CN1645042A - Laser three-dimensional color scanning digital method and digital equipment - Google Patents
Laser three-dimensional color scanning digital method and digital equipment Download PDFInfo
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Abstract
A digitizer consists of a test table, N groups of transducer systems for 3-D synchronous scanning and M groups of colour transducer systems. The digitization method includes placing object to be tested on test table, forming a closed light band on the object by multiple laser sources, receiving and collecting the light band to obtain complete 3-D data for the object by scanning vertically the object with 3-D transducer, lightening the object with natural light to obtain colour image for different sideface of the object by utilizing multiple colour transducers.
Description
[technical field]: the present invention relates to a kind of three-dimensional information, and three-dimensional information and chromatic information are mated to realize the digitizer to the three-dimensional colourful digital of object with synchronous scanning system acquisition object.
[background technology]: along with improving constantly of the progress of science and technology, particularly computer technology rapid development and three-dimensional imaging software and hardware system and technology, the three-dimensional colourful digital technology obtains concern and application more and more widely.By the three-dimensional colourful digital technology, can obtain the three dimensional space coordinate information and the chromatic information of object, after these data were carried out analyzing and processing, the gained result can be widely used in CAD/CAM (computer-aided design (CAD) and manufacturing), RE (reverse-engineering), RP (rapid prototyping), VR fields such as (virtual realities).
The technology of obtaining that has multiple object dimensional information at present mainly comprises contact and contactless two big classes.In non-contact measurement method, comprise optical means and other method again.Wherein optical means comprises phase measurement, structured light method, time-of-flight method, digital hologram method, binocular vision method etc.In many measuring methods, the structured light method in the optical means is contactless owing to having, principle is simple, measuring speed is fast, the precision advantages of higher is widely adopted.
Multiple three-dimensional colourful digital instrument based on optical means is also arranged at present, as Chinese patent application 98102408,00810850,02116507 etc.Method described in the above-mentioned patent has adopted line structure or dot structure laser imaging method, utilizes the three-dimensional digital of optical triangulation shape principle realization to object.When gathering the object chromatic information, used diverse ways, or gathered the color image sequence that obtains object behind the three-dimensional information with the natural lighting object in proper order, or adopt color laser point-like light source to obtain the chromatic information of body surface, perhaps adopt bright pulse and laser pulse rapid alternation alternately to obtain the three-dimensional information and the chromatic information of object.The common issue with that said method exists is exactly the three-dimensional colourful digital that can only realize small-sized object, then has certain difficulty for large-sized object (as human dimension etc.).
[summary of the invention]: the objective of the invention is to solve the problem that above-mentioned existing method can not be carried out three-dimensional colourful digital to large-sized object, a kind of simple and easy, accurate laser three-dimensional color scanning digital method and digitizer are provided.
Laser three-dimensional color scanning digital method provided by the invention, realize according to the following steps:
1) system layout: this system comprises that test base station, a N organize three-dimensional synchronous scanning sensing system and M group color sensor system; To test base station and place test central authorities, N the synchronous scanning test axle that is separately installed with one group of three-dimensional synchronous scanning sensing system be arranged in test around the base station, make each go up the information that the three-dimension sensor system can obtain a bodies part, and the three-dimension sensor on the adjacent shaft obtains, and existence partially overlap between the object information; According to the position and the angle of M color sensor system of testee size adjustment, make M color sensor can obtain the full color information of object from different perspectives, and the coloured image that adjacent color sensor is gathered partially overlap then;
2) system's adjustment: at first will test the base station plane and adjust level, each axle that to test the axle vertical scan system again is straight with test base station plane vertical adjustment respectively, then with formed optical plane of linear structural laser light source in the three-dimension sensor system on each and test base station plane leveling row, regulate the upright position of the three-dimension sensor system on each then, make N the optical plane coplane that the linear structural laser light source is sent in the three-dimension sensor on each;
3) obtaining of three-dimensional information: total system is in the darkroom, open LASER Light Source, make N the three-dimension sensor on the test axle synchronous vertical inswept testee under synchronous control system control, the profile information of body surface will be gathered by the black and white photoelectric sensor on N the test axle, and be stored in the computing machine by data collecting card, the third dimension information of object is vertical direction, can obtain by kinetic control system, thus the three-dimensional information of acquisition object;
4) obtaining of chromatic information: object is under the natural light environment, closes laser instrument, utilize the never color image information of ipsilateral collection object of M color sensor, realize obtaining of chromatic information;
5) foundation of digital model: the three-dimensional information of object and chromatic information can be mated by data handling system, thereby obtain the three-dimensional colourful digital model of object.
A kind of digitizer of realizing above-mentioned laser three-dimensional color scanning digital method comprises: a test base station; N the vertical synchronization mechanical scanning system that is provided with around the test base station is synchronous scanning test axle, one group of three-dimensional synchronous scanning sensing system is installed on each test axle, the concrete structure of test axle comprises, a support post, by linear slide rail a ball-screw by stepper motor or servomotor control is installed respectively on the support post, be set with a slide block on the leading screw, one group of three-dimensional synchronous scanning sensing system is installed on the slide block; Be used for N vertical synchronization mechanical scanning system carried out the Synchronous motion control system of synchro control; The M group color sensor system that is provided with simultaneously around the test base station, every group of color sensor system comprises a sensor stand and a color sensor; Be used to receive the data acquisition system (DAS) and the data handling system of the digital information that photoelectric sensor obtains.
Advantage of the present invention and good effect: light harvesting of the present invention, mechanical, electrical, calculate in one, utilize colored multiaxis synchronous scanning digitizing solution of laser three-D and digitizer, can realize quick, accurate three-dimensional colourful digital to large-sized object, obtain the three-dimensional colourful digital model of object, and then realize operations such as demonstration, measurement and feature extraction the three-dimensional colour model.Institute of the present invention employing method does not have specific (special) requirements to testee, and is applied widely, and system operation is simple, automaticity height, quantity that simultaneously can be by increasing scan axis and highly expand measurement range.This technology can be widely used in fields such as computer-aided design (CAD) and manufacturing, reverse-engineering, rapid prototyping, virtual reality, ergonomic, historical relic's protection, entertainment; can effectively improve modeling speed and precision; shorten product development cycle; promote the competitive power of related industry, have stronger practical value and vast market prospect.
[description of drawings]:
Fig. 1 is a single shaft 3 D scanning system structural representation;
Fig. 2 is colored multiaxis synchronous scanning digitizer (four) structural representation of laser three-D;
Fig. 3 is the colored multiaxis synchronous scanning of a laser three-D digitizer functional-block diagram
Fig. 4 is the structural representation of one group of three-dimension sensor;
Fig. 5 is one group of object dimensional point cloud chart;
Fig. 6 is one group of object dimensional colour point clouds figure.
[embodiment]:
Embodiment 1: digitizing solution
1) system layout adjustment
As shown in Figure 2, four of four synchronous scanning systems place on four summits of a square or rectangle (this routine M, N all select 4), at first determine the size of this square or rectangle according to the testee size, its foundation is that each goes up the information that three-dimension sensor can obtain a bodies part, and the three-dimension sensor on the adjacent shaft obtains, and existence partially overlaps between the object information; According to the position and the angle of four color sensor systems of testee size adjustment, make four color sensors can obtain the full color information of object from different perspectives, and the coloured image that adjacent color sensor is gathered partially overlap then.
2) system's adjustment
At first will test base station 10 planes and adjust level, each axle with four vertical scan system is straight with test base station plane vertical adjustment respectively again, then with 6 formed optical planes of the linear structural laser light source in the three-dimension sensor system on each and test base station plane leveling row, regulate the upright position of the three-dimension sensor system on each then, make four optical plane coplanes that the linear structural laser light source is sent in four three-dimension sensors on four.
3) three-dimensional information obtains
When measuring three-dimensional information, for fear of the interference of surround lighting, need mask external environment light, total system is in the darkroom.Open LASER Light Source, make the three-dimension sensor vertical inswept testee under synchronous control system control on four, the profile information of body surface will be gathered by the black and white photoelectric sensor 5 on four and 8, and be stored in the computing machine by data collecting card, the third dimension information (vertical direction) of object can obtain by kinetic control system, thereby obtains the three-dimensional information of object.
4) chromatic information obtains
Object is under the natural light environment, can suitably increases or reduce environment light source according to lighting level.Close laser instrument, utilize the never color image information of ipsilateral collection object of four color sensors, realize obtaining of chromatic information.
5) foundation of digital model
The three-dimensional information of object and chromatic information can be mated by data handling system, thereby obtain the three-dimensional colourful digital model of object.
Embodiment 2: digitizer
As shown in Figure 1, 2, this digitizer comprises: a test base station 10; N (this routine N selects 4) the vertical synchronization mechanical scanning system that is provided with around the test base station is synchronous scanning test axle, one group of three-dimensional synchronous scanning sensing system is installed on each test axle, the concrete structure of test axle comprises, a support post 9, by linear slide rail 2 ball-screw 3 by stepper motor or servomotor 1 control is installed respectively on the support post, be set with a slide block 4 on the leading screw, one group of three-dimensional synchronous scanning sensing system is installed on the slide block, comprise a sensor base 7 that is installed on the slide block, the linear structural laser device of installing on the base 6, and two photoelectric sensors 5 that are provided with according to optical triangulation shape, 8.M group (this routine M selects 4) the color sensor system that is provided with simultaneously around the test base station, every group of color sensor system comprises a sensor stand 12 and a color sensor 11.The data via controller 14 (control module) that photoelectric sensor and color sensor are gathered is sent into central processing unit 13.
The colored multiaxis synchronous scanning of laser three-D digitizer functional-block diagram as shown in Figure 3, wherein:
The Synchronous motion control system, form with relevant Control Software by motion control card (motion control card is the PCI-8134 of Ling Hua company), can realize control by programming to Control Software to motion control card output, control the vertical position of the three-dimension sensor on a plurality of axles, just the vertical direction coordinate in the object space coordinate with this.Its effect is to guarantee that the three-dimension sensor on a plurality of axles is synchronous in scanning process, just makes the linear structural laser device in the three-dimension sensor on a plurality of axles keep coplane in scanning process.
Data acquisition system (DAS), form with relevant Control Software by data collecting card (image pick-up card is the OK-MC30 of good permanent company), can realize collection by Control Software is programmed, the photosignal that collects can be converted to black and white or color digital image the output signal of the photoelectric sensor in three-dimension sensor or the color sensor.These images can be gathered the back and directly be handled, and also can utilize storage medium to store and be used for subsequent treatment.
Data handling system is made up of related software and algorithm.The black and white light belt digital picture that is used for data acquisition system (DAS) is collected is converted to the two-dimensional space coordinate, and the object vertical direction coordinate that obtains according to the synchronous scanning control system obtains the three dimensional space coordinate of complete object simultaneously.Can handle simultaneously, utilize certain mapping relations that the three-dimensional information of chromatic information and object is mated, obtain the three-dimensional colourful digital model of object the color digital image that collects.
Be example now with one group of three-dimensional synchronous scanning sensing system and color sensor system, the structural representation of three-dimension sensor as shown in Figure 4, the introducing of catoptron 15 effectively reduces sensor thickness, and the structure of double-photoelectric-sensor 5,8 then can effectively reduce or eliminate the scanning blind area.Fig. 5-Fig. 6 is the three-dimensional colourful digital experimental result (the just colourful digital result of a certain side of testee) of testee.
Black and white and colored CCD are respectively the MTV-0360 and the 73X11HP type area array CCD of MINTRON company, wherein black-white CCD is equipped with the 6mm camera lens, colored CCD is equipped with the 8mm camera lens, adopts 640 * 480 and 768 * 576 image card (image pick-up card is the OK-MC30 of good permanent company) to carry out image acquisition respectively.The SNF-501L670 molded lines structure light source that laser instrument adopts Canadian LASIRIS company to produce, wavelength 670nm.
Claims (3)
1, a kind of laser three-dimensional color scanning digital method is characterized in that this method realizes according to the following steps:
1) system layout: this system comprises that test base station, a N organize three-dimensional synchronous scanning sensing system and M group color sensor system; To test base station and place test central authorities, N the synchronous scanning test axle that is separately installed with one group of three-dimensional synchronous scanning sensing system be arranged in test around the base station, make each go up the information that the three-dimension sensor system can obtain a bodies part, and the three-dimension sensor on the adjacent shaft obtains, and existence partially overlap between the object information; According to the position and the angle of M color sensor system of testee size adjustment, make M color sensor can obtain the full color information of object, and the coloured image that adjacent color sensor is gathered partially overlap then from M angle;
2) system's adjustment: at first will test the base station plane and adjust level, each axle that to test the axle vertical scan system again is straight with test base station plane vertical adjustment respectively, then with formed optical plane of linear structural laser light source in the three-dimension sensor system on each and test base station plane leveling row, regulate the upright position of the three-dimension sensor system on each then, make N the optical plane coplane that the linear structural laser light source is sent in the three-dimension sensor on each;
3) obtaining of three-dimensional information: total system is in the darkroom, open LASER Light Source, make N the three-dimension sensor on the test axle synchronous vertical inswept testee under synchronous control system control, the profile information of body surface will be gathered by the black and white photoelectric sensor on N the test axle, and be stored in the computing machine by data collecting card, the third dimension information of object is vertical direction, can obtain by kinetic control system, thus the three-dimensional information of acquisition object;
4) obtaining of chromatic information: object is under the natural light environment, closes laser instrument, utilize the never color image information of ipsilateral collection object of M color sensor, realize obtaining of chromatic information;
5) foundation of digital model: the three-dimensional information of object and chromatic information can be mated by data handling system, thereby obtain the three-dimensional colourful digital model of object.
2, a kind of digitizer of realizing the described laser three-dimensional color scanning digital method of claim 1 is characterized in that this digitizer comprises: a test base station; N the vertical synchronization mechanical scanning system that is provided with around the test base station is synchronous scanning test axle, one group of three-dimensional synchronous scanning sensing system is installed on each test axle, the concrete structure of test axle comprises, a support post, by linear slide rail a ball-screw by stepper motor or servomotor control is installed respectively on the support post, be set with a slide block on the leading screw, one group of three-dimensional synchronous scanning sensing system is installed on the slide block; The M group color sensor system that is provided with simultaneously around the test base station, every group of color sensor system comprises a sensor stand and a color sensor.
3, laser three-dimensional color scanning digital instrument according to claim 2, it is characterized in that every group of three-dimensional synchronous scanning sensing system comprises a sensor base that is installed on the slide block, the linear structural laser device of installing on the base, and one or two photoelectric sensor that is provided with according to optical triangulation shape.
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| CN 200510013085 CN1262814C (en) | 2005-01-12 | 2005-01-12 | Laser three-dimensional color scanning digital method and digital equipment |
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| CN101853521A (en) * | 2010-04-22 | 2010-10-06 | 武汉微目科技有限公司 | Cultural relic rotation structured light three-dimensional digital modeling method |
| CN102878945A (en) * | 2012-06-08 | 2013-01-16 | 刘亮 | System and method for acquiring three-dimensional and color data of object |
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- 2005-01-12 CN CN 200510013085 patent/CN1262814C/en not_active Expired - Fee Related
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