CN111121620B - Rotary 3D information rapid acquisition equipment - Google Patents
Rotary 3D information rapid acquisition equipment Download PDFInfo
- Publication number
- CN111121620B CN111121620B CN201911276036.1A CN201911276036A CN111121620B CN 111121620 B CN111121620 B CN 111121620B CN 201911276036 A CN201911276036 A CN 201911276036A CN 111121620 B CN111121620 B CN 111121620B
- Authority
- CN
- China
- Prior art keywords
- background plate
- image acquisition
- acquisition device
- tan
- rotating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
-
- 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
Abstract
The invention provides a rotary type 3D information rapid acquisition device, which comprises an image acquisition device, a rotating device and a background plate, wherein the rotating device is used for driving the image acquisition device to rotate and driving the background plate to rotate; the background plate and the image acquisition device are relatively arranged in the rotation process, so that the background plate becomes a background pattern of an image acquired by the image acquisition device during acquisition; the projection length M of the background plate along the horizontal direction and the projection length N along the vertical direction satisfy the following relation: 3.5 × L tan β > M > 0.9 × L tan β; 3.5 × L tan β > N > 0.9 × L tan β, where β is the half field angle of the image capture device and L is the distance from the image capture device to the background plate. It is first proposed to improve both the synthesis speed and the synthesis accuracy by increasing the way in which the background plate rotates together with the camera.
Description
Technical Field
The invention relates to the technical field of topography measurement, in particular to the technical field of 3D topography measurement.
Background
When performing 3D measurements, it is necessary to first acquire 3D information. The currently common method includes using a machine vision mode to collect pictures of an object from different angles, and matching and splicing the pictures to form a 3D model. When pictures at different angles are collected, a plurality of cameras can be arranged at different angles of the object to be detected, and the pictures can be collected from different angles through rotation of a single camera or a plurality of cameras. However, both of these methods involve problems of synthesis speed and synthesis accuracy. The synthesis speed and the synthesis precision are a pair of contradictions to some extent, and the improvement of the synthesis speed can cause the final reduction of the 3D synthesis precision; to improve the 3D synthesis accuracy, the synthesis speed needs to be reduced, and more pictures need to be synthesized.
In the prior art, in order to simultaneously improve the synthesis speed and the synthesis precision, the synthesis is generally realized by a method of optimizing an algorithm. And the art has always considered that the approach to solve the above problems lies in the selection and updating of algorithms, and no method for simultaneously improving the synthesis speed and the synthesis precision from other angles has been proposed so far. However, the optimization of the algorithm has reached a bottleneck at present, and before no more optimal theory appears, the improvement of the synthesis speed and the synthesis precision cannot be considered.
Therefore, the following technical problems are urgently needed to be solved: firstly, the synthesis speed and the synthesis precision can be simultaneously improved; low cost and no increase of complexity of equipment.
Disclosure of Invention
In view of the above, the present invention has been developed to provide a collecting device that overcomes, or at least partially solves, the above-mentioned problems.
One aspect of the present invention provides a rotary type 3D information rapid acquisition apparatus, comprising an image acquisition device, a rotation device and a background plate, wherein
The rotating device is used for driving the image acquisition device to rotate and driving the background plate to rotate;
the background plate and the image acquisition device are relatively arranged in the rotation process, so that the background plate becomes a background pattern of an image acquired by the image acquisition device during acquisition;
the projection length M of the background plate along the horizontal direction and the projection length N along the vertical direction satisfy the following relation: 3.5 × L tan β > M > 0.9 × L tan β; 3.5 × L tan β > N > 0.9 × L tan β, where β is the half field angle of the image capture device and L is the distance from the image capture device to the background plate.
The invention also provides a rapid image acquisition method, and when the image acquisition device acquires the target object by using the equipment, the adjacent acquisition positions meet the following conditions:
(1) when the field of view of the image acquisition device cannot cover the whole target:
A>0.5，
wherein P is the distance between the image acquisition device and the target object, Q is the transverse dimension of the target object, beta is the half field angle of the image acquisition device, and A is an empirical coefficient;
(2) when the image acquisition device field of view has covered the target object in its entirety:
0<A<1.23，
wherein P is the distance from the image acquisition device to the target object, Q is the lateral dimension of the target object, β is the half field angle of the image acquisition device, and a is an empirical coefficient.
Optionally, the projection length M of the background plate in the horizontal direction and the projection length N of the background plate in the vertical direction satisfy the following relationship: 2.5 × L tan β > M ≥ 2 × L tan β; 2.5 × L tan β > N ≧ 2 × L tan β.
Optionally, the background plate and the image acquisition device are respectively arranged at two ends of the rotating beam, and the rotating device drives the rotating beam to rotate.
Optionally, the background plate is connected with the rotating beam through a first mounting column and can move up and down relative to the rotating beam; the image acquisition device is connected with the cross beam through the second mounting column and can move up and down relative to the cross beam.
Optionally, the rotating device is located on the fixed cross beam and drives the rotating cross beam to rotate.
Optionally, the background plate is a flat plate or a curved plate.
Optionally, the background plate body is solid or has indicia.
Another aspect of the present invention also provides a 3D identification apparatus using 3D information provided by the apparatus as described above.
The third aspect of the invention also provides a 3D manufacturing apparatus using 3D information provided by the apparatus as described above.
Invention and technical effects
1. It is first proposed to improve both the 3D synthesis speed and the synthesis accuracy by increasing the way the background plate rotates with the camera.
2. By optimizing the size of the background plate, the rotation burden is reduced, and simultaneously the synthesis speed and the synthesis precision can be improved.
3. By optimizing the acquisition position of the camera, the 3D synthesis speed and the synthesis precision are further considered.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a front view of a rotary 3D information rapid acquisition device according to an embodiment of the present invention;
fig. 2 is a perspective view of a rotary 3D information rapid acquisition device according to an embodiment of the present invention;
fig. 3 is another perspective view of the rotary 3D information rapid acquisition device according to the embodiment of the present invention;
the correspondence of reference numerals to the respective components is as follows:
the device comprises an image acquisition device 1, a rotating device 2, a background plate 3, a first mounting column 4, a rotating beam 5, a horizontal support 6 and a second mounting column 7.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
In prior art 3D acquisition devices, there is usually a single motion camera or multiple cameras, but in either way, there is no guarantee of background purity. Through a large amount of experimental researches, the synthesis difficulty can be greatly reduced by a simple background, and the synthesis efficiency is improved. Therefore, the invention provides a method for ensuring that each collected picture is the same and single background by adopting a synchronous rotation mode of the background plate and the image collection device. And on the basis, a large amount of experimental experiences are combined, the acquisition position of the camera (the following experience conditions) is optimized, and the 3D synthesis speed and the effect are further considered.
Examples
3D information acquisition device structure:
in order to solve the above technical problem, an embodiment of the present invention provides a rotary 3D information rapid acquisition apparatus, as shown in fig. 1 to 3, including an image acquisition device 1, a rotation device 2, and a background plate 3.
The image acquisition device 1 is used for acquiring an image of a target object, and can be a CCD, a CMOS, a camera, a video camera, an industrial camera, a monitor, a camera, a mobile phone, a tablet, a notebook, a mobile terminal, a wearable device, a smart glasses, a smart watch, a smart bracelet, and all devices with an image acquisition function.
The background plate 3 is entirely of a solid color, or mostly (body) of a solid color. In particular, the color plate can be a white plate or a black plate, and the specific color can be selected according to the color of the object body. The background plate 3 may be a flat plate or a curved plate, such as a concave plate.
The background plate 3 is arranged on a first mounting column 4 through a frame body, and the first mounting column 4 is arranged at one end of a rotating beam 5 along the vertical direction; the image acquisition device 1 is installed on the horizontal support 6, the horizontal support 6 is connected with the second mounting column 7, and the second mounting column 7 is arranged at the other end of the rotating beam 5 along the vertical direction. The first mounting post 4 can be horizontally moved along the rotating beam 5 to adjust the horizontal position of the background plate 3. The second mounting post 7 can be moved horizontally along the rotating beam to adjust the horizontal position of the image capturing apparatus 1.
The frame body of the background plate 3 can move up and down along the first mounting column 4, so that the position of the background plate 3 in the vertical direction is adjusted; the horizontal bracket 6 can move up and down along the second mounting post 7, thereby adjusting the position of the image acquisition 1 device 1 in the vertical direction.
The image capturing device 1 can also be moved in the horizontal direction along the horizontal bracket 6, thereby adjusting the horizontal position of the image capturing device 1.
The movement can be realized by various ways such as a guide rail, a lead screw, a sliding table and the like.
The rotating beam 5 is connected with the fixed beam through the rotating device 2, the rotating device 2 drives the rotating beam 5 to rotate, so that the background plate 3 and the image acquisition device 1 at two ends of the beam are driven to rotate, however, no matter how the background plate rotates, the image acquisition device 1 and the background plate 3 are arranged oppositely, and particularly, the optical axis of the image acquisition device 1 penetrates through the center of the background plate 3.
The light source can be arranged on the rotating beam 5, the first upright post, the second upright post, the horizontal support 6 and/or the image acquisition device 1, the light source can be an LED light source, and can also be an intelligent light source, namely, the parameters of the light source are automatically adjusted according to the conditions of the target object and the ambient light.
Preferably, the projection length M of the background plate 3 in the horizontal direction and the projection length N in the vertical direction satisfy the following relationship: 2.5 × L tan β > M ≥ 2 × L tan β; 2.5 × L tan β > N ≧ 2 × L tan β, where β is the half field angle of the image capture device 1 and L is the distance from the image capture device 1 to the background plate 3.
If the background plate 3 is too large, the apparatus will increase in volume, while placing an additional burden on the rotation, making the apparatus more vulnerable. However, if the background plate 3 is too small, the background is not simple, and the calculation load is increased. Through numerous experiments, the background plate 3 size can be in 3.5L tan β > M > 0.9L tan β; 3.5 × L tan β > N > 0.9 × L tan β. The following table shows experimental control results:
the experimental conditions are as follows:
acquiring an object: head of plaster portrait
A camera: BFS-U3-123S6C-C
Grid: custom 60 ten thousand faces
Acquisition frequency: 355 DEG 40 pieces
Object distance is 30cm
The above data are obtained by experiments for verifying the conditions of the formula, and do not limit the invention. Without these data, the objectivity of the formula is not affected. Those skilled in the art can adjust the equipment parameters and the step details as required to perform experiments, and obtain other data which also meet the formula conditions.
3D information acquisition method flow
The object is placed between the image capture device 1 and the background plate 3. Preferably on the extension of the rotation axis of the rotating device 2, i.e. at the center of the circle around which the image capturing device 1 rotates. Therefore, the distance between the image acquisition device 1 and the target object is basically unchanged in the rotation process, so that the situation that the image acquisition is not clear due to the drastic change of the object distance or the requirement on the depth of field of the camera is too high (the cost is increased) is prevented.
When the subject is a head of a human body, a seat may be placed between the image pickup device 1 and the background plate 3, and when the human is seated, the head is located right near the rotation axis and between the image pickup device 1 and the background plate 3. Since each person is of a different height, the height of the area to be collected (e.g. the head of a person) is different. The position of the human head in the visual field of the image acquisition device 1 can be adjusted by adjusting the height of the seat. When the collection of object is carried out, can put the thing platform with seat replacement.
In addition to adjusting the height of the seat, the center of the target object can be ensured to be located at the center of the field of view of the image capturing device 1 by adjusting the height of the image capturing device 1 and the height of the background plate 3 in the vertical direction. For example, the background plate 3 may be moved up and down along the first mounting post 4 and the horizontal bracket 6 carrying the image capturing mechanism 1 may be moved up and down along the second mounting post 7. Typically, the movement of the background plate 3 and the image capturing device 1 is synchronized, ensuring that the optical axis of the image capturing device 1 passes through the center position of the background plate 3.
The size of the target object is greatly different in each acquisition. If the image acquisition device 1 acquires images at the same position, the ratio of the target object in the images can be changed greatly. For example, when the size of the object a is proper in the image, if the object B is changed to be a smaller object, the proportion of the object B in the image will be very small, which greatly affects the subsequent 3D synthesis speed and accuracy. Therefore, the image acquisition device 1 can be driven to move back and forth on the horizontal support 6, and the proportion of the target object in the pictures acquired by the image acquisition device 1 is ensured to be proper.
The object is ensured to be basically fixed, the rotating device 2 drives the image acquisition device 1 and the background plate 3 to rotate around the object by rotating the rotating beam 5, and the two are ensured to be opposite in the rotating process. When the collection is carried out in the rotating process, the collection can be continuously rotated and collected at fixed angles; or stopping rotating at the position with a fixed interval angle for collection, continuing rotating after collection, and continuing stopping rotating at the next position for collection.
Also according to a number of experiments, in the case with the background plate 3, the spacing angles of the acquisitions
The following empirical formula is preferably satisfied:
(1) when the image acquisition device 1 cannot cover the whole target object field:
A>0.5，
where P is the distance of the image capturing device 1 from the target object, Q is the lateral dimension of the target object, β is the half field angle of the image capturing device 1, and a is an empirical coefficient.
(2) When the image acquisition apparatus 1 has covered the entire target object field of view:
0<A<1.23，
where P is the distance of the image capturing device 1 from the target object, Q is the lateral dimension of the target object, β is the half field angle of the image capturing device 1, and a is an empirical coefficient.
It is one of the inventions of the present invention to optimize the camera capturing position while improving the speed and accuracy of 3D synthesis by using the background plate 3.
Wherein the spacing angle can be measured as follows: the included angles of different positions relative to the center of the rotation circle in the rotation track of the camera are used.
The device further comprises a processor for synthesizing a 3D model of the object according to the plurality of images acquired by the image acquisition device and a 3D synthesis algorithm to obtain 3D information of the object.
Glasses matching and making
In order to make glasses suitable for the face shape of a user, a 3D model can be synthesized by collecting 3D information of the head of the user, so that a suitable glasses frame is designed or selected according to the size of the 3D model of the head.
The user sits on the seat of the acquisition device, the height of the seat is adjusted according to the height of the user, and meanwhile, the height of the background plate 3 and the height of the camera can also be adjusted, so that the center of the head of the user and the optical axis of the image acquisition device 1 are on the same horizontal plane.
The horizontal position of the image acquisition equipment is adjusted, so that the head of the user is positioned in the middle of the image, the acquisition is complete, and most area is occupied.
The rotation device 2 drives the rotation beam 5 to rotate 360 ° so that the image acquisition device 1 rotates 360 ° around the user's head. During rotation, at least every interval
And carrying out image acquisition at one angle so as to obtain a plurality of pictures of the head of the human body at different angles. In accordance with a large number of customer experiments,
preference is given to
The optimal camera position obtained by correcting the above empirical formula according to the head experimental data of the human body is one of the inventions of the present invention.
And (3) synthesizing the plurality of photos into a 3D model by using 3D synthesis software, wherein the adopted method can use a common 3D picture matching algorithm. And after obtaining the 3D mesh model, adding texture information to form a head 3D model.
And selecting a proper glasses frame for the user according to the relevant position size of the 3D head model, such as cheek width, nose bridge height, auricle size and the like.
When designing an article worn on the head for a user, such as glasses, earrings, etc., it is necessary to obtain the absolute size of the 3D information on the head, and thus it is necessary to calibrate the head of the user. However, if the user directly attaches the mark to the head according to the conventional method, the user experience is not good. And other positions are difficult to be pasted with the marked points. Therefore, the invention skillfully arranges the head support on the seat, arranges the mark points on the head support and records the absolute distance between the mark points. When the image acquisition device 1 rotates to the back of the user, the mark points are acquired, and the size of the head 3D model is finally calculated according to the distance between the mark points. Meanwhile, the mark points are arranged at the position, so that the facial information acquisition of the user is not influenced. Therefore, it is one of the inventions of the present invention that the absolute distance of the head 3D information can be obtained while the user experience can be improved. Meanwhile, the mark point can be arranged on the seat as long as the image acquisition device 1 can acquire the position. The marking point may be a standard gauge block, that is, a marker having a certain spatial size and a predetermined absolute size.
The rotation movement of the invention is that the front position collection plane and the back position collection plane are crossed but not parallel in the collection process, or the optical axis of the front position image collection device and the optical axis of the back position image collection device are crossed but not parallel. That is, the capture area of the image capture device moves around or partially around the target, both of which can be considered as relative rotation. Although the embodiment of the present invention exemplifies more orbital rotation, it should be understood that the limitation of the present invention can be used as long as the non-parallel motion between the acquisition region of the image acquisition device and the target object is rotation. The scope of the invention is not limited to the embodiment with track rotation.
The adjacent acquisition positions refer to two adjacent positions on a movement track where acquisition actions occur when the image acquisition device moves relative to a target object. This is generally easily understood for the image acquisition device movements. However, when the target object moves to cause relative movement between the two, the movement of the target object should be converted into the movement of the target object, which is still, and the image capturing device moves according to the relativity of the movement. And then measuring two adjacent positions of the image acquisition device in the converted movement track. The target object, and the object all represent objects for which three-dimensional information is to be acquired. The object may be a solid object or a plurality of object components. For example, the head, hands, etc. The three-dimensional information of the target object comprises a three-dimensional image, a three-dimensional point cloud, a three-dimensional grid, a local three-dimensional feature, a three-dimensional size and all parameters with the three-dimensional feature of the target object. Three-dimensional in the present invention means having XYZ three-direction information, particularly depth information, and is essentially different from only two-dimensional plane information. It is also fundamentally different from some definitions, which are called three-dimensional, panoramic, holographic, three-dimensional, but actually comprise only two-dimensional information, in particular not depth information.
The capture area in the present invention refers to a range in which the image capture device 1 (e.g., a camera) can capture an image. The image acquisition device 1 in the invention can be a CCD, a CMOS, a camera, a video camera, an industrial camera, a monitor, a camera, a mobile phone, a tablet, a notebook, a mobile terminal, a wearable device, intelligent glasses, an intelligent watch, an intelligent bracelet and all devices with image acquisition function.
The 3D information of multiple regions of the target obtained in the above embodiments can be used for comparison, for example, for identification of identity. Firstly, the scheme of the invention is utilized to acquire the 3D information of the face and the iris of the human body, and the information is stored in a server as standard data. When the system is used, for example, when the system needs to perform identity authentication to perform operations such as payment and door opening, the 3D acquisition device can be used for acquiring and acquiring the 3D information of the face and the iris of the human body again, the acquired information is compared with standard data, and if the comparison is successful, the next action is allowed. It can be understood that the comparison can also be used for identifying fixed assets such as antiques and artworks, namely, the 3D information of a plurality of areas of the antiques and the artworks is firstly acquired as standard data, when the identification is needed, the 3D information of the plurality of areas is acquired again and compared with the standard data, and the authenticity is identified.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It will be appreciated by those skilled in the art that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some or all of the components in an apparatus in accordance with embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (18)
1. The utility model provides a quick collection equipment of rotation type 3D information which characterized in that: comprises an image acquisition device, a rotation device and a background plate, wherein
The rotating device is used for driving the image acquisition device to rotate and driving the background plate to rotate;
the background plate and the image acquisition device are relatively arranged in the rotation process, so that the background plate becomes a background pattern of an image acquired by the image acquisition device during acquisition;
the projection length M of the background plate along the horizontal direction and the projection length N along the vertical direction satisfy the following relation: 3.5 × L tan β > M > 0.9 × L tan β; 3.5 × L tan β > N > 0.9 × L tan β, where β is the half field angle of the image capture device and L is the distance from the image capture device to the background plate.
2. The apparatus of claim 1, wherein: the projection length M of the background plate along the horizontal direction and the projection length N along the vertical direction satisfy the following relation: 2.5 × L tan β > M ≥ 2 × L tan β; 2.5 × L tan β > N ≧ 2 × L tan β.
3. The apparatus of claim 1, wherein: the background plate and the image acquisition device are respectively arranged at two ends of the rotating beam, the rotating device drives the rotating beam to rotate, and a seat or an object placing table is arranged between the image acquisition device and the background plate.
4. The apparatus of claim 3, wherein: the background plate is connected with the rotary beam through a first mounting column and can move up and down relative to the rotary beam; the image acquisition device is connected with the rotary beam through the second mounting column and can move up and down relative to the rotary beam.
5. The apparatus of claim 3, wherein: the rotating device is positioned on the fixed cross beam and drives the rotating cross beam to rotate.
6. The apparatus of claim 1, wherein: the background plate is a flat plate or a curved plate.
7. The apparatus of claim 1, wherein: the background plate body is solid or has a mark.
8. A 3D identification device, characterized by: 3D information provided using the apparatus according to any of claims 1-7.
9. A 3D manufacturing apparatus, characterized by: 3D information provided using the apparatus according to any of claims 1-7.
10. An image rapid acquisition method implemented by using the rotary 3D information rapid acquisition device of claim 1, characterized in that: when the image acquisition device acquires the target object, the adjacent acquisition positions meet the following conditions:
(1) when the field of view of the image acquisition device cannot cover the whole target:
A>0.5，
wherein P is the distance between the image acquisition device and the target object, Q is the transverse dimension of the target object, beta is the half field angle of the image acquisition device, A is an empirical coefficient,
is the collected interval angle;
(2) when the image acquisition device field of view has covered the target object in its entirety:
0<A<1.23，
wherein P is the distance from the image acquisition device to the target object, Q is the lateral dimension of the target object, β is the half field angle of the image acquisition device, and a is an empirical coefficient.
11. The method of claim 10, wherein: the projection length M of the background plate along the horizontal direction and the projection length N along the vertical direction satisfy the following relation: 2.5 × L tan β > M ≥ 2 × L tan β; 2.5 × L tan β > N ≧ 2 × L tan β.
12. The method of claim 10, wherein: the background plate and the image acquisition device are respectively arranged at two ends of the rotating beam, and the rotating device drives the rotating beam to rotate.
13. The method of claim 10, wherein: the background plate is connected with the rotary beam through a first mounting column and can move up and down relative to the rotary beam; the image acquisition device is connected with the rotary beam through the second mounting column and can move up and down relative to the rotary beam.
14. The method of claim 12, wherein: the rotating device is positioned on the fixed cross beam and drives the rotating cross beam to rotate.
15. The method of claim 10, wherein: the background plate is a flat plate or a curved plate.
16. The method of claim 10, wherein: the background plate body is solid or has a mark.
17. A 3D identification device, characterized by: 3D information provided using the method according to any of claims 10-16.
18. A 3D manufacturing apparatus, characterized by: 3D information provided using the method according to any of claims 10-16.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911276036.1A CN111121620B (en) | 2019-12-12 | 2019-12-12 | Rotary 3D information rapid acquisition equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911276036.1A CN111121620B (en) | 2019-12-12 | 2019-12-12 | Rotary 3D information rapid acquisition equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111121620A CN111121620A (en) | 2020-05-08 |
| CN111121620B true CN111121620B (en) | 2021-02-02 |
Family
ID=70499974
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911276036.1A Active CN111121620B (en) | 2019-12-12 | 2019-12-12 | Rotary 3D information rapid acquisition equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111121620B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211085152U (en) * | 2019-12-12 | 2020-07-24 | 天目爱视（北京）科技有限公司 | 3D acquisition equipment |
Family Cites Families (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2642164B1 (en) * | 1989-01-26 | 1991-04-12 | Saint Gobain Cinematique Contr | CHECKING HIGH-RATE OBJECTS |
| WO2004012141A2 (en) * | 2002-07-26 | 2004-02-05 | Zaxel Systems, Inc. | Virtual reality immersion system |
| GB0514149D0 (en) * | 2005-07-09 | 2005-08-17 | Rolls Royce Plc | In-situ component monitoring |
| CN101858731B (en) * | 2010-06-28 | 2012-01-25 | 成都主导科技有限责任公司 | Device for automatically online-detecting abrasion of pantograph pan of locomotive |
| CN101944231B (en) * | 2010-08-19 | 2012-01-04 | 北京农业智能装备技术研究中心 | Method for extracting wheatear morphological parameters |
| CN102527647A (en) * | 2011-01-21 | 2012-07-04 | 安徽捷迅光电技术有限公司 | Multi-choice sorting system for color separation machine |
| CN104315995B (en) * | 2014-11-15 | 2017-02-01 | 中国科学院光电研究院 | TOF depth camera three-dimensional coordinate calibration device and method based on virtual multi-cube standard target |
| CN106969725B (en) * | 2017-05-12 | 2023-11-10 | 西南交通大学 | Angle adjusting equipment for railway ballast particles and measuring device for multi-angle two-dimensional images of angle adjusting equipment |
| CN207095515U (en) * | 2017-08-09 | 2018-03-13 | 南京林业大学 | A kind of phytomorph three-dimensional image acquisition apparatus |
| CN112424563A (en) * | 2017-12-17 | 2021-02-26 | 精密自动化股份有限公司 | Multi-dimensional measurement system for accurately calculating position and orientation of dynamic object |
| CN208076891U (en) * | 2018-03-19 | 2018-11-09 | 中铁建设集团有限公司 | A kind of shooting platform for the modeling of shooting point cloud |
| CN109238304B (en) * | 2018-08-29 | 2020-09-08 | 中国科学院长春光学精密机械与物理研究所 | Ultrahigh-speed line frequency variation testing device for space camera |
| CN109443235A (en) * | 2018-11-02 | 2019-03-08 | 滁州市云米工业设计有限公司 | A kind of industrial design product collecting device for outline |
| CN109708574B (en) * | 2019-02-25 | 2020-08-14 | 河北科技大学 | Pipeline space dimension measuring system |
-
2019
- 2019-12-12 CN CN201911276036.1A patent/CN111121620B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN211085152U (en) * | 2019-12-12 | 2020-07-24 | 天目爱视（北京）科技有限公司 | 3D acquisition equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111121620A (en) | 2020-05-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111060023B (en) | High-precision 3D information acquisition equipment and method | |
| CN110986768B (en) | High-speed acquisition and measurement equipment for 3D information of target object | |
| CN110580732A (en) | Foot 3D information acquisition device | |
| CN111028341B (en) | Three-dimensional model generation method | |
| CN109146961B (en) | 3D measures and acquisition device based on virtual matrix | |
| CN111006586B (en) | Intelligent control method for 3D information acquisition | |
| CN109285109B (en) | A kind of multizone 3D measurement and information acquisition device | |
| CN110986770B (en) | Camera used in 3D acquisition system and camera selection method | |
| CN111160136B (en) | Standardized 3D information acquisition and measurement method and system | |
| WO2021115302A1 (en) | 3d intelligent visual device | |
| CN111292239A (en) | Three-dimensional model splicing equipment and method | |
| CN109146949B (en) | A kind of 3D measurement and information acquisition device based on video data | |
| CN211178345U (en) | Three-dimensional acquisition equipment | |
| CN110973763B (en) | Foot intelligence 3D information acquisition measuring equipment | |
| CN211085114U (en) | Take 3D information acquisition equipment of background board | |
| CN111340959A (en) | Three-dimensional model seamless texture mapping method based on histogram matching | |
| CN211375621U (en) | Iris 3D information acquisition equipment and iris identification equipment | |
| CN211085152U (en) | 3D acquisition equipment | |
| CN111121620B (en) | Rotary 3D information rapid acquisition equipment | |
| CN111207690B (en) | Adjustable iris 3D information acquisition measuring equipment | |
| WO2021115297A1 (en) | 3d information collection apparatus and method | |
| CN111310661B (en) | Intelligent 3D information acquisition and measurement equipment for iris | |
| WO2021115298A1 (en) | Glasses matching design device | |
| WO2021115296A1 (en) | Ultra-thin three-dimensional capturing module for mobile terminal | |
| CN213072921U (en) | Multi-region image acquisition equipment, 3D information comparison and matching object generation device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |