CN110186391A - A kind of threedimensional model gradient scan method - Google Patents
A kind of threedimensional model gradient scan method Download PDFInfo
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- CN110186391A CN110186391A CN201910430889.XA CN201910430889A CN110186391A CN 110186391 A CN110186391 A CN 110186391A CN 201910430889 A CN201910430889 A CN 201910430889A CN 110186391 A CN110186391 A CN 110186391A
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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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Graphics (AREA)
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- Software Systems (AREA)
- Theoretical Computer Science (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The present invention provides a kind of threedimensional model gradient scan method, the limitation of head angle characteristic when overcoming measurement object.Firstly, determining minimum one layer of scanned object, probe is scanned along a rectilinear direction of X/Y plane, when probe completes the scanning of current line, in X/Y plane, probe is made to do stepping along the Y-direction vertical with X-direction；It pops one's head in after the completion of stepping and in X direction the current layer of scanned object is continued to progressively scan；After current layer completes scanning, probe raises a step height along the Z direction, scans to next layer, until completing the scanning of whole object.It theoretically analyzes, using method of the invention, the angular characteristics limitation of probe will be fully solved；It can overcome the problems, such as influence of the verticality of measuring table out-of-flatness and measuring probe and measuring surface to measurement model.
Description
Technical field
The present invention relates to the 3D topography scan and its scanning algorithm of 3D scanning technique field more particularly to biomaterial realities
It is existing.
Background technique
The sample of the printing of biological 3D printer is that have very high precision, is with the naked eye difficult to differentiate the small difference of sample
Not, it can generally be observed using high-power microscope even electron microscope, but image is two-dimensional, no height letter
Breath.Therefore the various methods of reconstructing three-dimensional model are developed rapidly.Three kinds of principles are based primarily upon, are laser measurement respectively, white
The interference of light and dispersion are confocal.
Laser measurement uses principle of triangulation, has line scanning mode, measuring speed is fast, but is unable to measure transparent material
Material, since biological model has the transparency mostly, so should not be in this way.White light interference, hot spot direct irradiation are tested
Object can quickly obtain the local configuration model of hot spot, and measuring speed is the big advantage of one fastly, but hot spot range is small, once
A local configuration can only be measured, to obtain continuously smooth profile, scanning algorithm of the invention can be used.The confocal method of dispersion
Using dispersion confocal principle, it is suitable for measurement any material, probe can be integrated on ready-made biological 3D printer, due to dispersion
It is confocal that there are angular characteristics, so to optimize scanning process using scanning algorithm of the invention, reduced or even eliminated with algorithm
Hardware deficiency.
The precision of printed sample is very high, reaches several microns of the order of magnitude, so the precision of mobile platform will affect scanning
Precision.
Summary of the invention
The present invention solves two large problems, first is that being directly scanned modeling problem to the sample printed, does not need volume
Measuring table is built outside；Second is that the method for solving big cambered surface and big thick specimens using gradient scanning algorithm.The present invention is using high
The biological 3D printing system of precision itself provides a kind of threedimensional model gradient scan method for solving above-mentioned technical problem.
To achieve the goals above, the present invention provides a kind of threedimensional model gradient scan methods, for threedimensional model ladder
The scanning means for spending scan method includes scanning head and XYZ three-axis moving system；The scanning head is arranged in tri- axis of XYZ
In kinematic system, its movement is controlled by XYZ three-axis moving system；The XYZ three-axis moving system includes encoder, encoder
For recording current XY coordinate information of popping one's head in；
Specific step is as follows for method:
Step a), determines minimum one layer of scanned object, adjusts scanning head and scanned object is minimum between one layer
Distance to operating distance, adjustment probe light intensity to the light intensity that works；
Step b) determines initial origin, guarantees initial origin outside testee；
Step c), probe are scanned along a rectilinear direction of X/Y plane, and the direction is denoted as X-direction；Each is swept
Described point, elevation information are obtained by probe measurement, and XY co-ordinate position information passes through the three of threedimensional model gradient scanning means
It is obtained at the encoder of axis motion system；
Step d) in X/Y plane, makes probe along the Y-direction vertical with X-direction when probe completes the scanning of current line
Do stepping；It pops one's head in after the completion of stepping and in X direction the current layer of scanned object is continued to progressively scan；
Step e), judge current layer plane whether the end of scan, if scanning complete, execute step f)；If scanning does not complete,
Then repeat step d)；
Step f), judges whether scanned object has been completed to scan, if scanning does not complete, pops one's head in and lifts along the Z direction
A high step height, preparation scans next layer, and executes step c)；If scanning has been completed, terminate to scan.
Further, the stepping of the X-direction is 1um-1mm, and the stepping of Y-direction is 1um-1mm, the stepping of Z-direction
For 1um-1mm.
Further, the stepping of the X-direction, the stepping of Y-direction, the stepping of Z-direction during the scanning process can be into
Row adjustment.
Further, the threedimensional model gradient scan method further includes three-dimensional modeling step；The three-dimensional modeling step
Suddenly three-dimensional reconstruction is carried out using MATLAB to obtained data.
Further, the probe is Spectral Confocal probe, and the acquisition of elevation information is carried out using the confocal method of dispersion.
Further, the selection of X-direction can be the arbitrary line direction in X/Y plane in step c).
It further, further include the step of reversion scanning after probe completes the scanning of current X-direction in the step d
Suddenly；After the reversion scanning step refers to the simple scanning that probe completes the X-direction of current line, vertical stepping is not done, it is directly anti-
It goes back to scanning；In reversion scanning process, the elevation information twice that the scanning element of the same position XY obtains is averaged conduct
Final elevation information；After the reversion end of scan, probe completes the scanning of current line.
Further, in X-direction, when probe reaches program preset length, expression has reached X extreme position, judges
For according to the scanning for completing current line.
In the Y direction, when probe reaches program preset length, expression has reached Y extreme position, if X is also reached at this time
Extreme position illustrates that entire plane has scanned completion at this time.
In Z-direction, when probe reaches program preset length, expression has reached Z extreme position, if completing the layer at this time
The scanning of plane shows that this testee has scanned completion at this time.
The invention has the following advantages:
High-acruracy survey is carried out to printed sample using biological 3D platform, realizes multi-purpose content, realizes printing measurement one
Body saves scanning platform itself R & D Cost.The integration that integrated operation is realized, survey can be directly scanned by having printed
Amount, without being migrated to sample.
Plane coordinates data are directly obtained by motion platform, carry out planar movement to the probe being mounted above, this
Kind planar movement, or be referred to as to progressively scan.The advantage is that object to be measured does not have to fast move back and forth, benefit is beaten with guarantee
The pattern of pull product and relative position are constant.The it is proposed of gradient scanning algorithm can overcome hardware self-view characteristic to measurement
It influences, makes it possible to utilize the more extensive sample of probe measurement.
Detailed description of the invention
The overall structure diagram of the invention of attached drawing 1；
The structural schematic diagram of 2 scan module of attached drawing；
Connection and communication mode between each module of attached drawing 3；
The processing logical flow chart of 4 scanning algorithm of attached drawing；
5 plain scan path schematic diagram of attached drawing；
The common reversion scan path schematic diagram of attached drawing 6；
7 gradient of attached drawing scans cambered surface structural path schematic diagram.
Specific embodiment
With reference to the accompanying drawing, invention is further explained.
Steps are as follows for threedimensional model gradient scan method of the invention:
Step a), determines minimum one layer of scanned object, adjusts scanning head and scanned object is minimum between one layer
Distance to operating distance, adjustment probe light intensity to the light intensity that works；
Step b) determines initial origin, guarantees initial origin outside testee；
Step c), probe are scanned along a rectilinear direction of X/Y plane, and the direction is denoted as X-direction；Each is swept
Described point, elevation information are obtained by probe measurement, and XY co-ordinate position information passes through the three of threedimensional model gradient scanning means
It is obtained at the encoder of axis motion system；
Step d) in X/Y plane, makes probe along the Y-direction vertical with X-direction when probe completes the scanning of current line
Do stepping；It pops one's head in after the completion of stepping and in X direction the current layer of scanned object is continued to progressively scan；
Step e), judge current layer plane whether the end of scan, if scanning complete, execute step f)；If scanning does not complete,
Then repeat step d)；
Step f), judges whether scanned object has been completed to scan, if scanning does not complete, pops one's head in and lifts along the Z direction
A high step height, preparation scans next layer, and executes step c)；If scanning has been completed, terminate to scan.
Further, the threedimensional model gradient scan method further includes three-dimensional modeling step；The three-dimensional modeling step
Suddenly three-dimensional reconstruction is carried out using MATLAB to obtained data.
Further, the probe is Spectral Confocal probe, and the acquisition of elevation information is carried out using the confocal method of dispersion.
It further, further include the step of reversion scanning after probe completes the scanning of current X-direction in the step d
Suddenly；After the reversion scanning step refers to the simple scanning that probe completes the X-direction of current line, vertical stepping is not done, it is directly anti-
It goes back to scanning；In reversion scanning process, the elevation information twice that the scanning element of the same position XY obtains is averaged conduct
Final elevation information；After the reversion end of scan, probe completes the scanning of current line.
Mainly for there is the boss of angular characteristics and the biggish testee of thickness in the gradient scanning algorithm.Institute
Gradient scanning algorithm is stated according to actual scanning demand, the Surface scan speed of accurate scan can be needed with subsection setup scanning accuracy
Slowly, data volume is big；In the place for not needing accurate scan, scanning speed is fast.Based on above-mentioned segmentation speed algorithm, ladder can be accelerated
Spend the execution efficiency of scanning algorithm and plain scan algorithm.
As shown in Fig. 1 the overall structure diagram of the scanning means of scan method is realized, it includes: three-axis moving mould
Block 1, sample print platform 2, the fixture base 3 of scanning head, scanning head clamping plate 4, the scanning head 5, (number of receipt controller 6
According to collection module), XYZ controller 7, host computer 7.
The three-axis moving module 1, have superhigh precision, have the function of the probe 5 initially to knife, being mounted thereon with
It is mobile that platform can carry out space.
The sample print platform 2 has the function of fixed printed sample.
The fixture base 3 of the scanning head is used for the branch of scanning head 5 for being fixed on triaxial movement platform 1
The connection of support and clamping plate 4.
The clamping plate 4 is threadedly coupled for scanning constant probe 5 and with scanning head firm banking 3.
The recording controller 6 is exactly data collection module, the XY encoder progress route company of it and three-dimensional motion module 1
It obtains and takes XY coordinate data, connect with scanning head 5 and obtain relative altitude data.
The XYZ controller 7 is used to control the movement of three-axis moving module 1.
The foundation writing, save three-dimensional data and threedimensional model of the host computer 8 with host computer procedure.
As Fig. 2 gives between probe 5, clamping plate 4 and fixture base 3 clearly mounting means.
If Fig. 3 gives connection and communication mode between several main modulars, scan module is fixed on Three dimensions control
In three-axis moving module under module, the data of data collection module obtain corresponding number from Three dimensions control module and scan module
According to three-dimensional modeling module obtains the foundation that data carry out threedimensional model from data collection module.
Fig. 4 provides the processing logical flow chart of scanning algorithm, wherein two determination flag positions of agreement, first flag bit take
Value 0 or 1 indicates not reversion scanning for indicating whether algorithm carries out reversion scan operation, 0, and 1 indicates reversion scanning.Second
Flag bit value 0,1 or 2 indicates plain scan algorithm for indicating the type of scanning algorithm, 0, and 1 indicates gradient scanning algorithm, 2
Indicate the gradient scanning algorithm of scan speed change.* indicates that the position does not need to judge in current judgement in figure, and range class is appointed
What value is all right.Citing: * 1, No. * on the first flag bit, its value is that 0 or 1 are all right；1 on the second flag bit, it
It must be 1 by condition, that is to say, that 01 and 11 can be transferred through specifically determining.
Entire scanning process scanning is as follows: being first begin to start, completes initialization operation, sets the one the second flag bits
Mode value；It determining initial point, is transferred to first decision block, this determines whether will appear variable-speed scanning situation in scan pattern,
Have, is transferred in next step after speed change parameter is set, nothing is then directly transferred in next step；It scans through one and is advanced into judgement, if need back
Row, no reversion continue to execute in next step, have, and return to previous action, and reversion has returned the informing of reversion information after having operated
Row decision box, if keep each reversion primary, endless loop will not be entered；Then vertical stepping is carried out, when vertical stepping knot
Beam is transferred to next decision block, if carries out gradient and raises, have, raise, and go to and progressively scan in one direction, and then continues
Until terminating, nothing then passes directly to terminate for turnover.
Shown in fig. 5 is the schematic diagram of scan path in X/Y plane, from one end reach the other end after, directly the other end into
The distance △ d of row stepping, stepping determines scanning accuracy, and △ d is small, and precision is high, and the time spends big.
Shown in fig. 6 is reversion scan path schematic diagram in X/Y plane, after reaching the other end from one end, without vertically walking
Into carrying out vertical stepping back to initial that section, can theoretically eliminate machine itself vibration to surveying in one direction
The error of amount is superimposed.
Gradient shown in Fig. 7 scans cambered surface structural path schematic diagram, and the angle change of big cambered surface is very big, the angle at both ends
Degree can reach 90 °, and scanning head itself has the limitation of angular characteristics, and theoretical maximum parameter is ± 44 °, using of the invention
Gradient scan method can realize the measurement to any radian lake surface using ± 26 ° of probe.
Claims (7)
1. a kind of threedimensional model gradient scan method, which is characterized in that the scanning means for threedimensional model gradient scan method
Including scanning head and XYZ three-axis moving system；The scanning head is arranged in XYZ three-axis moving system, by tri- axis of XYZ
Kinematic system controls its movement；The XYZ three-axis moving system includes encoder, and encoder is current for writing scan probe
XY coordinate information；
Specific step is as follows for method:
Step a), determines minimum one layer of scanned object, adjust between scanning head and minimum one layer of scanned object away from
From to operating distance, probe light intensity is adjusted to the light intensity that works；
Step b) determines initial origin, guarantees initial origin outside testee；
Step c), probe are scanned along a rectilinear direction of X/Y plane, and the direction is denoted as X-direction；For each scanning element,
Its elevation information is obtained by probe measurement, and XY co-ordinate position information passes through the three-axis moving of threedimensional model gradient scanning means
It is obtained at the encoder of system；
Step d) in X/Y plane, walks probe along the Y-direction vertical with X-direction when probe completes the scanning of current line
Into；It pops one's head in after the completion of stepping and in X direction the current layer of scanned object is continued to progressively scan；
Step e), judge current layer plane whether the end of scan, if scanning complete, execute step f)；If scanning does not complete, weigh
Multiple step d)；
Step f), judges whether scanned object has been completed to scan, if scanning does not complete, pops one's head in and raises one along the Z direction
A step height, preparation scans next layer, and executes step c)；If scanning has been completed, terminate to scan.
2. threedimensional model gradient scan method according to claim 1, it is characterised in that the stepping of the X-direction is
1um-1mm, the stepping of Y-direction are 1um-1mm, and the stepping of Z-direction is 1um-1mm.
3. threedimensional model gradient scan method according to claim 1, it is characterised in that the stepping of the X-direction, the side Y
To stepping, Z-direction stepping can be adjusted during the scanning process.
4. threedimensional model gradient scan method according to claim 1, which is characterized in that further include three-dimensional modeling step；
The three-dimensional modeling step carries out three-dimensional reconstruction using MATLAB to obtained data.
5. threedimensional model gradient scan method according to claim 1, which is characterized in that the probe is Spectral Confocal
Probe carries out the acquisition of elevation information using the confocal method of dispersion.
6. threedimensional model gradient scan method according to claim 1, which is characterized in that the selection of X-direction in step c)
It can be the arbitrary line direction in X/Y plane.
7. threedimensional model gradient scan method according to claim 1, which is characterized in that in the step d, work as probe
After the scanning for completing current X-direction, further include the steps that reversion scans；The reversion scanning step refers to that probe completes current line
X-direction simple scanning after, do not do vertical stepping, be directly opposite scanning and go back；In reversion scanning process, by the same position XY
Scanning element obtain elevation information twice be averaged as final elevation information；After the reversion end of scan, probe is completed
The scanning of current line.
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