CN107421468B - Color three dimension scanning system and method - Google Patents
Color three dimension scanning system and method Download PDFInfo
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- CN107421468B CN107421468B CN201710649032.8A CN201710649032A CN107421468B CN 107421468 B CN107421468 B CN 107421468B CN 201710649032 A CN201710649032 A CN 201710649032A CN 107421468 B CN107421468 B CN 107421468B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/2509—Color coding
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three 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 methods, comprising: 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；Equipment is controlled, carries out spatial attitude adjustment for controlling three-dimensional scanning device, the pose adjustment of three-dimensional scanning device and loading equipment is mutually indepedent；Controlling equipment 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, rotation control unit controls the rotation of mobile control unit in the horizontal plane, and 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 do not need the automation color three dimension scanning that can be achieved with three-dimensional scanning device measuring targets in object under test surface labelling point, therefore 3-D scanning is high-efficient, at low cost and whole-course automation.
Description
Technical field
The present invention relates to 3-D scanning technical fields, more particularly to a kind of color three dimension scanning system and method.
Background technique
Since the precious article such as historical relic, craftwork is for studying and showing, to the three-dimensional of these precious articles
Scanning has particular/special requirement: 1) historical relic cannot move in scanning process, whole contactless, to guarantee the safety of historical relic scanning；2) not
It 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 it is convenient that the scanner of hand-held currently on the market scans, the model fineness of scanning is poor, needs
Man-hour manually hand-held scanner is scanned, and scan efficiency is low；Many industry 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, cost of labor is increased.And these spatial digitizers require to label in body surface
Remember point, be just able to achieve and the data of different perspectives are matched, but the precious article such as historical relic does not allow to label in body surface
Note point.The most of also not no professional color texture camera of the scanner of industrial circle, is substantially geometry scanning and texture is clapped
According to separating, texture mapping is carried out by artificial mode, in this way without accuracy guarantee.Some scanners are with colored industrial camera
Height is not achieved since the resolution ratio and quality of colour of colored industrial camera are relatively low in acquisition geometry model and texture information simultaneously
The grain effect of resolution ratio and high quality, to make to scan the threedimensional model that precious article is not achieved in the color texture quality come
It is required that.
Summary of the invention
Based on this, it is necessary to provide one kind and not need just to can be carried out high efficiency, high-quality in object under test surface labelling point
Amount, low cost, the color three dimension scanning system of automation.
A kind of color three dimension scanning system, comprising:
Three-dimensional scanning device, including projection optical module, projection acquisition module and color three dimension rebuild module, the optics
Projection module is for projection code pattern to object to be scanned, and the projection acquisition module is for acquiring the projection code figure
Case carries out geometry reconstructing three-dimensional model, and the color three dimension rebuilds the photochrome that module is used to acquire 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
It rebuilds；
Loading equipment, for carrying the object to be scanned；
Control equipment, carry out spatial attitude adjustment for controlling the three-dimensional scanning device, the three-dimensional scanning device and
The pose adjustment of the loading equipment is mutually indepedent；The control equipment includes rotation control unit and mobile control unit, institute
Rotation control unit to be stated to be connected with the mobile control unit, 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.
The color three dimension scanning system further includes light units in one of the embodiments, and the light units are used
In providing uniform environment light for the three-dimensional scanning device.
The color three dimension scanning system further includes automatic mode and manual mode in one of the embodiments, described
Automatic mode is that the control equipment directly controls the three-dimensional scanning device completion 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 manually adjusting the three-dimensional scanning device
It retouches object and carries out 3-D scanning；The manual mode and the automatic mode can mutually switch according to the actual situation.
It in one of the embodiments, further include industrial computer, the industrial computer is used for the institute to different perspectives
It states threedimensional model to be matched, to obtain the complete three-dimensional model of the object to be scanned.
It in one of the embodiments, further include decanning facility, the decanning facility is set to loading equipment lower part, uses
In the support loading equipment, the decanning facility inner hollow.The decanning facility includes hardware frame and limit inductor,
The limit inductor is set on the hardware frame, and the limit inductor controls the horizontal rotation of the rotation control unit
Angular range is (0 °, 360 °), and the hardware frame is connect with the loading equipment, is used to support the loading equipment.
It in one of the embodiments, further include base apparatus, the base apparatus is set to the decanning facility lower part, uses
In supporting the decanning facility, Level tune universal wheel is equipped with below the pedestal, the Level tune universal wheel is for described
Color three dimension scanning system moves horizontally.
The rotation control unit includes motor and rotating arm in one of the embodiments, the system also includes
Control line, the mobile control unit include mechanical arm, and the through-hole for passing through for the control line is equipped among the motor,
The control line connects the control equipment and the three-dimensional scanning device, and the rotating arm is equipped with mechanical position limitation part, institute
It states 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.
The projection optical module includes projection arrangement in one of the embodiments, and the projection acquisition module includes
Two industrial cameras, it includes a color camera that the color three dimension, which rebuilds module,.
On the other hand, the present invention also proposes a kind of color three dimension scan method, which comprises
Object to be scanned is placed in loading equipment；
Color three dimension scanning system powers on；
It controls equipment and issues control instruction；
Rotation control unit and mobile control unit, which receive the control instruction and control three-dimensional scanning device, carries out space
Pose adjustment；
The three-dimensional scanning device is scanned the object to be scanned, obtains the color texture of the object to be scanned
Threedimensional model.
The three-dimensional scanning device is scanned the object to be scanned in one of the embodiments, obtains described
The step of color texture threedimensional model of object to be scanned includes:
The three-dimensional scanning device is scanned 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 acquires 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 are not needed in object under test surface labelling point, and controlling equipment 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 of color texture threedimensional model is high, texture quality is high, therefore 3-D scanning efficiency
It is high, quality is high, at low cost and whole-course automation.
Detailed description of the invention
Fig. 1 is the perspective view of the explosion of colored 3 D scanning system in an embodiment；
Fig. 2 is the perspective view of the explosion of rotation control unit in color three dimension scanning system shown in Fig. 1；
Fig. 3 is the perspective view of the explosion of decanning facility in color three dimension scanning system shown in Fig. 1；
Fig. 4 is the perspective view of the explosion of loading equipment in color three dimension scanning system shown in Fig. 1；
Fig. 5 is the perspective view of the explosion of light units in color three dimension scanning system shown in Fig. 1；
Fig. 6 is the perspective view of the explosion of base apparatus in color three dimension scanning system shown in Fig. 1；
Fig. 7 is the schematic perspective view of three-dimensional scanning device in color three dimension scanning system shown in Fig. 1；
Fig. 8 is the part perspective view of the explosion 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.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give preferred embodiment of the invention.But the invention can be realized in many different forms, however it is not limited to this paper institute
The embodiment of description.On the contrary, purpose of providing these embodiments is make it is more thorough and comprehensive to the disclosure.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the listed item of pass.
Fig. 1 and Fig. 8 are please referred to, Fig. 1 is the perspective view of the explosion 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 equipment.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 carries out geometry threedimensional model for acquired projections coding pattern
It rebuilds.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 carries out geometry reconstructing three-dimensional model to object to be scanned using the three-dimensional information of acquisition.Color three dimension is rebuild
Module is used to acquire the photochrome of 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
It sets and can be projector, be also possible to other any devices that can be projected.
Control equipment carries out spatial attitude adjustment, three-dimensional scanning device 400 and load for controlling three-dimensional scanning device 400
The pose adjustment of object equipment 500 is mutually indepedent, i.e. three-dimensional scanning device 400 and the pose adjustment of loading equipment 500 is mutually without shadow
It rings.Control equipment includes rotation control unit 220 and mobile control unit 230, rotation control unit 220 and mobile control unit
230 are connected, and 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 three-dimensional scanning device 400 together
Spatial attitude,
Above-mentioned color three dimension scanning system includes three-dimensional scanning device 400, loading equipment 500 and control equipment.Three-dimensional is swept
Retouching equipment 400 includes that projection optical module 403, projection acquisition module and color three dimension rebuild module.Projection optical module 403 is used
In on projection code pattern to object to be scanned, projection acquisition module carries out geometry threedimensional model for acquired projections coding pattern
It rebuilds, color three dimension rebuilds the photochrome that module is used to acquire the object to be scanned, and carries out to object to be scanned colored
Texture reconstructing three-dimensional model.Loading equipment 500 is for carrying object to be scanned.Control equipment is set for controlling 3-D scanning
The pose adjustment of standby 400 progress spatial attitude adjustment, three-dimensional scanning device 400 and loading equipment 500 is mutually indepedent.Control equipment
Including rotation control unit 220 and mobile control unit 230.Under the control of control equipment, three-dimensional scanning device 400 can be with
It is automatically performed spatial attitude adjustment and 3-D scanning is carried out to object to be scanned, realize the geometry threedimensional model to object to be scanned
It rebuilds, does not need manually to participate in.Therefore, do not need can be into object under test surface labelling point for the color three dimension scanning system
Row high efficiency, high quality, low cost, automation 3-D scanning.
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 equipment and light units 600.Loading equipment 500 is for carrying object to be scanned.Three
Tieing up scanning device 400 includes that projection optical module 403, projection acquisition module and color three dimension rebuild module.Projection optical module
403 carry out geometry three for acquired projections coding pattern for projection code pattern to object to be scanned, projection acquisition module
Dimension module is rebuild.Color three dimension rebuilds module and is used to acquire the photochrome of the object to be scanned, and to object to be scanned into
Row color texture reconstructing three-dimensional model.Light units 600 are used to provide uniform environment 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.It includes a color camera 405 that color three dimension, which rebuilds module,.It is color
Form and aspect machine 405 is used to acquire the color texture photo of object to be scanned.Control circuit 4022 controls projection optical module 403 and throws
On shadow coding pattern to object to be scanned, two 404 acquired projections coding patterns of industrial camera simultaneously carry out high-precision geometry three
Dimension module is rebuild, and is controlled color camera 405 and acquired the color texture photo of object to be scanned, and by calibration algorithm into
The mapping of row high-precision and textures, realize the color texture reconstructing three-dimensional model to the high quality of object to be scanned.
Control equipment carries out spatial attitude adjustment, three-dimensional scanning device 400 and load for controlling three-dimensional scanning device 400
The pose adjustment of object equipment 500 is mutually indepedent, i.e. three-dimensional scanning device 400 and the pose adjustment of loading equipment 500 is mutually without shadow
It rings.Control equipment includes rotation control unit 220 and mobile control unit 230, rotation control unit 220 and mobile control unit
230 are connected, and 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 three-dimensional scanning device 400 together
Spatial attitude.
Above-mentioned color three dimension scanning system, including three-dimensional scanning device 400, loading equipment 500 and control equipment.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 carries out geometry three-dimensional mould for acquired projections coding pattern
Type is rebuild.Light units 600 are used to provide uniform environment 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 acquired, and color texture reconstructing three-dimensional model is carried out to object to be scanned.Control equipment
Including rotation control unit 220 and mobile control unit 230.Under the control of control equipment, three-dimensional scanning device 400 can be with
It is automatically performed spatial attitude adjustment and 3-D scanning is carried out to object to be scanned, realize three-dimensional to the color texture of object to be scanned
Model does not need manually to participate in.Therefore, do not need can be into object under test surface labelling point for the color three dimension scanning system
Row high efficiency, high quality, low cost, automation color three dimension scanning.
Further, Fig. 1 to Fig. 8 is please 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 equipment, light units 600, decanning facility 300 and base apparatus 100.Outside
Casing equipment 300 is set to 500 lower part of loading equipment, is used to support loading equipment 500,300 inner hollow of decanning facility.Control is set
It is ready for use on control three-dimensional scanning device and carries out spatial attitude adjustment, including rotation control unit 220,230 and of mobile control unit
Controller 210.Rotation control unit 220 is connected with mobile control unit 230, mobile control unit 230 and three-dimensional scanning device
400 are connected, and rotation control unit 220 controls the rotation of mobile control unit 230 in the horizontal plane, 220 He of rotation control unit
Mobile control unit 230 controls the spatial attitude of three-dimensional scanning device together.Controller 210 turns control unit 220 for controlling
With 230 beginning and end of mobile control unit.
Color three dimension scanning system includes automatic mode and manual mode.Automatic mode is that control equipment 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 manually adjusting three
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 switching according to the actual situation.
As shown in Fig. 2, rotation control unit 220 includes motor base 221, motor 222, motor flange 223, bearing block
224, first bearing 225, rotating arm 226, key 227, hiding wire box 228, rotating arm 226 are equipped with motor and enable key
2263, the first mechanical position limitation part 2261 and sensing apparatus 2262.The corresponding first mechanical position limitation part 2261 in 224 top of bearing block
Position is equipped with the second mechanical position limitation part 2241, and the first mechanical position limitation part 2261 and the second mechanical position limitation part 2241 are with the use of can be into
Row mechanical position limitation can prevent excessive rotation of the rotating arm in color three dimension scanning system power down.Mobile control unit 230 wraps
Mechanical arm is included, mechanical arm can carry the weight of three-dimensional scanning device 400.Motor enables key 2263 for controlling motor 222
Rotation, the default conditions that motor enables key 2263 are modes that color three dimension scanning system is in automatically scanning, at this time by
Control the rotation of equipment automatic control motor 222.After pressing the enabled key 2263 of motor, color three dimension scanning system is in manual
The mode of scanning needs the rotation using Manual-pushing rotating arm 226 at this time, so that motor be driven to rotate.Implement at one
In example, color three dimension scanning system further includes control line, and the through-hole for passing through for control line, control are equipped among motor 222
It is attached between equipment and three-dimensional scanning device 400 by control line, motor 222 drives rotating arm 226 by control line
It rotates in the horizontal plane.228 inner hollow of wire box is hidden, it is in the form of annular discs, for placing control line.
Fig. 1, Fig. 2 and Fig. 3 are please referred to, decanning facility 300 includes upper casing decoration 301, upper casing 302, four side casings
303, hardware frame 304 and decoration door 305.Decanning facility 300 is set to 500 lower part of loading equipment, is used to support loading equipment
500.300 inner hollow of decanning facility, controller 210 are placed in 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 300 top of decanning facility.Hardware frame 304 is equipped with the
One limit inductor 3041 and the second limit inductor 3042.The normal rotating range of rotating arm 226 is (0 °, 360 °).The
The different location on the same circle, the angular range of formation is arranged in one limit inductor 3041 and the second limit inductor 3042
For (0 °, 10 °), in one embodiment, the angle that the first limit inductor 3041 and the second limit inductor 3042 are formed is
5°.Rotating arm 226 is rotated by 3041 position of the first limit inductor, when rotating arm 226 is due to improper rotation
Turning to be more than when safely rotating range, sensing apparatus 2262 encounters the second limit inductor 3042, and control motor 222 stops operating,
And then motor 222 is also stopped operating by the rotating arm 226 of control line traffic control, to prevent the excessive rotation of rotating arm 226
Turn, causes the various wire rods across 222 through-hole of motor excessively to twine and scratch and break down.
As shown in figure 4, loading equipment 500 includes turntable 501, second bearing 502, rotary disk basement 503, upright bar 504, rotary disk basement
503 include top cap 5031 and knob 5032, and turntable 501 is for carrying object to be scanned.Top cap 5031 can when turning knob 5032
To achieve the effect that be adjacent to turntable 501, it is separate, when being adjacent to 501 turns of turntable it is motionless, far from when turntable 501 can rotate.Loading
Equipment 500 is fixed on the hardware frame 304 of decanning facility 300 by upright bar 504, to make loading equipment 500 and rotation branch
The rotation of arm 226 is mutually indepedent.The turntable 501 of loading equipment 500 can both can be manually rotated, and can also be allowed and be turned by knob 5032
Disk 501 locks motionless.
As shown in figure 5, light units 600 include lampshade 601, two sides lamp plate 602, lamp bracket 603, when light units are opened,
For providing uniform environment light for three-dimensional scanning device 400.Light units 600 are fixed on rotating arm 226 by lamp bracket 603
On, guarantee that light units 600 and rotating arm 226 rotate together.
As shown in fig. 6, base apparatus 100 includes 102, four pedestal 101, interface board Level tune universal wheels 103.Pedestal
Equipment 100 is set to 300 lower part of decanning facility, and fixed by four side casings 303 with decanning facility 300, is used to support shell
Equipment 300.Level tune universal wheel 103 there are four being set below pedestal 101, four Level tune universal wheels 103 and pedestal 101
Lower part connection, and the center about pedestal 101 is centrosymmetric distribution.Four Level tune universal wheels 103 only need to be adjusted,
Moving horizontally for pedestal 101 can be driven, and then drives the integral level of color three dimension scanning system mobile.
Fig. 7 and Fig. 8 are please referred to, three-dimensional scanning device 400 includes shell 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.402 inner hollow of shell, projection optical module 403 are placed in shell 402, are additionally provided with control circuit inside shell 402
4022.402 front of shell (towards the direction of object to be scanned) is mounted with scanner lamp body 4021.Scanner lamp body 4021
Light filling is carried out on the direction that can be scanned to three-dimensional scanning device 400, to together be object to be scanned with light units 600
Uniform environment light is provided, the grain brightness for acquiring color camera 405 is more uniform, improves the texture quality of acquisition.Behaviour
Controlling handle 401 includes a control button 4011, and control button 4011 is connect with control circuit 4022, control button 4011
Default conditions are the modes that color three dimension scanning system is in automatically scanning, automatically control 3-D scanning by control equipment at this time and set
For 400 and the pose adjustment of mechanical arm.After pressing the enabled key 2263 of motor, color three dimension scanning system is in manual scanning
Mode, the spatial attitude of three-dimensional scanning device 400 can be adjusted by holding control handle 401 at this time.Manpower presses control button
The spatial attitude of 4011 adjustable mechanical arms.Since control button 4011 is arranged on control handle 401, manpower grip pressure manipulation
Control button 4011 is also pressed when handle 401, so as to adjust the space appearance of three-dimensional scanning device 400 and mechanical arm simultaneously
State.Since mechanical arm can carry the weight of three-dimensional scanning device 400, so manual manipulation is three-dimensional in the state of manual scanning
400 very comfortable of scanning device is convenient.After pressing the enabled key 2263 of motor again, color three dimension scanning system is swept manually
The mode of retouching terminates.Control circuit 4022 controls on 403 projection code pattern to object to be scanned of projection optical module, two industry
Camera 404 acquires the projection code pattern and carries out high-precision geometry reconstructing three-dimensional model, and controls color camera 405
The color texture photo of object to be scanned is acquired, and high-precision mapping and textures are carried out by calibration algorithm, is realized to be scanned
The color texture reconstructing three-dimensional model of the high quality of object.
In the present embodiment, detailed process is as follows for the automatic mode and manual mode of color three dimension scanning system:
Automatic mode: after color three dimension scanning system powers on, light units 600 and scanner lamp body 4021 at this time
Light is in close state, and automatically controls three-dimensional by rotation control unit 220 and mobile control unit 230 by control equipment
The spatial attitude of scanning device 400 adjusts.After the spatial attitude of three-dimensional scanning device 400 is adjusted, three-dimensional scanning device 400
The control circuit 4022 of the inside controls on 403 projection code pattern to object to be scanned of projection optical module, two industrial cameras
The 404 acquisition projection code patterns carry out geometry reconstructing three-dimensional model.At this point, light units 600 and scanner lamp body 4021
Light open, color camera 405 acquires the color texture photo of object to be scanned, and carries out color texture to object to be scanned
Reconstructing three-dimensional model.
Manual mode: after color three dimension scanning system powers on, light units 600 and scanner lamp body 4021 at this time
Light is in close state.It presses motor and enables key 2263, use the rotation of Manual-pushing rotating arm 226 at this time, thus
Drive the space of mechanical arm and three-dimensional scanning device 400 mobile, manpower grip pressure control handle 401 and control button 4011, thus
Adjust the spatial attitude of three-dimensional scanning device 400 and mechanical arm.After the spatial attitude of three-dimensional scanning device 400 is adjusted, three
The control circuit 4022 for tieing up 400 the inside of scanning device controls 403 projection code pattern of projection optical module to object to be scanned
On, two industrial cameras 404 acquire the projection code pattern and carry out geometry reconstructing three-dimensional model.At this point, light units 600
It is opened with the light of scanner lamp body 4021, color camera 405 acquires the color texture photo of object to be scanned, and to be scanned
Object carries out color texture reconstructing three-dimensional model.
In one embodiment, color three dimension scanning system further includes industrial computer, and industrial computer is used for difference
The threedimensional model at visual angle is matched, to obtain the complete three-dimensional model of object to be scanned.Rotation control unit 220 and movement
To industrial computer, industrial computer is calculated the 230 energy corresponding attitude parameter of Real-time Feedback of control unit by calibrating parameters
The spatial attitude parameter of three-dimensional scanning device 400, to not have to the Auto-matching that labelling point can be achieved with 3 d scan data.
Above-mentioned color three dimension scanning system, including three-dimensional scanning device 400, loading equipment 500, control equipment, light are set
Standby 600, decanning facility 300 and base apparatus 100.Object to be scanned is placed in motionless in loading equipment 500, ensure that wait sweep
Retouch the safety of object.The design of color three dimension scanning system integration, can be moved integrally, very convenient.Including automatic
Mode and manual mode both of which, and can mutually switch, the function of system operatio is greatly extended, it is convenient to operate.
Three-dimensional scanning device 400 connects mechanical arm, and mechanical arm can carry the weight of scanning device 400, artificially manually adjust scanning device
400 posture is lighter.Light units 600 and scanner lamp body 4021 can provide for the texture collection of color camera 405
Uniform environment light improves color texture quality, and then obtain the colored line of high quality to keep the grain brightness of acquisition uniform
Manage threedimensional model.Therefore color three dimension scanning system operation is convenient, do not need can be into object under test surface labelling point
Row high quality, high efficiency, low cost, automation 3-D scanning.
Referring to Fig. 9, Fig. 9 is the flow chart of colored 3-D scanning method in an embodiment.
In the present embodiment, which includes:
Object to be scanned is placed in loading equipment by S100.
It before carrying out 3-D scanning, needs for object to be scanned to be placed in loading equipment, entire 3-D scanning process
In, it does not need artificially to move object to be scanned.
S101, color three dimension scanning system power on.
S102, control equipment issue control instruction.
After color three dimension scanning system powers on, control equipment will issue control rotation control unit and mobile control is single
The instruction of member.
S103, rotation control unit and mobile control unit, which receive control instruction and control three-dimensional scanning device, carries 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 manipulator motion and carry out 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 object to be scanned, obtain the geometry threedimensional model of object to be scanned.
The projection optical module of three-dimensional scanning device 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 opens the light of light units and three-dimensional scanning device.
Light units can acquire color texture photo for three-dimensional scanning device and provide uniform environment light, and 3-D scanning is set
Light filling, light units and scanner lamp are carried out on the direction that standby included scanner lamp body can scan three-dimensional scanning device
Body can acquire color texture photo for three-dimensional scanning device and provide good environment light.It opens light units and 3-D scanning is set
After standby light, S106 is entered step.
S106, color three dimension rebuild the color texture photo that module acquires object to be scanned.
The color three dimension of three-dimensional scanning device, which rebuilds module, can acquire the color texture photo of object to be scanned, due to colour
Three-dimensional reconstruction module is the color texture photo acquired under uniform environment light condition with color camera, therefore the texture acquired
Brightness uniformity, quality are high.
Color texture photo and geometry threedimensional model are carried out textures, obtain the color texture three of object to be scanned by S107
Dimension module
The geometry threedimensional model rebuild in object S104 step to be scanned and the color texture acquired in S106 step 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 is not needed in object under test surface labelling point, and controlling equipment will control automatically
The spatial attitude of three-dimensional scanning device processed realizes the automatized three-dimensional scanning of three-dimensional scanning device measuring targets.Light units
Uniform environment light can be provided for texture collection with scanner lamp body, to keep the grain brightness of acquisition uniform, improved colored
Texture quality, and then obtain the color texture threedimensional model of high quality.Therefore color three dimension scanning system operation is convenient, is not required to
Will object under test surface labelling point just can be carried out high quality, high efficiency, low cost, automation 3-D scanning.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies 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, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (9)
1. a kind of color three dimension scanning system characterized by comprising
Three-dimensional scanning device, including projection optical module, projection acquisition module and color three dimension rebuild module, the optical projection
Module for projection code pattern to object to be scanned, the projection acquisition module for acquire the projection code pattern into
Row geometry reconstructing three-dimensional model, the color three dimension rebuild the photochrome that module is used to acquire 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
It builds；
Loading equipment, for carrying the object to be scanned；
Equipment is controlled, carries out spatial attitude adjustment for controlling the three-dimensional scanning device, the three-dimensional scanning device and described
The pose adjustment of loading equipment is mutually indepedent；The control equipment includes rotation control unit and mobile control unit, the rotation
Turn control unit to be connected with the mobile control unit, 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；
The color three dimension scanning system further includes decanning facility, and the decanning facility is set to loading equipment lower part, is used for
Support the loading equipment, the decanning facility inner hollow；The decanning facility includes hardware frame and limit inductor, institute
Limit inductor is stated on the hardware frame, the limit inductor controls the feathering angle of the rotation control unit
Spending range is 0 ° to 360 °, and the hardware frame is connect with the loading equipment, is used to support the loading equipment.
2. color three dimension scanning system according to claim 1, which is characterized in that the color three dimension scanning system is also wrapped
Light units are included, the light units are used to provide uniform environment light for the three-dimensional scanning device.
3. color three dimension scanning system according to claim 1 or 2, which is characterized in that the color three dimension scanning system
It further include automatic mode and manual mode, it is complete that the automatic mode is that the control equipment directly controls the three-dimensional scanning device
It is adjusted at spatial attitude and 3-D scanning is carried out to object to be scanned；The manual mode is by manually adjusting the 3-D scanning
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. color three dimension scanning system according to claim 1 or 2, which is characterized in that it further include industrial computer, it is described
Industrial computer is for matching the threedimensional model of different perspectives, to obtain complete the three of the object to be scanned
Dimension module.
5. color three dimension scanning system according to claim 1, which is characterized in that it further include base apparatus, the pedestal
Equipment is set to the decanning facility lower part, is used to support the decanning facility, is equipped with Level tune universal wheel below the pedestal,
The Level tune universal wheel is moved horizontally for the color three dimension scanning system.
6. color three dimension scanning system according to claim 1, feature exist, the rotation control unit include motor and
Rotating arm, the system also includes control line, the mobile control unit includes mechanical arm, is equipped with and is used among the motor
For the through-hole that the control line passes through, the control line connects the control equipment and the three-dimensional scanning device, the rotation
Support arm is equipped with mechanical position limitation part, and the mechanical position limitation part is for preventing the rotating arm in the color three dimension scanning system
It is excessively rotated when power down, the mechanical arm can carry the weight of the three-dimensional scanning device.
7. color three dimension scanning system according to claim 1, which is characterized in that the projection optical module includes projection
Device, the projection acquisition module include two industrial cameras, and it includes a color camera that the color three dimension, which rebuilds module,.
8. a kind of color three dimension scan method, which is characterized in that the described method includes:
Object to be scanned is placed in loading equipment；
Color three dimension scanning system powers on；The color three dimension scanning system includes:
Three-dimensional scanning device, including projection optical module, projection acquisition module and color three dimension rebuild module, the optical projection
Module for projection code pattern to object to be scanned, the projection acquisition module for acquire the projection code pattern into
Row geometry reconstructing three-dimensional model, the color three dimension rebuild the photochrome that module is used to acquire 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
It builds；
Loading equipment, for carrying the object to be scanned；
Equipment is controlled, carries out spatial attitude adjustment for controlling the three-dimensional scanning device, the three-dimensional scanning device and described
The pose adjustment of loading equipment is mutually indepedent；The control equipment includes rotation control unit and mobile control unit, the rotation
Turn control unit to be connected with the mobile control unit, 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；
The color three dimension scanning system further includes decanning facility, and the decanning facility is set to loading equipment lower part, is used for
Support the loading equipment, the decanning facility inner hollow；The decanning facility includes hardware frame and limit inductor, institute
Limit inductor is stated on the hardware frame, the limit inductor controls the feathering angle of the rotation control unit
Spending range is 0 ° to 360 °, and the hardware frame is connect with the loading equipment, is used to support the loading equipment；
It controls equipment and issues control instruction；
Rotation control unit and mobile control unit, which receive the control instruction and control three-dimensional scanning device, carries out spatial attitude
Adjustment；
The three-dimensional scanning device is scanned the object to be scanned, and the color texture for obtaining the object to be scanned is three-dimensional
Model.
9. color three dimension scan method according to claim 8, which is characterized in that the three-dimensional scanning device to it is described to
Scanning the step of object is scanned, obtains the color texture threedimensional model of the object to be scanned includes:
The three-dimensional scanning device is scanned 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 acquires 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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| CN108775873B (en) * | 2018-05-02 | 2020-05-22 | 浙江树人学院 | Three-dimensional scanning device and control method thereof |
| CN108931209B (en) * | 2018-05-04 | 2019-12-31 | 长春理工大学 | High-adaptability three-dimensional reconstruction method for colored object |
| CN108810424A (en) * | 2018-06-27 | 2018-11-13 | 淄博丙合商贸有限公司 | A kind of full-automatic mobile phone photograph ring object methods of exhibiting |
| CN113048896B (en) * | 2021-04-12 | 2023-03-24 | 南通理工学院 | Wet film measuring device of steel construction coating of hand-held type |
| CN113989364B (en) * | 2021-10-21 | 2023-03-24 | 北京航天创智科技有限公司 | Full-automatic multispectral cultural relic information acquisition modeling system and method |
| CN116580159B (en) * | 2023-07-10 | 2023-09-26 | 苏州创捷传媒展览股份有限公司 | Three-dimensional modeling system based on static scanning |
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Effective date of registration: 20191224 Address after: 518101 office building 1201, No. 642-2, Zhoushi Road, Zhongwu community, Hangcheng street, Bao'an District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Yishang Kangrui Technology Co., Ltd Address before: 518000, B301, three floor, No. 4001, Fu Qiang Road, Futian District, Guangdong, Shenzhen, Shenzhen, China, AB Patentee before: Shenzhen Esun Display Co., Ltd. |