CN107421468A - Color three dimension scanning system and method - Google Patents

Color three dimension scanning system and method Download PDF

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Publication number
CN107421468A
CN107421468A CN201710649032.8A CN201710649032A CN107421468A CN 107421468 A CN107421468 A CN 107421468A CN 201710649032 A CN201710649032 A CN 201710649032A CN 107421468 A CN107421468 A CN 107421468A
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CN
China
Prior art keywords
color
scanned
control unit
dimension
scanning device
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Granted
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CN201710649032.8A
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Chinese (zh)
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CN107421468B (en
Inventor
陈海龙
彭翔
刘晓利
刘梦龙
向开兵
贺健仁
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Shenzhen Yishang Kangrui Technology Co., Ltd
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SHENZHEN ESUN DISPLAY CO Ltd
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Priority to CN201710649032.8A priority Critical patent/CN107421468B/en
Publication of CN107421468A publication Critical patent/CN107421468A/en
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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 techniques
    • G01B11/24Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25Measuring 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
    • G01B11/2509Color coding
    • 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 techniques
    • G01B11/24Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25Measuring 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
    • G01B11/254Projection of a pattern, viewing through a pattern, e.g. moiré
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00Three dimensional [3D] modelling, e.g. data description of 3D objects

Abstract

The present invention relates to a kind of color three dimension scanning system and method, including:Three-dimensional scanning device, including projection optical module, projection acquisition module and color three dimension rebuild module;Loading equipment, for carrying object to be scanned;Control device, for controlling three-dimensional scanning device to carry out spatial attitude adjustment, the pose adjustment of three-dimensional scanning device and loading equipment is separate;Control device includes rotation control unit and mobile control unit, rotation control unit is connected with mobile control unit, mobile control unit is connected with three-dimensional scanning device, the rotation of rotation control unit control mobile control unit in the horizontal plane, rotation control unit and mobile control unit control the spatial attitude of three-dimensional scanning device together.The color three dimension scanning system and method, it is not necessary in object under test surface labelling point, can be achieved with the automation color three dimension scanning of three-dimensional scanning device measuring targets, therefore 3-D scanning efficiency high, cost be low and whole-course automation.

Description

Color three dimension scanning system and method
Technical field
The present invention relates to 3-D scanning technical field, more particularly to a kind of color three dimension scanning system and method.
Background technology
Because the precious article such as historical relic, handicraft is for studying and showing, therefore to the three-dimensional of these precious articles Scanning has particular/special requirement:1) historical relic can not move in scanning process, whole contactless, so as to ensure the safety of historical relic scanning;2) not Can be in cultural artifact surface labelling point;3) accurate geometrical model is needed;4) the color texture textures of high-accuracy high-resolution are needed.
Although the scanner scanning of hand-held in the market is convenient, the model fineness of scanning it is poor, it is necessary to Man-hour manually hand-held scanner is scanned, and scan efficiency is low;Many industrial scanners are self-existent individuals, and are needed artificial Scanner is operated by tripod or crane, can be troublesome in the scanning process of the precious article such as historical relic, also very It is inconvenient, the efficiency of scanning is reduced, adds cost of labor.And these spatial digitizers are required for labelling in body surface Remember point, could realize and the data of different visual angles are matched, but the precious article such as historical relic labels not in body surface Note point.The scanner of industrial circle is most of also without the color texture camera of specialty, is substantially geometry scanning and texture is clapped According to separating, texture mapping is carried out by artificial mode, so without accuracy guarantee.Some scanners are with colored industrial camera Acquisition geometry model and texture information simultaneously, because resolution ratio and the quality of colour ratio of colored industrial camera are relatively low, do not reach height The grain effect of resolution ratio and high quality, so that scanning the threedimensional model that the color texture quality come does not reach precious article It is required that.
The content of the invention
Based on this, it is necessary to which providing one kind need not be in object under test surface labelling point with regard to that can carry out high efficiency, high-quality Amount, low cost, the color three dimension scanning system of automation.
A kind of color three dimension scanning system, including:
Three-dimensional scanning device, including projection optical module, projection acquisition module and color three dimension rebuild module, the optics Projection module is used for projection code pattern and is used to gather the projection code figure to object to be scanned, the projection acquisition module Case carries out geometry reconstructing three-dimensional model, and the color three dimension rebuilds the photochrome that module is used to gather the object to be scanned, And color texture mapping is carried out on the geometry threedimensional model, realize the color texture threedimensional model to the object to be scanned Rebuild;
Loading equipment, for carrying the object to be scanned;
Control device, for controlling the three-dimensional scanning device to carry out spatial attitude adjustment, the three-dimensional scanning device and The pose adjustment of the loading equipment is separate;The control device includes rotation control unit and mobile control unit, institute Rotation control unit to be stated with the mobile control unit to be connected, the mobile control unit is connected with the three-dimensional scanning device, The rotation control unit controls the rotation of the mobile control unit in the horizontal plane, the rotation control unit and mobile control Unit processed controls the spatial attitude of the three-dimensional scanning device together.
In one of the embodiments, the color three dimension scanning system also includes light units, and the light units is used In providing uniform ambient light for the three-dimensional scanning device.
In one of the embodiments, the color three dimension scanning system also includes automatic mode and manual mode, described Automatic mode is that the control device directly controls the three-dimensional scanning device to complete spatial attitude adjustment and to object to be scanned Carry out 3-D scanning;The manual mode is to complete spatial attitude and adjust and treat to sweep by adjusting the three-dimensional scanning device manually Retouch object and carry out 3-D scanning;The manual mode and the automatic mode can mutually switch according to actual conditions.
In one of the embodiments, in addition to industrial computer, the industrial computer are used for the institute to different visual angles State threedimensional model to be matched, so as to obtain the complete three-dimensional model of the object to be scanned.
In one of the embodiments, in addition to decanning facility, the decanning facility are located at the loading equipment bottom, use In the support loading equipment, the decanning facility inner hollow.The decanning facility includes hardware framework and limit induction device, For the limit induction device on the hardware framework, the limit induction device controls the horizontal rotation of the rotation control unit Angular range is (0 °, 360 °), and the hardware framework is connected with the loading equipment, for supporting the loading equipment.
In one of the embodiments, in addition to base apparatus, the base apparatus are located at the decanning facility bottom, use In supporting the decanning facility, Level tune universal wheel is provided with below the base, the Level tune universal wheel is used for described Color three dimension scanning system moves horizontally.
In one of the embodiments, the rotation control unit includes motor and rotating arm, and the system also includes Control line, the mobile control unit include mechanical arm, the through hole for being used for passing through for the control line are provided among the motor, The control line connects the control device and the three-dimensional scanning device, the rotating arm are provided with mechanical position limitation part, institute State mechanical position limitation part to be used to prevent the rotating arm from excessively rotating in the color three dimension scanning system power down, the machinery Arm can carry the weight of the three-dimensional scanning device.
In one of the embodiments, the projection optical module includes projection arrangement, and the projection acquisition module includes Two industrial cameras, the color three dimension, which rebuilds module, includes a color camera.
On the other hand, the present invention also proposes a kind of color three dimension scan method, and methods described includes:
Object to be scanned is positioned in loading equipment;
It is electric in color three dimension scanning system;
Control device sends control instruction;
Rotation control unit and mobile control unit receive the control instruction and control three-dimensional scanning device to carry out space Pose adjustment;
The three-dimensional scanning device is scanned to the object to be scanned, obtains the color texture of the object to be scanned Threedimensional model.
In one of the embodiments, the three-dimensional scanning device is scanned to the object to be scanned, is obtained described The step of color texture threedimensional model of object to be scanned, includes:
The three-dimensional scanning device is scanned to the object to be scanned, and the geometry for obtaining the object to be scanned is three-dimensional Model;
Open the light of light units and three-dimensional scanning device;
Color three dimension rebuilds the color texture photo that module gathers the object to be scanned;
The color texture photo and the geometry threedimensional model are subjected to textures, obtain the colour of the object to be scanned Texture threedimensional model.
Above-mentioned color three dimension scanning system and method, it is not necessary to which, in object under test surface labelling point, control device will The spatial attitude of three-dimensional scanning device is automatically controlled, realizes that the automation of the high fidelity of 3 D scanning system measuring targets is color Pigment figure manages reconstructing three-dimensional model, and the geometric accuracy height of color texture threedimensional model, texture quality are high, therefore 3-D scanning efficiency Height, quality are high, cost is low and whole-course automation.
Brief description of the drawings
Fig. 1 is the exploded perspective view of colored 3 D scanning system in an embodiment;
Fig. 2 is the exploded perspective view of rotation control unit in color three dimension scanning system shown in Fig. 1;
Fig. 3 is the exploded perspective view of decanning facility in color three dimension scanning system shown in Fig. 1;
Fig. 4 is the exploded perspective view of loading equipment in color three dimension scanning system shown in Fig. 1;
Fig. 5 is the exploded perspective view of light units in color three dimension scanning system shown in Fig. 1;
Fig. 6 is the exploded perspective view of color three dimension scanning system midsole seat apparatus shown in Fig. 1;
Fig. 7 is the dimensional structure diagram of three-dimensional scanning device in color three dimension scanning system shown in Fig. 1;
Fig. 8 is the part exploded perspective view of three-dimensional scanning device in color three dimension scanning system shown in Fig. 7;
Fig. 9 is the flow chart of colored 3-D scanning method in an embodiment.
Embodiment
For the ease of understanding the present invention, the present invention is described more fully below with reference to relevant drawings.In accompanying drawing Give the preferred embodiment of the present invention.But the present invention can realize in many different forms, however it is not limited to this paper institutes The embodiment of description.On the contrary, the purpose for providing these embodiments is made to the disclosure more thorough and comprehensive.
Unless otherwise defined, all of technologies and scientific terms used here by the article is with belonging to technical field of the invention The implication that technical staff is generally understood that is identical.Term used in the description of the invention herein is intended merely to description tool The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " include one or more phases The arbitrary and all combination of the Listed Items of pass.
Fig. 1 and Fig. 8 are referred to, Fig. 1 is the exploded perspective view of colored 3 D scanning system in an embodiment, in the present embodiment In, color three dimension scanning system includes three-dimensional scanning device 400, loading equipment 500 and control device.Loading equipment 500 is used for Carry object to be scanned.Three-dimensional scanning device 400 includes projection optical module 403, projection acquisition module and color three dimension weight Model block.In the embodiment shown in fig. 8, projection acquisition module includes two industrial cameras 404.Projection optical module 403 is used In on projection code pattern to object to be scanned, projection acquisition module is used for acquired projections coding pattern and carries out geometry threedimensional model Rebuild.After projection optical module 403 carries out projection code pattern to object to be scanned, projection acquisition module is just to projection code Pattern is acquired, and geometry reconstructing three-dimensional model is carried out to object to be scanned using the three-dimensional information of collection.Color three dimension is rebuild Module is used for the photochrome for gathering object to be scanned, and color texture mapping is carried out on geometry threedimensional model, and realization is treated Scan the color texture reconstructing three-dimensional model of object.In one embodiment, projection optical module includes projection arrangement, projection dress Putting can be projecting apparatus or other any devices that can be projected.
Control device is used to control three-dimensional scanning device 400 to carry out spatial attitude adjustment, three-dimensional scanning device 400 and loading The pose adjustment of equipment 500 is separate, i.e. three-dimensional scanning device 400 and the pose adjustment of loading equipment 500 is mutually without influence. Control device includes rotation control unit 220 and mobile control unit 230, rotation control unit 220 and mobile control unit 230 It is connected, mobile control unit 230 is connected with three-dimensional scanning device 400, and rotation control unit 220 controls mobile control unit 230 Rotation in the horizontal plane, rotation control unit 220 and mobile control unit 230 control the sky of three-dimensional scanning device 400 together Between posture,
Above-mentioned color three dimension scanning system includes three-dimensional scanning device 400, loading equipment 500 and control device.Three-dimensional is swept Retouching equipment 400 includes projection optical module 403, projection acquisition module and color three dimension reconstruction module.Projection optical module 403 is used In on projection code pattern to object to be scanned, projection acquisition module is used for acquired projections coding pattern and carries out geometry threedimensional model Rebuild, color three dimension rebuilds the photochrome that module is used to gather the object to be scanned, and object to be scanned is carried out colored Texture reconstructing three-dimensional model.Loading equipment 500 is used to carry object to be scanned.Control device is used to control three-dimensional scanning device The pose adjustment of 400 progress spatial attitude adjustment, three-dimensional scanning device 400 and loading equipment 500 is separate.Control device bag Include rotation control unit 220 and mobile control unit 230.Under the control of control device, three-dimensional scanning device 400 can be automatic Complete spatial attitude adjustment and 3-D scanning is carried out to object to be scanned, realize the geometry threedimensional model weight to object to be scanned Build, it is not necessary to artificial to participate in.Therefore, the color three dimension scanning system need not be in object under test surface labelling point with regard to that can carry out High efficiency, high quality, low cost, the 3-D scanning of automation.
Further, please continue to refer to Fig. 1 and Fig. 8, in one embodiment, color three dimension scanning system includes 3-D scanning Equipment 400, loading equipment 500, control device and light units 600.Loading equipment 500 is used to carry object to be scanned.Three Tieing up scanning device 400 includes projection optical module 403, projection acquisition module and color three dimension reconstruction module.Projection optical module 403 are used for projection code pattern is used for acquired projections coding pattern and carries out geometry three to object to be scanned, projection acquisition module Dimension module is rebuild.Color three dimension rebuilds the photochrome that module is used to gather the object to be scanned, and object to be scanned is entered Row color texture reconstructing three-dimensional model.Light units 600 is used to provide uniform ambient light for three-dimensional scanning device 400.At it In middle one embodiment, control circuit 4022 is additionally provided with inside three-dimensional scanning device 400.Projection optical module 403 includes throwing Image device, projection acquisition module include two industrial cameras 404.Color three dimension, which rebuilds module, includes a color camera 405.It is color Form and aspect machine 405 is used for the color texture photo for gathering object to be scanned.Control circuit 4022 controls projection optical module 403 to throw For shadow coding pattern on object to be scanned, two acquired projections coding patterns of industrial camera 404 simultaneously carry out high-precision geometry three Dimension module is rebuild, and controls color camera 405 to gather the color texture photo of object to be scanned, and is carried out by calibration algorithm High accuracy mapping and textures, realize the color texture reconstructing three-dimensional model to the high quality of object to be scanned.
Control device is used to control three-dimensional scanning device 400 to carry out spatial attitude adjustment, three-dimensional scanning device 400 and loading The pose adjustment of equipment 500 is separate, i.e. three-dimensional scanning device 400 and the pose adjustment of loading equipment 500 is mutually without influence. Control device includes rotation control unit 220 and mobile control unit 230, rotation control unit 220 and mobile control unit 230 It is connected, mobile control unit 230 is connected with three-dimensional scanning device 400, and rotation control unit 220 controls mobile control unit 230 Rotation in the horizontal plane, rotation control unit 220 and mobile control unit 230 control the sky of three-dimensional scanning device 400 together Between posture.
Above-mentioned color three dimension scanning system, including three-dimensional scanning device 400, loading equipment 500 and control device.Three-dimensional is swept Equipment 400 is retouched, including projection optical module 403, projection acquisition module and color three dimension rebuild module.Projection optical module 403 For projection code pattern to object to be scanned, projection acquisition module is used for acquired projections coding pattern and carries out geometry three-dimensional mould Type is rebuild.Light units 600 is used to provide uniform ambient light for three-dimensional scanning device 400, and color three dimension is rebuild module and is used for The photochrome of the object to be scanned is gathered, and color texture reconstructing three-dimensional model is carried out to object to be scanned.Control device Including rotation control unit 220 and mobile control unit 230.Under the control of control device, three-dimensional scanning device 400 can be certainly It is dynamic to complete spatial attitude adjustment and 3-D scanning is carried out to object to be scanned, realize the color texture three-dimensional mould to object to be scanned Type, it is not necessary to artificial to participate in.Therefore, the color three dimension scanning system need not be in object under test surface labelling point with regard to that can carry out High efficiency, high quality, low cost, the color three dimension scanning of automation.
Further, Fig. 1 to Fig. 8 is referred to, in the present embodiment, as shown in figure 1, color three dimension scanning system includes Three-dimensional scanning device 400, loading equipment 500, control device, light units 600, decanning facility 300 and base apparatus 100.Outside Casing equipment 300 is located at the bottom of loading equipment 400, for supporting loading equipment 400, the inner hollow of decanning facility 300.Control device For controlling three-dimensional scanning device to carry out spatial attitude adjustment, including rotation control unit 220, mobile control unit 230 and control Device 210 processed.Rotation control unit 220 is connected with mobile control unit 230, mobile control unit 230 and three-dimensional scanning device 400 It is connected, rotation control unit 220 controls the rotation of mobile control unit 230 in the horizontal plane, rotation control unit 220 and movement Control unit 230 controls the spatial attitude of three-dimensional scanning device together.Controller 210 turns control unit 220 for control and moved The dynamic beginning and end of control unit 230.
Color three dimension scanning system includes automatic mode and manual mode.Automatic mode is that control device directly controls three-dimensional Scanning device 400 completes spatial attitude adjustment and carries out 3-D scanning to object to be scanned.Manual mode is by adjusting three manually Scanning device 400 is tieed up to complete spatial attitude adjustment and carry out 3-D scanning to object to be scanned.Manual mode and automatic mode can Mutually switched according to actual conditions.
As shown in Fig. 2 rotation control unit 220 includes motor base 221, motor 222, motor flange 223, bearing block 224th, clutch shaft bearing 225, rotating arm 226, key 227, Tibetan line box 228, rotating arm 226 are provided with motor and enable button 2263rd, the first mechanical position limitation part 2261 and sensing apparatus 2262.The position of the corresponding first mechanical position limitation part 2261 in the top of bearing block 224 The second mechanical position limitation part 2241 is installed, the first mechanical position limitation part 2261 and the second mechanical position limitation part 2241 are used cooperatively and can carried out Mechanical position limitation, excessive rotation of the rotating arm in color three dimension scanning system power down can be prevented.Mobile control unit 230 includes Mechanical arm, mechanical arm can carry the weight of three-dimensional scanning device 400.Motor enables button 2263 and is used for controlled motor 222 Rotation, the default conditions that motor enables button 2263 are the patterns that color three dimension scanning system is in automatically scanning, now by controlling The rotation of control equipment automatic control motor 222.After pressing the enabled button 2263 of motor, color three dimension scanning system is in and swept manually The pattern retouched, the rotation of Manual-pushing rotating arm 226 is now needed to use, so as to which drive motor rotates.In one embodiment In, color three dimension scanning system also includes control line, is provided with the through hole for being used for passing through for control line among motor 222, control is set Standby to be attached between three-dimensional scanning device 400 by control line, motor 222 drives rotating arm 226 to exist by control line Horizontal plane internal rotation.The inner hollow of line box 228 is hidden, it is in the form of annular discs, for placing control line.
Fig. 1, Fig. 2 and Fig. 3 are referred to, decanning facility 300 includes upper casing decoration 301, upper casing 302, four side casings 303rd, hardware framework 304 and decoration door 305.Decanning facility 300 is located at the bottom of loading equipment 500, for supporting loading equipment 500.The inner hollow of decanning facility 300, controller 210 are positioned over inside decanning facility 300, and motor base 221 and motor 222 connect Rear overhang is connect inside decanning facility 300, bearing block 224 is fixed on the top of decanning facility 300.Hardware framework 304 is provided with the One limit induction device 3041 and the second limit induction device 3042.The normal rotating range of rotating arm 226 is (0 °, 360 °).The One limit induction device 3041 and the second limit induction device 3042 are arranged on the diverse location on same circle, the angular range of formation For (0 °, 10 °), in one embodiment, the angle that the first limit induction device 3041 and the second limit induction device 3042 are formed is 5°.Rotating arm 226 rotates by the position of the first limit induction device 3041, when rotating arm 226 is due to improper rotation Turning more than when safely rotating scope, sensing apparatus 2262 runs into the second limit induction device 3042, and controlled motor 222 stops operating, And then motor 222 is by controlling the rotating arm 226 of line traffic control also to stop operating, so as to prevent the excessive rotation of rotating arm 226 Turn, the various wire rods caused through the through hole of motor 222, which excessively twine, scratches and break down.
As shown in figure 4, loading equipment 500 includes rotating disk 501, second bearing 502, rotary disk basement 503, vertical rod 504, rotary disk basement 503 include top cap 5031 and knob 5032, and rotating disk 501 is used to carry object to be scanned.Top cap 5031 can when turning knob 5032 With reach with rotating disk 501 be adjacent to, remote effect, 501 turns of rotating disk is motionless when being adjacent to, away from when rotating disk 501 can rotate.Loading Equipment 500 is fixed on the hardware framework 304 of decanning facility 300 by vertical rod 504, so that loading equipment 500 and rotation branch The rotation of arm 226 is separate.The rotating disk 501 of loading equipment 500 can both can be manually rotated, and can also be allowed and turned by knob 5032 Disk 501 is locked motionless.
As shown in figure 5, light units 600 includes lampshade 601, both sides lamp plate 602, lamp bracket 603, when light units is opened, For providing uniform ambient light for three-dimensional scanning device 400.Light units 600 is fixed on rotating arm 226 by lamp bracket 603 On, ensure that light units 600 and rotating arm 226 rotate together.
As shown in fig. 6, base apparatus 100 includes 102, four base 101, interface board Level tune universal wheels 103.Base Equipment 100 is located at the bottom of decanning facility 300, and is fixed with decanning facility 300 by four side casings 303, for support housing Equipment 300.The lower section of base 101 is provided with four Level tune universal wheels 103, four Level tune universal wheels 103 and base 101 Bottom connects, and is centrosymmetric distribution on the center of base 101.Four Level tune universal wheels 103 only need to be adjusted, just Moving horizontally for base 101 can be driven, and then drives the integral level movement of color three dimension scanning system.
Fig. 7 and Fig. 8 are referred to, three-dimensional scanning device 400 includes housing 402,401, two industrial cameras of control handle 404, a color camera 405 and projection optical module 403.Two industrial cameras 404 are symmetrically distributed in the two of color camera 405 Side.The inner hollow of housing 402, projection optical module 403 are positioned in housing 402, and control circuit is additionally provided with inside housing 402 4022.The front portion of housing 402 is mounted with scanner lamp body 4021 (towards the direction of object to be scanned).Scanner lamp body 4021 Light filling is carried out on the direction that can be scanned to three-dimensional scanning device 400, so as to be object to be scanned together with light units 600 Uniform ambient light is provided, the grain brightness for gathering color camera 405 is more uniform, improves the texture quality of collection.Behaviour Control handle 401 includes a control button 4011, and control button 4011 is connected with control circuit 4022, and control button 4011 is write from memory It is the pattern that color three dimension scanning system is in automatically scanning to recognize state, now automatically controls three-dimensional scanning device by control device 400 and the pose adjustment of mechanical arm.After pressing the enabled button 2263 of motor, color three dimension scanning system is in the mould of manual scanning Formula, now hold the spatial attitude of the can of control handle 401 regulation three-dimensional scanning device 400.Human hand presses control button 4011 can adjust the spatial attitude of mechanical arm.Because control button 4011 is arranged on control handle 401, human hand grip pressure manipulation Control button 4011 is also pressed during handle 401, so as to adjust the space appearance of three-dimensional scanning device 400 and mechanical arm simultaneously State.Because mechanical arm can carry the weight of three-dimensional scanning device 400, so manual manipulation is three-dimensional in the state of manual scanning The very comfortable of scanning device 400 is convenient.After pressing the enabled button 2263 of motor again, the manual scanning of color three dimension scanning system Pattern terminates.Control circuit 4022 controls the projection code pattern of projection optical module 403 to object to be scanned, two industrial phases Machine 404 gathers the projection code pattern and carries out high-precision geometry reconstructing three-dimensional model, and controls color camera 405 to adopt Collect the color texture photo of object to be scanned, and high-precision mapping and textures are carried out by calibration algorithm, realize to scanning object The color texture reconstructing three-dimensional model of the high quality of body.
In the present embodiment, the automatic mode of color three dimension scanning system and the detailed process of manual mode are as follows:
Automatic mode:In color three dimension scanning system after electricity, the now lamp of light units 600 and scanner lamp body 4021 Light is closed, and 3-D scanning is automatically controlled by rotation control unit 220 and mobile control unit 230 by control device The spatial attitude adjustment of equipment 400.After the spatial attitude of three-dimensional scanning device 400 is adjusted, the inside of three-dimensional scanning device 400 Control circuit 4022 control the projection code pattern of projection optical module 403 two industrial cameras 404 adopted on object to be scanned Collect the projection code pattern and carry out geometry reconstructing three-dimensional model.Now, the light of light units 600 and scanner lamp body 4021 Open, color camera 405 gathers the color texture photo of object to be scanned, and carries out color texture three-dimensional mould to object to be scanned Type is rebuild.
Manual mode:In color three dimension scanning system after electricity, the now lamp of light units 600 and scanner lamp body 4021 Light is closed.Press motor and enable button 2263, now using the rotation of Manual-pushing rotating arm 226, so as to band The space movement of dynamic mechanical arm and three-dimensional scanning device 400, human hand grip pressure control handle 401 and control button 4011, so as to adjust Save the spatial attitude of three-dimensional scanning device 400 and mechanical arm.It is three-dimensional after the spatial attitude of three-dimensional scanning device 400 is adjusted The control circuit 4022 of the inside of scanning device 400 controls the projection code pattern of projection optical module 403 to object to be scanned, and two Individual industrial camera 404 gathers the projection code pattern and carries out geometry reconstructing three-dimensional model.Now, light units 600 and scanning The light of instrument lamp body 4021 is opened, and color camera 405 gathers the color texture photo of object to be scanned, and object to be scanned is entered Row color texture reconstructing three-dimensional model.
In one embodiment, color three dimension scanning system also includes industrial computer, and industrial computer is used for difference The threedimensional model at visual angle is matched, so as to obtain the complete three-dimensional model of object to be scanned.Rotation control unit 220 and movement The energy corresponding attitude parameter of Real-time Feedback of control unit 230 is calculated to industrial computer, industrial computer by calibrating parameters The spatial attitude parameter of three-dimensional scanning device 400, so as to can be achieved with the Auto-matching of 3 d scan data without labelling point.
Above-mentioned color three dimension scanning system, including three-dimensional scanning device 400, loading equipment 500, control device, light are set Standby 600, decanning facility 300 and base apparatus 100.Object to be scanned is positioned over motionless in loading equipment 500, ensure that to be scanned The safety of object.The design of color three dimension scanning system integration, can be moved integrally, very convenient.Including automatic mold Formula and manual mode both of which, and can mutually switch, greatly extend the function of system operatio, simple operation.Three Tie up scanning device 400 and connect mechanical arm, mechanical arm can carry the weight of scanning device 400, artificial regulation scanning device 400 manually Posture it is lighter.Light units 600 and scanner lamp body 4021 can provide uniformly for the texture collection of color camera 405 Ambient light so that the grain brightness of collection is uniform, improves color texture quality, and then obtain the color texture three of high quality Dimension module.Therefore the color three dimension scanning system simple operation, need not be in object under test surface labelling point with regard to height can be carried out Quality, high efficiency, low cost, the 3-D scanning of automation.
Referring to Fig. 9, Fig. 9 is the flow chart of colored 3-D scanning method in an embodiment.
In the present embodiment, the color three dimension scan method includes:
S100, object to be scanned is positioned in loading equipment.
, it is necessary to which object to be scanned is positioned in loading equipment before 3-D scanning is carried out, whole 3-D scanning process In, it is not necessary to artificially move object to be scanned.
S101, electricity in color three dimension scanning system.
S102, control device send control instruction.
In color three dimension scanning system after electricity, control device will send control rotation control unit and mobile control is single The instruction of member.
S103, rotation control unit and mobile control unit receive control instruction and control three-dimensional scanning device to carry out space Pose adjustment.
After rotation control unit and mobile control unit receive control instruction, rotation control unit will control rotating arm With the rotation of motor, mobile control unit will control machinery arm motion progress pose adjustment, rotation control unit and mobile control Unit processed adjusts the spatial attitude of three-dimensional scanning device jointly.
S104, three-dimensional scanning device are scanned to object to be scanned, obtain the geometry threedimensional model of object to be scanned.
The projection optical module of three-dimensional scanning device is used for projection code pattern to object to be scanned, then projection acquisition Module acquired projections coding pattern carries out geometry reconstructing three-dimensional model.
S105, open the light of light units and three-dimensional scanning device.
Light units can gather color texture photo for three-dimensional scanning device and provide uniform ambient light, and 3-D scanning is set Light filling, light units and scanner lamp are carried out on the direction that the standby scanner lamp body above carried can scan to three-dimensional scanning device Body can gather color texture photo for three-dimensional scanning device and provide good ambient light.Open light units and 3-D scanning is set After standby light, into step S106.
S106, color three dimension rebuild the color texture photo that module gathers object to be scanned.
The color three dimension of three-dimensional scanning device, which rebuilds module, can gather the color texture photo of object to be scanned, due to colour Three-dimensional reconstruction module is the color texture photo gathered with color camera under uniform environment light condition, therefore the texture gathered Brightness uniformity, quality are high.
S107, color texture photo and geometry threedimensional model are subjected to textures, obtain the color texture three of object to be scanned Dimension module
The geometry threedimensional model rebuild in object S104 steps to be scanned and the color texture gathered in S106 steps are shone Piece carries out high-precision mapping and textures by calibration algorithm, obtains the color texture threedimensional model of the high quality of object to be scanned.
Above-mentioned color three dimension scan method, it is not necessary to which, in object under test surface labelling point, control device will be controlled automatically The spatial attitude of three-dimensional scanning device processed, realize the automatized three-dimensional scanning of three-dimensional scanning device measuring targets.Light units Uniform ambient light can be provided for texture collection with scanner lamp body, so that the grain brightness of collection is uniform, is improved colored Texture quality, and then obtain the color texture threedimensional model of high quality.Therefore the color three dimension scanning system simple operation, be not required to Will be in object under test surface labelling point with regard to high quality, high efficiency, low cost, the 3-D scanning automated can be carried out.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited In contradiction, the scope that this specification is recorded all is considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously Can not therefore it be construed as limiting the scope of the patent.It should be pointed out that come for one of ordinary skill in the art Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.

Claims (10)

  1. A kind of 1. color three dimension scanning system, it is characterised in that including:
    Three-dimensional scanning device, including projection optical module, projection acquisition module and color three dimension rebuild module, the optical projection Module is used for projection code pattern and entered to object to be scanned, the projection acquisition module for gathering the projection code pattern Row geometry reconstructing three-dimensional model, photochrome of the color three dimension reconstruction module for gathering the object to be scanned, and Color texture mapping is carried out on the geometry threedimensional model, realizes the color texture threedimensional model weight to the object to be scanned Build;
    Loading equipment, for carrying the object to be scanned;
    Control device, for controlling the three-dimensional scanning device to carry out spatial attitude adjustment, the three-dimensional scanning device and described The pose adjustment of loading equipment is separate;The control device includes rotation control unit and mobile control unit, the rotation Turn control unit with the mobile control unit to be connected, the mobile control unit is connected with the three-dimensional scanning device, described Rotation control unit controls the rotation of the mobile control unit in the horizontal plane, and the rotation control unit and mobile control are single Member controls the spatial attitude of the three-dimensional scanning device together.
  2. 2. color three dimension scanning system according to claim 1, it is characterised in that the color three dimension scanning system is also wrapped Light units is included, the light units is used to provide uniform ambient light for the three-dimensional scanning device.
  3. 3. color three dimension scanning system according to claim 1 or 2, it is characterised in that the color three dimension scanning system Also include automatic mode and manual mode, the automatic mode is that the control device directly controls the three-dimensional scanning device complete Adjusted into spatial attitude and 3-D scanning is carried out to object to be scanned;The manual mode is by adjusting the 3-D scanning manually Equipment completes spatial attitude adjustment and carries out 3-D scanning to object to be scanned;The manual mode and the automatic mode can roots Mutually switch according to actual conditions.
  4. 4. color three dimension scanning system according to claim 1 or 2, it is characterised in that described also including industrial computer Industrial computer is used to match the threedimensional model of different visual angles, so as to obtain complete the three of the object to be scanned Dimension module.
  5. 5. color three dimension scanning system according to claim 1, it is characterised in that also including decanning facility, the shell Equipment is located at the loading equipment bottom, for supporting the loading equipment, the decanning facility inner hollow;The shell is set Standby to include hardware framework and limit induction device, the limit induction device is on the hardware framework, the limit induction device control The horizontal rotation angle scope for making the rotation control unit is (0 °, 360 °), and the hardware framework connects with the loading equipment Connect, for supporting the loading equipment.
  6. 6. color three dimension scanning system according to claim 5, it is characterised in that also including base apparatus, the base Equipment is located at the decanning facility bottom, and for supporting the decanning facility, Level tune universal wheel is provided with below the base, The Level tune universal wheel is used for moving horizontally for the color three dimension scanning system.
  7. 7. color three dimension scanning system according to claim 1, its feature exist, the rotation control unit include motor and Rotating arm, the system also include control line, and the mobile control unit includes mechanical arm, is provided with and is used among the motor The through hole passed through for the control line, the control line connect the control device and the three-dimensional scanning device, the rotation Support arm is provided with mechanical position limitation part, and the mechanical position limitation part is used to prevent the rotating arm in the color three dimension scanning system Excessively rotated during power down, the mechanical arm can carry the weight of the three-dimensional scanning device.
  8. 8. color three dimension scanning system according to claim 1, it is characterised in that the projection optical module includes projection Device, the projection acquisition module include two industrial cameras, and the color three dimension, which rebuilds module, includes a color camera.
  9. 9. a kind of color three dimension scan method, it is characterised in that methods described includes:
    Object to be scanned is positioned in loading equipment;
    It is electric in color three dimension scanning system;
    Control device sends control instruction;
    Rotation control unit and mobile control unit receive the control instruction and control three-dimensional scanning device to carry out spatial attitude Adjustment;
    The three-dimensional scanning device is scanned to the object to be scanned, and the color texture for obtaining the object to be scanned is three-dimensional Model.
  10. 10. color three dimension scan method according to claim 9, it is characterised in that the three-dimensional scanning device is to described Object to be scanned is scanned, and the step of obtaining the color texture threedimensional model of the object to be scanned includes:
    The three-dimensional scanning device is scanned to the object to be scanned, obtains the geometry three-dimensional mould of the object to be scanned Type;
    Open the light of light units and three-dimensional scanning device;
    Color three dimension rebuilds the color texture photo that module gathers the object to be scanned;
    The color texture photo and the geometry threedimensional model are subjected to textures, obtain the color texture of the object to be scanned Threedimensional model.
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