CN106091985B - A kind of three-dimensional acquisition device and 3 D scanning system - Google Patents
A kind of three-dimensional acquisition device and 3 D scanning system Download PDFInfo
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- CN106091985B CN106091985B CN201610397936.1A CN201610397936A CN106091985B CN 106091985 B CN106091985 B CN 106091985B CN 201610397936 A CN201610397936 A CN 201610397936A CN 106091985 B CN106091985 B CN 106091985B
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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
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2504—Calibration devices
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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
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
Abstract
This disclosure relates to a kind of three-dimensional acquisition device and 3 D scanning system, the nontoxic and pollution-free speckle of the three-dimensional acquisition device projection；The speckle piece used, speckle pattern are drawn finely, are conducive to improve scan data acquisition precision；Triggering speckle projector projection speckle is controlled using an individual control unit, and control corresponding speckle acquisition and Color Image Acquisition effectively to avoid being swept the displacement error of object so that image acquisition time is short, speed is fast.The 3 D scanning system applies the three-dimensional acquisition device with These characteristics, provides a kind of three-dimensional optical non-contact 3-D scanning mode, has the characteristics that small to organism injury, scanning speed is fast, with high accuracy.
Description
Technical field
This disclosure relates to 3-D scanning field, in particular, being related to a kind of three-dimensional acquisition device and 3 D scanning system.
Background technique
3-D scanning is the process for obtaining human body surface three-dimensional coordinate information, is widely used in 3D printing, body laser inner carving, doctor
Treat the fields such as shaping.Human body three-dimensional non-contact scanning can be divided into laser scanning and structure light scan, because laser has human body
There is certain injury, therefore body scans are mainly carried out using structure light.Existing human body face scanning is mainly with full-scale in human body
It is completed in scanning process, while important logo of the human body face as individual difference, obtains the human body face three-dimensional data of feature,
It is of great significance to identity identification, personalized product customization etc..
Existing 3 D scanning system or device have a characteristic that the scanning used time is longer (several seconds), and human body is difficult for a long time
Same expression or stationary posture are kept, the difficulty of point cloud registering is increased；Human body face point cloud data precision is limited, so that weight
Feature is wanted to degenerate or lack；Such as human body especially eyes can be caused centainly to injure as projection source using laser；Scanning process
It is more complex, there is high requirement to operator's professional standards.
In conclusion existing three-dimensional scanner, especially human body face 3-D scanning, scanning low with scanning accuracy
With improvements such as duration, body scans experience sense deficiencies.
Summary of the invention
In view of the above-mentioned problems, the present disclosure proposes a kind of three-dimensional acquisition device and 3 D scanning system, the three-dimensional acquisition
Device can be applied to the data acquisition of the 3-D scanning object of the object other than human body face and human body, the 3-D scanning system
The reconstruction to the 3-D scanning object of the object other than human body and human body may be implemented in system.
A kind of three-dimensional acquisition device: the three-dimensional acquisition device includes gauge head, scaling board；The scaling board is used for gauge head
It is demarcated；The gauge head includes the speckle projector, the first black and white camera unit, the second black and white camera unit, color camera list
Member；The speckle projector includes flash lamp, Fresnel Lenses, speckle piece, speckle camera lens；The Fresnel Lenses is by flash lamp
Diverging light be converted to directional light；The directional light directive speckle piece, by the speckle pattern of the speckle on piece through speckle camera lens
It projects on 3-D scanning object；On the first black and white camera unit, the second black and white camera unit acquisition 3-D scanning object
Speckle image；The color camera unit is used to acquire the color image of 3-D scanning object.
Further, the Fei Nier lens and speckle piece are fixed using annular base plate；The is equipped in the annular base plate
One annular groove and second annular groove, the Fresnel Lenses are embedded in the first annular groove, and the speckle piece is embedding
In the second annular groove；The annular base plate is fixed by connector and lens cover plate.
Further, the lens cover plate side is connect with flash lamp, and the other side is fixed with camera lens column；The camera lens
Column is in inverted L-shaped, including pedestal and bracket；The pedestal is used to support the speckle projector；The bracket side and lens cover plate
Fixed, one end of the other side and lens base is fixed；It is connect by screw thread with camera lens adapter ring in the other end of lens base；?
It is connect by screw thread with speckle camera lens on camera lens adapter ring；Speckle camera lens and mirror can be changed by rotating the camera lens adapter ring
The distance between head pedestal.
Preferably, the speckle piece uses Design of digital Software on Drawing speckle bitmap pattern, then uses laser engraving
Method is carved on glass, projects speckle pattern used for providing.
More preferably, the first black and white camera unit, the second black and white camera unit, color camera unit, the speckle projector
It is controlled and is triggered using control unit；Described control unit while triggering the speckle projector, triggering the first black and white camera unit,
Second black and white camera unit acquires speckle image；Described control unit triggers color camera at the end of the speckle projector projects
Unit acquires color image.
Particularly, the throwing spot time of the described control unit control speckle projector is 0.05s-0.2s.
The speckle pattern of speckle projector projection in the disclosure, instead of traditional spray painting spot method, nontoxic no dirt
Dye is highly suitable for acquiring human body speckle, and especially for acquiring human body face speckle, and the speckle projector uses common white
Light can avoid the injury to human body face when being used for human body face 3-D scanning.The speckle piece that the speckle projector uses
Using Design of digital Software on Drawing speckle bitmap pattern, pattern can finely be drawn, and then improve scanning accuracy.
Further, when acquiring image, the first black and white camera unit and the second black and white camera unit and speckle pattern
The synchronous triggering of the case projector, greatly reduces and throws the spot time, shortens sweep time, and when being applied to human body, it is possible to reduce
Human body stand up time.Moreover, the three-dimensional scanner uses control unit control triggering the first black and white camera unit and second
Black and white camera unit and the speckle pattern projector, thus application operating is simple, scanning is fast.
A kind of 3 D scanning system of above-mentioned three-dimensional acquisition device: the system comprises three-dimensional acquisition devices, data processing
Equipment；The data processing equipment reconstructs 3-D scanning object using the image data that three-dimensional acquisition device acquires.
Preferably, described control unit control three-dimensional acquisition device exports the image data of acquisition to data through interchanger
Processing equipment.
Preferably, the color camera unit, the first black and white camera unit, the second black and white camera unit, interchanger use
Power supply unit provides 12V DC power supply.
Preferably, the gauge head further includes pedestal and shell；The pedestal is inside the shell；On the pedestal, for putting
Set color camera unit, the first black and white camera unit, the speckle projector, the second black and white camera unit, interchanger.
In the 3 D scanning system for using above-mentioned three-dimensional acquisition device, when being applied to body scans, injure small；Using number
Three dimensional object is rebuild according to processing equipment, application operating is simple, scanning is fast；With practicability well, it is able to satisfy 3D printing, laser
The domain requirements such as interior carving, biomedicine.
Detailed description of the invention
Fig. 1 is to fix the top view after Fresnel Lenses and speckle piece in an embodiment of the present disclosure in annular base plate；
Fig. 2 is the speckle projector structural schematic diagram in an embodiment of the present disclosure；
Fig. 3 is the measuring head structure schematic diagram in an embodiment of the present disclosure；
Fig. 4 is the 3 D scanning system structural schematic diagram in an embodiment of the present disclosure.
Specific embodiment
In one embodiment, disclose a kind of three-dimensional acquisition device: the three-dimensional acquisition device includes gauge head, scaling board；
The scaling board is for demarcating gauge head；The gauge head includes the speckle projector, the first black and white camera unit, the second black and white
Camera unit, color camera unit；The speckle projector includes flash lamp, Fresnel Lenses, speckle piece, speckle camera lens；Institute
It states Fresnel Lenses and the diverging light of flash lamp is converted into directional light；The directional light directive speckle piece, by the speckle on piece
Speckle pattern projected on 3-D scanning object through speckle camera lens；The first black and white camera unit, the second black and white camera list
Speckle image on member acquisition 3-D scanning object；The color camera unit is used to acquire the cromogram of 3-D scanning object
Picture.
The three-dimensional acquisition device can carry out three dimensional data collection to arbitrary objects.Speckle projector projection in the disclosure
Speckle pattern, it is nontoxic and pollution-free instead of traditional spray painting spot method, be highly suitable for acquire human body speckle, especially
For acquiring human body face speckle.Wherein, flash lamp uses common white light and non-contact throwing spot mode, is being used for human body face
When portion's 3 d scan data acquires, the injury to human body face can avoid.Since the instantaneous light intensity of flash lamp is high, environment can be offset
Influence of the light to projection speckle, the Fresnel Lenses are used to the light source beam that flash lamp issues being adjusted to directional light, Ke Yiti
The uniformity of high overall brightness.
A kind of fixed form of Fresnel Lenses Yu speckle piece has been used in one embodiment, it may be assumed that the Fei Nier is saturating
Mirror and speckle piece are fixed using annular base plate；First annular groove and second annular groove are equipped in the annular base plate, it is described
Fresnel Lenses is embedded in the first annular groove, and the speckle piece is embedded in the second annular groove, Fig. 1 signal
Top view after Fresnel Lenses and speckle piece are fixed in annular base plate.The annular base plate passes through connector and lens cap
Plate is fixed.In a kind of preferred embodiment, there is 4 threaded holes in the annular base plate, have on lens cover plate 4 it is corresponding logical
Hole, the annular base plate are connected by screw to lens cover plate.In another preferred embodiment, the lens cover plate and annular base
Plate is directly connected through a screw thread.
A kind of frame mode of the speckle projector is described in one embodiment.The lens cover plate side and flash lamp
Connection, the other side and the side of the bracket of camera lens column are fixed；The bracket of camera lens column the other side and lens base one
End is fixed；The bracket of camera lens column is located on the pedestal of camera lens column；Turned in the other end of lens base by screw thread and camera lens
Connect ring connection；It is connect by screw thread with speckle camera lens on camera lens adapter ring；It can be changed by rotating the camera lens adapter ring
The distance between speckle camera lens and lens base.Wherein, the lens cover plate, flash lamp, camera lens column, lens base, camera lens
The connection type of adapter ring and the speckle projector is as shown in Figure 2.
In this embodiment, it provides convenience using the flash lamp of the speckle projector, Fresnel Lenses, speckle piece, dissipate
A kind of assembling mode of spot camera lens, substrate, lens cover plate, camera lens column and the lens base of assembly do not influence speckle projection
The speckle of device projects.Fixed form between each section can be clamping, snapping, can also be and is connected by the cooperation of screw-nut
The mode easy to disassemble such as connect.The camera lens adapter ring, which can rotate, changes the distance between speckle camera lens and lens base, into
And the distance between Fresnel Lenses and speckle camera lens are adjusted, so that the speckle image through Fresnel Lenses is imaged on speckle lens
In field depth.The speckle camera lens can make speckle image have suitable brightness by adjusting shutter, and be dissipated by adjusting
The focal length of spot camera lens can make speckle image imaging clearly.
Preferably, the speckle piece uses Design of digital Software on Drawing speckle bitmap pattern, then uses laser engraving
Method is carved on glass, projects speckle pattern used for providing.Pass through the speckle bitmap of Design of digital Software on Drawing
Pattern is fine, and human body face scanning accuracy can be improved.In one embodiment, speckle bitmap is carried out using Photoshop to draw
System.
Further, the color camera unit includes a camera lens and a color camera；First black and white camera
Unit includes a camera lens and a black and white camera；The second black and white camera unit includes a camera lens and a black and white phase
Machine.The color camera, black and white camera are industrial camera.
Here the black and white camera parameter of the first black and white camera unit and the second black and white camera unit is identical.In use, if
During acquiring speckle, need to change the position of acquisition target, to avoid re-scaling, the color camera unit can root
According to needing to increase, the first black and white camera unit and the second black and white camera unit also can increase as needed.
In one embodiment, the first black and white camera unit, the second black and white camera unit, color camera unit, dissipate
The spot projector uses control unit control triggering.It further, is the triggering to flash lamp to the triggering control of the speckle projector
Control.
It is controlled and is triggered using control unit, it is ensured that the first black and white camera unit, the second black and white camera unit and speckle
The projector triggers simultaneously, after the first black and white camera unit, the second black and white camera unit have acquired speckle, and can quickly trigger coloured silk
Color camera unit acquires color image, effectively shortens sweep time, avoids bring projection error due to human body shakes.
For the first black and white camera unit, the second black and white camera unit, color camera unit, the speckle projector and control
Connection type between unit processed, in one embodiment, the first black and white camera unit, the second black and white camera unit, coloured silk
Color camera unit, the speckle projector are connect by control line with control unit.In another embodiment, the first black and white phase
Machine unit, the second black and white camera unit, color camera unit, the speckle projector wirelessly with control unit phase intercommunication
Letter.Particularly, in one embodiment, flash lamp provides triggering interface, and flash lamp is connect by control line with control unit.
In another embodiment, the triggering interface of flash lamp has wireless communication function, can be in communication with each other with control unit.
In order to be precisely controlled the first black and white camera unit, the second black and white camera unit, color camera unit, speckle
The triggered time of the projector, it is preferable that the throwing spot time that described control unit controls the speckle projector is 0.05s-0.2s, and
At the end of the speckle projector throws spot, color camera unit is triggered.In one embodiment, the speckle projector and the first black and white
The synchronous triggering of camera unit, the second black and white camera unit；The speckle projector throws spot time 0.1s；In the first black and white phase
0.1s after machine unit triggers, the color camera unit triggers.The speckle projector throws spot time 0.1s, human body reflecting time
About 0.2s, can be to avoid bring projection error due to human body shakes.
The 3 D scanning system of above-mentioned three-dimensional acquisition device is applied in following example introduction.
In one embodiment, above-mentioned three-dimensional acquisition device is applied in a kind of 3 D scanning system, the system packet
Include three-dimensional acquisition device, data processing equipment；The data processing equipment utilizes the image data weight of three-dimensional acquisition device acquisition
Build out 3-D scanning object.The 3 D scanning system can should carry out 3-D scanning to arbitrary objects, to people in the present embodiment
Illustrate the specific structure and principle of this system for honorable portion's progress 3-D scanning.
In this embodiment, specifically, the three-dimensional acquisition device includes gauge head, scaling board；The scaling board is used for
Gauge head is demarcated；The gauge head includes the speckle projector, the first black and white camera unit, the second black and white camera unit, colour
Camera unit；The speckle projector includes flash lamp, Fresnel Lenses, speckle piece, speckle camera lens；The Fresnel Lenses will
The diverging light of flash lamp is converted to directional light；The directional light directive speckle piece, by the speckle pattern of the speckle on piece through dissipating
Spot camera lens projects human body face；The first black and white camera unit, the second black and white camera unit acquire human body face speckle pattern
Picture；The color camera unit is for acquiring human body face color image.Due to being thrown using the gauge head demarcated to human body face
Speckle pattern is penetrated, it is nontoxic to the human body instead of traditional spray painting spot method.The speckle projector uses common white light, can keep away
Exempt from the injury to human body face.The data processing equipment is acquired using the first black and white camera unit, the second black and white camera unit
Human body face speckle image and the human body face color image of the color camera unit reconstruct human body face three-dimensional point
Cloud data.
Since the color camera unit, the first black and white camera unit, the second black and white camera unit, interchanger use 12V
DC power supply needs that power supply is provided separately, it is preferable that one is used in three-dimensional acquisition device or in 3 D scanning system
Power supply unit provides 12V DC power supply.It is in one embodiment, the power supply unit and control is single for convenience of managing device
Member is encapsulated in control cabinet.
For convenient for handling use, it is preferable that in three-dimensional acquisition device or the gauge head described in 3 D scanning system also
Including pedestal and shell.For three-dimensional acquisition device, the pedestal is inside the shell；On the pedestal, for placing colored phase
Machine unit, the first black and white camera unit, the speckle projector, the second black and white camera unit.For 3 D scanning system, can also incite somebody to action
Interchanger is also disposed on pedestal, as shown in Figure 3.
Following example combination Fig. 4 is illustrated.In this embodiment, select computer as data processing equipment,
The 3 D scanning system includes the first black and white camera unit, the second black and white camera unit, color camera unit, exchange
Mechanical, electrical source unit, control unit, the speckle projector, scaling board.Wherein, the scaling board be used for the first black and white camera unit,
Second black and white camera unit, color camera unit are demarcated.The first black and white camera unit, the second black and white camera unit,
Color camera unit, interchanger are connected with power supply unit, the first black and white camera unit, the second black and white camera unit, colour
Camera unit and the speckle projector are connected by control line with control unit；Described control unit passes through USB line and computer
It is connected；The interchanger by cable and the first black and white camera unit, the second black and white camera unit, color camera unit,
Computer is connected.The work of driven by program control unit is write in a computer, and control command is issued into control list by USB line
Member, control unit pass through control the first black and white camera of line traffic control unit, the second black and white camera unit, the speckle projector and coloured silk again
Form and aspect machine cell operation.For example scan command is issued to control unit, control unit the first black and white of synchronous triggering by computer
Camera unit, the second black and white camera unit, the speckle projector, wherein the speckle projector throws the spot time as 0.1S, drops significantly in this way
The low throwing spot time shortens human body and stands sweep time.It, can by color camera unit triggers after the closing of the speckle projector
Human body face color image is obtained in a very short period of time.Image after acquisition is exported by interchanger to computer disposal.
In the whole process, the speckle projector throws spot, the first black and white camera unit, the second black and white camera unit and colour
Camera unit acquires image, and Digital Image Transmission, which passes through in computer, writes the realization of driven by program control unit, convenient for operation
Personnel use, and realize the acquisition of human body face three-dimensional optical non-contact digital information.Here computer can be it
Its data processing equipment.
It can be seen that the application of disclosure 3 D scanning system is simple, scanning accuracy is high, scanning is fast, and when being applied to human body, wound
Evil is small, is able to satisfy the domain requirements such as 3D printing, body laser inner carving, biomedicine, has practicability well.
The disclosure is described in detail above, used herein principle and embodiment party of the specific case to the disclosure
Formula is expounded, disclosed method that the above embodiments are only used to help understand and its core concept；Meanwhile it is right
In those skilled in the art, according to the thought of the disclosure, there will be changes in the specific implementation manner and application range, comprehensive
Upper described, the content of the present specification should not be construed as the limitation to the disclosure.
Claims (8)
1. a kind of three-dimensional acquisition device, it is characterised in that:
The three-dimensional acquisition device includes gauge head, scaling board；
The scaling board is for demarcating gauge head；
The gauge head includes the speckle projector, the first black and white camera unit, the second black and white camera unit, color camera unit；
The speckle projector includes flash lamp, Fresnel Lenses, speckle piece, speckle camera lens；
The diverging light of flash lamp is converted to directional light by the Fresnel Lenses；
The speckle pattern of the speckle on piece is projected 3-D scanning object through speckle camera lens by the directional light directive speckle piece
On；
Speckle image on the first black and white camera unit, the second black and white camera unit acquisition 3-D scanning object；
The color camera unit is used to acquire the color image of 3-D scanning object；
The Fresnel Lenses and speckle piece are fixed using annular base plate；
First annular groove and second annular groove are equipped in the annular base plate, the Fresnel Lenses is embedded at described first
In annular groove, the speckle piece is embedded in the second annular groove；
The annular base plate is fixed by connector and lens cover plate；
The lens cover plate side is connect with flash lamp, and the other side is fixed with camera lens column；
The camera lens column is in inverted L-shaped, including pedestal and bracket；
The pedestal is used to support the speckle projector；
The bracket side is fixed with lens cover plate, and one end of the other side and lens base is fixed；
It is connect by screw thread with camera lens adapter ring in the other end of lens base；
It is connect by screw thread with speckle camera lens on camera lens adapter ring；
The distance between speckle camera lens and lens base can be changed by rotating the camera lens adapter ring.
2. three-dimensional acquisition device according to claim 1, it is characterised in that:
The speckle piece uses Design of digital Software on Drawing speckle bitmap pattern, is then carved on glass using laser engraving method
It carves, projects speckle pattern used for providing.
3. three-dimensional acquisition device according to claim 1, it is characterised in that:
The first black and white camera unit, the second black and white camera unit, color camera unit, the speckle projector use control unit
Control triggering；
Described control unit triggers the first black and white camera unit, the second black and white camera unit while triggering the speckle projector
Acquire speckle image；
For described control unit at the end of the speckle projector projects, triggering color camera unit acquires color image.
4. three-dimensional acquisition device according to claim 3, it is characterised in that:
The throwing spot time that described control unit controls the speckle projector is 0.05s-0.2s.
5. a kind of 3 D scanning system using any three-dimensional acquisition device of claim 3-4, it is characterised in that:
The system comprises three-dimensional acquisition devices, data processing equipment；
The data processing equipment reconstructs 3-D scanning object using the image data that three-dimensional acquisition device acquires.
6. system according to claim 5, it is characterised in that:
Described control unit control three-dimensional acquisition device exports the image data of acquisition to data processing equipment through interchanger.
7. system according to claim 6, it is characterised in that:
The color camera unit, the first black and white camera unit, the second black and white camera unit, interchanger are provided using power supply unit
12V DC power supply.
8. system according to claim 6, it is characterised in that:
The gauge head further includes pedestal and shell；
The pedestal is inside the shell；
On the pedestal, for placing color camera unit, the first black and white camera unit, the speckle projector, the second black and white phase
Machine unit, interchanger.
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| CN201610397936.1A CN106091985B (en) | 2016-06-07 | 2016-06-07 | A kind of three-dimensional acquisition device and 3 D scanning system |
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| CN107869967A (en) * | 2017-11-02 | 2018-04-03 | 渭南领智三维科技有限公司 | A kind of human foot quick three-dimensional scan method |
| CN108446397B (en) * | 2018-03-27 | 2022-05-20 | 四川师范大学 | Method for rapidly querying million-level spatiale spatial database |
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| CN105372905A (en) * | 2015-11-24 | 2016-03-02 | 深圳奥比中光科技有限公司 | Laser module and image information acquisition apparatus |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023215990A1 (en) * | 2022-05-11 | 2023-11-16 | Institut National De La Recherche Scientifique | A method and a system for 3d surface imaging |
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