CN106546188B - A kind of two-freedom adjustment mechanism for human body 3D scanning - Google Patents
A kind of two-freedom adjustment mechanism for human body 3D scanning Download PDFInfo
- Publication number
- CN106546188B CN106546188B CN201610967935.6A CN201610967935A CN106546188B CN 106546188 B CN106546188 B CN 106546188B CN 201610967935 A CN201610967935 A CN 201610967935A CN 106546188 B CN106546188 B CN 106546188B
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- China
- Prior art keywords
- ring stand
- outer ring
- scanning
- adjustment mechanism
- human body
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Classifications
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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
Abstract
The present invention relates to a kind of two-freedom adjustment mechanisms for human body 3D scanning, the adjustment mechanism includes front frame, after-frame, crossbeam, outer ring stand, interior ring stand, bracket, linear motion unit, the ontology of front frame, after-frame and crossbeam composition adjustment mechanism, outer ring stand is mounted in front frame by level-one shaft, interior ring stand is mounted in outer ring stand by two-stage shaft, bracket is connected and fixed to together with interior ring stand, and scanning camera is mounted on bracket.Level-one linear motion unit drives outer ring stand to rotate around level-one shaft by guide-bar mechanism, and two-stage linear motion unit drives interior ring stand to rotate around two-stage shaft, and therefore, scanning camera has the rotational freedom in horizontal and vertical two direction in three dimensions.In human body 3D scanning, multiple groups adjustment mechanism is arranged in arc-shaped, and human body is located at center of arc, the angle by adjusting each scanning camera in horizontal and vertical direction, so that the camera lens of each scanning camera is directed to human body, obtains the image for 3D model splicing with this.
Description
Technical field
The present invention relates to a kind of adjustment mechanisms, specifically, are related to the two-freedom adjustment mechanism scanned for human body 3D.
Background technique
Currently, it is contactless measurement that human body 3D, which scans common method, contactless measurement be subdivided by
Flowing mode and active mode, the measurement method of passive mode do not need specific light source, fully rely on natural light locating for object
Condition is scanned, and frequently with binocular technology, but precision is low, can only scan the object of geometrical characteristic.3D scanner etc.
It is same as scanning camera, by creating the point cloud of object geometric jacquard patterning unit surface, by cloud interpolation at the surface shape of object, if scanner energy
Surface color is enough obtained, then can further be pasted on the surface of reconstruction.The scanning range of spatial digitizer is limited, therefore, often
It needs to convert the relative position of scanner and human body or object is placed on electric turntable, by multiple scanning to piece together people
The technology of multiple unilateral model integrateds is referred to as image registration by the complete model of body.
For the problem that existing scanning times are more, scan position is not fixed, precision is not high, propose that a kind of human body 3D that is used for is swept
The two-freedom adjustment mechanism retouched, scanning camera are placed on the adjustment mechanism 200, are in by a certain number of adjustment mechanisms 200
Circular arc arrangement, human body 201 is located at the center of circle of circular arc, as shown in Figure 1, fixing the adjustment mechanism 200 at a distance from human body 201；It is logical
Adjustment scanning camera is crossed, realizes that all scanning cameras are directed to human body 201, human body 3D model can be obtained by shooting twice.
Due to more than scanning camera quantity and opposite position of human body is fixed, the human body 3D model accuracy rebuild after scanning is high, details show it is rich
Richness, convenient for work such as later period 3D display and printings.
Summary of the invention
The purpose of the present invention is to provide a kind of two-freedom adjustment mechanisms for human body 3D scanning, to solve above-mentioned ask
Topic.
It is a kind of for human body 3D scanning two-freedom adjustment mechanism, which is characterized in that the adjustment mechanism include front frame, after
Frame, crossbeam, outer ring stand, interior ring stand, bracket, front frame, after-frame and crossbeam form the ontology of adjustment mechanism, and outer ring stand passes through level-one and turns
Axis is mounted in front frame, and interior ring stand is mounted in outer ring stand by two-stage shaft, and bracket is connected and fixed to together with interior ring stand,
Scanning camera is mounted on bracket；
Outer ring stand can be rotated around level-one shaft, i.e., rotate relative to front frame and adjustment mechanism ontology；
Interior ring stand can be rotated around two-stage shaft, i.e., rotate relative to outer ring stand；
The mechanism includes two sets of identical linear motion units: level-one linear motion unit and two-stage linear motion unit,
Level-one linear motion unit drives outer ring stand to rotate relative to front frame and adjustment mechanism ontology by guide-bar mechanism；Two
Grade linear motion unit equally uses guide-bar mechanism driving interior ring stand to rotate relative to outer ring stand.
Therefore, scanning camera has double rotation freedom degrees, by adjusting interior ring stand and the rotational angle of outer ring stand, so that sweeping
The camera lens for retouching camera is directed toward human body to be scanned, as shown in Figure 1.
Further, which further comprises two sets of identical linear motion units: level-one linear motion unit and two
Grade linear motion unit, level-one linear motion unit drive outer ring stand relative to front frame and adjustment mechanism ontology by guide-bar mechanism
Rotation, two-stage linear motion unit equally use guide-bar mechanism driving interior ring stand to rotate relative to outer ring stand.
Further, guide-bar mechanism include guide rod component, adapter and shift fork, two sets of different guide-bar mechanisms respectively with outer ring
Frame is connected and is fixed with interior ring stand.
Further, linear motion unit includes stepper motor, lead screw, polished rod, sliding block and mounting base, during stepper motor uses
Casement and built-in nut pair type, stepper motor directly cooperate with lead screw；Sliding block is mounted on stepper motor, sliding block two sides and light
Bar is slidably matched, and top surface design has cylinder boss, cylinder boss and shift fork sliding contact to sliding block up and down.Sliding block can be with stepping electricity
Machine is moved axially along lead screw, by the sliding contact of cylinder boss and shift fork, is controlled guide-bar mechanism and is turned around level-one shaft or two-stage
Axis rotation, and then drive outer ring stand or interior ring stand rotation.
Further, pivot center three's junction of the lens axis of scanning camera, the pivot center of interior ring stand and outer ring stand
In a bit, the pivot center of the pivot center of interior ring stand and outer ring stand in the same plane and is mutually perpendicular to, and scanning camera passes through
Bracket is mounted in interior ring stand, and by accurately controlling the moving displacement of sliding block, the camera lens for adjusting scanning camera in real time is directed toward, it is ensured that
Camera lens is accurately directed toward target position.
Compared with prior art the beneficial effects of the present invention are: scanning camera is placed on the adjustment mechanism, by a fixed number
The adjustment mechanism of amount is arranged in circular arc, and human body is located at the center of circle of circular arc, fixes the adjustment mechanism at a distance from human body；By adjusting
Scanning camera realizes that all scanning cameras are directed to human body, can be obtained human body 3D model twice by shooting.Due to scanning phase
The more and opposite position of human body of machine quantity is fixed, and the human body 3D model accuracy rebuild after scanning is high, details shows and enriches, and is convenient for the later period
The work such as 3D display and printing.
Detailed description of the invention
Fig. 1 is the placement schematic diagram of scanning camera and adjustment mechanism；
Fig. 2 is a kind of two-freedom adjustment mechanism schematic diagram of the present invention；
Fig. 3 a is a kind of internal structure chart of two-freedom adjustment mechanism of the present invention；
Fig. 3 b is the A-A cross-sectional view of Fig. 3 a；
Fig. 4 is the axis side view of level-one linear motion unit of the invention；
Fig. 5 is a kind of horizontal direction maximum rotated position of two-freedom adjustment mechanism of the present invention；
Fig. 6 is a kind of vertical direction maximum rotated position of two-freedom adjustment mechanism of the present invention.
Specific embodiment
The present invention is described in detail for each embodiment shown in reference to the accompanying drawing, but it should be stated that, these
Embodiment is not limitation of the present invention, those of ordinary skill in the art according to these embodiments work done energy, method,
Or equivalent transformation or substitution in structure, all belong to the scope of protection of the present invention within.
A kind of two-freedom adjustment mechanism for human body 3D scanning is present embodiments provided, which includes front frame
1, after-frame 26, crossbeam 25, outer ring stand 2, interior ring stand 3, bracket 24, linear motion unit 100, the front frame 1, the after-frame 26 and
Four crossbeams 25 form the ontology of the adjustment mechanism, and the ontology of the adjustment mechanism is by top panel 10, side panel 11 and back
Plate 12 is packaged and blocks.The outer ring stand 2 is mounted in the front frame 1 by level-one shaft 5, and the interior ring stand 3 passes through
Two-stage shaft 7 is mounted in the outer ring stand 2, and the bracket 24 is connected and fixed to together with the interior ring stand 3, scanning camera
9 are mounted on the bracket 24.The outer ring stand 2 can be rotated around the level-one shaft 5, i.e., relative to the front frame 1 and tune
Whole mechanism body rotation；The interior ring stand 3 can be rotated around the two-stage shaft 7, i.e., rotate relative to the outer ring stand 2, because
This, the scanning camera 9 has double rotation freedom degrees, by adjusting the outer ring stand 2 and the rotational angle of interior ring stand 3, so that
The camera lens of the scanning camera 9 is directed toward human body 201 to be scanned, shown in ginseng Fig. 1, Fig. 2 and Fig. 3.
In the present embodiment, the outer ring stand 2 is mounted in the front frame 1 by the level-one shaft 5, and two described one
Grade shaft 5 is mounted in the front frame 1 by screw, and two level-one copper sheathings 6 and the outer ring stand 2 are interference fitted, the level-one
Shaft 5 and 6 clearance fit of level-one copper sheathing, therefore, the outer ring stand 2 can be rotated around the level-one shaft 5.The inner ring
Frame 3 is mounted in the outer ring stand 2 by two-stage shaft 7, and two two-stage shafts 7 are mounted on the outer ring stand by screw
On 2, two two-stage copper sheathings 8 and the interior ring stand 3 are interference fitted, the two-stage copper sheathing 8 and 7 clearance fit of two-stage shaft,
Therefore, the interior ring stand 3 can be rotated around the two-stage shaft 7.The pivot center of the outer ring stand 2 and the outer ring stand 3
Pivot center is in same plane and is mutually perpendicular to, and the camera lens of the scanning camera 9 is inserted into the through-hole at 3 middle part of interior ring stand,
The pivot center three of the lens axis of the scanning camera 9, the pivot center of the interior ring stand 3 and outer ring stand 2 intersects at one
Point.
In the present embodiment, join shown in Fig. 2 and Fig. 4, which further includes that the identical linear motion of two structures is single
Member: level-one linear motion unit 100 and two-stage linear motion unit 101, the level-one linear motion unit 100 include stepping electricity
Machine 13, lead screw 14, polished rod 15, sliding block 18 and mounting base 16, the stepper motor 13 use hollow structure and built-in nut pair, institute
It states stepper motor 13 directly to cooperate with the lead screw 14, the sliding block 18 is mounted on the stepper motor 13, the sliding block 18
Two sides devise two through-holes, through-hole is slidably matched with the polished rod 15, and the top surface up and down of the sliding block 18 respectively devises circle
Column boss, cylinder boss and 21 sliding contact of shift fork.The stepper motor 13 drives the sliding block 18 along the axis of the lead screw 14
To movement, in order to limit the motion range of the sliding block 18, contact-making switch 17 is mounted at the both ends of the mounting base 16.
In the present embodiment, join shown in Fig. 2, Fig. 4 and Fig. 5, level-one guide-bar mechanism is mounted and fixed on the outer ring stand 2
On, level-one guide-bar mechanism includes top guide bar 19, lower guide rod 27, level-one adapter 20, level-one shift fork 21, the top guide bar 19 and institute
Lower guide rod 27 to be stated to be mounted on the outer ring stand 2, level-one adapter 20 is mounted on the lower guide rod 27 by screw, and described one
Grade shift fork 21 is mounted on the level-one adapter 20.The cylinder boss of the sliding block 18 and 21 sliding contact of shift fork, one
Grade guide-bar mechanism is relatively fixed with the outer ring stand 2 and can rotate around the level-one shaft 5, and the sliding block 18 is along the lead screw
14 axial movements, drive level-one guide-bar mechanism and the outer ring stand 2 to rotate around the level-one shaft 5.Fig. 5 (a) is the sliding block
18 move to the maximum left swing angle of the scanning camera 9 when limit on the left position, and Fig. 5 (b) is that the sliding block 18 moves to right pole
The maximum right swinging of the scanning camera 9 when extreme position.
In the present embodiment, join shown in Fig. 2, Fig. 4 and Fig. 6, the two-stage linear motion unit 101 and the level-one straight line
The Nomenclature Composition and Structure of Complexes of moving cell 100 is identical, and the two-stage linear motion 101 is mounted on the top guide bar 19 and lower guide rod 27
On, two-stage guide-bar mechanism is mounted and fixed in the interior ring stand 3, and two-stage guide-bar mechanism includes the bracket 24, two-stage switching
Part 23 and two-stage shift fork 22, two-stage guide-bar mechanism and the interior ring stand 3 can be rotated around the two-stage shaft 7.Same principle, institute
The slider-actuated two-stage shift fork 22 of two-stage linear motion unit 101 is stated, the movement of sliding block vertical direction drives two-stage guide-bar mechanism
It is rotated around the two-stage shaft 7, i.e., the described interior ring stand 3 is rotated relative to the outer ring stand 2.Fig. 6 (a) is the scanning camera 9
The swinging in vertical direction maximum, Fig. 6 (b) are the scanning camera 9 swinging in the case where vertical direction is maximum.
In human body 3D scanning, human body 201 is located at the center of circular arc, and according to the size of human body 201, adjust automatically is each
Adjustment mechanism 200, by accurately controlling the moving displacement of sliding block, the camera lens for adjusting scanning camera is directed toward, it is ensured that camera lens accurately refers to
To human body 201.
The present invention provides a kind of two-freedom adjustment mechanism for human body 3D scanning, has the following beneficial effects:
1) adjustment mechanism have it is compact-sized, kinematic accuracy is high, in motion range, the camera lens of scanning camera be may point to
Spherical surface any position.
2) it through fixed adjustment mechanisms at a distance from human body, and adjusts scanning camera and is directed toward human body target, the image of acquisition
Information and quality are higher.
3) scanning camera is arranged along circular arc, and shooting angle range is wide, when carrying out human body 3D Model Reconstruction, can obtain height
Precision, details clearly 3D model.
The series of detailed descriptions listed above only for feasible embodiment of the invention specifically
Protection scope bright, that they are not intended to limit the invention, it is all without departing from equivalent implementations made by technical spirit of the present invention
Or change should all be included in the protection scope of the present invention.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.
Claims (4)
1. it is a kind of for human body 3D scanning two-freedom adjustment mechanism, which is characterized in that the adjustment mechanism include front frame, after
Frame, crossbeam, outer ring stand, interior ring stand and bracket；The ontology of front frame, after-frame and crossbeam composition adjustment mechanism, outer ring stand pass through level-one
Shaft is mounted in front frame, and interior ring stand is mounted in outer ring stand by two-stage shaft, and bracket and interior ring stand are connected and fixed to one
It rises, scanning camera is mounted on bracket；
Outer ring stand can be rotated around level-one shaft, i.e., rotate relative to front frame and adjustment mechanism ontology；
Interior ring stand can be rotated around two-stage shaft, i.e., rotate relative to outer ring stand；
The mechanism includes two sets of identical linear motion units: level-one linear motion unit and two-stage linear motion unit,
Level-one linear motion unit drives outer ring stand to rotate relative to front frame and adjustment mechanism ontology by guide-bar mechanism；Two-stage is straight
Line moving cell equally uses guide-bar mechanism driving interior ring stand to rotate relative to outer ring stand.
2. a kind of two-freedom adjustment mechanism for human body 3D scanning according to claim 1, which is characterized in that guide rod
Mechanism includes guide rod component, adapter and shift fork.
3. a kind of two-freedom adjustment mechanism for human body 3D scanning according to claim 2, which is characterized in that guide rod
Component includes stepper motor, lead screw, polished rod, sliding block and mounting base；
Stepper motor uses hollow type and built-in nut pair type, and stepper motor directly cooperates with lead screw；
Sliding block is mounted on stepper motor, and sliding block two sides are slidably matched with polished rod, and top surface design has cylinder boss to sliding block up and down, circle
Column boss and shift fork sliding contact；
Sliding block can be moved axially with stepper motor along lead screw, by the sliding contact of cylinder boss and shift fork, control guide rod machine
Structure is rotated around level-one shaft or two-stage shaft, and then drives outer ring stand or interior ring stand rotation.
4. a kind of two-freedom adjustment mechanism for human body 3D scanning according to claim 1, which is characterized in that scanning
The pivot center three of the lens axis of camera, the pivot center of interior ring stand and outer ring stand intersects at a bit, the rotation of interior ring stand
The pivot center of axis and outer ring stand in the same plane and is mutually perpendicular to, and scanning camera is mounted in interior ring stand by bracket,
By controlling the moving displacement of sliding block, the camera lens for adjusting scanning camera in real time is directed toward, it is ensured that camera lens is accurately directed toward target position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610967935.6A CN106546188B (en) | 2016-11-05 | 2016-11-05 | A kind of two-freedom adjustment mechanism for human body 3D scanning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610967935.6A CN106546188B (en) | 2016-11-05 | 2016-11-05 | A kind of two-freedom adjustment mechanism for human body 3D scanning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106546188A CN106546188A (en) | 2017-03-29 |
| CN106546188B true CN106546188B (en) | 2019-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610967935.6A Expired - Fee Related CN106546188B (en) | 2016-11-05 | 2016-11-05 | A kind of two-freedom adjustment mechanism for human body 3D scanning |
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| Country | Link |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108534708B (en) * | 2018-03-30 | 2020-04-24 | 深圳积木易搭科技技术有限公司 | Binocular three-dimensional scanner assembly and scanning method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2086427U (en) * | 1990-06-20 | 1991-10-09 | 林家义 | No-contact three-dimensional coordinate fast determining and recording device |
| CA2354553A1 (en) * | 1998-12-11 | 2000-06-22 | Wicks And Wilson Limited | Body scanning equipment |
| CN104251670A (en) * | 2014-08-28 | 2014-12-31 | 合肥斯科尔智能科技有限公司 | Multi-view raster 3D (three-dimensional) scanner |
| CN106052557A (en) * | 2016-06-25 | 2016-10-26 | 哈尔滨鼎智瑞光科技有限公司 | Array structure grating human body three-dimensional scanning system |
-
2016
- 2016-11-05 CN CN201610967935.6A patent/CN106546188B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2086427U (en) * | 1990-06-20 | 1991-10-09 | 林家义 | No-contact three-dimensional coordinate fast determining and recording device |
| CA2354553A1 (en) * | 1998-12-11 | 2000-06-22 | Wicks And Wilson Limited | Body scanning equipment |
| CN104251670A (en) * | 2014-08-28 | 2014-12-31 | 合肥斯科尔智能科技有限公司 | Multi-view raster 3D (three-dimensional) scanner |
| CN106052557A (en) * | 2016-06-25 | 2016-10-26 | 哈尔滨鼎智瑞光科技有限公司 | Array structure grating human body three-dimensional scanning system |
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| CN106546188A (en) | 2017-03-29 |
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