CN108613626A - A kind of sphere scanner and 3 D scanning system - Google Patents
A kind of sphere scanner and 3 D scanning system Download PDFInfo
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- CN108613626A CN108613626A CN201810552452.9A CN201810552452A CN108613626A CN 108613626 A CN108613626 A CN 108613626A CN 201810552452 A CN201810552452 A CN 201810552452A CN 108613626 A CN108613626 A CN 108613626A
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- scanner
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- coordinate system
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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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
Abstract
The present invention relates to a kind of sphere scanner and 3 D scanning systems, sphere scanner includes main body, multiple target balls, two cameras and the scanner of hollow out, multiple target balls are arranged in a one-to-one correspondence at the vertex position of main body, the surface of target ball is equipped with multiple mark reflective spots, two cameras and scanner are arranged in main body, and two cameras and scanner are connect with main body, the camera lens of two cameras and the exit end of scanner are arranged towards the same side of main body.The cooperation that the present invention passes through scanner and camera, target object surface is modeled in real time, by the way that multiple target balls are arranged in main body, the mark reflective spot for the target ball surface setting not being blocked in field range can be recognized during tracking convenient for tracking equipment, and scanner and camera is coordinated to be modeled in real time to the surface of target object, you can realizes accurate 3-D scanning, it is simple in structure, it is small, it is specious, and working space is expansible.
Description
Technical field
The present invention relates to optical scanning technique field more particularly to a kind of sphere scanners and 3 D scanning system.
Background technology
3D laser scanners have been able to easily solve most of high-precision measurement work without article surface vein, but
It is it in the frame during object under test surface mount certain amount, the reflecting sign point being evenly distributed are used to scan to splice, and
It is cumbersome to paste reflecting sign point process, needs to take a significant amount of time, increases the workload of scanning survey, be not also suitable for not permitting
Perhaps in the high-value items such as the high precision apparatus of surface mount index point and historical relic.
White light scanning instrument in the prior art is in scanning process without being used for shadow in the viscous index point in object under test surface
As positioning and orientation, using the frame splicing (image determine appearance and is positioned) in the realization scanning of the random coded pattern of projection, and can be with
Complete textured reconstructing surface of object.But since its algorithm Mechanism Primary is because precision cannot be satisfied the demand of precise measure, heavy
Building result has very high ornamental value, but is not the optimal selection of scanning survey.
Invention content
The technical problem to be solved by the present invention is to solve the above shortcomings of the prior art and to provide a kind of sphere scanner and
3 D scanning system.
The technical solution that the present invention solves above-mentioned technical problem is as follows：A kind of sphere scanner, includes the polyhedron of hollow out
Shape main body, multiple target balls, two cameras and scanner, multiple target balls are arranged in a one-to-one correspondence the vertex position in the main body
The surface at place, the target ball is equipped with multiple mark reflective spots, and described two cameras and scanner are arranged in the main body, and
Described two cameras and scanner are connect with the main body, the exit end court of the camera lens of described two cameras and the scanner
It is arranged to the same side of the main body.
The beneficial effects of the invention are as follows：The present invention by the cooperation of scanner and camera, in real time to target object surface into
Row modeling, by the way that multiple target balls are arranged in main body, can regard in order to which external trace device can recognize during tracking
The mark reflective spot for the target ball surface setting not being blocked in the range of field, and coordinate scanner and camera in real time to target object
Surface is modeled, you can realize accurate 3-D scanning, it is simple in structure, and it is small, it is specious, and working space can expand
Exhibition.
Based on the above technical solution, the present invention can also be improved as follows：
Further：The main body is regular polygon structure, and the multiple target ball is uniformly and symmetrically distributed in the main body
At vertex position.
The advantageous effect of above-mentioned further scheme is：By the way that the target ball symmetrically is arranged on the body,
It can ensure that in smaller angular range, all directions are not received on the basis of block, reduce the body of entire sphere scanner
Product, and it is specious, it is simple and compact for structure, it is convenient to be moved during measurement, improve measurement efficiency.
Further：The target ball is regular polygon shape, and the mark reflective spot is symmetrically arranged in the target ball
Surface.
The advantageous effect of above-mentioned further scheme is：By the way that the target ball of regular polygon is arranged, can external trace be set
It is standby to identify that at least one mark reflective spot, such external trace device can extract in all directions of each target ball
With at least one mark reflective spot recognized in target ball, so as to realize target object threedimensional model structure.
Further：The main body is formed by connecting by more crossbeams, and described two cameras and scanner are arranged at and are located at
On the crossbeam of the lower body part.
The advantageous effect of above-mentioned further scheme is：The agent structure being made up of more crossbeams is simple, and lighter in weight is stayed
There are enough gaps and the sight of the camera and scanner will not be blocked, it can be eaily to target convenient for the scanner
Object is scanned, and also allows for camera and target object surface is identified, and the main body can also to the camera and
Scanner is effectively protected, and damage is avoided.
Further：The sphere scanner further includes support plate, and the support plate is arranged the two of described main body the same side
Between crossbeam described in root, set that there are two the cameras corresponded with the camera lens of the camera and shape matches in the support plate
Through-hole, the support plate are equipped with the scanning through-hole to match with the exit end shape of the scanner, and two cameras are logical
Hole is symmetricly set on the both sides of the scanning through-hole, and the camera lens one-to-one correspondence of the camera inlays the corresponding camera through-hole
Interior, the exit end of the scanner is embedded in the scanning through-hole, and described two cameras are symmetricly set on the scanner
Both sides.
The advantageous effect of above-mentioned further scheme is：The main body can be assisted to the camera by the support plate and
Scanner is fixed, and ensures the work of the camera and scanner stabilization, avoids camera, scanner and mark in scanning process
Dystopy occurs for the relative position between will reflective spot, ensures scanning accuracy.
Further：The bottom of the main body is equipped with multiple support legs.
The advantageous effect of above-mentioned further scheme is：It can make the really described scanner just by the way that the support leg is arranged
In placement, and stable support is obtained, ensures that scanner reliablely and stablely works.
Further：The middle part of the scanner is equipped with hand-held part.
The advantageous effect of above-mentioned further scheme is：The scanning can be picked and placeed in order to user by the way that the hand-held part is arranged
Instrument, the convenient position that the scanner is adjusted during measurement, improves measurement efficiency.
Further：The scanner is laser or scanner.
The present invention also provides a kind of 3 D scanning systems, it is characterised in that：Including tracking equipment, at least one described
Sphere scanner and processor, sphere scanner surface are provided at least four mark reflective spots；
The tracking equipment be used for obtain the mark reflective spot in its field range the first coordinate system coordinate；
The sphere scanner obtains the scanning element formed in target object surface and exists for being scanned to target object
The coordinate of second coordinate system；
The processor be used for obtain it is described mark reflective spot the second coordinate system coordinate, and according to it is described mark it is reflective
O'clock the first coordinate system coordinate, mark reflective spot the second coordinate system coordinate and scanning element the second coordinate system coordinate
Target object surface is built in the first coordinate system, and generates the threedimensional model of target object；
Wherein, first coordinate system is the three-dimensional system of coordinate built centered on the tracking equipment, and described second sits
Mark system is the three-dimensional system of coordinate built centered on the sphere scanner.
The 3 D scanning system of the present invention, reference mark reflective spot is obtained using tracking equipment and sphere scanner respectively
The first coordinate system coordinate and target object surface formed scanning element the second coordinate system coordinate, then according to reference
Mark reflective spot obtains scanning element in the first coordinate system in the coordinate and scanning element of the first coordinate system in the coordinate of the second coordinate system
Coordinate, you can in the first coordinate system build target object surface, to generate target object threedimensional model, scanning accuracy
Height, it is convenient and efficient, and working space is expansible.
Description of the drawings
Fig. 1 is the sphere scanner front view of one embodiment of the invention；
Fig. 2 is a kind of sphere scanner front view of one embodiment of the invention；
Fig. 3 is a kind of sphere scanner rearview of one embodiment of the invention；
Fig. 4 is a kind of sphere scanner left view of one embodiment of the invention；
Fig. 5 is a kind of sphere scanner right view of one embodiment of the invention；
Fig. 6 is a kind of sphere scanner vertical view of one embodiment of the invention；
Fig. 7 is a kind of sphere scanner upward view of one embodiment of the invention；
Fig. 8 is the structural schematic diagram of the target ball of one embodiment of the invention；
Fig. 9 is the 3 D scanning system structural schematic diagram of one embodiment of the invention.
In attached drawing, parts list represented by the reference numerals are as follows：
1, main body, 2, target ball, 3, camera, 4, scanner, 5, support plate, 6, support leg, 7, hand-held part；
101, tracking equipment, 102, sphere scanner, 103, target object, 104, processor.
Specific implementation mode
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
As shown in Figures 1 to 8, a kind of sphere scanner, including the polyhedral main body 1 of hollow out, multiple target balls 2, two
Camera 3 and scanner 4, multiple target balls 2 are arranged in a one-to-one correspondence at the vertex position of the main body 1, the table of the target ball 2
Face is equipped with multiple mark reflective spots, and described two cameras 3 and scanner 4 are arranged in the main body 1, and described two cameras
3 and scanner 4 connect with the main body 1, the exit end of the camera lens of described two cameras 3 and the scanner 4 is described in
The same side of main body 1 is arranged.
The present invention in real time models target object surface by the cooperation of scanner 4 and camera 3, by main body 1
The upper multiple target balls 2 of setting, can not be blocked in order to which external trace device can recognize during tracking in field range
The setting of 2 surface of target ball mark reflective spot, and scanner 4 and camera 3 is coordinated to be modeled in real time to the surface of target object,
Accurate 3-D scanning can be realized, it is simple in structure, it is small, it is specious, and working space is expansible.
In the above-described embodiments, the main body 1 is regular polygon structure, and the multiple target ball 2 is uniformly and symmetrically distributed
At the vertex position of the main body 1.By symmetrically being arranged the target ball 2 in the main body 1, it is ensured that compared with
All directions are not received in small angular range block on the basis of, reduce the volume of entire sphere scanner, and physical beauty
It sees, it is simple and compact for structure, it is convenient to be moved during measurement, improve measurement efficiency.
Preferably, in the above-described embodiments, the target ball 2 is regular polygon shape, and the mark reflective spot is symmetrically
It is arranged on the surface of the target ball 2.By the way that the target ball 2 of regular polygon 2 is arranged, external trace device can be made in each target ball
It can identify that at least one mark reflective spot, such external trace device can extract and recognize target in 2 all directions
At least one mark reflective spot on ball 2, so as to realize the threedimensional model structure of target object.
In the embodiment of the present invention, the main body 1 is formed by connecting by more crossbeams, and described two cameras 3 and scanner 4
It is arranged on the crossbeam of 1 lower part of the main body.By more crossbeams form main body 1 it is simple in structure, weight compared with
Gently, there are enough gaps and the sight of the camera 3 and scanner 4 will not be blocked, it can be more convenient convenient for the scanner 4
Target object is scanned, also allow for camera 3 and target object surface be identified, and the main body 1 can also be right
The camera 3 and scanner 4 are effectively protected, and damage is avoided.
Optionally, in the above-described embodiments, the sphere scanner further includes support plate 5, and the support plate 5 is arranged in institute
Between two crossbeams for stating 1 the same side of main body, it is a pair of to set that there are two the camera lenses one with the camera 3 in the support plate 5
It answers and camera through-hole that shape matches, the support plate 5 is equipped with sweeps with what the exit end shape of the scanner 4 matched
Through-hole is retouched, two camera through-holes are symmetricly set on the both sides of the scanning through-hole, and the camera lens of the camera 3 corresponds edge
In the embedding corresponding camera through-hole, the exit end of the scanner 4 is embedded in the scanning through-hole, and described two cameras
3 are symmetricly set on the both sides of the scanner 4.The main body 1 can be assisted to the camera 3 by the support plate 5 and is swept
It retouches device 4 to be fixed, ensures the work that the camera 3 and scanner 4 are stablized, avoid camera 3, scanner 4 in scanning process
Dystopy occurs for the relative position between mark reflective spot, ensures scanning accuracy.
In the embodiment of the present invention, the bottom of the main body 1 is equipped with multiple support legs 6.It can by the way that the support leg 6 is arranged
So that the entire scanner is convenient for placing, and stable support is obtained, ensures that sphere scanner reliablely and stablely works.
Optionally, the middle part of the scanner 4 is equipped with hand-held part 7.It can be taken in order to user by the way that the hand-held part 7 is arranged
The sphere scanner is put, measurement efficiency is improved in the convenient position that the sphere scanner is adjusted during measurement.
In the embodiment of the present invention, the scanner 4 is laser or scanner.
As shown in figure 9, the present invention also provides a kind of 3 D scanning system, including it is at least one tracking equipment 101, described
Sphere scanner 102 and processor 104,102 surface of sphere scanner be provided at least four mark reflective spots；
The tracking equipment 101 be used for obtain the mark reflective spot in its field range the first coordinate system coordinate
(XTj,YTj,ZTj)(j≥4)；
For being scanned to target object 103, acquisition is formed the sphere scanner 102 on 103 surface of target object
Scanning element the second coordinate system coordinate (XSk,YSk,ZSk) (k=1,2,3 ...)；
The processor 104 be used for obtain it is described mark reflective spot the second coordinate system coordinate (XSi,YSi,ZSi) (i=
1,2,3 ...), and according to the reflective coordinate (X in the first coordinate system of the markTj,YTj,ZTj) (j >=4), mark reflective spot is the
Coordinate (the X of two coordinate systemsSi,YSi,ZSi) (i=1,2,3 ...) and scanning element the second coordinate system coordinate (XSk,YSk,ZSk)(k
=1,2,3 ...) 103 surface of target object is built in the first coordinate system, and generates the threedimensional model of target object 103；
Wherein, first coordinate system is the three-dimensional system of coordinate built centered on the tracking equipment 101, described second
Coordinate system is the three-dimensional system of coordinate built centered on the sphere scanner 102.
The 3 D scanning system of the present invention, reference mark is obtained using tracking equipment 101 and sphere scanner 102 respectively
Reflective spot in the coordinate of the first coordinate system and the scanning element formed in target object surface in the coordinate of the second coordinate system, then root
Coordinate and scanning element according to reference mark reflective spot in the first coordinate system obtain scanning element first in the coordinate of the second coordinate system
The coordinate of coordinate system, you can swept to generate target object threedimensional model on the surface that target object is built in the first coordinate system
Precision height is retouched, it is convenient and efficient, and working space is expansible.
In the above-described embodiments, the tracking equipment 101 obtain the reference mark o'clock the first coordinate system coordinate
It is implemented as：
The tracking equipment 101 is calibrated, the parameter information of the tracking equipment 101 is obtained；
According to the parameter information of the tracking equipment 101 obtain the reference mark o'clock the first coordinate system coordinate (XTj,
YTj,ZTj)(j≥4)。
By being calibrated to the tracking equipment 101, and then the parameter information of tracking equipment 101 is obtained, for example tracked
Then the camera lens limiting length of equipment 101 and inside and outside parameter etc. are calculated according to the parameter information of tracking equipment 101 using forward intersection
Method calculate the reference mark o'clock the first coordinate system coordinate (XTj,YTj,ZTj) (j >=4), to determine tracking equipment 101
With the relative position relation between sphere scanner 102.
In the above-described embodiments, the processor 104 obtains the tool of coordinate of the reference mark o'clock in the second coordinate system
Body is embodied as：
The sphere scanner 102 is demarcated, the parameter information of the sphere scanner 102 is obtained；
According to the parameter information of the sphere scanner 102 calculate the reference mark o'clock the second coordinate system coordinate
(XSi,YSi,ZSi) (i=1,2,3 ...).
By being demarcated to the sphere scanner 102, the parameter information of the sphere scanner 102 can be obtained,
Such as the camera lens baseline length and inside and outside parameter of sphere scanner 102, so as to according to the parameter of the sphere scanner 102 profit
The reference reflective spot on 102 surface of sphere scanner is calculated relative to centered on sphere scanner 102 with forward intersection algorithm
The second coordinate system coordinate (XSi,YSi,ZSi) (i=1,2,3 ...), convenient for subsequently combining tracking equipment 101 and sphere scanner
Relative position relation between 102 calculate scanning element the first coordinate system coordinate (XTl,YTl,ZTl) (l=1,2,3 ...).
In the above-described embodiments, the processor 104 is specifically used for：
According to the reference mark o'clock the first coordinate system coordinate (XTj,YTj,ZTj) (j >=4), reference mark o'clock is
Coordinate (the X of two coordinate systemsSi,YSi,ZSi) (i=1,2,3 ...) and scanning element the second coordinate system coordinate (XSk,YSk,ZSk)(k
=1,2,3 ...) determine the scanning element the first coordinate system coordinate (XTl,YTl,ZTl) (l=1,2,3 ...), and sat first
The scanning element is merged under mark system；
So repeat (including the sphere scanner 102 is scanned target object 103, obtains in target object 103
Surface formed scanning element the second coordinate system coordinate and the processor 104 according to reference mark o'clock in the first coordinate
Coordinate, the reference mark o'clock of system determine the scanning element in the coordinate and scanning element of the second coordinate system in the coordinate of the second coordinate system
In the coordinate of the first coordinate system, and the scanning element is merged under the first coordinate system), until completing to the object
The entire scan of body 103, obtain different scanning o'clock the coordinate of the first coordinate system fusion results；
Fusion results according to different scanning o'clock in the coordinate of the first coordinate system build target object in the first coordinate system
103 surfaces generate the threedimensional model of target object 103.
By the reference mark o'clock the coordinate of the first coordinate system, reference mark o'clock the second coordinate system coordinate and sweep
Described point the coordinate of the second coordinate system can accurately calculate the scanning element the first coordinate system coordinate, then according to institute
The coordinate that scanning element is stated in the first coordinate system merges under the first coordinate system, obtains corresponding fusion results, thus can root
The surface of target object 103 can be accurately built in the fusion results of the coordinate of the first coordinate system according to different scanning o'clock, to
Realize the high-precision three-dimensional scanning of target object 103.
In an embodiment of the present invention, the determination scanning element the first coordinate system coordinate, and in the first coordinate
It is implemented as to what the scanning element was merged under system：
According to the reference mark o'clock the first coordinate system coordinate (XTj,YTj,ZTj) (j >=4) and reference mark o'clock be
Coordinate (the X of two coordinate systemsSi,YSi,ZSi) (i=1,2,3 ...) calculate the coordinate between first coordinate system and the second coordinate system
Transformational relation；
The scanning element is converted in the coordinate of the second coordinate system to first coordinate according to the coordinate transformation relation
In system, obtain the scanning element the first coordinate system seat (XTl,YTl,ZTl) (l=1,2,3 ...) mark；
Solid space where first coordinate system is subjected to gridding so that the scanning element on target object 103 falls into correspondence
Grid；
According to the scanning element the first coordinate system coordinate (XTl,YTl,ZTl) (l=1,2,3 ...) calculate each grid
Approximate directed distance of the central point to the nearest scanning element in 103 surface of target object.
Coordinate and reference mark o'clock by the reference mark o'clock in the first coordinate system are in the coordinate of the second coordinate system
It can determine the relative position relation between the first coordinate system and the second coordinate system, i.e. between the first coordinate system and the second coordinate system
Coordinate transformation relation can convert scanning element to first coordinate system in the coordinate of the second coordinate system according to transformational relation
In, consequently facilitating fusion results of the coordinate in first coordinate system according to scanning element in the first coordinate system build object
103 surface of body generates 103 threedimensional model of target object, obtains accurate scanning result.
Assuming that the coordinate transformation relation between first coordinate system and the second coordinate system is：
(XTj,YTj,ZTj)T=R3×3(XSi,YSi,ZSi)T+t3×1
Wherein R3×3For spin matrix；t3×1For translation matrix, reflective spots are referred in the first coordinate system by choosing four
Coordinate and it can solve the spin matrix R in the coordinate of the second coordinate system3×3With translation matrix t3×1, so that it is determined that described
Coordinate transformation relation between first coordinate system and the second coordinate system, so as to the every frame figure for obtaining sphere scanner 102
Scanning element as in is transformed into the coordinate of the second coordinate system in the first coordinate system, then carries out subsequent target object 103 3
Dimension module is built.
In an embodiment of the present invention, it is described according to different scanning o'clock the first coordinate system coordinate fusion results first
103 surface of target object is built in coordinate system, generates being implemented as the threedimensional model of target object 103：
Position is built according to the approximate directed distance of different grid element center points to the nearest scanning element in 103 surface of target object
103 sublist face of target object in corresponding grid；
According to corresponding 103 sub- 103 surface of surface construction target object of the target object of all grids, object is generated
103 threedimensional model of body.
By the approximate directed distance, 103 corresponding surface district of the target object can be built in each grid
Domain, the threedimensional model so as to ultimately form target object 103 create, and form accurate scanning result, rapidly and efficiently, and
The scope of application is wider.
Optionally, the quantity of the tracking equipment 101 is multiple, and multiple tracking equipments 101 are around the sphere
Scanner is laid, and each tracking equipment 101 obtains the reference mark o'clock in corresponding field range in the first coordinate
Coordinate (the X of systemTj,YTj,ZTj) (j >=4), the processor 104 be used for according to all reference marks o'clock the first coordinate system seat
Mark (XTj,YTj,ZTj) (j >=4) and reference mark o'clock the second coordinate system coordinate (XSi,YSi,ZSi) (i=1,2,3 ...) calculating
Coordinate transformation relation between first coordinate system and the second coordinate system；Wherein, first coordinate system is with one of them
The three-dimensional system of coordinate built centered on the tracking equipment 101.
The reference mark o'clock obtained simultaneously by using multiple tracking equipments 101 in corresponding field range is sat first
Mark system coordinate, then in conjunction with the reference mark o'clock the second coordinate system coordinate, you can more accurately calculate institute
State the relative position relation between the first coordinate system and the second coordinate system, i.e. coordinate between the first coordinate system and the second coordinate system
Transformational relation.
The collaborative work of multiple tracking equipments 101 is exactly the set of many 101 scanning surveys of single tracking equipment, it is multiple with
Track equipment 101 should surround scanning survey region and arrange, uniformly distributed one week preferably around scanning survey region.Such as
Using six tracking equipments 101 into the case of line trace, six tracking equipments 101 are simultaneously to same on sphere scanner 102
One extracts and identifies with reference to reflective spot, is converted by coordinate, then again by 101 corresponding seat of respective single tracking equipment
Under mark system one to the coordinate system (i.e. the first coordinate system) of one of them fixed tracking equipment 101.
Multiple tracking equipments 101 are used to cooperate so that sphere scanner can be used in scanning process as much as possible
The reference reflective spot of different angle on 102, the reference mark point number for tracking is more, therefore to 102 phase of sphere scanner
For one of them fixed tracking equipment 101 (i.e. the first coordinate system corresponding tracking equipment 101) positioning and orientation just more
Accurately.
In the embodiment of the present invention, the tracking equipment 101 may include two cameras, tripod and cross bar, the cross
The middle part of bar is flexibly connected with the top of tripod, and two cameras are separately positioned on the both ends of cross bar, the sphere scanner 102
Between tracking equipment 101 and target object 1033.Two cameras need the relative position of both calibration in advance.
The sphere scanner 102 includes mainly by 12 Archimedean solids, laser emitter and two cameras
It constituting, is fixed by crossbeam and formed spherical distribution between polyhedron, each polyhedral surface lays 13 reflecting sign points, these
Reflecting sign point is symmetric, and possesses the identical feature of the distance at polyhedron center.Laser emitter and two cameras
It is arranged among the orbicule that polyhedron is formed, crossbeam fixed laser transmitter is equally used among orbicule, in entire sphere
In scanner 102, the relative position of reflecting sign point and laser emitter is fixed.
It should be noted that in the 3 D scanning system of the embodiment of the present invention, the scanner 104 is laser.
When the scanner 104 is using projecting apparatus, scanning theory and white scanner operation principle in the prior art
Unanimously, which is not described herein again.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of sphere scanner, it is characterised in that：Polyhedral main body (1), multiple target balls (2), two phases including hollow out
Machine (3) and scanner (4), multiple target balls (2) are arranged in a one-to-one correspondence at the vertex position of the main body (1), the target
The surface of ball (2) is equipped with multiple mark reflective spots, and described two cameras (3) and scanner (4) are arranged at the main body (1)
It is interior, and described two cameras (3) and scanner (4) are connect with the main body (1), the camera lens of described two cameras (3) and institute
The exit end for stating scanner (4) is arranged towards the same side of the main body (1).
2. sphere scanner according to claim 1, it is characterised in that：The main body (1) is regular polygon structure.
3. sphere scanner according to claim 2, it is characterised in that：The target ball (2) is regular polygon shape, and described
Mark reflective spot is symmetrically arranged on the surface of the target ball (2).
4. sphere scanner according to claim 1, it is characterised in that：The main body (1) is formed by connecting by more crossbeams,
And described two cameras (3) and scanner (4) are arranged on the crossbeam of the main body (1) lower part.
5. sphere scanner according to claim 4, it is characterised in that：Further include support plate (5), the support plate (5)
Be arranged between two crossbeams of the main body (1) the same side, set on the support plate (5) there are two with the camera
(3) the camera through-hole that camera lens corresponds and shape matches, the support plate (5) are equipped with and the scanner (4)
The scanning through-hole that exit end shape matches, two camera through-holes are symmetricly set on the both sides of the scanning through-hole, described
The camera lens one-to-one correspondence of camera (3) is inlayed in the corresponding camera through-hole, and the exit end of the scanner (4) is embedded in described
It scans in through-hole, and described two cameras (3) are symmetricly set on the both sides of the scanner (4).
6. sphere scanner according to claim 1, it is characterised in that：The bottom of the main body (1) is equipped with multiple supports
Foot (6).
7. sphere scanner according to claim 1, it is characterised in that：The middle part of the scanner (4) is equipped with hand-held part
(7)。
8. sphere scanner according to any one of claims 1 to 7, it is characterised in that：The scanner (4) is laser
Or scanner.
9. a kind of 3 D scanning system, it is characterised in that：Including any one of at least one tracking equipment (101), claim 1-8
The sphere scanner (102) and processor (104), sphere scanner (102) surface are provided at least four marks
Reflective spot；
The tracking equipment (101) be used for obtain the reference mark o'clock in its field range the first coordinate system coordinate；
The sphere scanner (102) obtains for being scanned to target object (103) in target object (103) surface shape
At scanning element the second coordinate system coordinate；
The processor (104) be used to obtain the mark reflective spot the second coordinate system coordinate, and it is anti-according to the mark
Luminous point the first coordinate system coordinate, mark reflective spot the second coordinate system coordinate and scanning element the second coordinate system seat
It is marked on structure target object (103) surface in the first coordinate system, and generates the threedimensional model of target object (103)；
Wherein, first coordinate system is the three-dimensional system of coordinate built centered on the tracking equipment (101), and described second sits
Mark system is the three-dimensional system of coordinate built centered on the sphere scanner (102).
10. 3 D scanning system according to claim 9, it is characterised in that：The processor (104) is in the first coordinate system
Middle structure target object (103) surface, and the threedimensional model for generating target object (103) is implemented as：
According to the reference mark o'clock the coordinate of the first coordinate system, reference mark o'clock the second coordinate system coordinate and scanning element
The coordinate of the second coordinate system determine the scanning element the first coordinate system coordinate, and to the scanning under the first coordinate system
Point is merged；
It so repeats, until completing, to the entire scan of the target object (103), to obtain different scanning o'clock in the first coordinate system
Coordinate fusion results；
Fusion results according to different scanning o'clock in the coordinate of the first coordinate system build target object (103) in the first coordinate system
Surface generates the threedimensional model of target object (103).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810552452.9A CN108613626A (en) | 2018-05-31 | 2018-05-31 | A kind of sphere scanner and 3 D scanning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810552452.9A CN108613626A (en) | 2018-05-31 | 2018-05-31 | A kind of sphere scanner and 3 D scanning system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108613626A true CN108613626A (en) | 2018-10-02 |
Family
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| CN111220076A (en) * | 2020-01-11 | 2020-06-02 | 武汉中观自动化科技有限公司 | Tracking positioning and marking point positioning mixed positioning method and device |
| CN111561868A (en) * | 2020-05-21 | 2020-08-21 | 郑州辰维科技股份有限公司 | Method for realizing non-contact measurement of antenna profile by utilizing optical tracking structure optical scanner |
| CN112743524A (en) * | 2021-01-27 | 2021-05-04 | 上海应用技术大学 | Target device, and pose detection system and method based on binocular vision measurement |
| CN112762831A (en) * | 2020-12-29 | 2021-05-07 | 南昌大学 | Method for realizing multi-degree-of-freedom moving object posture reconstruction by adopting multiple cameras |
| CN112880557A (en) * | 2021-01-08 | 2021-06-01 | 武汉中观自动化科技有限公司 | Multi-mode tracker system |
| CN113409406A (en) * | 2021-08-19 | 2021-09-17 | 武汉中观自动化科技有限公司 | Large-range monocular tracking scanning device |
| CN114387300A (en) * | 2021-12-17 | 2022-04-22 | 武汉中观自动化科技有限公司 | Multi-tracker position relation real-time correction method and system |
| CN116628786A (en) * | 2023-07-26 | 2023-08-22 | 中南大学 | Manufacturing method of special-shaped three-dimensional marking ball |
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| CN111220076A (en) * | 2020-01-11 | 2020-06-02 | 武汉中观自动化科技有限公司 | Tracking positioning and marking point positioning mixed positioning method and device |
| CN111561868A (en) * | 2020-05-21 | 2020-08-21 | 郑州辰维科技股份有限公司 | Method for realizing non-contact measurement of antenna profile by utilizing optical tracking structure optical scanner |
| CN112762831A (en) * | 2020-12-29 | 2021-05-07 | 南昌大学 | Method for realizing multi-degree-of-freedom moving object posture reconstruction by adopting multiple cameras |
| CN112880557A (en) * | 2021-01-08 | 2021-06-01 | 武汉中观自动化科技有限公司 | Multi-mode tracker system |
| CN112743524A (en) * | 2021-01-27 | 2021-05-04 | 上海应用技术大学 | Target device, and pose detection system and method based on binocular vision measurement |
| CN112743524B (en) * | 2021-01-27 | 2022-11-25 | 上海应用技术大学 | Target device, and pose detection system and method based on binocular vision measurement |
| CN113409406A (en) * | 2021-08-19 | 2021-09-17 | 武汉中观自动化科技有限公司 | Large-range monocular tracking scanning device |
| CN114387300A (en) * | 2021-12-17 | 2022-04-22 | 武汉中观自动化科技有限公司 | Multi-tracker position relation real-time correction method and system |
| CN116628786A (en) * | 2023-07-26 | 2023-08-22 | 中南大学 | Manufacturing method of special-shaped three-dimensional marking ball |
| CN116628786B (en) * | 2023-07-26 | 2023-10-10 | 中南大学 | Manufacturing method of special-shaped three-dimensional marking ball |
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