CN1205453A - Three-dimensional laser scanner - Google Patents
Three-dimensional laser scanner Download PDFInfo
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- CN1205453A CN1205453A CN 98102408 CN98102408A CN1205453A CN 1205453 A CN1205453 A CN 1205453A CN 98102408 CN98102408 CN 98102408 CN 98102408 A CN98102408 A CN 98102408A CN 1205453 A CN1205453 A CN 1205453A
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- turntable
- laser
- slide rail
- light source
- laser light
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Abstract
A 3-D laser scanner is an integrated light-machine-electricity system, which scans 3-D object by laser, processes information in computer and obtains 3D vector information about the shape and colour of object. A front-of-wave transform system is used to convert the laser light from laser source into linear laser beam to radiate the object. The reflected and imaged signals are collected by CCD (capaictor Coupling Device) and converted into electric signals, which are input to computer where they are processed into 3D information file.
Description
The present invention is a kind of three-dimensional laser scanner, this be one by three-dimensional body is carried out laser scanning, gained information is carried out data processing in computing machine, finally obtain the light mechanical and electrical integration of the trivector information of body form and color, it can be widely used in the three-dimensional information collection in fields such as CAD (computer-aided design (CAD))/CAM (computer-aided manufacturing) reverse engineering, three-dimensional animation production, computer virtual reality, Computer Simulation, historical relic file, advertising, production of film and TV, Public Records Management, commercial production.
The 3-D scanning technology also is at home and waits the starting state at present, has only the three-coordinates measuring machine of industrial use to belong to this series products.But three-coordinates measuring machine is detecting head and object contact scanning owing to what adopt, thereby it is smoother to scan those surfaces, scleroid object, and speed is slow, complex structure requires comparatively strictness to body form, so though have the high advantage of precision, but still can only be applied to industrial circle basically, it is bigger to implement difficulty for other applications.Several companies are arranged at present (as CYBERWARE abroad, MODELMAKER, REPLICA, DIGIBOT, SURFACER etc.) be engaged in this and produce, but since the product of these several companies at aspects, particularly selling at exorbitant prices such as structure, price, ease for use, thereby fail to realize popularization and application so far, much need carry out the work of 3-D scanning and can only adopt the mode of renting to use this instrument.The most close documents be in March, 1998 CYBERWARE company go up introduction at its website (www.cyberware.com) to its product, but the problem of this product is being limited in scope of the object size that is suitable for scanning, complex structure, the cost height is made and is required height.
In order to address the above problem, the present invention is a benchmark with domestic productive capacity, be intended to propose that a kind of applicability is wide, precision is high, easy to operate, cost is low, be easy to the design of the spatial digitizer of processing and manufacturing.
Specifically describe the design proposal of three-dimensional laser scanner below in conjunction with accompanying drawing:
The present invention is made up of transformation system (2), optical imaging system (5), CCD (capacity coupler) signal acquiring system (6) and turntable (8) before LASER Light Source (1), the laser wave as shown in Figures 1 and 2.Wherein the preceding transformation system of laser wave is positioned at the front end of LASER Light Source, laser that LASER Light Source is sent forms linear laser bundle (3) through the wavefront transform system, and optical axis, linear laser bundle and the turntable central shaft of the emission shaft of LASER Light Source transformation system before, laser wave are at grade.Optical imaging system is positioned at the front end of ccd signal acquisition system, the central shaft of the optical axis of optical imaging system, ccd signal acquisition system and the central shaft of turntable can be formed on the signal of seeing among the CCD (7) after laser light reflected process optical imaging system and the ccd signal acquisition system at grade.LASER Light Source links to each other with turntable by slide rail (10) with the preceding transformation system of laser wave, and slide rail central axis and turntable central shaft are at grade.The ccd signal acquisition system links to each other with turntable by slide rail (9), and slide rail central axis and turntable central shaft are at grade.The ccd signal acquisition system comprises two-way CCD camera, this two-way CCD camera is distributed in the both sides of LASER Light Source and the preceding transformation system of laser wave, the two equates with the central shaft of turntable distance, and the angle of the slide rail (10) that links to each other with turntable of the slide rail (9) that links to each other with turntable of this two-way CCD camera and LASER Light Source is equal.The ccd signal acquisition system links to each other with computing machine, and signal is sent into computing machine.Object to be scanned (4) places on the turntable.Transformation system is made of the post lens before the laser wave.The linear laser beam width is less than 1.5 millimeters.Slide rail (9) and slide rail (10) constitute by a circular orbit and a square track, and corresponding scale is installed, slide block (11) one ends are enclosed within on the circular orbit, on the other end side of the riding over track, the support (13) that supports ccd signal acquisition system or LASER Light Source is vertically fixed on the slide block, and it is accurately far and near mobile that slide block can be done the location with respect to the turntable center.The support that is fixed on the slide block is made up of fluctuating orbit, and fluctuating orbit is marked with corresponding scale, makes the ccd signal acquisition system or the LASER Light Source that place support to realize the accurate lifting in location by manual or computer control as required.The slide rail that is used for placing LASER Light Source is directly installed on the base of turntable, and is rotatable.The slide rail (9) that is used for placing the ccd signal acquisition system will have an area of two tracks at an end of turntable and be fixedly connected in the rotating shaft below the turntable, slide rail (9) can be rotated on vertical turntable rotor shaft direction, and on the turntable circumference, being provided with corresponding angle index, an end that is connected with turntable at slide rail is provided with along the slide rail pointer that can indicate the slide rail angle radially.Adopt between the CCD camera of ccd signal acquisition system and its support and can adjust the angle of pitch of CCD camera and the jointing of steering angle.Two-way CCD camera in the ccd signal acquisition system, wherein one the tunnel adopt the black and white camera, colour imagery shot is adopted on another road, and two-way CCD camera all is equipped with openable optical filter, and the light wave percent of pass that this optical filter makes LASER Light Source send in Wavelength of Laser ± 10 nanometer range when the highlight regions scanning that laser is produced is the highest.LASER Light Source is made of two groups of laser beam emitting devices, is loaded between the support on the slide rail (10), is one high and one low distribution on the direction perpendicular to slide rail, both emission shafts to the rotating shaft coplane of turntable.Attenuating device is housed before the LASER Light Source.Under the turntable stepper motor is housed, drives the turntable rotation by computer-controlled stepper motor.Side at turntable has illuminator (12), and this illuminator is made up of one group of white lamps.Software section treatment scheme as shown in Figure 4, signal acquiring system output is to the mechanical control signal of scanner, and the signal of simultaneously CCD being sent here imports computing machine, by generating three dimensional file after the three-dimensional body generation software processes, is stored in the computing machine.
The concrete use operation steps of three-dimensional laser scanner is as follows:
1, opens computing machine, start scanning software.
2, object is placed on the turntable, makes the axis of object peak, and the assurance object is steadily placed by turntable.
3, device is adjusted to suitable position, and focuses, can in CCD, observe whole object, clear picture, correct position just.The laser beam height is suitable, and thickness is suitable, and two-way CCD camera equates apart from the turntable center distance.
4, open the turntable motor switch, rotating table, computing machine begin to handle.
When 41, body scanning is promptly gathered shape information, need add filter plate.Object rotated for two weeks, can obtain the three-dimensional shape information of object after software processes, and was stored on the hard disk with the form of file.Wherein first week was observed by the black-white CCD camera, and second week was observed by the CCD of another camera.These processes are by computer control.
When 42, color scanning is promptly gathered chromatic information, turn off LASER Light Source, open illuminator, object rotates a circle, and is scanned by colored CCD camera (need unload filter plate this moment), can obtain the color information of body surface through software processes.
5, in various three-dimensional softwares, open the object body information or the surperficial pinup picture information that obtain previously, the three-dimensional that can carry out such as CAD, CAM, three-dimensional animation production, computer virtual reality, Computer Simulation etc. has been worked.
Advantage of the present invention and good effect: applicability of the present invention is wide, and surface, the quality of scanning object do not required.Can regulate the object that differs in size in the scanning certain limit as required.By laser scanning, and adopt computer-controlled operation and process information, guaranteed quite high precision (being better than 1.0 millimeters).Most adjusting and step are finished by computing machine, and principle of operation is simple, the operator are required loose.Because under development is to be benchmark but not with reference to foreign products with domestic productive capacity fully independently, thereby has realized a scheme that only needs low processing and manufacturing level to implement, with low cost.And the structure of external product has often reached nanoscale to the requirement of machining, thereby price is high, compares with the present invention to exceed 10 times more than approximately.The present invention can be widely used in the three-dimensional information collection in fields such as CAD/CAM reverse engineering, three-dimensional animation production, computer virtual reality, Computer Simulation, historical relic file, advertising, production of film and TV, Public Records Management, commercial production.
Description of drawings:
Fig. 1 is the three-dimensional laser scanner schematic diagram:
Transformation system before the 1-LASER Light Source 2-laser wave
3-linear laser bundle 4-object
5-optical imaging system 6-CCD signal acquiring system
The signal that 7-sees in CCD
Fig. 2 is the three-dimensional laser scanner structural drawing:
Transformation system before the 1-LASER Light Source 2-laser wave
4-object 5-optical imaging system
6-CCD signal acquiring system 8-turntable
The slide rail that the slide rail 10-LASER Light Source that 9-CCD links to each other with turntable links to each other with turntable
11-slide block 12-illuminator
The 13-support
Fig. 3 is the three-dimensional laser scanner vertical view:
Transformation system before the 1-LASER Light Source 2-laser wave
4-object 5-optical imaging system
6-CCD signal acquiring system 8-turntable
The slide rail that the slide rail 10-LASER Light Source that 9-CCD links to each other with turntable links to each other with turntable
11-slide block 12-illuminator
The 13-support
Fig. 4 is the software processes block diagram.
As follows below in conjunction with aforesaid operation steps explanation most preferred embodiment:
Two of the He-Ne laser instruments of LASER Light Source employing 633nm.Transformation system (2) is made of post lens diameter 1mm, long 5.0mm before the laser wave the post lens.Linear laser bundle (3) width is less than 1.5 millimeters.Slide rail (9) and slide rail (10) constitute by a circular orbit and a square track, and corresponding scale is installed, slide block (11) one ends are enclosed within on the circular orbit, on the other end side of the riding over track, the support (13) that supports ccd signal acquisition system (6) or LASER Light Source (1) is vertically fixed on the slide block, and it is accurately far and near mobile that slide block can be done the location with respect to turntable (8) center.The support that is fixed on the slide block is made up of fluctuating orbit, and fluctuating orbit is marked with corresponding scale, makes the ccd signal acquisition system or the LASER Light Source that place support to realize the accurate lifting in location by manual or computer control as required.The slide rail (10) that is used for placing LASER Light Source is directly installed on the base of turntable, and is not rotatable.The slide rail (9) that is used for placing the ccd signal acquisition system will have an area of two tracks at an end of turntable and be fixedly connected in the rotating shaft below the turntable, and slide rail (9) can rotated on vertical turntable rotor shaft direction.The turntable circumference is provided with corresponding angle index, and an end that is connected with turntable at slide rail (9) is provided with along the slide rail pointer that can indicate the slide rail angle radially.Adopt between the CCD camera of ccd signal acquisition system and its support and can adjust the angle of pitch of CCD camera and the jointing of steering angle.Two-way CCD camera in the ccd signal acquisition system wherein one the tunnel adopts the black and white camera, and colour imagery shot is adopted on another road.The two-way CCD camera that the ccd signal acquisition system adopts all is equipped with openable optical filter, and the light wave percent of pass that this optical filter makes LASER Light Source send in Wavelength of Laser ± 10 nanometer range when the highlight regions scanning that laser is produced is the highest.LASER Light Source is made of two groups of laser beam emitting devices, is loaded between the support on the slide rail (10), is one high and one low distribution on the direction perpendicular to slide rail, both emission shafts to the rotating shaft coplane of turntable.Attenuating device is housed before the LASER Light Source.Turntable is the steel plate of mesa diameter 400mm, thick 1.5mm, and it is the circular hole of 20mm that there is a diameter at the center.Under the turntable stepper motor is housed, drives the turntable rotation by computer-controlled stepper motor.Side at turntable has illuminator (12), and this illuminator is made up of one group of white lamps.
Claims (13)
1, a kind of three-dimensional laser scanner is made up of transformation system (2), optical imaging system (5), ccd signal acquisition system (6) and turntable (8) before LASER Light Source (1), the laser wave, it is characterized in that:
11, the preceding transformation system (2) of laser wave is positioned at the front end of LASER Light Source (1), laser that LASER Light Source is sent forms linear laser bundle (3) through the wavefront transform system, and optical axis, linear laser bundle and turntable (8) central shaft of the emission shaft of LASER Light Source transformation system before, laser wave are at grade;
12, optical imaging system (5) is positioned at the front end of ccd signal acquisition system (6), and the central shaft of the central shaft of the optical axis of optical imaging system, ccd signal acquisition system and turntable (8) at grade;
13, LASER Light Source (1) links to each other with turntable (8) by slide rail (10) with the preceding transformation system (2) of laser wave, and slide rail central axis and turntable central shaft are at grade;
14, ccd signal acquisition system (6) links to each other with turntable (8) by slide rail (9), and slide rail central axis and turntable central shaft are at grade;
15, ccd signal acquisition system (6) comprises two-way CCD camera, this two-way CCD camera is distributed in the both sides of LASER Light Source (1) and the preceding transformation system (2) of laser wave, the two equates with the central shaft of turntable (8) distance, and the angle of the slide rail (10) that links to each other with turntable of the slide rail (9) that links to each other with turntable of this two-way CCD camera and LASER Light Source is equal;
16, ccd signal acquisition system (6) links to each other with computing machine, and signal is sent into computing machine.
2,, it is characterized in that the preceding transformation system (2) of laser wave is made of the post lens according to the described three-dimensional laser scanner of claim 1.
3,, it is characterized in that linear laser bundle (3) width is less than 1.5 millimeters according to the described three-dimensional laser scanner of claim 1.
4, according to the described three-dimensional laser scanner of claim 1, it is characterized in that slide rail (9) and slide rail (10) constitute by a circular orbit and a square track, and corresponding scale is installed, slide block (11) one ends are enclosed within on the circular orbit, on the other end side of the riding over track, the support (13) that supports ccd signal acquisition system (6) or LASER Light Source (1) is vertically fixed on the slide block, and it is accurately far and near mobile that slide block can be done the location with respect to turntable (8) center.
5, according to the described three-dimensional laser scanner of claim 4, the support (13) that it is characterized in that being fixed on the slide block (11) is made up of fluctuating orbit, fluctuating orbit is marked with corresponding scale, makes the ccd signal acquisition system (6) or the LASER Light Source (1) that place support to realize the accurate lifting in location by manual or computer control as required.
6, according to the described three-dimensional laser scanner of claim 1, the slide rail (10) that it is characterized in that being used for placing LASER Light Source (1) is directly installed on the base of turntable, and is not rotatable.
7, according to the described three-dimensional laser scanner of claim 1, the slide rail (9) that it is characterized in that being used for placing ccd signal acquisition system (6) will have an area of two tracks at an end of turntable (8) and be fixedly connected in the rotating shaft of turntable below, slide rail (9) can be rotated on vertical turntable rotor shaft direction, and on the turntable circumference, being provided with corresponding angle index, an end that is connected with turntable at slide rail is provided with along the slide rail pointer that can indicate the slide rail angle radially.
8,, it is characterized in that adopting between the CCD camera of ccd signal acquisition system (6) and its support (13) and can adjust the angle of pitch of CCD camera and the jointing of steering angle according to the described three-dimensional laser scanner of claim 1.
9, according to the described three-dimensional laser scanner of claim 1, it is characterized in that the two-way CCD camera in the ccd signal acquisition system (6), wherein one the tunnel adopt the black and white camera, colour imagery shot is adopted on another road, and two-way CCD camera all is equipped with openable optical filter, and the light wave percent of pass that this optical filter makes LASER Light Source send in Wavelength of Laser ± 10 nanometer range when the highlight regions scanning that laser is produced is the highest.
10, according to the described three-dimensional laser scanner of claim 1, it is characterized in that LASER Light Source (1) is made of two groups of laser beam emitting devices, be loaded between the support (13) on the slide rail (10), on direction, be one high and one low distribution perpendicular to slide rail, both emission shafts to the rotating shaft coplane of turntable (8).
11,, it is characterized in that the preceding attenuating device that is equipped with of LASER Light Source (1) according to the described three-dimensional laser scanner of claim 1.
12, according to the described three-dimensional laser scanner of claim 1, it is characterized in that under the turntable (8) stepper motor being housed, drive the turntable rotation by computer-controlled stepper motor.
13, according to the described three-dimensional laser scanner of claim 1, it is characterized in that illuminator (12) being arranged in a side of turntable, this illuminator is made up of one group of white lamps.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 98102408 CN1205453A (en) | 1998-06-08 | 1998-06-08 | Three-dimensional laser scanner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 98102408 CN1205453A (en) | 1998-06-08 | 1998-06-08 | Three-dimensional laser scanner |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1205453A true CN1205453A (en) | 1999-01-20 |
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ID=5217324
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 98102408 Pending CN1205453A (en) | 1998-06-08 | 1998-06-08 | Three-dimensional laser scanner |
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| Country | Link |
|---|---|
| CN (1) | CN1205453A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100381779C (en) * | 2003-09-25 | 2008-04-16 | 西门子测听技术有限责任公司 | Panoramic scanner |
| CN100424540C (en) * | 2004-09-14 | 2008-10-08 | 中国科学院安徽光学精密机械研究所 | Large-bore optical periscope type radar 3-D Scanner |
| CN101413789B (en) * | 2007-10-18 | 2010-09-29 | 鸿富锦精密工业（深圳）有限公司 | Method and apparatus for detecting surface profile |
| CN102607414A (en) * | 2012-03-21 | 2012-07-25 | 浙江大学 | Three-dimensional laser scanning device with adjustable visual field and area resolution |
| CN103135229A (en) * | 2011-12-02 | 2013-06-05 | 夏普株式会社 | Light scanning device and image forming apparatus |
| CN103776387A (en) * | 2012-10-26 | 2014-05-07 | 上海测源数码科技有限公司 | Color large-space scanner and scanning method thereof |
| CN104165609A (en) * | 2014-06-23 | 2014-11-26 | 浙江工业大学 | Three-dimensional scanning system and scanning method |
| CN104748684A (en) * | 2015-04-13 | 2015-07-01 | 北方工业大学 | Visual detection method and device for crankshaft shoulder back chipping |
-
1998
- 1998-06-08 CN CN 98102408 patent/CN1205453A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100381779C (en) * | 2003-09-25 | 2008-04-16 | 西门子测听技术有限责任公司 | Panoramic scanner |
| CN100424540C (en) * | 2004-09-14 | 2008-10-08 | 中国科学院安徽光学精密机械研究所 | Large-bore optical periscope type radar 3-D Scanner |
| CN101413789B (en) * | 2007-10-18 | 2010-09-29 | 鸿富锦精密工业（深圳）有限公司 | Method and apparatus for detecting surface profile |
| CN103135229A (en) * | 2011-12-02 | 2013-06-05 | 夏普株式会社 | Light scanning device and image forming apparatus |
| CN103135229B (en) * | 2011-12-02 | 2016-01-20 | 夏普株式会社 | Light scanning apparatus and image processing system |
| CN102607414A (en) * | 2012-03-21 | 2012-07-25 | 浙江大学 | Three-dimensional laser scanning device with adjustable visual field and area resolution |
| CN102607414B (en) * | 2012-03-21 | 2014-07-02 | 浙江大学 | Three-dimensional laser scanning device with adjustable visual field and area resolution |
| CN103776387A (en) * | 2012-10-26 | 2014-05-07 | 上海测源数码科技有限公司 | Color large-space scanner and scanning method thereof |
| CN103776387B (en) * | 2012-10-26 | 2016-12-07 | 上海测源数码科技有限公司 | Colored large space scanner and scan method thereof |
| CN104165609A (en) * | 2014-06-23 | 2014-11-26 | 浙江工业大学 | Three-dimensional scanning system and scanning method |
| CN104748684A (en) * | 2015-04-13 | 2015-07-01 | 北方工业大学 | Visual detection method and device for crankshaft shoulder back chipping |
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