CN108534708B - Binocular three-dimensional scanner assembly and scanning method - Google Patents
Binocular three-dimensional scanner assembly and scanning method Download PDFInfo
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- CN108534708B CN108534708B CN201810297099.4A CN201810297099A CN108534708B CN 108534708 B CN108534708 B CN 108534708B CN 201810297099 A CN201810297099 A CN 201810297099A CN 108534708 B CN108534708 B CN 108534708B
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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
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Abstract
The invention relates to a binocular three-dimensional scanner assembly and a scanning method. The scanner assembly comprises at least one transverse scanner used for carrying out transverse three-dimensional scanning and at least one vertical scanner matched with the transverse scanner and used for carrying out vertical three-dimensional scanning, the transverse scanner and the vertical scanner respectively comprise a shell, an internal structural part and a scanning functional assembly, the internal structural part is located inside the shell, the scanning functional assembly is fixedly installed on the internal structural part, and the scanning functional assembly comprises a light machine used for projecting code element patterns and two point cloud cameras used for shooting the code element patterns. The technical scheme provided by the invention can improve the three-dimensional scanning efficiency and the accuracy of three-dimensional scanning data.
Description
Technical Field
The invention relates to the technical field of scanners, in particular to a binocular three-dimensional scanner assembly and a scanning method.
Background
In the fields of product design and reverse engineering research, the three-dimensional scanner is increasingly applied. In order to more fully acquire the three-dimensional data of the target object, it is necessary to scan it from different directions. At this time, if only a single type of scanner is used to scan in one direction, not only the scanning efficiency is not high, but also the accuracy of the acquired three-dimensional data is low, which affects the accuracy of the three-dimensional model obtained by modeling according to the three-dimensional data.
Disclosure of Invention
The invention provides a binocular three-dimensional scanner assembly and a scanning method, aiming at improving the efficiency of three-dimensional scanning and the accuracy of three-dimensional scanning data.
In one aspect, the invention provides a binocular three-dimensional scanner assembly, which includes at least one horizontal scanner for performing horizontal three-dimensional scanning and at least one vertical scanner matched with the horizontal scanner for performing vertical three-dimensional scanning, wherein each of the horizontal scanner and the vertical scanner includes a housing, an internal structure and a scanning functional assembly, the internal structure is located inside the housing, the scanning functional assembly is fixedly mounted on the internal structure, and the scanning functional assembly includes an optical machine for projecting a code element pattern and two point cloud cameras for shooting the code element pattern.
In another aspect, the present invention provides a method for binocular three-dimensional scanning using the above scanner assembly, the method comprising:
step 1, controlling at least one optical machine to generate the code element pattern projected to a target object;
and 2, at least one pair of point cloud cameras matched with the optical machine acquires the code element pattern and transmits the code element pattern to an upper computer.
The binocular three-dimensional scanner assembly and the scanning method provided by the invention have the beneficial effects that the transverse scanner and the vertical scanner in the binocular three-dimensional scanner assembly can be matched and used simultaneously, and can be connected through the mechanical arm or other devices to simultaneously carry out transverse scanning and vertical scanning on a target object so as to obtain matched transverse scanning data and vertical scanning data, so that the three-dimensional scanning efficiency is improved, and the applicability of the three-dimensional scanner is improved. In addition, when the upper computer carries out three-dimensional modeling by utilizing the transverse scanning data and the vertical scanning data, mutual proofreading can be carried out according to the transverse scanning data and the vertical scanning data, so that the final data for modeling are more accurate, and the accuracy of the model is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic view of a binocular three-dimensional scanner assembly of an embodiment of the present invention;
FIG. 2 is a schematic external view of a transverse scanner according to an embodiment of the present invention;
FIG. 3 is a schematic external view of a transverse scanner according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the internal structure of a transverse scanner according to an embodiment of the present invention;
FIG. 5 is a schematic external view of a vertical scanner according to an embodiment of the present invention;
FIG. 6 is a schematic external view of a vertical scanner according to an embodiment of the present invention;
FIG. 7 is a schematic view of the internal structure of a vertical scanner according to an embodiment of the present invention;
FIG. 8 is a schematic view of the internal structure of a vertical scanner according to an embodiment of the present invention;
fig. 9 is a schematic flowchart of a binocular three-dimensional scanning method according to an embodiment of the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, the binocular three-dimensional scanner assembly provided by the embodiment of the present invention includes at least one horizontal scanner 100 for performing horizontal three-dimensional scanning and at least one vertical scanner 200 matched with the horizontal scanner 100 for performing vertical three-dimensional scanning, each of the horizontal scanner 100 and the vertical scanner 200 includes a housing, an internal structure located inside the housing, and a scanning function assembly fixedly mounted on the internal structure, the scanning function assembly includes an optical engine 10 for projecting a symbol pattern and two point cloud cameras 20 for capturing the symbol pattern.
It should be noted that the optical machine 10, i.e., the projector, has a transmission hole and a heat dissipation hole at the front and rear of the housing, respectively.
In this embodiment, horizontal scanner and vertical scanner in the binocular three-dimensional scanner subassembly can cooperate the simultaneous use, and the two accessible arms or other devices are connected, carry out horizontal scanning and vertical scanning to the target object simultaneously to obtain the horizontal scanning data and the vertical scanning data that match, thereby improved three-dimensional scanning efficiency, and improved three-dimensional scanner's suitability. In addition, when the upper computer carries out three-dimensional modeling by utilizing the transverse scanning data and the vertical scanning data, mutual proofreading can be carried out according to the transverse scanning data and the vertical scanning data, so that the final data for modeling are more accurate, and the accuracy of the model is improved.
Preferably, as shown in fig. 2 to 4, the housing of the lateral scanner 100 according to the embodiment of the present invention includes a lateral upper cover 101, a lateral lower cover 102, a lateral front cover 103, a lateral rear cover 104, and a finger cover 105, the lateral upper cover 101 is fixedly mounted above the lateral lower cover 102, the lateral front cover 103 and the lateral rear cover 104 are fixedly mounted between the lateral upper cover 101 and the lateral lower cover 102, a lateral cavity is formed in an area surrounded by the lateral upper cover 101, the lateral lower cover 102, the lateral front cover 103, and the lateral rear cover 104, and the finger cover 105 is fixedly mounted above the lateral upper cover 101.
Preferably, the internal structure of the transverse scanner 100 includes a transverse mounting plate 111 and a transverse upright 112 located in the transverse cavity, the transverse lower cover 102 is fixedly connected with the transverse mounting plate 111, the transverse mounting plate 111 is fixedly connected with the transverse upper cover 101 through the transverse upright 102, and the scanning functional components of the transverse scanner 100 are fixedly mounted on the transverse mounting plate.
Preferably, the scanning functional components of the transverse scanner 100 further include a first driving board 121, a first communication board 122 and two first fans 123, the two point cloud cameras 20 are respectively located on the left and right sides of the upper surface of the transverse mounting plate 111, the optical engine 10 is located between the two point cloud cameras 20 on the upper surface of the transverse mounting plate 111, the first driving board 121 and the first communication board 122 are respectively located between the optical engine 10 and the two point cloud cameras 20, the two first fans 123 are also respectively located between the optical engine 10 and the two point cloud cameras 20, the communication device on the first communication board 122 is respectively electrically connected to the point cloud cameras 20 and the driving device on the first driving board 121, the driving device on the first driving board 121 is respectively electrically connected to the optical engine 10 and the first fans 123, and the projection direction of the optical engine 10, the shooting direction of the cameras 20, and the heat dissipation direction of the first fans 123 are all facing the front cover 103.
It can be seen that, in the transverse scanner 100, the optical machine 10 and the two point cloud cameras 20 are horizontally disposed relative to the mounting plate, that is, if the optical machine 10 and the point cloud cameras 20 are horizontally disposed, and the lower surfaces thereof are made to be mounting surfaces, the mounting surfaces of the optical machine 10 and the point cloud cameras 20 are parallel to the mounting plate, and the projection scanning range of the scanner is a rectangle with a length greater than a width, which is suitable for realizing transverse three-dimensional scanning and obtaining accurate transverse data. In addition, the shell is flat and long, and is convenient to hold by a finger cover or fix in other modes.
Preferably, the scanning function component of the transverse scanner 100 further includes a first heat sink 124, and the first heat sink 124 is located between the optical engine 10 and one of the first fans 123. The first heat sink 124 can effectively dissipate the larger heat generated by the optical engine 10 during operation, so as to effectively protect the optical engine 10.
In addition, a first heat sink 124 facing the first fan 123 is also disposed between the first drive plate 121 and the lateral mounting plate 111, so that the first drive plate 121 can be effectively cooled during operation.
Preferably, as shown in fig. 5 to 8, the housing of the vertical scanner 200 according to the embodiment of the present invention includes an upper vertical cover 201, a lower vertical cover 202, a front vertical cover 203, and a rear vertical cover 204, the upper vertical cover 201 is fixedly installed above the lower vertical cover 202, the front vertical cover 203 and the rear vertical cover 204 are fixedly installed between the upper vertical cover 201 and the lower vertical cover 202, and a vertical cavity is formed in an area surrounded by the upper vertical cover 201, the lower vertical cover 202, the front vertical cover 203, and the rear vertical cover 204.
Preferably, the internal structural component of the vertical scanner 200 includes a vertical mounting plate 211 located in the vertical cavity, a vertical column 212, a light machine mounting plate 213 and two point cloud camera mounting plates 214, the vertical lower cover 202 is fixedly connected with the vertical mounting plate 211, the vertical mounting plate 211 is fixedly connected with the vertical upper cover 201 through the vertical column 212, the light machine mounting plate 213 and the two point cloud camera mounting plates 214 are vertically and fixedly mounted on the vertical mounting plate 211, the two point cloud camera mounting plates 214 are respectively located at the left and right sides of the upper surface of the vertical mounting plate 211, the light machine mounting plate 213 is located between the two point cloud camera mounting plates 214 on the upper surface of the vertical mounting plate 211, the light machine 10 is fixedly mounted on the side surfaces of the light machine mounting plate 213, and the two point cloud cameras 20 are respectively.
It can be seen that, in the vertical scanner 200, the optical machine 10 and the two point cloud cameras 20 are vertically disposed with respect to the mounting plate, that is, if the optical machine 10 and the point cloud cameras 20 are horizontally disposed, and the lower surfaces thereof are made to be mounting surfaces, then the mounting surfaces of the optical machine 10 and the point cloud cameras 20 are perpendicular to the mounting plate, and the projection scanning range of the scanner is a rectangle with a width larger than a length, which is suitable for realizing vertical three-dimensional scanning and obtaining accurate vertical data. In addition, the housing is shorter and thicker, and a more efficient arrangement of the heat dissipation device is possible.
Preferably, the internal structure of the vertical scanner 200 further includes a driving board mounting plate 215, the scanning functional assembly further includes a second driving board 221, a second communication board 222 and two second fans 223, the driving board mounting plate 215 is vertically and fixedly mounted on the vertical mounting plate 211, the second driving board 221 is fixedly mounted on the side surface of the driving board mounting plate 215, the second communication board 222 and the two second fans 223 are fixedly mounted on the vertical mounting plate 211, the second driving board 221 and the second communication board 222 are respectively located between the optical machine 10 and the two point cloud cameras 20, the two second fans 223 are also respectively located between the optical machine 10 and the two point cloud cameras 20, the communication device on the second communication board 222 is respectively and electrically connected with the driving devices on the point cloud cameras 20 and the second driving board 221, the driving device on the second driving board 221 is respectively and electrically connected with the optical machine 10 and the second fans 223, the projecting direction of the optical machine 10, The photographing direction of the point cloud camera 20 and the heat radiation direction of the second fan 223 both face the upstanding front cover 203.
It can be seen that, because the vertical installation mode of the optical engine 10 and the point cloud camera 20 makes the overall structure of the vertical scanner 200 shorter and thicker, the second driving board 221 is also vertically installed on the installation board, so that the space can be further fully utilized, and the heat dissipation of the second driving board 221 during the work is effectively promoted.
Preferably, the internal structural component of the vertical scanner 200 further includes a fan seat 216, the scanning functional assembly further includes a third fan 224 and a second heat sink 225, the fan seat 216 is fixedly mounted on the inner side surface of the vertical upper cover 201, the third fan 224 is fixedly mounted in the fan seat 216, the second heat sink 225 is fixedly mounted above the optical engine 10 and located between the optical engine 10 and the third fan 224, and the third fan 224 is electrically connected to the driving device on the second driving board 221.
Because scanner inner space is narrow and small, ray apparatus 10 can produce certain heat at the during operation, and the casing is short and thick structure, sets up second fin 225 and third fan 224 in ray apparatus 10 top, can make full use of space and carry out effective heat dissipation to the ray apparatus.
The embodiment of the invention also provides a binocular three-dimensional scanning method, which adopts the binocular three-dimensional scanner assembly to carry out three-dimensional scanning, and as shown in fig. 9, the method comprises the following steps:
step 1, controlling at least one optical machine (10) to generate the code element pattern projected to a target object.
And 2, at least one pair of point cloud cameras (20) matched with the optical machine (10) acquires the code element patterns and transmits the code element patterns to an upper computer.
The upper computer can send a driving instruction to the driving board through the communication board, so that the optical machine generates a code element pattern projected to a target object, the point cloud camera acquires the code element pattern and transmits the code element pattern back to the upper computer in real time through the communication board, and the upper computer performs data processing according to the code element pattern and finally establishes a three-dimensional model of the target object.
It should be noted that, because the scanner assembly is provided with the horizontal scanner and the vertical scanner at the same time, the horizontal scanner and the vertical scanner can be used for modeling scanning at the same time, and a plurality of horizontal scanners or a plurality of vertical scanners can be used at the same time according to actual requirements, so that the scanner assembly can be widely used for three-dimensional modeling of various materials, and the applicability of the scanner assembly is further improved.
The reader should understand that in the description of this specification, reference to the description of the terms "one embodiment," "some embodiments," "an example," "a specific example" or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. A binocular three-dimensional scanner assembly, comprising at least one horizontal scanner (100) for performing horizontal three-dimensional scanning and at least one vertical scanner (200) matched with the horizontal scanner (100) for performing vertical three-dimensional scanning, wherein the horizontal scanner (100) and the vertical scanner (200) each comprise a housing, an internal structure and a scanning functional assembly, the internal structure is positioned inside the housing, the scanning functional assembly is fixedly installed on the internal structure, the scanning functional assembly comprises an optical machine (10) for projecting code element patterns and two point cloud cameras (20) for shooting the code element patterns;
the housing of the transverse scanner (100) comprises a transverse upper cover (101), a transverse lower cover (102), a transverse front cover (103), a transverse rear cover (104) and a finger cover (105), wherein the transverse upper cover (101) is fixedly arranged above the transverse lower cover (102), the transverse front cover (103) and the transverse rear cover (104) are fixedly arranged between the transverse upper cover (101) and the transverse lower cover (102), a transverse cavity is formed in a region surrounded by the transverse upper cover (101), the transverse lower cover (102), the transverse front cover (103) and the transverse rear cover (104), and the finger cover (105) is fixedly arranged above the transverse upper cover (101);
horizontal scanner (100) inner structure is including being located horizontal mounting panel (111) and horizontal stand (112) in the horizontal cavity, violently lower cover (102) with horizontal mounting panel (111) fixed connection, horizontal mounting panel (111) pass through horizontal stand (112) with violently upper cover (101) fixed connection, horizontal scanner (100) scan function block fixed mounting in on horizontal mounting panel (111).
2. The binocular three-dimensional scanner assembly according to claim 1, wherein the scanning function assembly of the transverse scanner (100) further comprises a first driving board (121), a first communication board (122) and two first fans (123), the two point cloud cameras (20) are respectively located at the left and right sides of the upper surface of the transverse mounting board (111), the optical engine (10) is located between the two point cloud cameras (20) on the upper surface of the transverse mounting board (111), the first driving board (121) and the first communication board (122) are respectively located between the optical engine (10) and the two point cloud cameras (20), the two first fans (123) are also respectively located between the optical engine (10) and the two point cloud cameras (20), the communication device on the first communication board (122) is electrically connected with the driving devices on the point cloud cameras (20) and the first driving board (121), respectively, the driving device on the first driving plate (121) is respectively electrically connected with the optical machine (10) and the first fan (123), and the projection direction of the optical machine (10), the shooting direction of the point cloud camera (20) and the heat dissipation direction of the first fan (123) all face the transverse front cover (103).
3. The binocular three-dimensional scanner assembly of claim 2, wherein the scanning function of the transverse scanner (100) further comprises a first heat sink (124), the first heat sink (124) being located between the optical machine (10) and one of the first fans (123).
4. The binocular three-dimensional scanner assembly according to any one of claims 1 to 3, wherein the housing of the vertical scanner (200) comprises an upper vertical cover (201), a lower vertical cover (202), a front vertical cover (203) and a rear vertical cover (204), the upper vertical cover (201) is fixedly mounted above the lower vertical cover (202), the front vertical cover (203) and the rear vertical cover (204) are fixedly mounted between the upper vertical cover (201) and the lower vertical cover (202), and a vertical cavity is formed by the enclosed areas of the upper vertical cover (201), the lower vertical cover (202), the front vertical cover (203) and the rear vertical cover (204).
5. The binocular three-dimensional scanner assembly according to claim 4, wherein the interior structure of the vertical scanner (200) includes a vertical mounting plate (211), an upright post (212), a light machine mounting plate (213) and two point cloud camera mounting plates (214) located within the vertical cavity, the vertical lower cover (202) is fixedly connected with the vertical mounting plate (211), the vertical mounting plate (211) is fixedly connected with the vertical upper cover (201) through the upright post (212), the light machine mounting plate (213) and the two point cloud camera mounting plates (214) are both vertically and fixedly mounted on the vertical mounting plate (211), the two point cloud camera mounting plates (214) are respectively located at left and right sides of an upper surface of the vertical mounting plate (211), the light machine mounting plate (213) is located between the two point cloud camera mounting plates (214) on the upper surface of the vertical mounting plate (211), the optical machine (10) is fixedly arranged on the side surface of the optical machine mounting plate (213), and the two point cloud cameras (20) are respectively and fixedly arranged on the side surfaces of the two point cloud camera mounting plates (214).
6. The binocular three-dimensional scanner assembly of claim 5, wherein the internal structure of the vertical scanner (200) further comprises a drive board mounting plate (215), the scanning function assembly further comprises a second drive board (221), a second communication board (222) and two second fans (223), the drive board mounting plate (215) is vertically fixedly mounted on the vertical mounting plate (211), the second drive board (221) is fixedly mounted on a side of the drive board mounting plate (215), the second communication board (222) and the two second fans (223) are fixedly mounted on the vertical mounting plate (211), the second drive board (221) and the second communication board (222) are respectively located between the optical machine (10) and the two point cloud cameras (20), the two second fans (223) are also respectively located between the optical machine (10) and the two point cloud cameras (20), the communication device on the second communication board (222) is electrically connected with the point cloud camera (20) and the driving device on the second driving board (221), the driving device on the second driving board (221) is electrically connected with the optical machine (10) and the second fan (223), and the projection direction of the optical machine (10), the shooting direction of the point cloud camera (20) and the heat dissipation direction of the second fan (223) face the vertical front cover (203).
7. The binocular three-dimensional scanner assembly according to claim 6, wherein the internal structural part of the vertical scanner (200) further comprises a fan seat (216), the scanning function assembly further comprises a third fan (224) and a second heat sink (225), the fan seat (216) is fixedly mounted on the inner side surface of the vertical upper cover (201), the third fan (224) is fixedly mounted in the fan seat (216), the second heat sink (225) is fixedly mounted above the optical machine (10) and located between the optical machine (10) and the third fan (224), and the third fan (224) is electrically connected with a driving device on the second driving board (221).
8. A binocular three-dimensional scanning method, wherein the binocular three-dimensional scanner assembly of any one of claims 1 to 7 is used for three-dimensional scanning, comprising the steps of:
step 1, controlling at least one optical machine (10) to generate the code element pattern projected to a target object;
and 2, at least one pair of point cloud cameras (20) matched with the optical machine (10) acquires the code element patterns and transmits the code element patterns to an upper computer.
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| CN201810297099.4A CN108534708B (en) | 2018-03-30 | 2018-03-30 | Binocular three-dimensional scanner assembly and scanning method |
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| CN201810297099.4A CN108534708B (en) | 2018-03-30 | 2018-03-30 | Binocular three-dimensional scanner assembly and scanning method |
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| CN108534708B true CN108534708B (en) | 2020-04-24 |
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| CN109360163A (en) * | 2018-09-26 | 2019-02-19 | 深圳积木易搭科技技术有限公司 | A kind of fusion method and emerging system of high dynamic range images |
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| CN106247979A (en) * | 2016-08-17 | 2016-12-21 | 四川川大智胜软件股份有限公司 | A kind of spatial digitizer based on galvanometer |
| CN106500628B (en) * | 2016-10-19 | 2019-02-19 | 杭州思看科技有限公司 | A kind of 3-D scanning method and scanner containing multiple and different long wavelength lasers |
| CN106546188B (en) * | 2016-11-05 | 2019-03-22 | 北京工业大学 | A kind of two-freedom adjustment mechanism for human body 3D scanning |
| CN107505324B (en) * | 2017-08-10 | 2020-06-16 | 李�杰 | 3D scanning device and scanning method based on binocular collaborative laser |
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Denomination of invention: A binocular 3D scanner component and scanning method Effective date of registration: 20230914 Granted publication date: 20200424 Pledgee: CITIC Bank Limited by Share Ltd. Shenzhen branch Pledgor: SHENZHEN JIMU YIDA SCIENCE AND TECHNOLOGY Co.,Ltd. Registration number: Y2023980056847 |