried out binary conversion treatment by information treatment part, and by filtering calculation of making an uproar
Method is purified, and the picture signal after purification then is converted into 3D models again.
Reference picture 4, information treatment part are converted to the picture signal collected using virtual coordinates the specific mistake of 3D models
Cheng Wei：
The first step：Build right angled triangle ABC
1st, the optical center of cmos image collector 14 is designated as point C.
2nd, taken on the axis of electrical turntable 15 a little and be designated as point A, point A and point C is contour, the light in straight line AC directions hangs down
Straight incident cmos image collector 14.
The distance between point A and point C is negatively correlated with the angle of visual field of cmos image collector 14.
3rd, the vertical line BC that point C makees straight line AC, the infrared word that vertical line BC is got with linear laser 12 are crossed in the horizontal plane
Line or the reverse extending line of an infrared wordline intersect at point B.
4th, point A, point B, point C form right angle triangles ABC.
Second step：Build the plane of reference
1st, any point outside point A is removed on the part that line segment AB is in the visual field of cmos image collector 14 and is designated as a little
E, passing point E are straight line AC vertical line EF, vertical line EF and straight line AC and intersect at point F.
2nd, the plane perpendicular to plane ABC is taken as the plane of reference by line segment EF.
3rd step：Determine relevant parameter
1st, EF distances are measured and (are designated as lef), BE distance (be designated as lbe), BC distance (be designated as lbc), AB distance (be designated as lab)。
2nd, multiplication factor n is calculated.
Multiplication factor n refers to the pixel number purpose ratio of the actual physics length on the plane of reference and imaging in kind.
The image-forming principle of cmos image collector is the imaging of pixel cell (i.e. pixel), because we can not calculate picture
Actual size, and as account for several pixels corresponding to can only obtaining, thus we refer to " multiplication factor n " this without exception
Read.
4th step：Calculate relative altitude h, the relative level distance l of object pointbo
1st, the picture point corresponding to mark point E is point E ', and the picture point corresponding to the object point point O ' on surface in kind is point O ", point O "
Corresponding point E ' relative coordinate is (x, y).
2nd, make point O ' be projected as point O on plane ABC, it is similar to triangle OBC according to triangle OED, calculating OB away from
From lbo：
Calculate OB distances lboDetailed process be：
By ED=x × n, had according to similar triangle theory：
I.e.：
Then have：
3rd, tie point O ' and point C, line segment O ' C hands over the plane of reference in point D ', projection intersection sections of the line segment O ' C in horizontal plane A BC
EF is in point D, tie point D ' and point D.It is similar to triangle O ' OC according to triangle D ' DC, ask line segment O ' O length (i.e. object point with
The relative altitude of horizontal plane) h：
The detailed process for seeking line segment O ' O length h is：
By D'D=y × n, had according to similar triangle theory：
Then have：
Note：The length of subscript line segment is represented in formula with lower target letter.
5th step：Establish cylindrical coordinate
Using point A as origin, cross point A and do the straight line perpendicular to plane ABC, it is z-axis to remember the straight line, is built using straight line AC as x-axis
Column coordinate system.
6th step：Determine cylindrical coordinates parameter
By it is obtained as above to object point (point O ') relative altitude h, relative level distance lbo, with reference to the equal of electrical turntable 15
Even rotational angular velocity ω, time t, you can obtain the cylindrical coordinates of body surface each point.
Cylindrical coordinates parameter r, θ, z are respectively：
R=lab-lbo
θ=ω t
Z=h.
So far, the picture signal collected has been completely converted into 3D models by information treatment part.
In order to reduce amount of calculation, while x and y computational accuracy are improved, linear laser 12 and linear laser 13 swash
The line width of light is taken as a pixel wide.
As can be seen here, traditional triangle telemetry is combined by the present invention with modern common CMOS, utilizes linear laser
The collocation of device and electrical turntable, by the data processing that the later stage is accurate, it can scan to obtain object submillimeter level in a short time
Other threedimensional model, there is higher scanning accuracy compared to the scanner of depth of field camera-type, provided the user good 3D
Scanning experience.
In addition, the present invention scanner totality cost below 1000 yuan, compared to the 3D scanners of same precision on the market
Cost is greatly reduced, is had a good application prospect.
It is assumed that new reference planes use new algorithm, the rigors to hardware parameter are so avoided, so this
Invention can effectively reduce the error in terms of the ranging caused by the CMOS of low cost and the parameter error of relevant lens group, and
It is more easy to realize.
It should be noted that the invention is not limited in any way for above-described embodiment, it is all to use equivalent substitution or equivalent change
The technical scheme that the mode changed is obtained, all falls within protection scope of the present invention.
Claims (3)
1. a kind of Table top type 3D scanners, including：Information gathering portion and information treatment part, it is characterised in that
Described information collection portion includes：Base (11), cmos image collector (14), electrical turntable (15) and two linear lasers
Device (12,13), the cmos image collector (14) are arranged on base (11) by vertical support (16), the electrical turntable
(15) it is located at the front of cmos image collector (14), is arranged on by turret supports (17) on base (11), and by stepping
Motor (18) driving rotates in the horizontal plane, and the linear laser (12,13) is with cmos image collector (14) positioned at same
On horizontal plane, and the both sides of the axis of cmos image collector (14) are symmetrically distributed in, two linear lasers (12,13) are beaten
The infrared wordline gone out intersects, and cross spider overlaps with the axis of electrical turntable (15)；
The point that the infrared wordline that linear laser (12,13) is got is demarcated on object to be scanned, signal are filtered by 850nm arrowbands
Mating plate carries out information gathering, during electrical turntable (15) rotates a circle, cmos image by cmos image collector (14)
Collector (14) can complete just body surface a little information gathering work, all images signal collected is by USB
Interface be transferred to information treatment part store etc. it is pending；
The picture signal collected is converted to 3D models, specific transfer process by described information processing unit using virtual coordinates
For：
First, right angled triangle ABC is built：
(1) optical center of cmos image collector (14) is designated as point C；
(2) taken on the axis of electrical turntable (15) a little and be designated as point A, point A and point C is contour, the light in straight line AC directions hangs down
Straight incident cmos image collector (14)；
(3) the vertical line BC that point C makees straight line AC, the infrared wordline that vertical line BC is got with linear laser (12) are crossed in the horizontal plane
Or the reverse extending line of an infrared wordline intersects at point B；
(4) point A, point B, point C form right angle triangles ABC；
2nd, the plane of reference is built：
(1) the outer any point of point A is removed on the part that line segment AB is in cmos image collector (14) visual field and is designated as a little
E, passing point E are straight line AC vertical line EF, vertical line EF and straight line AC and intersect at point F；
(2) plane perpendicular to plane ABC is taken as the plane of reference by line segment EF；
3rd, relevant parameter is determined：
(1) EF distances, BE distances, BC distances, AB distances are measured；
(2) multiplication factor n, the multiplication factor n are calculated and refers to the actual physics length on the plane of reference and imaging in kind
Pixel number purpose ratio；
4th, relative altitude h, the relative level distance l of object point are calculatedbo：
(1) picture point corresponding to mark point E is point E ', and the picture point corresponding to the object point point O ' on surface in kind is point O ", point O " phases
Relative coordinate to point E ' is (x, y)；
(2) point O ' is made to be projected as point O, calculating OB distance similar to triangle OBC according to triangle OED on plane ABC
lbo：
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</mrow>
</msub>
<mo>=</mo>
<mfrac>
<msub>
<mi>l</mi>
<mrow>
<mi>b</mi>
<mi>e</mi>
</mrow>
</msub>
<mrow>
<mn>1</mn>
<mo>-</mo>
<mfrac>
<mrow>
<mi>x</mi>
<mi>n</mi>
</mrow>
<msub>
<mi>l</mi>
<mrow>
<mi>b</mi>
<mi>c</mi>
</mrow>
</msub>
</mfrac>
</mrow>
</mfrac>
<mo>;</mo>
</mrow>
(3) tie point O ' and point C, line segment O ' C the friendship plane of reference is in point D ', line segment O ' C horizontal plane A BC projection intersection section EF in
Point D, tie point D ' and point D, it is similar to triangle O ' OC according to triangle D ' DC, seek line segment O ' O length h：
<mrow>
<mi>h</mi>
<mo>=</mo>
<mfrac>
<mrow>
<mi>y</mi>
<mi>n</mi>
</mrow>
<mrow>
<mn>1</mn>
<mo>-</mo>
<mfrac>
<mrow>
<mi>x</mi>
<mi>n</mi>
</mrow>
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<mi>l</mi>
<mrow>
<mi>b</mi>
<mi>c</mi>
</mrow>
</msub>
</mfrac>
</mrow>
</mfrac>
</mrow>
5th, establish cylindrical coordinate and determine cylindrical coordinates parameter：
(1) using point A as origin, cross point A and do the straight line perpendicular to plane ABC, it is z-axis to remember the straight line, is established by x-axis of straight line AC
Cylindrical coordinate；
(2) cylindrical coordinates parameter r, θ, z are respectively：
R=lab-lbo
θ=ω t
Z=h
In formula, ω is the rotational angular velocity of electrical turntable (15), and t is the rotation time of electrical turntable (15)；
(3) so far, the picture signal collected has been completely converted into 3D models by information treatment part.
2. Table top type 3D scanners according to claim 1, it is characterised in that the laser rays of linear laser (12,13)
Line width be taken as a pixel wide.
3. Table top type 3D scanners according to claim 1, it is characterised in that the figure that described information processing unit will collect
Before being converted to 3D models as signal, the picture signal collected is first subjected to binary conversion treatment, and carry out by filtering algorithm of making an uproar
Purification.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610098534.1A CN105635516B (en) | 2016-02-23 | 2016-02-23 | Table top type 3D scanners |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610098534.1A CN105635516B (en) | 2016-02-23 | 2016-02-23 | Table top type 3D scanners |
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| CN105635516B true CN105635516B (en) | 2018-02-23 |
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| WO2006135769A1 (en) * | 2005-06-10 | 2006-12-21 | The General Hospital Corporation | Fluorescence-lifetime-based tomography |
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| CN104266605A (en) * | 2014-06-27 | 2015-01-07 | 西北工业大学 | Imaging method for three-dimensional laser scanning imager |
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| US9217710B2 (en) * | 2013-07-31 | 2015-12-22 | The Arizona Board Of Regents On Behalf Of The University Of Arizona | Method of simultaneous frequency-sweeping lifetime measurements on multiple excitation wavelengths |
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| WO2006135769A1 (en) * | 2005-06-10 | 2006-12-21 | The General Hospital Corporation | Fluorescence-lifetime-based tomography |
| CN102620713A (en) * | 2012-03-26 | 2012-08-01 | 梁寿昌 | Method for measuring distance and positioning by utilizing dual camera |
| CN104266605A (en) * | 2014-06-27 | 2015-01-07 | 西北工业大学 | Imaging method for three-dimensional laser scanning imager |
| CN204154271U (en) * | 2014-07-15 | 2015-02-11 | 广州大学 | A kind of Portable there-dimensional laser scanning instrument |
| CN204244331U (en) * | 2014-11-28 | 2015-04-01 | 戴立群 | A kind of intelligent 3D scanner |
| CN205002743U (en) * | 2015-07-05 | 2016-01-27 | 南京创翼智能科技有限公司 | Low -cost desktop level 3D laser scanner |
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| Title |
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| 基于光学三角形法与图像处理的立木胸径测量方法;王建利，李婷，王典，刘晋浩;《农业机械学报》;20130731;全文 * |
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