CN202630927U - System for acquiring three-dimensional and color data of object - Google Patents
System for acquiring three-dimensional and color data of object Download PDFInfo
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- CN202630927U CN202630927U CN 201220271643 CN201220271643U CN202630927U CN 202630927 U CN202630927 U CN 202630927U CN 201220271643 CN201220271643 CN 201220271643 CN 201220271643 U CN201220271643 U CN 201220271643U CN 202630927 U CN202630927 U CN 202630927U
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- grating
- slide rail
- raster generator
- camera
- generator
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Abstract
A system for acquiring three-dimensional and color data of an object comprises an acquisition head and a slide rail. The acquisition head is slidingly arranged on the slide rail and comprises a grating generator, a horizontal camera and an oblique camera. The grating emission direction of the grating generator is perpendicular to the sliding rail. The horizontal camera is arranged close to the grating generator, and the shooting direction of the horizontal camera is parallel to the grating emission direction of the grating generator. The oblique camera is arranged along the stretching direction, which is away from one end of the grating generator, of the sliding rail, and the shooting direction of the oblique camera and the grating emission direction of the grating generator form an included angle. Hardware design is reconstructed, difficulty of the software algorithm is reduced greatly, and scanning precision is increased. Software splicing is not needed, and accordingly rate of error and data skew is reduced. The system is very suitable for scanning large-sized models, such as human bodies and furniture. Imaging effect is excellent.
Description
Technical field
The utility model relates to automatic detection and field of computer technology, especially relates to a kind of system and method that obtains object dimensional and color data.
Background technology
3-D scanning equipment of the prior art all can only scan 50cm with interior bench model, and its scanning large-scale model needs complicated stitching algorithm, is spliced through scanning many times, be easy to make mistakes, and precision is not high.This method is through the synchronous improvement to hardware and algorithm, and to reach the purpose of one-off scanning large-scale model, model can reach tens meters in theory.And do not need very complicated algorithm.
The utility model content
The purpose of the utility model is to design a kind of novel acquisition object dimensional and the system of color data, addresses the above problem.
To achieve these goals, the technical scheme of the utility model employing is following:
A kind of system that obtains object dimensional and color data; Comprise collection head and slide rail; The setting of on said slide rail, sliding of said collection head; Said collection head comprises raster generator, horizontal camera and canted shot head, and the grating transmit direction of said raster generator is perpendicular to said slide rail, and the adjacent said raster generator setting of said horizontal camera and its are taken the grating transmit direction that direction is parallel to said raster generator; Said canted shot head becomes angle from setting and its shooting direction with the grating transmit direction of said raster generator along said raster generator one end distance of bearing of trend distance of said slide rail.
The shooting direction of the grating transmit direction of said raster generator, said horizontal camera and the shooting direction of said canted shot head are at grade.
Said slide rail is the slide rail by step motor control, and said slide rail vertically is provided with.
The scattering angle of said raster generator is no more than 0.2rad, and the width of grating is no more than 1mm.
Said canted shot head is along the said raster generator 1cm to 100cm of bearing of trend distance of said slide rail, and it takes direction, and become the scope of angle with the grating transmit direction of said raster generator be 1 ° to 90 °; Said horizontal camera and said canted shot head are positioned at the both sides or the homonymy of said raster generator along the bearing of trend of said slide rail.
Said canted shot head is along the said raster generator 10cm of bearing of trend distance of said slide rail, and it takes direction, and to become the scope of angle with the grating transmit direction of said raster generator be 45 °.
Said raster generator is a laser generator, and said horizontal camera is a high-resolution camera.
A kind of method that obtains object dimensional and color data comprises that step is following:
Step 1; Testee is placed on the position of intersecting point of shooting direction of grating transmit direction and said canted shot head of said raster generator; Start said raster generator, said horizontal camera and said canted shot head; Grating is shone on the testee direction, then produce a high bright light rays in said testee direction; According to the image-forming principle of camera, can be in being reflected in said horizontal camera and said canted shot head image with the road of grating bundle process;
Step 2 when measured object blocks grating, will produce a high bright spot on said measured object surface, and said high bright spot can be reflected in the image that said horizontal camera and said canted shot head obtain;
Step 3, the Calculation of Three Dimensional data suppose that said canted shot head image laterally for X, vertically is Y, so according to triangular groove thigh theorem, the Y value of high bright spot and its distance to raster generator is proportional and this ratio is linear in the image; If the vertical range of camera and raster generator is H, raster generator is L to the distance of measured object, and the deviation angle of camera is a, and the camera vertical resolution is YR; The imaging point of the image the inside grating that camera produces is X to the vertical range of image level medium line; Range points is Y to the distance of camera axis on the grid stroke; Distance from raster generator to the camera axis is M, and the axis of camera imaging plane and camera meets at right angles;
We can know angle according to the geometry law
b＝(90°-a)
The relation of Y and X is:
Y＝X/sin(b)＝X/sin(90°-a)
The value of M
M＝tan(a)*H
Raster generator should equal M+Y to the distance L of object, that is:
L＝tan(a)*H+X/sin(90°-a)
Wherein a and H are the equipment preset parameter, so the proportional relation of L and X, we can obtain the three-dimensional information of grating position thus;
Step 4 obtains color data, because the shooting direction of said horizontal camera is consistent with the grating transmit direction, said horizontal camera promptly obtains the colouring information of testee, promptly obtains the testee color data;
Wherein, step 3 and step 4 are in no particular order in proper order.
Computing formula in the said step 3 write as algorithm and be solidificated in single-chip microcomputer or computing machine in.
In the said step 4, when said slide rail is horizontally disposed with, when said horizontal camera was positioned at said raster generator below, said horizontal camera promptly obtained the colouring information of the following several rows of said grating irradiation row.
The utility model utilizes high light grid and two cheap cameras, stepper motor, guide rail; Realization is to the surface three dimension of large-scale model and the scanning of color data; This method can reach other precision of mm level in the time of closely, and not disturbed by ambient brightness, through hardware modifications; Simplified software algorithm, produced easily and debug.
The beneficial effect of the utility model can be summed up as follows:
1, the utility model has rebuild hardware designs, has significantly reduced the difficulty of software algorithm, has improved the degree of accuracy of scanning;
2, the utility model is owing to no longer need software splicing, and probability with the data distortion has reduced to make mistakes; Be highly suitable for scanning large-scale model, human body for example, furniture etc.Imaging effect is splendid.
Description of drawings
Fig. 1 is the structural representation of the utility model.
Fig. 2 is the principle schematic of the utility model.
Fig. 3 is the synoptic diagram in kind of the utility model.
Embodiment
Clearer for technical matters, technical scheme and beneficial effect that the utility model is solved, below in conjunction with accompanying drawing and embodiment, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explanation the utility model, and be not used in qualification the utility model.
To shown in Figure 3, this method needs a high light grid generator, requires the scattering angle of grating to be no more than 0.2rad like Fig. 1, and the width of grating is no more than 1mm.The raster generator horizontal positioned, grating is shone on the model, produce a high bright light rays on the testee surface.
Use a high-resolution color camera be placed on raster generator directly over some centimeters H (for example 10cm), camera shooting level direction is identical with grating orientation, vertical direction is to raster generator deviation in driction certain angle A (suppose 45 degree).See accompanying drawing 1.
This moment is according to the image-forming principle of camera, can be with the road of grating bundle process in being reflected in image.When measured object blocks grating, will produce a high bright spot on measured object surface, this high bright spot can be reflected in the image that camera obtains, and suppose that camera image is X laterally, vertically is Y.According to triangular groove thigh theorem, the Y value of high bright spot and its distance to raster generator are proportional in the image so.This ratio is linear.The reference value of its formula depends on the angle A that departs to the distance H and the camera of raster generator with camera.This formula can be write as algorithm and is solidificated in single-chip microcomputer or the computing machine.Its principle is seen accompanying drawing 2,
Concrete formula is following:
The vertical range of camera and raster generator is H, and raster generator is L to the distance of measured object.The deviation angle of camera camera is a, and the camera vertical resolution is YR.The imaging point of the image the inside grating that camera produces is X to the vertical range of image level medium line; Range points is Y to the distance of camera axis on the grid stroke; Distance from raster generator to the camera axis is M, and the axis of camera imaging plane and camera meets at right angles.
We can know angle according to the geometry law
b＝(90°-a)
The relation of Y and X is:
Y＝X/sin(b)＝X/sin(90°-a)
The value of M
M＝tan(a)*H
Raster generator should equal M+Y to the distance L of object, that is:
L＝tan(a)*H+X/sin(90°-a)
Wherein a and H are the equipment preset parameter, so the proportional relation of L and X.We can obtain the three-dimensional information of grating position thus.
Place a high-resolution camera in the parallel beneath of raster generator and see accompanying drawing 1, shooting direction and grating orientation cause.At this moment, this camera can obtain the colouring information of the following several rows of grating irradiation row.
We are fixed on this grating and two cameras on the structural member together, are called collection head.Then collection head is installed on the slide rail by step motor control.Let grating be radiated on the model perpendicular to the slide rail direction, when collection head parallel when mobile on slide rail, three peacekeeping color data of the model of just can lining by line scan out.Its resolution depends on the translational speed of slide rail, but its scan area depends on the width and the length of slide rail, sees accompanying drawing 3.
This method has rebuild hardware designs, has significantly reduced the difficulty of software algorithm, has improved the degree of accuracy of scanning, owing to no longer need the software splicing, probability with the data distortion has reduced to make mistakes.Be highly suitable for scanning large-scale model, human body for example, furniture etc.Imaging effect is splendid.
More than through the detailed description of concrete and preferred embodiment the utility model; But those skilled in the art should be understood that; The utility model is not limited to the above embodiment; All within the spirit and principle of the utility model, any modification of being done, be equal to replacement etc., all should be included within the protection domain of the utility model.
Claims (7)
1. system that obtains object dimensional and color data; It is characterized in that; Comprise collection head and slide rail, the setting of on said slide rail, sliding of said collection head, said collection head comprises raster generator, horizontal camera and canted shot head; The grating transmit direction of said raster generator is perpendicular to said slide rail, and the adjacent said raster generator setting of said horizontal camera and its are taken the grating transmit direction that direction is parallel to said raster generator; Said canted shot head becomes angle from setting and its shooting direction with the grating transmit direction of said raster generator along said raster generator one end distance of bearing of trend distance of said slide rail.
2. the system of acquisition object dimensional according to claim 1 and color data is characterized in that, the shooting direction of the grating transmit direction of said raster generator, said horizontal camera and the shooting direction of said canted shot head are at grade.
3. the system of acquisition object dimensional according to claim 1 and color data is characterized in that, said slide rail is the slide rail by step motor control, and said slide rail vertically is provided with.
4. the system of acquisition object dimensional according to claim 1 and color data is characterized in that the scattering angle of said raster generator is no more than 0.2rad, and the width of grating is no more than 1mm.
5. the system of acquisition object dimensional according to claim 1 and color data; It is characterized in that; Said canted shot head is along the said raster generator 1cm to 100cm of bearing of trend distance of said slide rail, and it takes direction, and become the scope of angle with the grating transmit direction of said raster generator be 1 ° to 90 °; Said horizontal camera and said canted shot head are positioned at the both sides or the homonymy of said raster generator along the bearing of trend of said slide rail.
6. the system of acquisition object dimensional according to claim 5 and color data; It is characterized in that; Said canted shot head is along the said raster generator 10cm of bearing of trend distance of said slide rail, and it takes direction, and to become the scope of angle with the grating transmit direction of said raster generator be 45 °.
7. the system of acquisition object dimensional according to claim 1 and color data is characterized in that, said raster generator is a laser generator, and said horizontal camera is a high-resolution camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220271643 CN202630927U (en) | 2012-06-08 | 2012-06-08 | System for acquiring three-dimensional and color data of object |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220271643 CN202630927U (en) | 2012-06-08 | 2012-06-08 | System for acquiring three-dimensional and color data of object |
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| CN202630927U true CN202630927U (en) | 2012-12-26 |
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| CN 201220271643 Expired - Fee Related CN202630927U (en) | 2012-06-08 | 2012-06-08 | System for acquiring three-dimensional and color data of object |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102878945A (en) * | 2012-06-08 | 2013-01-16 | 刘亮 | System and method for acquiring three-dimensional and color data of object |
| CN114174783A (en) * | 2019-04-09 | 2022-03-11 | 资生堂株式会社 | System and method for creating topical formulations with improved image capture |
-
2012
- 2012-06-08 CN CN 201220271643 patent/CN202630927U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102878945A (en) * | 2012-06-08 | 2013-01-16 | 刘亮 | System and method for acquiring three-dimensional and color data of object |
| CN102878945B (en) * | 2012-06-08 | 2015-09-02 | 刘亮 | A kind of system and method obtaining object dimensional and color data |
| CN114174783A (en) * | 2019-04-09 | 2022-03-11 | 资生堂株式会社 | System and method for creating topical formulations with improved image capture |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121226 Termination date: 20140608 |