CN105806254A - Cross-shaped track object three-dimensional scanning molding device - Google Patents

Cross-shaped track object three-dimensional scanning molding device Download PDF

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Publication number
CN105806254A
CN105806254A CN201610242854.XA CN201610242854A CN105806254A CN 105806254 A CN105806254 A CN 105806254A CN 201610242854 A CN201610242854 A CN 201610242854A CN 105806254 A CN105806254 A CN 105806254A
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CN
China
Prior art keywords
optical axis
unit
support bar
scanning
motor
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Granted
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CN201610242854.XA
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Chinese (zh)
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CN105806254B (en
Inventor
张春燕
曹珈培
何志强
孙佳伟
蔡嘉鹏
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Shanghai University of Engineering Science
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Shanghai University of Engineering Science
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical means
    • G01B11/24Measuring arrangements characterised by the use of optical means for measuring contours or curvatures

Abstract

The invention relates to a cross-shaped track object three-dimensional scanning molding device arranged in a box body.The device comprises a laser sensor unit, a transmission unit, a stepping motor unit and a control unit.The laser sensor unit comprises a sliding table and three laser sensors installed on the sliding table, and the laser sensor unit is used for scanning an object to be detected.The transmission unit comprises a supporting rod subunit and a transmission rod subunit.The transmission unit is used for supporting the laser sensor unit and driving the laser sensor unit to move.The stepping motor unit is installed on the upper portion of one side face of the box body and used for controlling rotation of the transmission rod unit so as to controlling movement of the laser sensor unit.The control unit is used for controlling operation of the stepping motor unit.Compared with the prior art, the device can carry out comprehensive three-dimensional screening on the object which cannot move or is easy to damage and unsuitable for being touched, is high in scanning precision by applying a cross-shaped track and is not likely to be disturbed.

Description

A kind of orbiting vane article 3-D scanning shaped device
Technical field
The present invention relates to analysis and survey control technology field, be specifically related to a kind of orbiting vane article 3-D scanning shaped device.
Background technology
Three-dimensional laser scanning technique is the new technique that development in recent years is got up, and has been described as " the technological revolution again of survey field since the GPS technology that continues.This technology as the effective means obtaining spatial data, with it quickly, accurately, the advantage such as noncontacting measurement play more and more important effect in various fields such as commercial production, production of film and TV, dress designing, archaeology historical relic, Geotechnical Engineerings.Along with the innovation of science and technology, promote carrying out of every field work new method.Such as, tradition archaeology industry may often be such that when carrying out excavating record and manually carries out, it is easy to cultural sight is damaged, utilizes novel laser scanner technique can be rapidly completed the record to historical relic data and mapping operations, grasp the firsthand information.Three-dimensional laser scanner according to the different demarcation of scanning platform is now: airborne (or spaceborne) laser scanning system, terrestrial laser scanning system, portable laser scanning system.
In existing three-dimensional laser scanning technique, the artificial mobile object or person needing scanning are needed to be scanned for mobile laser scanner, wherein when using the type of artificial mobile object to be scanned, if scanning object is frangible changeableness object, moving process easily causes physical damage or deformation, and easily makes object be subjected to displacement in artificial moving process, in ensuing scanning process, the image received can produce the deformation of image, also brings along great quantities of spare work in the figure later stage processes.In the type using artificial motion scan, it is easier to the shortcomings such as generation image mosaic difficulty is wayward with scanning distance.
Summary of the invention
Defect that the purpose of the present invention is contemplated to overcome above-mentioned prior art to exist and provide that a kind of scanning accuracy is high, be applicable to move the orbiting vane article 3-D scanning shaped device that maybe should not touch item scan.
The purpose of the present invention can be achieved through the following technical solutions: a kind of orbiting vane article 3-D scanning shaped device, and this device is arranged in a casing, and this device includes:
Laser sensor unit: for determinand is scanned, described laser sensor unit includes slide unit and three laser sensors being arranged on slide unit;
Gear unit: include from described slide unit through for supporting the support bar subelement of slide unit and being connected the optical axis subelement for driving support bar subelement to move along X-axis, Y-axis with support bar subelement;
Motor unit: be connected the rotation for controlling described optical axis subelement with described optical axis subelement, thus controlling the movement of described support bar subelement;
Control unit: for controlling the operation of motor unit and accepting and pretreatment image.
Described slide unit is arc-shaped, and three described laser sensors are installed on the lower surface of described slide unit, and two adjacent laser sensors are 60 ° of installations on slide unit.Three scanning laser sensor adopt between two in 60 ° of mounting means, according to circumference angle theorem, change along with type size, under this angle, three pieces of laser sensor visible angles all can reach 120 ° and look wide angle, the mutual overlapping part of become image can reach 20% to 30%, it is easier to look for coincidence point when in the end carrying out image mosaic, and more fine three-dimensionally shaped body can be presented.
Described screw mandrel subelement includes along the optical axis a of X axis Relative distribution, optical axis b and along the optical axis c of Y-axis Relative distribution, optical axis d.
Described support bar subelement includes through described slide unit and along Y-axis support bar a, support bar b arranged in parallel and along the support bar c of X axis arrangement, described support bar a and the two ends of support bar b are connected with described optical axis a and optical axis b respectively by slide block a, and the two ends of described support bar c are connected with described optical axis c and optical axis d respectively by slide block b.
Described slide block a is connected by linear bearing with optical axis a, optical axis b, and described slide block b is connected by linear bearing with optical axis c, optical axis d.
Described motor unit includes X-direction and controls motor and Y direction control motor, described X-direction controls motor for controlling optical axis a and the rotation of optical axis b, and described Y direction controls motor for controlling optical axis c and the rotation of optical axis d.When motor drives the small synchronous being arranged on each support bar to move with the Timing Belt on belt wheel, Timing Belt will drive support bar to rotate, the rotation of support bar will drive the long span Timing Belt installed on it to rotate, and the motion of long span Timing Belt will drive the slide unit being arranged on Timing Belt to slide on central cross type optical axis track.Find that Y direction moves through test the most frequent, use when quick motion scan two optical axises will greatly strengthen whole table apparatus scanning stabilization.
Described device also includes being positioned at the loading-unit below described casing, described loading-unit includes a support board to be opened/closed, control the steering wheel of described support board opening and closing, support the hanger of described support board, for lifting the screw mandrel e of described hanger, for supporting the axle of described hanger and for controlling the screw mandrel e lifting motor rotated, described hanger has two, both sides relative with described support board respectively connect, and described screw mandrel e and axle are connected with one of them hanger respectively.
Described control unit is ARM-Cortex3 single-chip microcomputer, controls the operation of motor, Y direction control motor, steering wheel and lifting motor for controlling X-direction, and with coordinate naming method, scanning gained image is sent to computer.
The operation principle of apparatus of the present invention is as follows: be placed on support board by article to be scanned, ARM-Cortex3 Single-chip Controlling X-direction controls motor and Y direction controls motor and runs, rotate thus controlling optical axis a, optical axis b, optical axis c and optical axis d, slide block is made to move along above-mentioned optical axis, thus driving slide unit and laser sensor to move along X-axis and Y-axis, it is achieved the 3-D scanning of laser sensor.
When determinand volume is less, ARM-Cortex3 Single-chip Controlling lifting motor runs, and controls screw mandrel e and rotates, raised by support board thereby through hanger, reduces the distance between determinand and laser sensor, it is achieved the 3-D scanning become apparent from.
When determinand cannot move or be not suitable for touch, ARM-Cortex3 Single-chip Controlling steering wheel runs, and is opened by support board, is then placed on above determinand by this device, it is achieved 3-D scanning.
The present invention has liftable article carrying platform, scanning distance when can automatically control when scanning small-size object, finer at scanning details place, and the steady movement of article carrying platform will not produce picture problem on deformation.Below the article carrying platform of the present invention, automatic trapdoor can be opened, and also relatively has higher stability than hand-held scanner when scanning irremovable object.Existing laser scanning instrumentation mechanical realization complexity cost is high, and top of the present invention adopts cross laser module movable frame, and this type framework has high degree of accuracy and good stability, it is easy to safeguards and manufactures, reducing production cost and maintenance cost.
Compared with prior art, beneficial effects of the present invention is embodied in following several respects:
(1) article that cannot move or easily infringement is not suitable for touching can be scanned, for instance archaeology historical relic, biological skeleton, precision instrument, immovable plant equipment etc.;
(2) omnibearing stereo scanning can be carried out and application orbiting vane scanning accuracy is high, be susceptible to interference;
(3) cheap for manufacturing cost, not easy break-down, and easy to maintenance.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention;
Fig. 2 is the close-up schematic view of slide unit part in Fig. 1.
Wherein, 1 controls motor for Y direction, 2 is ARM-Cortex3 single-chip microcomputer, 3 is rustless steel optical axis, 4 is hanger, 5 is support board, 6 is steering wheel, 7 is support column, 8 is screw mandrel e, 9 is left laser sensor, 10 is X-direction slip Timing Belt, 11 control motor for X-direction, 12 is upper laser sensor, 13 is slide unit, 14 is right laser sensor, 15 is Y direction slip Timing Belt, 16 is slide block a, 17 is screw mandrel a, 18 is optical axis b, 19 is optical axis c, 20 is optical axis d, 21 is support bar a, 22 is support bar b, 23 is support bar c, 24 is slide block b, 25 is lifting motor.
Detailed description of the invention
Below embodiments of the invention being elaborated, the present embodiment is carried out under premised on technical solution of the present invention, gives detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
Embodiment
A kind of orbiting vane article 3-D scanning shaped device, this device is arranged in a casing, its concrete structure is as depicted in figs. 1 and 2, this device includes being arranged on the laser sensor unit above casing, gear unit and motor unit, these three unit is supported by support column 7, and this device also includes being arranged on the control unit below casing and loading-unit.
Laser sensor unit: the slide unit 13 including an arc-shaped and three laser sensors being arranged on slide unit 13, respectively left laser sensor 9, upper laser sensor 12 and right laser sensor 14, left laser sensor 9 and upper laser sensor 12 are 60 ° of distributions on slide unit 13, upper laser sensor 12 and right laser sensor 14 are 60 ° of distributions on slide unit 13, left laser sensor 9 and right laser sensor 14 are in 120 ° of distributions on slide unit 13, and three laser sensor unit are for being scanned determinand.
Gear unit: include along the optical axis a17 of X axis Relative distribution, optical axis b18 and along the optical axis c19 of Y-axis Relative distribution, optical axis d20, optical axis a17 and optical axis b18 is respectively close to side, two, left and right respectively close to casing of former and later two sides of casing, optical axis c19 and optical axis d20;
Gear unit also includes along Y-axis support bar a21 arranged in parallel, support bar b22 and the support bar c23 along X axis, the two ends of support bar a21 and support bar b22 are connected with optical axis a17 and optical axis b18 respectively through two slide block a16, the two ends of support bar c23 are connected with optical axis c19 and optical axis d20 respectively by two slide block b24, support bar a21, support bar b22 and support bar c23 both passes through slide unit 13, support bar a21, support bar b22 is provided with X-direction slip Timing Belt 10 with slide unit 13 junction, support bar c23 is provided with Y direction slip Timing Belt 15 with slide unit 13 junction.
Motor unit: be installed on the top of casing one side, control motor 11 including X-direction and Y direction controls motor 1, X-direction controls motor 11 for controlling optical axis a17 and the rotation of optical axis b18, and Y direction controls motor 1 for controlling optical axis c19 and the rotation of optical axis d20;
Control unit: this control unit is ARM-Cortex3 single-chip microcomputer 2, for controlling the operating of all motors and steering wheel, and and is sent to computer by scanning gained image with coordinate naming method.
Loading-unit: include a support board 5 to be opened/closed, control support board 5 opening and closing steering wheel 6, support support board 5 hanger 4, for lift hanger 4 screw mandrel e8, for supporting rack 4 stainless steel shaft 3 and for control screw mandrel e8 rotate lifting motor 25, hanger 4 has two, left and right, being connected with the right with the left side of support board 5 respectively, screw mandrel e8 and stainless steel shaft 3 are connected with one of them hanger respectively.
During scanning, article to be scanned are placed on support board 5, ARM-Cortex3 single-chip microcomputer 2 controls X-direction control motor 11 and Y direction controls motor 1 and runs, rotate thus controlling optical axis a17, optical axis b18, optical axis c19 and optical axis d20, slide block a16 is made to move along optical axis a17 and optical axis b18, slide block b25 moves along optical axis c19 and optical axis d20, thus driving slide unit 13 and laser sensor to move along X-axis and Y-axis, it is achieved the 3-D scanning of laser sensor.
When determinand volume is less, ARM-Cortex3 single-chip microcomputer 2 controls lifting motor 25 and runs, and controls screw mandrel e8 and rotates, is raised by support board 5 thereby through hanger 4, reduce the distance between determinand and laser sensor, it is achieved the 3-D scanning become apparent from.
When determinand cannot move or be not suitable for touch, ARM-Cortex3 single-chip microcomputer 2 controls steering wheel 6 and runs, and is opened by support board 5, is then placed on above determinand by this device, it is achieved 3-D scanning.

Claims (8)

1. an orbiting vane article 3-D scanning shaped device, this device is arranged in a casing, it is characterised in that this device includes:
Laser sensor unit: for determinand is scanned, described laser sensor unit includes slide unit and three laser sensors being arranged on slide unit;
Gear unit: include from described slide unit through for supporting the support bar subelement of slide unit and being connected the optical axis subelement for driving support bar subelement to move along X-axis, Y-axis with support bar subelement;
Motor unit: be connected the rotation for controlling described optical axis subelement with described support bar subelement, thus controlling the movement of described laser sensor slide unit;
Control unit: for controlling the operation of motor unit.
2. a kind of orbiting vane article 3-D scanning shaped device according to claim 1, it is characterized in that, described slide unit is arc-shaped, and three described laser sensors are installed on the lower surface of described slide unit, and two adjacent laser sensors are 60 ° of installations on slide unit.
3. a kind of orbiting vane article 3-D scanning shaped device according to claim 1, it is characterised in that described optical axis subelement includes along the optical axis a of X axis Relative distribution, optical axis b and along the optical axis c of Y-axis Relative distribution, optical axis d.
4. a kind of orbiting vane article 3-D scanning shaped device according to claim 3, it is characterized in that, described support bar subelement includes through described slide unit and along Y-axis support bar a, support bar b arranged in parallel and along the support bar c of X axis arrangement, described support bar a and the two ends of support bar b are connected with described optical axis a and optical axis b respectively by slide block a, and the two ends of described support bar c are connected with described optical axis c and optical axis d respectively by slide block b.
5. a kind of orbiting vane article 3-D scanning shaped device according to claim 4, it is characterised in that described slide block a is connected by linear bearing with optical axis a, optical axis b, and described slide block b is connected by linear bearing with optical axis c, optical axis d.
6. a kind of orbiting vane article 3-D scanning shaped device according to claim 3, it is characterized in that, described motor unit includes X-direction and controls motor and Y direction control motor, described X-direction controls motor for controlling optical axis a and the rotation of optical axis b, and described Y direction controls motor for controlling optical axis c and the rotation of optical axis d.
7. a kind of orbiting vane article 3-D scanning shaped device according to claim 1, it is characterized in that, described device also includes being positioned at the loading-unit below described casing, described loading-unit includes a support board to be opened/closed, control the steering wheel of described support board opening and closing, support the hanger of described support board, for lifting the screw mandrel e of described hanger, for supporting the axle of described hanger and for controlling the screw mandrel e lifting motor rotated, described hanger has two, both sides relative with described support board respectively connect, described screw mandrel e and axle use copper flange nut to be connected with one of them hanger respectively.
8. a kind of orbiting vane article 3-D scanning shaped device according to claim 6 or 7, it is characterized in that, described control unit is ARM-Cortex3 single-chip microcomputer, control the operation of motor, Y direction control motor, steering wheel and lifting motor for controlling X-direction, and scanning gained image is sent to computer.
CN201610242854.XA 2016-04-19 2016-04-19 A kind of orbiting vane article 3-D scanning molding machine Active CN105806254B (en)

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Cited By (5)

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CN106197319A (en) * 2016-09-07 2016-12-07 东北林业大学 A kind of material surface three-dimensional scanner operational approach based on intelligent sensing
CN106679588A (en) * 2017-01-15 2017-05-17 东北林业大学 Standing tree laser scanning method based on three-dimensional laser scanning lifting platform
CN108195314A (en) * 2018-01-17 2018-06-22 杨佳苗 Reflective striped three dimension profile measurement method based on more field stitchings
CN110567366A (en) * 2019-08-12 2019-12-13 西安理工大学 non-contact laser measurement system and measurement method thereof
CN110926352A (en) * 2019-12-12 2020-03-27 苏州市职业大学 Non-contact measuring tool

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CN106197319A (en) * 2016-09-07 2016-12-07 东北林业大学 A kind of material surface three-dimensional scanner operational approach based on intelligent sensing
CN106197319B (en) * 2016-09-07 2018-09-14 东北林业大学 A kind of material surface three-dimensional scanner operating method based on intelligent sensing
CN106679588A (en) * 2017-01-15 2017-05-17 东北林业大学 Standing tree laser scanning method based on three-dimensional laser scanning lifting platform
CN106679588B (en) * 2017-01-15 2019-09-24 东北林业大学 A kind of live standing tree Laser Scanning based on 3 D laser scanning hoistable platform
CN108195314A (en) * 2018-01-17 2018-06-22 杨佳苗 Reflective striped three dimension profile measurement method based on more field stitchings
CN108195314B (en) * 2018-01-17 2019-11-05 杨佳苗 Reflective striped three dimension profile measurement method based on more field stitchings
CN110567366A (en) * 2019-08-12 2019-12-13 西安理工大学 non-contact laser measurement system and measurement method thereof
CN110567366B (en) * 2019-08-12 2021-05-25 西安理工大学 Non-contact laser measurement system and measurement method thereof
CN110926352A (en) * 2019-12-12 2020-03-27 苏州市职业大学 Non-contact measuring tool

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