CN107976157A - A kind of wireless hand-held three-dimensional scanning device in acquisition object surface three-dimensional morphology - Google Patents
A kind of wireless hand-held three-dimensional scanning device in acquisition object surface three-dimensional morphology Download PDFInfo
- Publication number
- CN107976157A CN107976157A CN201711431320.2A CN201711431320A CN107976157A CN 107976157 A CN107976157 A CN 107976157A CN 201711431320 A CN201711431320 A CN 201711431320A CN 107976157 A CN107976157 A CN 107976157A
- Authority
- CN
- China
- Prior art keywords
- held
- equipment
- scanning device
- dimensional scanning
- wireless hand
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- G01B11/2513—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 with several lines being projected in more than one direction, e.g. grids, patterns
Abstract
The present invention provides a kind of wireless hand-held three-dimensional scanning device for being used to obtain object surface three-dimensional morphology, including one group of mobile processing platform for being used to analyze view data and control headend equipment state, the processing platform respectively with pattern projecting device, image sensing apparatus, data transmission blocks, the connection of mobile power module, realizes that the detection of view data to object detection results compressed data exports, realize that equipment state detects, realize and exchanged with the data of host computer and order.This equipment has the scanning resolution and sweep speed of higher, using the data after processing, coordinates data compression, breaks through original limitation, it is possible to achieve higher resolution, the scanning of more speed.
Description
Technical field
It is especially a kind of that there is Data Frontend processing work(the invention belongs to the 3-D scanning field of body surface geometry
The wireless handheld three-dimensional scanning device of energy.
Background technology
The 3-D scanning and digitizing technique of what shape of body surface are applied generally in many industrial kimonos now
In business, its application field is very extensive.Some examples of these application fields are as follows：Shape in industrial production system
Consistency check and measurement；The digitlization to design a model with exemplar in Industrial Moulding Design；Zero with complex geometric shapes
The reverse-engineering of component；Interactive virtual reality technology in multimedia and game application；The high-value items such as historical relic, the art work
Non-contact three-dimensional digitlization.
Distance measuring sensor can be with the distance between one group of point in measurement sensor and body surface, so as to obtain target surface
The three-dimensional coordinate that upper each point is fastened in sensor coordinates.But the three-dimensional coordinate set obtained at this time is only surface visible part
Range measurement.In order to completely obtain the digitlization shape of whole object, sensor must move visual angle to cover whole object
Surface.Local three fastened according to orientation of each visual angle in global common coordinate system and corresponding visual angle sensor coordinates
Dimension coordinate, the whole local coordinate set of rotation translation combination, you can to obtain the full digitized exterior shape of whole object
Shape.
Develop many different theories on distance measuring sensor, wherein, interference measure (interferometry), flies
The principle of row time (TOF) and various visual angles photogrammetry is known theory, according between required precision, sensor and object
Distance and the depth of field requirement, each theory have its applicable scope.
We pay special attention to the distance measuring sensor based on various visual angles photogrammetry principles, and sensors with auxiliary electrode is commonly available to closely
The range measurement of range measurement, especially decimetre~rice length scale.The three-dimensional binocular vision of such method simulation biology, people
Two observations of same target must be collected from two different visual angles, the two visual angle relative positions are fixed.Comprehensive visual angle top
The line and two radiation directions of point, can know the relative position being observed a little, i.e., using a line length in triangle with
Two angles solve triangular apex.Further, know if used in oneself and launch the ray cast device of one group of light on direction to replace
For light detector, then substitute one of visual angle of binocular scheme using the direction line of projector, light can also be detected
Solve triangle.
The use of ray cast device instead of the complex detection of image object thing, while can provide intensive surface point and survey
Quantity set.Typical light source has the laser light source of incident point light, illumination plane or the arrangement of other simple geometry patterns.CCD and
CMOS digital cameras are most common light detectors.
The information for seeking to put on collection body surface of one object of scanning, and it is configured to curve (profile) or deep
Spend the form of image.In order to scan the whole surface of object, it is necessary to which movable sensor realization covers all around.In general, pass
Sensor typically at least includes a light detector and a projector, and light detector and projector are rigidly integrated.
Drive or hold by using mechanical system and surround object rotary scanning, be very suitable for quickly scanning object or object must be existing
The situation of field scan.
Above step obtains scan data of the object under device coordinate system, and scanning overall profile is needed data conversion
To being fixed global common coordinate system for object, this needs the position and direction of continuous assessment instrument.It is a kind of
Method is completed by using the positioner being coupled with distance measuring sensor, but there is the complexity and cost of increase instrument
And the problem of integrated quality of data may be limited.Another alternative solution is used in the measurement knot being collected on rigid objects
Fruit comes relative position and direction between computing equipment and object, but this system places one's entire reliance upon the geometry of object and
It is more difficult to the accurate evaluation of kept posture.
In order to improve above-mentioned method, fixing point and feature from the extraction in scene can be used, it is special by various visual angles
Sign matching, it is possible to use photographic measurement law theory.But the natural point in this scene is insufficient there are density or quality
Problem, further, using the fixation target manually set, can preferably solve characteristic point deficiency or be difficult to what is accurately detected
Problem.Using such system, the frame of characteristic target is generally measured and established first, uses the target in scan image
Information, realizes the split of current location detection data and overall goals data.
Drive or hold by using mechanical system and surround object rotary scanning, be very suitable for quickly scanning object or object
Situation about must scan at the scene.Existing handheld device is limited be subject to power supply and data line length, scans large-scale or surface
During the more complicated target of structure, operation is limited or very inconvenient, in order to improve above-mentioned method, can use be wirelessly transferred and electric
Battery-powered pattern, while in order to solve the problems, such as to add high volume of transmitted data, using front-end processing+can wirelessly obtain
Obtain more preferable usage experience.
However, front-end image handles a large amount of calculating needed and power dissipation of radio equipment, the cruising ability of equipment how is improved；
The data volume of high frame rate original image is more than under conditions of effective bandwidth, how to stablize the substantial amounts of detection data of transmission；At front end
Manage and be wirelessly transferred the weight of equipment change brought and how the conflict of portability is coordinated, be the invention solves technology ask
Topic.
The content of the invention
It is an object of the invention in place of overcome the deficiencies in the prior art, there is provided one kind obtains object in world coordinate system
The portable hand-held 3D laser measuring equipments of space surface coordinate points.
The technical proposal for solving the technical problem of the invention is：
A kind of wireless handheld three-dimensional scanning device with Data Frontend processing function, pattern projecting device, image sensing
Equipment, wireless communication module, mobile power module, further includes one group and is used to analyze view data and controls headend equipment state
Mobile processing platform, realizes output of the view data to object detection results compressed data, realizes that equipment state detects, realize and
The data of host computer are exchanged with order.
Pattern projecting device, image sensing apparatus, wireless communication module, mobile power module, temperature sensor are all connected with
On the interface of processing unit.Pattern projecting device, image sensing apparatus, wireless communication module, mobile power module and core
Mobile processing unit be desirably integrated into inside a structural member, can also will be suspended to outside mobile processing unit and existing only include
In wired handheld device of pattern projecting device, image sensing apparatus and drive circuit.This equipment further includes audio-frequency information feedback
Equipment, the abnormality of alarm equipment；Mobile power module uses bimodulus power supply module, and two kinds of external power supply and battery can be used
Powering mode.Pattern projecting device is to be combined by some lasers and LED by certain crevice projection angle, has independent or uniformly lights
The equipment of sequential.
The mobile processing platform includes at least one mobile processing unit, and mobile processing unit includes at least one front end
Calculator, the front end calculator are used to carry out front end data computing；The front end calculator extracts scanning mesh from image
The 2D characteristics of thing surface markers point and surface point are marked, carrying out three-dimensional reconstruction according to 2D characteristic data sets obtains three-dimensional feature number
According to collection.
Wherein, mobile processing unit uses the composition scheme of CPU+GPU, and wherein high rate burst communication module is real using GPU
It is existing；DSP, FPGA, ARM can also be used to realize.The mobile processing platform that above-mentioned mobile processing unit and its support circuit are formed,
The camera control circuit that includes in the hand-hold front end of existing transmission image is instead of, it is highly integrated due to above-mentioned core scheme
Degree, battery and radiator are contained even if extra, and the headend equipment weight of optimization design structure is also only slightly higher than existing
Some hand-hold front ends, since, without using power supply and cable, or the two integrated connecting line, the convenience used is significantly in scanning
Improve.
Mobile processing unit includes front-end image processor, which receives camera image with high frame rate, which can be with
The geometric parameter and optical parameter of at least four scanning target surface label are extracted from image, can also be carried from image
Take the coordinate position and optical parameter of pattern projecting device pattern that diffusing reflection obtains on scanning target surface；This programme
Surface marker is circle, and corresponding geometric parameter is elliptical 5 geometric parameters；Optical parameter is the interior segmentation put of target zone
Luminance Distribution statistical value.Above two detection function can be run at the same time, also can isolated operation.This module uses calculated equilibrium skill
Art, the part that can be carried out at the same time in calculating, is assigned in the different electronic chips for forming the mobile processing unit, can be with
The resource that front end is limited is made full use of, reduces hardware requirement.
Mobile processing unit includes real-time device parametric regulation and control module, is calculated using high rate burst communication module Liang Ge branches
Optical parameter statistical value, calculate modification pattern projecting device and image sensing apparatus operating parameter；By with it is mobile at
Platform, completes to receive the real-time control of image according to state modulator the said equipment.Since the said equipment is directly handled with mobile
Unit connects, and the speed and integrity degree of signal are above the connection mode that existing host computer sends control, the real-time of control
More preferably.
Mobile processing unit includes data compression and sending module, and above-mentioned detection data are stored using the data of structuring,
Data are merged into that information is identical but data volume less data bag by compression module by compression algorithm；Then by above-mentioned data packet
Sent to host computer, compressed data can be reduced to prototype structure data in host computer.Due to the use of front-end image processor, on
State and send the data volumes of data and be less than the 10% of raw image data amount, under conditions of wireless transmission rate is certain, during unit
Between can transmit the detection data of more multiframe bigger image in different resolution, effectively support the more high-velocity scanning of total system.Above-mentioned number
Data check is also included according to compression module, local data caused by effectively detecting and handling transmission is abnormal, and contrast is difficult to error correction
Raw image data, it is abnormal effectively to reduce the burst scanning accuracy brought of error of transmission.
Mobile processing unit includes state reception and sending module, and the interface of mobile processing platform and ancillary equipment, obtains
The information structure device status data bags such as device parameter, power module parameter, device temperature information, device keys action, then
By above-mentioned data sending to host computer and front end portable display screen；Meanwhile the partial information of above- mentioned information can also use equipment
The warning lamp included and sound module is held to complete abnormality alarming.
Mobile processing unit includes equipment link control module, and module includes link information by obtain that host computer provides
Quick Response Code, the corresponding host computer target of identification equipment simultaneously sets and realizes the wirelessly or non-wirelessly connection of equipment and host computer.
Finally, mobile processing unit further includes function scheduling and kernel control module, which realizes above-mentioned whole modules
Scheduling and mobile processing unit hardware state control, mobile processing unit can be arranged to full performance, common and low-power consumption
Deng multiple-working mode；According to the state switch mode of front-end image processor, the cruising time of headend equipment is effectively extended.
This equipment includes the wireless communication module being connected on mobile processing unit, real using WiFi chip and built-in aerial
It is existing；At the same time using wireless and wired two kinds of changeable patterns, the compressed data is transmitted；The wireless mode is received and dispatched using WiFi
Order and data, the wireline mode use USB3.0 and gigabit network cable transmitting-receiving order and data；The switching method user
Work and automatic detection front end condition of contact both of which, can also be not there is no wireless connection is enabled automatically during wired connection
It is adapted to be changed to wired connection in wireless environment.
In addition, the way of realization of equipment is not limited only to above-mentioned integrated front end, split-type design can also be used into one
Step mitigates scanning and bears a heavy burden.Scheme is mobile processing unit, and wireless communication module and mobile power module collectively constitute external place
Manage box；Imaging sensor, pattern projecting device and other sensors form the front end minimized；Handle box hangs over user's clothing
In surface or pocket, by short-range flexible cable with minimum front end be connected；Front end weight is minimized greatly to reduce, it is long
The more difficult fatigue of time sweep.In addition, the only external scheme of mobile power module is also possible.
In addition to traditional host computer is shown, there is the portable display screen being connected on the headend equipment, institute in this equipment
State display screen and be used for display device status information and scan model image；The scan model image is generated by host computer, is used
Wireless HDMI transmission；Described information includes the configuration parameter of the pattern projecting device；Include the mobile power module
Status information.Traditional big object of wired hand-hold scanning is to need upper computer equipment both ends ceaselessly to observe host computer screen back and forth
On the opposite scan position of scanning result and front end, be limited to connection line length and the eyesight of operating personnel, scanned copy is larger
Shi Keneng also needs to constantly move host computer, extremely inconvenient, and the carry-on display design of this programme, greatly improves operation just
Profit and scan efficiency.
This equipment connects and composes complete measuring system with host computer, and host computer includes back end perspective reconstructing arrangement, three-dimensional
Splice equipment, model generation device and model display equipment etc..
Pattern projecting device includes laser and LED light source, will be schemed using the laser projector being fixed on headend equipment
Case projects on said surface；Formed using by the arrangement of at least three LED light source regular polygon, geometric center and a sensor
The optical centre of lens group approach and the irradiation of the optical axis direction of the direction of the launch and sensor lens group approximately parallel light source described in
Label；The label is the symmetrical double layer geometrical pattern of different reflecting rate materials structure, the geometrical pattern to be circular but
Circle is not limited only to, the mark is fixed on the surface of the object and addition can be supplemented in scanning process.
The pattern projecting device includes the camera lens of the light filtration apparatus using specific wavelength, what the filtration apparatus passed through
Light is two kinds of frequencies, corresponding with the laser projecting apparatus and the respective light frequency of LED grenade instrumentations respectively；
Described image sensing equipment includes synchronous trigger control module, for starting to trigger in image acquisition period
Laser projecting apparatus and the LED grenade instrumentation；
Mobile processing unit reads the image of described image sensing equipment collection, calculates label and surface on the surface
The position data and optical parameter of upper irreflexive pattern, and compress it transmission；The data host computer receive and it is complete
It is reduced to the position data and optical parameter；
Mobile processing unit reads the optical parameter of the pattern that label and diffusing reflection obtain on the surface, calculates and controls
The parameter of institute's pattern projecting device processed, realizes optimal detection result.
The advantages of the present invention：
1st, this equipment has higher sweep speed, and existing hand-hold scanning equipment is only realized that image receives the scheme of transmission, changed
For it is wireless when, be limited to bandwidth, sweep speed is poor, this programme using processing after data, coordinate data compression, break through it is original
Limitation, it is possible to achieve the scanning of more speed.
2nd, this equipment has the scanning accuracy of higher, and the equipment with front end processing capabilities supports the scanning of higher to differentiate
Rate, less bandwidth occupancy support headend equipment to use the camera of higher resolution, there is provided the scanning accuracy of higher.
3rd, this equipment has the entire scan system speed of higher, and front end calculates and the pattern of existing transmission original image
Compare, reduce the calculation amount of upper computer end, contribute to the overall sweep speed for reaching higher.
4th, this equipment uses wireless connection, and battery powered is steady within 10 meters from data cable and the length limitation of power cord
Fixed connection, scanning is more convenient, when particularly scanning big object；Mobile processing unit includes two-dimensional code scanning pattern, can be simple
Realize connection of the equipment to host computer.
5th, this equipment has display screen, when scan position can not see display screen clearly away from host computer, there is provided with oneself
Scanning process show, adjusted at any time easy to user；Equipment state and warning information can be intuitively shown on screen, far
Better than the common upper computer end of existing line scan and equipment sound production prompt, the convenience and scanning for greatly improving operation are imitated
Rate.
Brief description of the drawings
Fig. 1 is the circuit block diagram of this equipment；
Fig. 2 is the three-dimensional structure diagram of this equipment；
Fig. 3 is the diagram for the surface portion that reference target is attached thereto and figure is projected thereon；
Fig. 4 is that the process flow module of this equipment illustrates；
Fig. 5 is the structure diagram of this equipment split-type design.
Embodiment
The present invention can be put into practice by example as described below, and in the following description, refer to the attached drawing is in order to illustrate example.
The present invention can be put into practice by the example, can also pass through reality in the case where not departing from revealed the scope of the present invention
Other embodiments are applied to realize.
A kind of wireless handheld three-dimensional scanning device with Data Frontend processing function, as shown in Figure 1, being handled including mobile
Platform, and the pattern projecting device (laser projection device, LED grenade instrumentations), the image that are connected respectively with mobile processing platform pass
Sensor, battery module, carry-on display screen, distance alarm device, button, equipment state sensor.Mobile processing platform includes intelligence
Energy device control module, image and data processor and data transmission blocks.Smart machine control module respectively with image sum number
Connected according to processor, data transmission blocks, image and data processor are connected with data transmission blocks.
Mobile processing platform realizes output of the view data to object detection results compressed data, realizes that equipment state is visited
Survey, realize and exchanged with the data of upper computer end post processing part and order.
Fig. 2 be this equipment three-dimensional structure diagram, including housing, laser projection device 3, imaging sensor 1 and LED projection dress
2 are put, the housing is made of base 4 and 6 two parts of Handheld Division, and the Handheld Division of a bar shaped is vertically fixedly mounted with the top surface of base,
The front of Handheld Division is fixedly mounted with the LED of an annular between the upper and lower every being symmetrically fixedly mounted with two imaging sensors on each imaging sensor
Grenade instrumentation, is fixedly mounted with laser projection device on the housing between two imaging sensors, in the display screen of Handheld Division side installation
5, mounting circuit boards and battery in base.Above-mentioned display screen can be connected by movable rotation-shaft and buckle with Handheld Division side wall,
Using the movable rotation-shaft of the connection of equipment side and screen as shaft, the buckle for opening opposite side is outwards dug, and can make screen cover
To user；Display screen can also take out display screen completely, hold observation.
In addition, also there are the deformation branch of plug-in pattern, the mobile processing platform, data transmission blocks for said structure
External handle box 7, image sensing apparatus, pattern projecting device and corresponding sensor structure are collectively constituted with mobile power module
Into the front end 9 of minimum, handle box is hung in user's clothing surface or pocket, passes through short-range flexible cable 8 and minimum
Change front end to be connected, as shown in Figure 5.
Fig. 3 is the diagram for the surface portion that reference target is attached thereto and figure is projected thereon, before equipment operation,
The target of high reflecting rate is attached in scene and measured object first.In this example, reference target is that surface has recurrence instead
The target of characteristic is penetrated, its pattern is visible under the luminescence band of polygon lamp group, and material is (such as black by antiradar reflectivity color
Color) ring surround, help to accurately identify target in the image of sensor.As a result of the material with retro-reflective characteristic
Material, the surface of object need to be illuminated to allow the appropriate identification to reference target.
Fig. 4 is that the process flow module of this equipment illustrates, in this example, first by above device by polygon lamp
The intersecting line pattern of light and laser projection measured object surface, camera can synchronization acquistion scene at the same time two images, make
With the two dimensional image treatment technology encapsulated in computing chip, the 2D of the target and the laser pattern is obtained in each image
Position；Then, the structural data for calculating core compression is sent on back-end processing software using wireless communication module；It is next
Step, constrains (epi-polar geometry constraints) to match the 2D in two images using Epipolar geometry
Position；Using the target correspondence in the two images, obtained using triangle stereoscopic imaging method under device coordinate system
The target and the laser pattern 3D positions, the 3D positions of wherein laser pattern are exactly the measured object of pattern projected area
The 3D positional informations on surface；Finally by the 3D positions of the reference target of matching primitives image sequence, single acquisition image is built
Target and laser spots 3D positions and regulation initial position transformational relation, pass through transformational relation obtain world coordinate system under swash
The 3D location sets of optical pattern, the 3D location sets of reconstruct laser pattern obtain the 3D positional informations on measured object surface.
In this example, equidistantly formed using by multiple LED, regular polygon arrangement, is fixed near camera front end, center
In camera optical axis and lamp group that direction is consistent with camera optical axis direction of observation realizes that the light filling of mark target illuminates, LED light
Intensity can be adjusted to make target and background in image have enough luminance differences, contribute to accurate in the image of sensor
Really identification target.
In this example, laser projection device is installed on the red laser using 3 pairs or more cross spider patterns,
Other kinds of projection arrangement can also be equally used, such as white light graphics projectors or blue led graphics projectors；Extract figure
The 3D positional informations on the measured object surface of sample projected area by the type according to laser projection device and the method applied and
Change.
In this example, using a pair of of camera, camera lens front end exists and the light mistake of the matched filtering structure of laser
Filter device；Several cameras can also be added to this device, more accurately matching or higher precision are obtained with same principle
Final coordinate.Camera exposure process and above-mentioned LED and laser luminescence process are synchronous, can be with the image captured by camera
Clearly obtain the imaging of target and laser pattern.
In this example, due to the use of circular target label, the non-distortion profile for extracting reflectance target in the picture can
To be represented with cartouche.Because camera is calibrated, non-distortion profile can be come using well known method in fields
Distortion is removed, in this example, it is necessary to obtain the optical property parameter of camera from camera parameter storage.It is ellipse in image
The equation of circular contour, can calculate the orientation of the cartouche in the 3 d space, may be referred to " to 3D computer visions
The Chapter 11 of introductory technology (Introductory techniques for 3D computer vision) " is more detailed to obtain
Thin discussion.Because the circle projects the center of projection of camera, the circle in the 3 d space with conical intersection.Extracting
After profile point, the model being fitted on local 3D point sets can be plane or the quadratic polynomial for bigger precision.
In the case of the latter, utilize and least squares method is applied with drag, then obtained using common elliptic parameter computational methods
Its geometric parameter.
Z=ax2+bxy+cy2+dx+ey+f
In this example, laser pattern uses 3 pairs or more cross spider patterns, is calculated by image procossing and obtains line
The 2D coordinate positions of upper each point, likewise, because camera is calibrated, non-distorted coordinates can use well known side in fields
Method removes distortion.In this example, the light intensity of the time for exposure of camera, gain and laser is adjustable, can passed
The image of sensor generates narrow clearly lines pattern, helps accurately to extract the 2D coordinate positions of each point on pattern.
In this example, above-mentioned processing step calculates realization on the CPU and GPU of equipment end, obtains single frames collection
The target point of two width figures structure and the coordinate position of surface point.Above-mentioned data need to be transferred to complete in the processing software of upper computer end
Into follow-up 3D reconstruct and surface modeling, in this example, using the above-mentioned data of wireless communication transmissions, while also support in high electricity
The pattern of cable-network transmission is switched in the environment of magnetic disturbance.
In this example, the 3D positions of target use trigonometric calculations, and the normal direction of target uses the associated side of direction of visual lines
Method calculates.Firstly the need of the location parameter that two cameras are obtained from target size memory, generally with the light of one of camera
Center is round dot, then constrains structure basis matrix according to Epipolar geometry, and the matching of marker dots is searched for by polar curve equation
Relation；One group of matched mark point position is finally gone out into 3D positions by trigonometric calculations, i.e., single reference target is sat in equipment
Locus under mark system.
In this example, the Coordinate calculation method basic one of the 3D coordinates calculation of laser pattern and above-mentioned target's center
Cause.In view of matching caused by single laser point feature deficiency according to missing and error hiding, it is necessary to the several of projection pattern will be pressed
What combinations of features, the matching of the point set with geometric properties is calculated by combined result, then reuses the seat with target's center
Mark computational methods.In this example, it is cross spider to project pattern, therefore uses line segment as matched geometric properties, likewise,
Using different projection patterns, it is necessary to using different features and combination, principle is consistent.
In scanning process, object sensor at least one may be held in its hand and move to realize surface point by user
All standing, the data that the above step of each frame obtains at this time are all based on the device coordinate system of present frame, due to equipment
Movement, coordinate system is continually changing with respect to world coordinate system, and the 3D points in sensor coordinate system need six rigid transformations
The coordinate system of parameter sensors of the free degree be mapped in model coordinate systems (world coordinate system).
In this example, the calculating of transformation parameter is realized using the matching of mark point.Use the target calculated in present frame
Coordinate and parameter, find the best match set based on position angular position relation in the object module of accumulation, obtain accumulation
Target in matching relationship corresponding with current reference target, thus calculate it is described by the coordinate system of sensor be mapped to model sit
Target rigid transformation；Then 3D surface points are used into identical rigid transformation, accordingly from the coordinate system transformation of sensor to mould
Type coordinate system；The reference target after new conversion and 3D surface points are finally run up into existing target framework and surface point set
In.
Likewise, above-mentioned rigid transformation using locus or acceleration sensing it is also contemplated that directly acquired.
In view of influence of the scanning distance to precision, in this example, equipment end is towards there are one on the surface of user
A range indicator, passes through the change reflection current device of color and the state of scanning thing distance.Likewise, sound can also be used
The mode of sound prompting realizes above-mentioned function.
Due to surface point, there are the influence of noise, it is difficult to display and measurement are directly used in, in this example, above-mentioned 3D tables
Millet cake needs to produce surface model by reconstructing, and finally, reconstructed surface is sent to user interface display.
For the ease of the scanning of large volume target, in this example, user interface display is divided into upper computer end connection
Basic display unit and the carry-on display screen, wherein carry-on display screen is connected on headend equipment, show scanning result and equipment shape
State, data are transmitted using HDMI interface.In this example, the equipment state includes and is not limited to temperature, electricity, power supply shape
State, close to display platen edge Overlapping display.The sensings such as all kinds of temperature of the status data in connection equipment, electricity
Device.
For the ease of the scanning of large volume target, in this example, headend equipment is used as using replaceable rechargeable battery
Power supply, equally, can also use wired connection power adapter.
Although above description is related to the example embodiment considered at present such as the present inventor, it should be appreciated that the present invention is at it
Broad aspect includes the equivalent of element described herein and the equivalent method of process.Examples described above is intended merely to
To be exemplary.Therefore, the scope of the present invention wishes to be limited only by the appended claims.
Claims (24)
1. a kind of wireless hand-held three-dimensional scanning device for being used to obtain object surface three-dimensional morphology, including：
Pattern projecting device, for providing projection pattern on the body surface；
Image sensing apparatus, including at least two cameras, camera are used for the 2D that the body surface is obtained from different points of view
Image；
Mobile processing platform, arithmetic core is provided for equipment, and the mobile processing platform includes at least one mobile processing unit,
Mobile processing unit includes at least one front end calculator, and the front end calculator is used to carry out front end data computing；
Data transmission blocks, the data sending for the mobile processing platform to be obtained subsequently are calculated and connect to host computer
Receive host computer order and be sent to the mobile processing platform；
Mobile power module, for powering for the three-dimensional scanning device.
2. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The front end calculator from
Extraction scanning target surface mark point and the 2D characteristics of surface point in image.
3. wireless hand-held three-dimensional scanning device according to claim 2, is further characterized in that：The front end calculator
Three-dimensional reconstruction is carried out according to 2D characteristic data sets and obtains three-dimensional feature data set.
4. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The mobile processing unit bag
Real-time device parametric regulation and control module is included, realizes the real-time control for the quality for receiving image.
5. wireless hand-held three-dimensional scanning device according to claim 4, it is characterised in that：Real-time device parametric regulates and controls mould
Block uses the statistic of the characteristic and characteristic, adjusts the control parameter of pattern projecting device；Above-mentioned parameter is led to
The circuit being connected with mobile processing unit is crossed, controls pattern projecting device.
6. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The mobile processing unit bag
Include data compressing module.
7. wireless hand-held three-dimensional scanning device according to claim 6, it is characterised in that：The compression module is by described in
The data that front end calculator obtains are merged into by compression algorithm can be in the structural data that host computer is reduced.
8. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The mobile processing unit bag
Dispatching control module is included, which realizes the whole scheduling of module and the control of mobile processing unit hardware state.
9. wireless hand-held three-dimensional scanning device according to claim 8, it is characterised in that：The dispatching control module according to
Mobile processing unit is arranged to the plurality of operating modes of different power consumption according to the working status of modules.
10. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The mobile processing list
Member includes state receiving module, obtains status information of equipment, constitution equipment state data packets, periodically send to host computer.
11. wireless hand-held three-dimensional scanning device according to claim 10, it is characterised in that：The equipment state letter
Breath includes equipment adjustment parameter, equipment for power information, battery information, device temperature information, device keys action message.
12. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The mobile processing list
Member includes equipment link control module.
13. wireless hand-held three-dimensional scanning device according to claim 12, it is characterised in that：The equipment connection control
The Quick Response Code for including link information that molding block control camera shooting host computer provides, the corresponding host computer target of identification equipment,
Then wired connection state is detected, reads the wirelessly or non-wirelessly connection that user setting realizes equipment and host computer.
14. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The mobile processing unit
The processing function is performed for carrier using some electronic chips, the electronic chip is used in CPU, GPU, ARM, FPGA, DSP
The mode of at least one or more of combination is formed.
15. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The data sending mould
Block realizes the data exchange with host computer using wirelessly or non-wirelessly mode.
16. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The data sending mould
Block has wireless, wired two kinds of transmission modes concurrently, and the switching of two ways is realized by handover module.
17. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The equipment further include with
The associated portable display screen of equipment, display device status information and scan model image.
18. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The mobile power module
It is Smart Power Module, obtains the electricity of power supply, status data feature, by state receiving module in the host computer and portable
Display screen is shown.
19. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The mobile power module
Using two kinds of powering modes of external power supply and battery, according to external power supply and battery status automatic switching apparatus power supply source.
20. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The equipment further includes sound
Frequency information feedback device, the abnormality of alarm equipment.
21. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The mobile processing is put down
Platform, data transmission blocks, mobile power module, image sensing apparatus, pattern projecting device are commonly mounted on a housing, structure
Into complete equipment.
22. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The mobile processing is put down
Platform, data transmission blocks and mobile power module collectively constitute external handle box, image sensing apparatus, pattern projecting device and
Corresponding sensor forms the front end minimized, and handle box is hung in user's clothing surface or pocket, by short-range soft
Property cable with minimize front end be connected.
23. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：The mobile power mould
Block is separately formed external power supply, mobile processing platform, data transmission blocks, image sensing apparatus, and pattern projecting device is pacified jointly
On a housing, light-weighted equipment is formed.
24. wireless hand-held three-dimensional scanning device according to claim 1, it is characterised in that：This equipment connects with host computer
Connect and form complete measuring system, host computer includes back end perspective reconstructing arrangement, 3 D spliced equipment, model generation device and mould
Type presentation device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711431320.2A CN107976157A (en) | 2017-12-26 | 2017-12-26 | A kind of wireless hand-held three-dimensional scanning device in acquisition object surface three-dimensional morphology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711431320.2A CN107976157A (en) | 2017-12-26 | 2017-12-26 | A kind of wireless hand-held three-dimensional scanning device in acquisition object surface three-dimensional morphology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107976157A true CN107976157A (en) | 2018-05-01 |
Family
ID=62007578
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711431320.2A Pending CN107976157A (en) | 2017-12-26 | 2017-12-26 | A kind of wireless hand-held three-dimensional scanning device in acquisition object surface three-dimensional morphology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107976157A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109900221A (en) * | 2019-04-12 | 2019-06-18 | 杭州思看科技有限公司 | A kind of handheld three-dimensional scanning system |
| CN110595388A (en) * | 2019-08-28 | 2019-12-20 | 南京理工大学 | High-dynamic real-time three-dimensional measurement method based on binocular vision |
| CN110715618A (en) * | 2019-09-29 | 2020-01-21 | 北京天远三维科技股份有限公司 | Dynamic three-dimensional scanning method and device |
| CN112890765A (en) * | 2020-12-31 | 2021-06-04 | 深圳市菲森科技有限公司 | Intraoral three-dimensional scanning device and method |
| CN114152213A (en) * | 2021-11-15 | 2022-03-08 | 东南大学 | Device and method for measuring rod model morphology characteristics by matching with handheld 3D scanner |
| EP4296614A1 (en) * | 2022-06-24 | 2023-12-27 | Faro Technologies, Inc. | Line scanner having integrated processing capability |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005003631A (en) * | 2003-06-16 | 2005-01-06 | Fuji Xerox Co Ltd | Apparatus and method for measuring three-dimensional shape |
| US7256899B1 (en) * | 2006-10-04 | 2007-08-14 | Ivan Faul | Wireless methods and systems for three-dimensional non-contact shape sensing |
| CN101853528A (en) * | 2010-05-10 | 2010-10-06 | 沈阳雅克科技有限公司 | Hand-held three-dimensional surface information extraction method and extractor thereof |
| US20120327218A1 (en) * | 2011-06-21 | 2012-12-27 | Microsoft Corporation | Resource conservation based on a region of interest |
| US20130293684A1 (en) * | 2011-04-15 | 2013-11-07 | Faro Technologies, Inc. | Three-dimensional coordinate scanner and method of operation |
| DE102013100177A1 (en) * | 2013-01-09 | 2014-07-10 | Joanneum Research Forschungsgesellschaft Mbh | Method for creation of three-dimensional model of e.g. three-dimensional body, involves transmitting specific dimensional images to data processing system, and creating model on basis of dimensional images representing data |
| CN104165600A (en) * | 2014-07-03 | 2014-11-26 | 杭州鼎热科技有限公司 | Wireless hand-held 3D laser scanning system |
| CN105049664A (en) * | 2015-08-12 | 2015-11-11 | 杭州思看科技有限公司 | Method for light filling control of handheld three-dimensional laser scanner |
| CN204902788U (en) * | 2015-08-12 | 2015-12-23 | 杭州思看科技有限公司 | Handheld laser three -dimensional scanner with laser projection ware exposure time regulatory function |
| CN105222724A (en) * | 2015-09-10 | 2016-01-06 | 北京天远三维科技有限公司 | Multi-thread array laser 3 D scanning system and multi-thread array laser 3-D scanning method |
| CN205785108U (en) * | 2016-06-08 | 2016-12-07 | 杭州非白三维科技有限公司 | A kind of extendible miniature high-speed 3-D scanning module based on mobile platform and FPGA |
| WO2017061890A1 (en) * | 2015-10-08 | 2017-04-13 | 3Divi Company | Wireless full body motion control sensor |
| CN107111602A (en) * | 2014-08-13 | 2017-08-29 | C 3 有限公司 | Log scanning system |
| CN107202554A (en) * | 2017-07-06 | 2017-09-26 | 杭州思看科技有限公司 | It is provided simultaneously with photogrammetric and 3-D scanning function hand-held large scale three-dimensional measurement beam scanner system |
| CN208125072U (en) * | 2017-12-26 | 2018-11-20 | 天远三维（天津）科技有限公司 | For obtaining the wireless hand-held three-dimensional scanning device of object surface three-dimensional morphology |
-
2017
- 2017-12-26 CN CN201711431320.2A patent/CN107976157A/en active Pending
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005003631A (en) * | 2003-06-16 | 2005-01-06 | Fuji Xerox Co Ltd | Apparatus and method for measuring three-dimensional shape |
| US7256899B1 (en) * | 2006-10-04 | 2007-08-14 | Ivan Faul | Wireless methods and systems for three-dimensional non-contact shape sensing |
| CN101853528A (en) * | 2010-05-10 | 2010-10-06 | 沈阳雅克科技有限公司 | Hand-held three-dimensional surface information extraction method and extractor thereof |
| US20130293684A1 (en) * | 2011-04-15 | 2013-11-07 | Faro Technologies, Inc. | Three-dimensional coordinate scanner and method of operation |
| US20120327218A1 (en) * | 2011-06-21 | 2012-12-27 | Microsoft Corporation | Resource conservation based on a region of interest |
| DE102013100177A1 (en) * | 2013-01-09 | 2014-07-10 | Joanneum Research Forschungsgesellschaft Mbh | Method for creation of three-dimensional model of e.g. three-dimensional body, involves transmitting specific dimensional images to data processing system, and creating model on basis of dimensional images representing data |
| CN104165600A (en) * | 2014-07-03 | 2014-11-26 | 杭州鼎热科技有限公司 | Wireless hand-held 3D laser scanning system |
| CN107111602A (en) * | 2014-08-13 | 2017-08-29 | C 3 有限公司 | Log scanning system |
| CN105049664A (en) * | 2015-08-12 | 2015-11-11 | 杭州思看科技有限公司 | Method for light filling control of handheld three-dimensional laser scanner |
| CN204902788U (en) * | 2015-08-12 | 2015-12-23 | 杭州思看科技有限公司 | Handheld laser three -dimensional scanner with laser projection ware exposure time regulatory function |
| CN105222724A (en) * | 2015-09-10 | 2016-01-06 | 北京天远三维科技有限公司 | Multi-thread array laser 3 D scanning system and multi-thread array laser 3-D scanning method |
| WO2017061890A1 (en) * | 2015-10-08 | 2017-04-13 | 3Divi Company | Wireless full body motion control sensor |
| CN205785108U (en) * | 2016-06-08 | 2016-12-07 | 杭州非白三维科技有限公司 | A kind of extendible miniature high-speed 3-D scanning module based on mobile platform and FPGA |
| CN107202554A (en) * | 2017-07-06 | 2017-09-26 | 杭州思看科技有限公司 | It is provided simultaneously with photogrammetric and 3-D scanning function hand-held large scale three-dimensional measurement beam scanner system |
| CN208125072U (en) * | 2017-12-26 | 2018-11-20 | 天远三维（天津）科技有限公司 | For obtaining the wireless hand-held three-dimensional scanning device of object surface three-dimensional morphology |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109900221A (en) * | 2019-04-12 | 2019-06-18 | 杭州思看科技有限公司 | A kind of handheld three-dimensional scanning system |
| CN110595388A (en) * | 2019-08-28 | 2019-12-20 | 南京理工大学 | High-dynamic real-time three-dimensional measurement method based on binocular vision |
| CN110715618A (en) * | 2019-09-29 | 2020-01-21 | 北京天远三维科技股份有限公司 | Dynamic three-dimensional scanning method and device |
| CN112890765A (en) * | 2020-12-31 | 2021-06-04 | 深圳市菲森科技有限公司 | Intraoral three-dimensional scanning device and method |
| CN114152213A (en) * | 2021-11-15 | 2022-03-08 | 东南大学 | Device and method for measuring rod model morphology characteristics by matching with handheld 3D scanner |
| CN114152213B (en) * | 2021-11-15 | 2023-12-26 | 东南大学 | Device and method for measuring morphology features of rod type model by matching with handheld 3D scanner |
| EP4296614A1 (en) * | 2022-06-24 | 2023-12-27 | Faro Technologies, Inc. | Line scanner having integrated processing capability |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107976157A (en) | A kind of wireless hand-held three-dimensional scanning device in acquisition object surface three-dimensional morphology | |
| US20210166495A1 (en) | Capturing and aligning three-dimensional scenes | |
| CN105222724B (en) | Multi-thread array laser 3 D scanning system and multi-thread array laser 3-D scanning method | |
| CN107202554B (en) | It is provided simultaneously with photogrammetric and 3-D scanning function hand-held large scale three-dimensional measurement beam scanner system | |
| CN104335005B (en) | 3D is scanned and alignment system | |
| CN101611939B (en) | Remote intelligent testing method of three-dimensional human body image data network | |
| CN105066909B (en) | A kind of many laser stripe quick three-dimensional measuring methods of hand-held | |
| CN208125072U (en) | For obtaining the wireless hand-held three-dimensional scanning device of object surface three-dimensional morphology | |
| CN205758500U (en) | Capsule endoscope system | |
| CN110032278A (en) | A kind of method for recognizing position and attitude, the apparatus and system of human eye attention object | |
| CN113514008B (en) | Three-dimensional scanning method, three-dimensional scanning system, and computer-readable storage medium | |
| CN111031897A (en) | System and method for analyzing skin condition | |
| US20200318955A1 (en) | Three-dimensional scanner with data collection feedback | |
| CN106625673A (en) | Narrow space assembly system and assembly method | |
| CN109903376A (en) | A kind of the three-dimensional face modeling method and system of face geological information auxiliary | |
| CN110458897A (en) | Multi-cam automatic calibration method and system, monitoring method and system | |
| CN102062578A (en) | Handheld optical target for measuring visual coordinate and measuring method thereof | |
| CN110530292A (en) | A kind of scanning system and scan method based on wireless synchronization | |
| CN103263249A (en) | Multi-scanner fast human body three-dimensional scanning system | |
| CN109900221A (en) | A kind of handheld three-dimensional scanning system | |
| CN105354825A (en) | Intelligent device for automatically identifying position of reading material in read-write scene and application of intelligent device | |
| CN110230979A (en) | A kind of solid target and its demarcating three-dimensional colourful digital system method | |
| CN106705890A (en) | Three-dimensional scanning magic box | |
| CN204863196U (en) | Three -dimensional human scanning device | |
| CN108324247A (en) | A kind of designated position wrinkle of skin appraisal procedure and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |