CN106370126A - 3D scanning apparatus and scanning method - Google Patents
3D scanning apparatus and scanning method Download PDFInfo
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- CN106370126A CN106370126A CN201510428491.4A CN201510428491A CN106370126A CN 106370126 A CN106370126 A CN 106370126A CN 201510428491 A CN201510428491 A CN 201510428491A CN 106370126 A CN106370126 A CN 106370126A
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Abstract
The invention discloses a 3D scanning apparatus for carrying out three-dimensional scanning, imaging, and network issuing on a measured object. The apparatus comprises a rotating platform for placing a measured object and driving the measured object to make constant-speed rotation at different speeds, a scanner for scanning and shooting the measured object and obtaining a scanned image, a range finder being arranged above the rotating platform and being used for measuring the height of the measured object, and a controller for controlling the rotating platform, the scanner, and the range finder. A certain distance is formed between the scanner and the rotating platform and the scanner can make reciprocating motion in a direction parallel to an axial direction of the rotating platform. Therefore, spiral scanning and imaging of the measured object can be realized; and the controller processes the scanned image to form a 3D model that is then outputted to a display terminal.
Description
Technical field
The present invention relates to scanning technique field, especially a kind of 3d scanning device and scan method.
Background technology
Three-dimensional scanning device is related to the comprehensive knowledge of machinery, optics and electronics aspect.It can be by sweep object
Profile be converted into the digital signal that computer is capable of identify that, then pass through related calculating and process, set up
The threedimensional model of object, and intuitively show on an output device.3d print, dress designing and
Medical and health industry is with a wide range of applications.
With the quickening of people's rhythm of life, various equipment should have easy to operate, and structure is simple, during execution
Between short feature.Additionally, modern people have diversified pursuit, three-dimensional scanning device to the function of product
Also should be so.Domestic 3-D scanning technology is started late, and corresponding scanning device, using loaded down with trivial details, needs specially
Industry human users, have certain requirement to sweep object and use environment, and function are not perfect, unfavorable
Promotion and application in 3-D scanning technology.
Patent about three-dimensional scanning device is as follows:
The utility model patent of " a kind of intelligent 3d scanner " of Application No. 201420736442.8 is not
Can the larger object of scan volume；
" 3 D scanning system and the scanning side of the Application No. 201410282906.7 of Zhejiang Polytechnical University's application
The patent of invention of method ", scanned object is placed on a rotating disk, and rotating disk often turns over certain angle and just stops,
Then photographic head is taken pictures to scanned object, for example, take each rotational angle to be 30 °, then once complete
Scanning need to rotate 12 times just can comprehensive acquisition object information, belong to the photo taking type measurement of interruption,
Scanning is relatively time-consuming, and sweep object is also only limitted to wisp；For the object that scan volume is larger, just
Need to be scanned successively from top to bottom.From the point of view of presently relevant patent, implementation method has two kinds:
One kind is to arrange multiple photographic head in vertical direction, e.g., Shanghai clothing proper Information technology company limited
" a kind of human body three-dimensional scanner " patent of invention of the Application No. 201410555000.8 of application, at one
Around rectangular body support frame, four edges and corners are provided with identical scanning device, and the scanning device of everywhere is by four
The infrared camera being equally spaced in vertical direction forms although scanning speed is very fast, but due to using
Multiple photographic head, relatively costly.
The Application No. 201420430356.4 that and for example Science and Technology Ltd. of the outstanding scholar in Xi'an robot applies for
The permanent letter of dimension is won in a kind of " three-dimensional human body measurement device based on structured light technique " utility model patent and Beijing
The Application No. 201310140934.0 of development in science and technology company limited application " the quick human body three-dimensional in many seats in the plane is swept
Retouch system " patent of invention is required for using multiple photographic head, same Expenses Cost, and when using, need
The orientation of arrangement each set scanning device, using inconvenience.
Another kind of method is to allow photographic head to move in vertical direction with respect to scanned object, e.g., the Chongqing rising sun
Standing grain Science and Technology Ltd. application Application No. 201310619351.6 " spatial digitizer and use this three-dimensional
The method that scanner is scanned " patent of invention, scanned object is also placed on a rotating disk, photographic head
Upright guide rail can slide up and down, photographic head often reduces certain altitude and just stops, then rotating disk rotates
One circle, makes photographic head can scan the all-round image of object current layer, but this mode falls within one kind
The photo taking type measurement of interruption, than relatively time-consuming；A kind of " new human body of Application No. 201420401632.4
Three-dimensional scanner system " utility model patent and Quanzhou Mei Shimei carve the application that Electronic Science and Technology Co., Ltd. applies for
Number it is also by taking the photograph for a kind of 201420401632.4 " 3d automatically scanning device " utility model patent
As head moves, both apparatus structures are complex, install and inconvenient maintenance, and need artificial repair or
Operation.
Above problem is difficult to meet use requirement in actual production with during using, and these problems
Urgently to be resolved hurrily.
Content of the invention
In order to overcome the deficiencies in the prior art, the present invention proposes a kind of 3d scanning device, and its objective is can
Reduce the cost of scanning device, improve scanning speed, realize automatization and multifunction.
Another aspect of the present invention is to propose a kind of scan method, realizes 3d object and scans and form 3d
Model.
In order to solve above-mentioned technical problem, basic technical scheme proposed by the present invention is: a kind of 3d scanning device,
In order to realize carrying out 3-D scanning, imaging and Web Publishing to measured object, this equipment includes:
In order to realize the rotation platform placed measured object and drive measured object at the uniform velocity rotation；
In order to be scanned to measured object shooting and obtain the scanning device of scanogram, this scanning device and rotary flat
There is between platform certain distance and this scanning device can be on the direction paralleled with the axial direction of rotation platform
Moved back and forth；
In order to measure the diastimeter of measured object height, this diastimeter is arranged on the top of rotation platform；
In order to realize the controller that described rotation platform, scanning device and diastimeter are controlled.
Further, it is provided with fats measurement module in rotation platform in order to realize to being positioned over rotation platform
On the weight of measured object, fat content transmitting to controller.
Further, described fats measurement module includes 4 sensors being distributed on described rotation platform.
Further, described controller includes:
Pattern process module, in order to receive and to process the scanogram of described scanning device transmission and to obtain three-dimensional mould
Type；
Data transmission module, the information sending in order to receiver-scanner and the control receiving extraneous control terminal
System instruction；
And motion-control module, in order to control described scanning device to move back and forth and to control described rotation platform rotation
Turn.
Further, described rotation platform is arranged on the front end of a bearing, connects at the axle center of rotation platform
In order to control rotation platform to rotate, this first servomotor is housed in the accommodating cavity of bearing to first servomotor
Interior.
Further, it is fixed with vertically arranged with bearing in the bearing side relative with described rotation platform
One support；This first support is provided with guide groove, is provided with holder in guide groove, and this holder is by being arranged on
Conveyer belt control in this guide groove moves back and forth, and one end of conveyer belt connects to the receiving being housed in bearing
The second servomotor in cavity, described scanning device is fixed in this holder.
Further, described controller is housed in the accommodating cavity of bearing, and it is located at and the first servomotor
Opposite side.
Further, in bearing, the side of first support is provided with the second support of curved type, this
Two supports have the extension extending to above described rotation platform, and described diastimeter is arranged on this extension
Front end.
Further, described equipment has display terminal, and this display terminal is connected by wired or radio communication
Connect described controller.
Other side proposed by the present invention is a kind of scan method, claps in order to measured object is attached with scanning
Take the photograph and obtain threedimensional model；Including step:
A) one rotation platform being capable of placing measured object and can driving the rotation of this measured object is provided；
B) provide and be capable of scanning device that measured object is scanned and can be to the scanogram of scanning device
Carry out the controller of 3d imaging；
C) measured object is positioned over rotation platform, this rotation platform drives measured object at the uniform velocity to rotate；
D) translational speed of scanning device and rotation platform keeps certain synergy movement relation；
E) scanning device moves down by top, when moving to the position apart from measured object top certain distance
The place of putting starts measured object is scanned, and obtains the image of the ground floor in the first face；Rotation with measured object
Turn and the moving down of scanning device, obtain the image of the ground floor in the second face, be so repeatedly available measured object each
Each tomographic image in face is simultaneously transferred to controller, is processed the threedimensional model obtaining measured object by controller.Specifically,
In this scan method, scanning process is continuously downward, for measured object, the motion rail of scanning device
Mark is spiral.Obtain the graphic dot matrix of measured object by scanning device, and carry out three-dimensional reconstruction, generate three
Dimension module.
The invention has the beneficial effects as follows:
The technological means of the present invention pass through scanning device and the rotation platform that can move back and forth, and realize to measured object
Scanning imagery, this technology by carrying out spiral scanning imaging to measured object, and will be scanned by controller
Image carries out process and forms 3d model and export in display terminal.In addition, also having fat in the present invention
Measurement module and diastimeter, achieve 3d scanner multifunctional measuring by this two instruments.
Brief description
Fig. 1 is a kind of structural representation of present invention 3d scanning device；
Fig. 2 is the structural representation of the bearing of the present invention；
Fig. 3 is the external form schematic diagram of display terminal；
Fig. 4 is a kind of circuit connection diagram of 3d scanning device of the present invention；
Scanning process schematic diagram when Fig. 5 scans for 3d scanning device；
Fig. 6 is the mimic diagram in scanning for the 3d scanning device.
Specific embodiment
Below with reference to accompanying drawing 1 to accompanying drawing 6, the present invention is described further, but should not be limited with this
Protection scope of the present invention.
For convenience of explanation with understand technical scheme, the noun of locality used below is all shown with accompanying drawing
Direction be defined.
Comparison accompanying drawing 1 is to accompanying drawing 6:
A kind of present invention 3d scanning device, including bearing 10, arranges first support in the left side of bearing 10
20, this first support 20 is vertically arranged with described bearing 10.In the position with this first support 20 homonymy
Put place, be provided with second support 30, this second support 30 has the extension of the top positioned at bearing 10
301, the height of this extension 301 is at least equal to the height of first support 20.Set on the right side of bearing 10
Put rotation platform 40；First support 20 is provided with and can move back and forth up and down along this first support 20
Scanning device 50.It is provided with controller 70 in bearing 10, this controller 70 connects a display terminal 90.
Rotation platform 40 can rotate, and can place measured object and this measured object can be driven to rotate in its plane.
Scanning device 50 in order to be scanned to the measured object being placed on rotation platform 40 and to obtain scanogram, and
This scanogram can be transmitted to controller 70, scanogram is imaged and obtained by controller 70
Threedimensional model.
Specifically, the axle center of rotation platform 40 connects the first servomotor 01, this first servomotor 01
In the accommodating cavity of bearing 10, can be realized to rotation platform 40 by this first servomotor 01
Rotation control.Guide groove 201 is provided with first support 20, at this guide groove 201, is provided with conveyer belt
202, on conveyer belt 202, fixing described scanning device 50 drives moving back and forth up and down of scanning device 50 with this.
Wherein, the upper end of conveyer belt 202 is arranged on the top of guide groove 201, and the lower end of conveyer belt 202 is arranged on leads
The lower end of groove 201.Because described conveyer belt 202 needs to rotate, therefore in the bottom of first support 20
It is provided with the second servomotor 02；So, scanning can be driven when the second servomotor 02 rotates forward
Instrument 50 up moves, and drives scanner 50 down to move, when the second servomotor 02 overturns
Achieve the dynamic scan to measured object for the scanning device 50 eventually.In the present invention, described scanning device 50 is red
Outer photographic head, because infrared camera being capable of the dark position of swept brilliance.
In addition, the fats measurement module being uniformly made up of four sensors 801 is arranged on rotation platform 40
80, this fats measurement module 80 can by the weight of the measured object recording, fat content data transfer extremely
Controller 70, and have controller 70 to transmit to be shown to display terminal 90.
There is at the tail end of the extension 301 of second support 30 installation position 3011, this installation position 3011
On be provided with diastimeter 60, this diastimeter 60 is ultrasonic range finder, its be located at rotation platform 40 just
Top, when rotation platform 40 has measured object, described ultrasonic range finder will send out ultrasonic
Ripple, and the elevation measurement to measured object is achieved according to the ultrasound wave of passback.Measure height will transmit to
Display terminal 90, is shown by this display terminal 90.
Specifically, described controller 70 includes pattern process module 701, data transmission module 702 and fortune
Dynamic control module 703, pattern process module 701 is for processing the scanogram that scanning device 50 scanning comes simultaneously
It is integrated into threedimensional model, and final transmission by data transmission module 72 is shown to display terminal 90.Number
It is used for receiving the signal that fats measurement module 80 and diastimeter 60 transmit according to transport module 702, and pass
Transport to display terminal 90 to be shown.Described data transmission module 702 1 is for receiver-scanner 50
The image shooting, and transmit and shown to display terminal 90；Two is the control terminal 100 outside reception
Control instruction, the control to 3d scanning device is realized by control terminal 100, this control terminal 100 can
To be ipad or smart mobile phone etc.；Three are, this data transmission module 702 also receives fats measurement module
80 and the information that obtains of diastimeter 60, and be transferred to display terminal 90 and shown.
In the present invention, can show that in display terminal 90 threedimensional model, the weight of measured object, fat contain
The information such as the height of amount and measured object, vdiverse in function, disclosure satisfy that different demands.
In this technique, because rotation platform 40 and scanning device 50 need to keep certain motor coordination to act on,
Therefore can be realized to the first servomotor 01 and the second servomotor 02 by this motion-control module 703
Output, to meet the demand of scanning.
In the present invention, due to described pattern process module 701, data transmission module 702 and motion control
Molding block 703 is located in the bearing 10 of narrow space, can produce substantial amounts of heat during using,
Therefore in order to ensure the normal operation of modules it is ensured that the high-quality of scanning, arrange in this bearing 10
One radiator 03, all examples of this radiator 03 are described pattern process module 701, data transfer mould
Block 702 and motion-control module 703, so just enable good heat dispersion.
The bearing 10 of the present invention is flat structure, and its both sides is big, middle little, and wherein the right is in round pie,
Centre caves inward.
Scanning device 50 can transmit a signal to pattern process module 701 by way of being wirelessly transferred and also may be used
It is transmitted in the way of by wired connection.Convenience can be improved by being wirelessly transferred.Second support 30
It is made up of two support bars, and each support bar has curve part and straight line not it is ensured that it was using
Intensity in journey, elasticity, also function to beauty function simultaneously.
A kind of scan method of the present invention, it is the figure picking up specific region during measured object rotation
Picture, and the image merging in specific region is formed.Specific:
A) one rotation platform being capable of placing measured object and can driving the rotation of this measured object is provided；
B) provide and be capable of scanning device that measured object is scanned and can be to the scanogram of scanning device
Carry out the controller of 3d imaging；
C) measured object is positioned over rotation platform, this rotation platform drives measured object at the uniform velocity to rotate；
D) translational speed of scanning device and rotation platform keeps certain synergy movement relation；
E) scanning device moves down by top, when moving to the position apart from measured object top certain distance
The place of putting starts measured object is scanned, and obtains the image of the ground floor in the first face；Rotation with measured object
Turn and the moving down of scanning device, obtain the image of the ground floor in the second face, be so repeatedly available measured object each
Each tomographic image in face is simultaneously transferred to controller, is processed the threedimensional model obtaining measured object by controller.Specifically,
In this scan method, scanning process is continuously downward, for measured object, the motion rail of scanning device
Mark is spiral.Obtain the graphic dot matrix of measured object by scanning device, and carry out three-dimensional reconstruction, generate three
Dimension module.
The present invention, in the process using, measured object to be scanned is placed on rotation platform 40, unlatching is swept
Retouch the power supply of equipment, scanning device 50 resets to its extreme higher position in guide groove 201.Then click on display eventually
Scan button on end 90, you can realize automatically scanning.Specific process is: fats measurement module 80 will
The weight data recording is transferred to data transmission module 702, and then is transferred to display terminal 90；Diastimeter 60
Measure the height of measured object, and be transferred to data transmission module 702, and then be transferred to display terminal 90 and carry out
Display.Notify in the presence of motion-control module 703, the first servomotor 01 is rotated platform 40
Rotation, enters and drives measured object rotation；Scanner 50 moves down in the presence of the second servomotor 02,
But now this scanner 50 not yet starts to shoot, when scanner 50 drops to the top ad-hoc location of measured object
When, start to shoot.Rotation platform 40 is continuous rotation in the present invention, and scanning device 50 is also continuous
Mobile.
The concrete grammar of scanning:
Referring to the drawings 5.Description below is described how to realize the scanning to measured object by combining accompanying drawing 5
And obtain image.Scanning device 50 towards a face of measured object, and when being in the ground floor in a face, to tested
Thing carries out shooting for the first time；After measured object turns over certain angle in the presence of rotation platform 40, scanning
Device 50 towards measured object d face when, scanning device 50 has moved down, but because scanning device 50 has necessarily
Visual angle, remain to photograph the graphical information of the ground floor in measured object d face, as long as rotation platform 40 turn
The speed that moves down of speed and scanning device 50 meets certain conspiracy relation, and scanning device 50 just can capture measured object
The complete information of ground floor.After scanning device 50 covers stroke from top to bottom, rotation platform 40 turns over necessarily
The number of turns, measured object short transverse and circumference all graphical informations will be recorded by scanning device 50 and transmit to
Pattern process module 701, ultimately produces threedimensional model, and is transmitted to display eventually by data transmission module 702
End 90 is shown.This scan method is continuous scanning, and scanning device 50 continuously moves down, and measured object continuously turns
Turn, for measured object, if really it is actionless, described scanning device 50 is then to do downwards
Screw movement；So just enable the scanning to measured object.This scan method is entered using Surface scan method
Row scans and obtains dot matrix, then carries out reconstruction by dot matrix and obtains threedimensional model, and the method that it is rebuild is general
Method, is not detailed.It focuses on this scan method is to be swept by the 3d scanning device of the present invention
Retouch and achieve scanning device and measured object moves simultaneously, cooperate, reach the result of spiral scanning.
The announcement of book and teaching according to the above description, those skilled in the art in the invention can also be to above-mentioned
Embodiment is changed and is changed.Therefore, the invention is not limited in concrete reality disclosed and described above
Apply mode, should also be as falling into the scope of the claims of the present invention to some modifications and changes of the present invention
Interior.Although additionally, employing some specific terms in this specification, these terms are intended merely to conveniently
Illustrate, any restriction is not constituted to the present invention.
Claims (10)
1. a kind of 3d scanning device, in order to realize measured object being carried out with 3-D scanning and forming 3d image,
It is characterized in that, this equipment includes:
In order to realize placing measured object and driving measured object to press the rotation platform of at the uniform velocity rotation；
In order to be scanned to measured object shooting and obtain the scanning device of scanogram, this scanning device and rotary flat
There is between platform certain distance and this scanning device can be on the direction paralleled with the axial direction of rotation platform
Moved back and forth；
In order to measure the diastimeter of measured object height, this diastimeter is arranged on the top of rotation platform；
In order to realize the controller that described rotation platform, scanning device and diastimeter are controlled.
2. as claimed in claim 1 a kind of 3d scanning device it is characterised in that: set in rotation platform
It is equipped with fats measurement module in order to realize weight to the measured object being positioned on rotation platform, fat content simultaneously
Transmit to controller.
3. as claimed in claim 2 a kind of 3d scanning device it is characterised in that: described fats measurement mould
Block includes 4 sensors being distributed on described rotation platform.
4. as claimed in claim 1 a kind of 3d scanning device it is characterised in that described controller includes:
Pattern process module, in order to receive and to process the scanogram of described scanning device transmission and to obtain three-dimensional mould
Type；
Data transmission module, the information sending in order to receiver-scanner and the control receiving extraneous control terminal
System instruction；
And motion-control module, in order to control described scanning device to move back and forth and to control described rotation platform rotation
Turn.
5. as claimed in claim 4 a kind of 3d scanning device it is characterised in that: described rotation platform sets
Put the front end in a bearing, connect the first servomotor at the axle center of rotation platform in order to control rotation platform
Rotate, this first servomotor is housed in the accommodating cavity of bearing.
6. as claimed in claim 5 a kind of 3d scanning device it is characterised in that: in bearing and described rotation
Turn the relative side of platform and be fixed with the vertically arranged first support with bearing；This first support is provided with to be led
Groove, is provided with holder in guide groove, this holder controlled from the conveyer belt that is arranged in this guide groove carry out toward
Multiple motion, one end of conveyer belt connects the second servomotor to the accommodating cavity being housed in bearing, described
Scanning device is fixed in this holder.
7. as claimed in claim 4 a kind of 3d scanning device it is characterised in that: described controller houses
In the accommodating cavity of bearing, it is located at the opposite side with the first servomotor.
8. as claimed in claim 5 a kind of 3d scanning device it is characterised in that: in bearing near first
The side of support is provided with the second support of curved type, and this second support has and extends to described rotation platform
The extension of top, described diastimeter is arranged on the front end of this extension.
9. as claimed in claim 1 a kind of 3d scanning device it is characterised in that: described equipment has aobvious
Show terminal, this display terminal is by the controller described in wired or wireless communication connection.
10. a kind of scan method, in order to be attached scanning shoot and to obtain threedimensional model to measured object；Its
It is characterised by, including step:
A) one rotation platform being capable of placing measured object and can driving the rotation of this measured object is provided；
B) provide and be capable of scanning device that measured object is scanned and can be to the scanogram of scanning device
Carry out the controller of 3d imaging；
C) measured object is positioned over rotation platform, this rotation platform drives measured object at the uniform velocity to rotate；
D) translational speed of scanning device and rotation platform keeps certain synergy movement relation；
E) scanning device moves down by top, when moving to the position apart from measured object top certain distance
The place of putting starts measured object is scanned, and obtains the image of measured object；Rotation with measured object and scanning
Moving down of device, obtains the image in other directions of measured object, is so repeatedly available each region of measured object
Image is simultaneously transferred to controller, is processed the threedimensional model obtaining measured object by controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510428491.4A CN106370126A (en) | 2015-07-20 | 2015-07-20 | 3D scanning apparatus and scanning method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510428491.4A CN106370126A (en) | 2015-07-20 | 2015-07-20 | 3D scanning apparatus and scanning method |
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| CN106370126A true CN106370126A (en) | 2017-02-01 |
Family
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| CN201510428491.4A Pending CN106370126A (en) | 2015-07-20 | 2015-07-20 | 3D scanning apparatus and scanning method |
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| CN110726367A (en) * | 2019-09-23 | 2020-01-24 | 浙江树人学院（浙江树人大学） | Be used for 3D scanning device and actuating system |
| CN117784088A (en) * | 2024-01-30 | 2024-03-29 | 荣耀终端有限公司 | Laser scanning device, system, control method and storage medium |
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