CN204329903U - Hand-held laser three-dimensional scanning equipment - Google Patents
Hand-held laser three-dimensional scanning equipment Download PDFInfo
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- CN204329903U CN204329903U CN201420811130.9U CN201420811130U CN204329903U CN 204329903 U CN204329903 U CN 204329903U CN 201420811130 U CN201420811130 U CN 201420811130U CN 204329903 U CN204329903 U CN 204329903U
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Abstract
A kind of hand-held laser three-dimensional scanning equipment, comprise single work camera, laser generator, bearing, control circuit board, highlighted light filling generator and track following scan process system, the intersection point that lasing area phase launched by optical axis and the laser generator of single work camera is positioned at the best depth of field planimetric position of camera, the field depth of single work camera is the scope that fathoms of scanner, the field depth of laser generator contains the scope that fathoms of scanner, single work camera and laser generator are installed on bearing, single work camera is all connected with control circuit board with laser generator, control circuit board is connected with highlighted light filling generator, highlighted light filling generator is placed on single work cam lens outer ring, control circuit board is connected with track following scan process system.The smoothness when requirement of the utility model to system hardware configuration is lower, sweep limit is comparatively large, movement is spliced is good, precision is higher, cost is lower.
Description
Technical field
The utility model belongs to 3-D scanning technical field, relates to a kind of hand-held laser three-dimensional scanning equipment.
Background technology
Current existing dual camera hand-hold scanning technology (as Canadian Creaform Inc. " 3-D scanning automatic reference system and equipment ", application for a patent for invention number: 200680014069.3, Shenyang Ya Ke Science and Technology Ltd. " a kind of handheld three-dimensional profile information extracting method and extraction apparatus ", application for a patent for invention number: 201010173849.0) all utilize the dual camera through demarcating to carry out figure collection to testee respectively, and the signature point extracted in image carries out stereoscopic vision coupling respectively, the three-dimensional coordinate of gauge point under instrument coordinates system in the reconstruct common visual field of camera, left and right and topological structure, (known mark point storehouse can be that prior scans obtains to utilize the topological structure of these gauge points and known mark point storehouse in world coordinate system, also can be pass through additive method, as photogrammetry, scan the gauge point set obtained in advance) mate, position and the attitude parameter of current instrument just instead can be released if the match is successful.Two kinds of methods can be used after drawing the position and attitude information of current instrument to obtain the three-dimensional coordinate projecting to laser rays on testee: in the image that certain camera 1) can be utilized to take, extract laser wheel profile, and obtain the three-dimensional coordinate of laser wheel profile under instrument coordinates system according to the position relationship in this camera demarcated and linear laser generator institute's Emission Lasers face.2) laser wheel profile is extracted in the two width images that two cameras can be utilized to obtain, the coordinate figure adopting the method similar with marks for treatment point to carry out stereoscopic vision to mate the three-dimensional obtaining laser wheel profile.The subsynchronous exposure of above-mentioned principles illustrated two cameras one gathers the processing procedures of images, what carry out due to hand-held laser 3 d scanner is the non-contact scanning of six degree of freedom movement, testee surface needs to realize body surface gauge point three dimensional topology that instrument diverse location and angle obtain and carries out continuous circulation with the gauge point topological structure in known mark point storehouse and mate when the continuous moving within sweep of the eye of camera, increase, update mark point storehouse if had.
The method of above-mentioned laser scanning can realize scanning at any angle testee noncontact with hand-held, but due to by the medium-and-large-sized object that scans (as automobile outline, turbine blade etc.) individual even thousands of the gauge points of hundreds of may be posted, the scanner gauge point exposed in each frame pattern of gathering for tens times per second all needs to mate one by one with the topological structure of all gauge points in recording mark point storehouse: calculate the topological relation (Distance geometry angle) of each gauge point and surrounding markings point in present frame and contrast with each gauge point in gauge point storehouse one by one, matching process need consume a large amount of CPU operation time.In addition for preventing image motion fuzzy and ensure the laser projection outline line continuity in body surface movement, the mode of hand-hold scanning has certain requirement to the time shutter of camera and frequency, the general time shutter is several milliseconds, frequency of exposure is tens hertz, therefore computing machine needs the reference point identifying that completes within the time of several milliseconds two width images, the gauge point that two width images identify mutually mates the relative dimensional coordinate of acquisition common visual field gauge point set and mates the world coordinates thus the position and the form that calculate instrument that obtain the gauge point set of the common visual field with gauge point storehouse, also need the computings such as the coordinate transform of the laser spots identified on laser wheel profile and outline line.So the computing machine needing very high configuration as the arithmetic element of instrument to support that it scans time real-time operation (standard configuration of the supporting notebook computer of a main flow handheld laser scanners in the market needs 4 core 8 thread CPU and 8G internal memories, when scanning, its CPU usage is more than 95%), so high cpu performance requires to constrain its microminiaturized and lightweight, cannot the more weak embedded type CPU of usability and minisize pick-up head as the computing of scanner and acquisition component, the hand-held 3-D scanning technology hindering this principle further expands civilian consumer field and Intellisense field.
In addition, effective surveyed area on the testee surface of dual camera 3-D scanning is used to be the part that two camera view overlap, limit the scope of its scanning, particularly when scanning the testee surface having corner, two angled cameras are blocked by corner symmetry to a great extent, thus decrease the number of gauge point and the laser profile region of projection of the acquisition of same frame, and then reduce the smoothness of the mobile splicing of scanning, what have impact on the precision of gauge point splicing and laser wheel profile goes out spot speed.
Summary of the invention
In order to overcome existing dual camera hand-hold scanning equipment higher to the requirement of system hardware configuration, sweep limit is less, mobile splicing time the deficiency that smoothness is poor, precision is lower, the utility model provides that a kind of requirement to system hardware configuration is lower, sweep limit is comparatively large, mobile splicing time good, higher, the lower-cost hand-held laser three-dimensional scanning equipment of precision of smoothness.
The utility model solves the technical scheme that its technical matters adopts:
A kind of hand-held laser three-dimensional scanning equipment, comprise single work camera, laser generator, bearing, control circuit board, highlighted light filling generator and the track following scan process system for following the tracks of according to the laggard row labels locus of points of acquisition video image, the intersection point that lasing area launched by the optical axis of described single work camera and laser generator is positioned at the best depth of field planimetric position of camera, the field depth of described single work camera is the scope that fathoms of scanner, the field depth of described laser generator contains the scope that fathoms of scanner, described single work camera and laser generator are installed on described bearing, described single work camera is all connected with described control circuit board with laser generator, described control circuit board is connected with described highlighted light filling generator, described highlighted light filling generator is placed on single work cam lens outer ring, described control circuit board is connected with described track following scan process system.
Preferably, described control circuit board comprises main control chip, signal isolation circuit, laser drive circuit, highlighted light filling driving circuit and data exchange circuit, main control chip is connected with data exchange circuit, the output terminal of described data exchange circuit is connected with described track following scan process system, the input end of described data exchange circuit is connected with single work camera, is connected between described main control chip with single work camera through signal isolation circuit; Described main control chip is connected with laser drive circuit by signal isolation circuit, described laser drive circuit is connected with laser generator, described main control chip is connected with highlighted light filling driving circuit by signal isolation circuit, and described highlighted light filling driving circuit is connected with highlighted light filling generator.
Further, described control circuit board also comprises the synchronous trigger control module for triggering single work camera and laser instrument simultaneously, and described control module of synchronously setting out is connected with described single work camera, laser generator.
Described scanning device also comprises auxiliary camera, described auxiliary camera is arranged on described bearing, described auxiliary camera is connected with described control circuit board, the intersection point that lasing area launched by the optical axis of described auxiliary camera and laser generator is positioned at the best depth of field planimetric position of camera, the field depth of described auxiliary camera is the scope that fathoms of scanner, and described highlighted light filling generator is placed on the camera lens outer ring of auxiliary camera.
Technical conceive of the present utility model for: as shown in a part in Fig. 2, image acquisition is carried out because the utility model only uses a camera and laser instrument to combine 13 when scanning, therefore the measurement range 12 that measurement range 11 carries out the system 14 of 3-D scanning than the two or more camera of needs is larger, in the image that corresponding same frame obtains, the significant notation point number on testee surface is also more, and this will contribute to the probability of success and the splicing precision that improve front and back frame flag point splicing.Especially when scanning object corner, as shown in b part in Fig. 2, block because object corner exists visual angle, gauge point 18 number of dual camera measurement range 19 inside is less than the number of the gauge point 16 when single camera scans in measurement range 17, if and an image acquisition obtains when gauge point number is less than 3 and cannot mate with the gauge point topological structure in gauge point storehouse, the RT transition matrix of current instrumented site and form also just cannot be obtained.Now user needs adjustment instrumented site and angle by the visual field, after the successful testee surf zone of Overlap-scanning obtains the RT transition matrix of instrument before again aiming at, uses different visual angles to rescan; Or suspend scanning, again rescan again after the region that cannot scan increases new gauge point.This situation will reduce the continuity of dual camera mode scanning process to a great extent and go out spot speed, and the common visual field that dual camera is less simultaneously causes the gauge point of negligible amounts, reduction in various degree can splice precision.The single camera marker tracking method that the utility model adopts significantly can avoid the generation of this kind of situation, makes scanning process more smooth, and Overlap-scanning precision is also effectively improved because there being the gauge point of more participation splicings.
The utility model utilizes single work camera to carry out Image Acquisition when scanning, therefore compare dual camera or multi-cam mode at original video data transmission link to reduce and take transmission bandwidth over half, this at high-resolution camera (transmission bandwidth as 5,000,000 pixel 30 frames/second, camera needed is 1200Mbps) for high-precision three-dimensional scanning seems particularly important.Also only need carry out Tracking Recognition to the gauge point of piece image in graph image identification ring abridged edition utility model, and the time complexity of gauge point track following algorithm will much smaller than the binocular Overlap-scanning algorithm gauge point topological structure in relative dimensional coordinate system and the gauge point topological structure in the gauge point storehouse under world coordinate system mated between two.
The beneficial effects of the utility model are mainly manifested in: single camera marker tracking matching way is compared traditional dual camera gauge point splicing matching way and taken less CPU time, it is more remarkable when particularly in storehouse, gauge point is more, so scanning system described in the utility model can adopt the CPU of more low side (as embedded type CPU) and pixel is higher, refreshing frequency camera faster, obtain sweep velocity and result faster to present, hand-held the Airborne Laser Scan can be applied in more areas.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of hand-held laser three-dimensional scanning equipment.
Fig. 2 is that single camera scanning system compares with the scanning survey scope of dual camera scanning system, wherein, and the plane of scanning motion region that (a) is single camera scanning system; B plane of scanning motion region that () is dual camera scanning system; C scanning three-dimensional region that () is single camera scanning system; D scanning three-dimensional region that () is dual camera scanning system.
Fig. 3 is the activation schedule key diagram of the utility model camera and laser generator.
Fig. 4 is the interconnected schematic diagram of the utility model module.
Fig. 5 be control circuit board of the present utility model realize block diagram.
Embodiment
Below in conjunction with accompanying drawing, the utility model is further described.
With reference to Fig. 1 ~ Fig. 5, a kind of hand-held laser three-dimensional scanning equipment, comprise single work camera 01, laser generator 03, bearing, control circuit board 02, highlighted light filling generator 05 and the track following scan process system 06 for following the tracks of according to the laggard row labels locus of points of acquisition video image, it is crossing that lasing area launched by optical axis and the laser generator 03 of described single work camera 01, described intersection point is positioned at the best depth of field planimetric position of camera, the field depth of described single work camera 01 is the scope that fathoms of scanner, the field depth of described laser generator 03 contains the scope that fathoms of scanner, described single work camera 01 and laser generator 03 are installed on described bearing, described single work camera 01 is all connected with described control circuit board 12 with laser generator 03, described control circuit board 12 is connected with described highlighted light filling generator 05, described highlighted light filling generator 05 is placed on cam lens outer ring, described control circuit board 02 is connected with described track following scan process system 06.
As shown in Figure 1, the optical axis of the single work camera 01 that the utility model adopts intersection point distance of launching lasing area with laser generator 03 along the line is H, and intersection point should be positioned at the best depth of field planimetric position of camera.The intersection point that the along the line and laser instrument of described camera optical axis launches lasing area depends on distance L and the angle a of camera and laser instrument.The lasing area that the along the line and linear laser generator of described camera optical axis is launched forms an angle, and this angle is between 0 ° to 90 °, and the measurement blind area of the less camera of angle is less, but depth survey precision can reduce; Higher but the measurement blind area of camera of this angle larger depth survey precision can increase.Described camera 01 is full frame exposure CCD or CMOS camera, and is equipped with the tight shot matched with scan vision and scanning accuracy, and the field depth of camera lens is the scope that fathoms of instrument.Described laser generator 03 is semiconductor linear laser, and its field depth should contain the measurement range of instrument.Described highlighted light filling generator 05 is the aluminium base of several high-brightness LED lamp pearls of angularly evenly arranging along cam lens outer ring, illuminates the gauge point that scanned surface posts in advance when scanning.
Control circuit board control camera of the present utility model and laser instrument are according to sequence triggering as shown in Figure 5.Trigger camera and laser instrument when the beginning of one-period, while making camera start exposure, laser instrument starts Emission Lasers, closes laser and after the t2 time, terminate the image acquisition that camera has exposed this frame again after the t1 time simultaneously.Laser light duration t1 be system according to the reflective degree Auto-matching of testee Facing material to laser, long or too short meeting causes the respective regions overexposure of camera photo-sensitive cell or under-exposure.Comprehensive assessment is carried out in the brightness of system to the point pixel on the laser rays in captured image, if exceed certain threshold values, and the corresponding prolongation of control circuit board or shorten opening time of laser.Because the camera non-exposed time does not take image, therefore t1≤t2, to reduce the overall lighting time of laser, reduces the gross energy of Laser emission, reduces the impact on operator's eyes.The time shutter t2 of camera is decided by the irradiation brightness of described highlighted light filling generator and the reflector efficiency of testee surface indicia point, and its longest time shutter general control is in 1/60 second, otherwise when can cause hand-hold scanning, motion blur appears in image.T3 is the shooting activation period of camera, this cycle, less then sweep velocity was faster, but need the refreshing frequency of camera and Back end data processing power support, time of camera shooting and transmission one two field picture adds that scan process calculates the time consumed and must be less than t3.
As shown in Figure 4, described scanning device also comprises auxiliary camera 07, and described auxiliary camera 07 is arranged on described bearing, and described auxiliary camera 07 is connected with described control circuit board 02.Described control circuit board 02 is connected with auxiliary camera 07 with work camera 01 with data line by control line, two cameras synchronously being triggered when scanning initially or marker tracking is failed simultaneously, in normal scan process, only trigging control being carried out to work camera.The data of camera are connected with control circuit board by ethernet line or USB line, and image/video tidal data recovering is uploaded by control circuit board.Described laser generator provides power supply by control circuit board and controls it and synchronously carries out start and stop, for providing the contour feature of body surface with camera exposure cycle.Described highlighted light filling generator 05 provides power supply by control circuit board and controls its start and stop, and the gauge point on its highlighted light filling illuminating objects surface of launching, for location and the splicing of scanning process.Described track following scan process system 06 (can adopt calculation process computing machine) is connected by wireless or wired mode with control circuit board, receive its real time video data uploaded and under pass steering order.
As shown in Figure 5, described control circuit board 02 comprises main control chip 60, signal isolation circuit 61, laser drive circuit 62, highlighted light filling driving circuit 63 and data exchange circuit 64, wherein main control chip can adopt the MCU (the STM32 family chip as ST company) of 32, also can adopt the MCU (the MSP430 family chip as TI company) of 16, even adopt 8 MCU (the STC12 family chip as STC Corporation) that dominant frequency is higher.Main control chip 60 is connected by universal serial bus with data exchange circuit 64, and because the data volume of control information is little, controlled frequency is not high yet, and in therefore can adopting, the communication interface of low speed is as realizations such as UART or SPI.Data exchange circuit 64 can adopt similar Ethernet switch or USBHUB principle to realize (such as can carry out gigabit Ethernet exchanges data with the RTL8367N chip of Realtek company), realizes to carry out control data after the communications protocol conversion on universal serial bus with calculation process computing machine alternately and collected by the video data of camera and upload to calculation process computing machine and carry out image procossing simultaneously.Main control chip 60 is connected by signal isolation circuit 61 with work camera and auxiliary camera, exports the synchronous exposure that pulse triggering signal controls camera; Main control chip 60 is connected with laser drive circuit 62 by signal isolation circuit 61, realizes level conversion and provides large driven current density laser generator; Main control chip 60 is connected with highlighted light filling driving circuit 63 by signal isolation circuit 61, realizes the conversion of level and provides large driven current density highlighted light filling generator.Owing to triggering the frequency of camera and laser instrument at below 0.1KHz, therefore signal isolation circuit 61 can adopt cutoff frequency higher than the isolating chip of this frequency, as opto-coupler chips such as EL817 or 6N137.Laser drive circuit 62, highlighted light filling driving circuit 63 can adopt the control of power MOS pipe realization to big current, as IRF3205 element.
Main control chip 60 comprises synchronous trigger control module, for triggering camera and laser instrument when the beginning of an image acquisition period simultaneously, make camera start to expose laser instrument simultaneously and start projecting laser pattern, after the laser opening time of setting, close laser, then terminate the image acquisition that camera has exposed this frame after the camera time shutter of setting.The unlatching duration of laser instrument is that system is mated automatically according to the reflective degree of testee Facing material to laser.The time shutter of camera determined by the irradiation brightness of described highlighted light filling generator and the reflector efficiency of testee surface indicia point.
Claims (4)
1. a hand-held laser three-dimensional scanning equipment, it is characterized in that: described equipment comprises single work camera, laser generator, bearing, control circuit board, highlighted light filling generator and the track following scan process system for following the tracks of according to the laggard row labels locus of points of acquisition video image, it is crossing that lasing area launched by optical axis and the laser generator of described single work camera, intersection point is positioned at the best depth of field planimetric position of camera, the field depth of described single work camera is the scope that fathoms of scanner, the field depth of described laser generator contains the scope that fathoms of scanner, described single work camera and laser generator are installed on described bearing, described single work camera is all connected with described control circuit board with laser generator, described control circuit board is connected with described highlighted light filling generator, described highlighted light filling generator is placed on cam lens outer ring, described control circuit board is connected with described track following scan process system.
2. hand-held laser three-dimensional scanning equipment as claimed in claim 1, it is characterized in that: described control circuit board comprises main control chip, signal isolation circuit, laser drive circuit, highlighted light filling driving circuit and data exchange circuit, main control chip is connected with data exchange circuit, the output terminal of described data exchange circuit is connected with described track following scan process system, the input end of described data exchange circuit is connected with single work camera, is connected between described main control chip with single work camera through signal isolation circuit; Described main control chip is connected with laser drive circuit by signal isolation circuit, described laser drive circuit is connected with laser generator, described main control chip is connected with highlighted light filling driving circuit by signal isolation circuit, and described highlighted light filling driving circuit is connected with highlighted light filling generator.
3. hand-held laser three-dimensional scanning equipment as claimed in claim 1 or 2, it is characterized in that: described control circuit board also comprises the synchronous trigger control module for triggering camera and laser instrument simultaneously, described control module of synchronously setting out is connected with described single work camera, laser generator.
4. hand-held laser three-dimensional scanning equipment as claimed in claim 1 or 2, it is characterized in that: described scanning device also comprises auxiliary camera, described auxiliary camera is arranged on described bearing, described auxiliary camera is connected with described control circuit board, the intersection point that lasing area launched by the optical axis of described auxiliary camera and laser generator is positioned at the best depth of field planimetric position of camera, the field depth of described auxiliary camera is the scope that fathoms of scanner, and described highlighted light filling generator is placed on the camera lens outer ring of auxiliary camera.
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| CN201420811130.9U CN204329903U (en) | 2014-12-18 | 2014-12-18 | Hand-held laser three-dimensional scanning equipment |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105300310A (en) * | 2015-11-09 | 2016-02-03 | 杭州讯点商务服务有限公司 | Handheld laser 3D scanner with no requirement for adhesion of target spots and use method thereof |
| CN107221231A (en) * | 2017-07-20 | 2017-09-29 | 北京机电工程研究所 | Laser Underwater explosive emission propulsion method in one kind pipe |
| CN107257428A (en) * | 2017-07-19 | 2017-10-17 | 上海浩创亘永科技有限公司 | A kind of camera light compensation method |
| CN109990714A (en) * | 2019-04-29 | 2019-07-09 | 天仁民防建筑工程设计有限公司 | A kind of people's air defense safeguard quality detecting system and detection method |
-
2014
- 2014-12-18 CN CN201420811130.9U patent/CN204329903U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105300310A (en) * | 2015-11-09 | 2016-02-03 | 杭州讯点商务服务有限公司 | Handheld laser 3D scanner with no requirement for adhesion of target spots and use method thereof |
| CN107257428A (en) * | 2017-07-19 | 2017-10-17 | 上海浩创亘永科技有限公司 | A kind of camera light compensation method |
| CN107221231A (en) * | 2017-07-20 | 2017-09-29 | 北京机电工程研究所 | Laser Underwater explosive emission propulsion method in one kind pipe |
| CN109990714A (en) * | 2019-04-29 | 2019-07-09 | 天仁民防建筑工程设计有限公司 | A kind of people's air defense safeguard quality detecting system and detection method |
| CN109990714B (en) * | 2019-04-29 | 2024-03-22 | 成都天仁民防科技有限公司 | Quality detection system and detection method for civil air defense protection equipment |
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Effective date of registration: 20200914 Address after: Room 501, unit 1, building 12, No. 998 Wenyi West Road, Wuchang Street, Yuhang District, Hangzhou, Zhejiang Province Patentee after: Hangzhou silidi Technology Co., Ltd Address before: 310011, Zhejiang, Hangzhou, Gongshu District Ping Lu East million Huacheng 15-1-1001 room Patentee before: HANGZHOU DINGRE TECHNOLOGY Co.,Ltd. |