CN204902785U - Hand -held type laser three -dimensional scanning system who possesses quick demarcation function - Google Patents
Hand -held type laser three -dimensional scanning system who possesses quick demarcation function Download PDFInfo
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- CN204902785U CN204902785U CN201520648060.4U CN201520648060U CN204902785U CN 204902785 U CN204902785 U CN 204902785U CN 201520648060 U CN201520648060 U CN 201520648060U CN 204902785 U CN204902785 U CN 204902785U
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Abstract
The utility model provides a hand -held type laser three -dimensional scanning system who possesses quick demarcation function, includes the hand -held type laser three -dimensional scanner, and the hand -held type laser three -dimensional scanner includes two and above camera and one and above laser projection ware, and still including being used for the scaling board demarcated fast the scanner, the scaling board is the board that the mark point that a plurality of relative coordinate position are known was posted on a surface to hand -held type laser three -dimensional scanning system, hand -held type spatial digitizer still is in the scaling board image of scaling board different angles in top and position through two and above camera including many scanners that are used for acquireing in step, the quick demarcation control module that goes on maring to two and above camera and one and the mutual spatial position of above laser projection ware again marks control module fast and is connected with camera, laser projection ware respectively. The utility model provides a simplify the hand -held type laser three -dimensional scanning system who possesses quick demarcation function who marks the operation, reduces the demarcation cost.
Description
Technical field
The utility model relates to a kind of Handheld laser 3 D scanning system.
Background technology
The advantages such as hand-held the Airborne Laser Scan is strong with its antijamming capability, accuracy of detection is high, easy to use are progressively used in the fields such as various industry, archaeology, medical treatment, teaching.Compare the spatial digitizer of White Light Projection principle, laser 3 d scanner can organize from each a part of surface point cloud that extract surface feature calculation synchronization frame image obtains scanned object, and can expose with the aperture time not producing motion blur due to the larger camera catching its image that thus allows of light intensity of laser projection, therefore more can be applicable to scanning under the state of continuous continuous moving by hand-held mode.In addition, due to the unicity of the wave band of laser, the impact of ambient light on its scanning process can be removed to a great extent by installing the logical optical filtering of band before camera additional, making it be applicable to the 3-D scanning of the profiling object surface under outdoor natural light environment.
The current full accuracy of hand-held laser 3 d scanner can reach 10
-2mm level, because its scanning accuracy is that the mutual alignment being based upon inner two and above camera and and above laser projector has been demarcated known before dispatching from the factory, and on the basis in use remained unchanged always.But because in the process operations such as transport, access, scanning, inevitably vibration or impact can cause the position relationship between the camera of scanner inside and laser projector to have small change, the embodiment that obtain in the image obtained at camera is understood in the change of this small position and angle, causes scanning result data to occur error.Due to current hand-held laser 3 d scanner device not random device outfit demarcation annex, therefore for eliminating this error, just instrument must be returned emblem mark fixed, greatly have impact on the normal use of hand-held laser 3 d scanner impact, also make precision when scanning at ordinary times to be guaranteed.
Summary of the invention
In order to overcome the deficiency that proving operation bothers, calibration cost is high of existing Handheld laser 3 D scanning system, the utility model provides a kind of Handheld laser 3 D scanning system possessing Fast Calibration function simplifying proving operation, reduce calibration cost.
The utility model solves the technical scheme that its technical matters adopts:
A kind of Handheld laser 3 D scanning system possessing Fast Calibration function, comprise Handheld laser spatial digitizer, described Handheld laser spatial digitizer comprises two and above camera and one and above laser projector, described Handheld laser 3 D scanning system also comprises the scaling board for carrying out Fast Calibration to described scanner, and described scaling board is the plate that the known gauge point in some relative coordinate positions is posted on one piece of surface; Described handheld three-dimensional scanner several scanners also comprised for synchronously being obtained by two and above camera are in the scaling board image of different angles and position above scaling board, again to the Fast Calibration control module that two and above camera and and the mutual locus of above laser projector demarcate, described Fast Calibration control module is connected with described camera, laser projector respectively.
Further, described Handheld laser 3 D scanning system also comprises human-computer interaction module, and described Fast Calibration control module is connected with described human-computer interaction module.
Further again, the portable hard plate that described scaling board is one piece of surperficial non-specular surface, thermal deformation coefficient is lower.
Further, in described scaling board, some gauge points are arranged in the surface of this hard plate with rule or irregular topological order, and the relative coordinate position of each gauge point is known.
Technical conceive of the present utility model is: the factory-designed process of handheld laser scanners is primarily of following three key steps composition: 1) demarcate separately the internal reference of the camera that will be assembled into instrument, obtain the parameters such as the distortion factor of every platform camera, focal length and optical centre bias; 2) the outer ginseng of installing at least two cameras fixed in instrument is demarcated, obtain the position coordinates that it is mutual; 3) position of installing at least one laser projector fixed in instrument is demarcated, obtain the position coordinates of the camera of itself and instrument internal.Due to the intrinsic parameter in inside that the internal reference on camera is its camera lens, substantially can not change after dispatching from the factory, and be easier to change be camera and laser projector position relationship each other, this is because camera and laser projector are all be fixed on common skeleton by mechanical systems such as screws, this fixed form is easy to be subject to the impact of external vibration or impact and cause trickle distortion and displacement, thus affects final scanning accuracy.Consider above factor, the Fast Calibration after instrument dispatches from the factory just seems very meaningful.Demarcation after instrument dispatches from the factory is completed by user use is on-the-spot, therefore must avoid complicated demarcation flow process and demarcate additional device, and should try one's best and complete calibration process in a short period of time.The Fast Calibration function of hand-held laser 3 d scanner proposed by the invention need only be demarcated for the position of camera and laser projector, i.e. step 2), 3), and have man-machine interface to carry out the prompting of calibration position, demarcate auxiliary and then only need the scaling board that a block cost is cheap, thus significantly simplify the calibration process of scanner, ensure that the stability of instrument precision in long-term use procedure.
The beneficial effects of the utility model are mainly manifested in: simplify proving operation, reduce calibration cost.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the Handheld laser 3 D scanning system possessing Fast Calibration function.
Fig. 2 is the schematic diagram of scaling board.
Fig. 3 is the operation chart of demarcating camera position, wherein the position of (a) is that front is on the lower side, b the position of () is dead ahead, c the position of () is that front is on the upper side, d the position of () is that front is to the left, the position of (e) is that front is to the right.
Fig. 4 is the operation chart of Calibration of Laser projector position.
Fig. 5 is the matching schematic diagram of multiple positions laser projector calibration result.
Embodiment
Below in conjunction with accompanying drawing, the utility model is further described.
With reference to Fig. 1 ~ Fig. 5, a kind of Handheld laser 3 D scanning system possessing Fast Calibration function, comprise Handheld laser spatial digitizer 1, described Handheld laser spatial digitizer 1 comprises two and above camera 2 and one and above laser projector 3, described Handheld laser 3 D scanning system also comprises the scaling board 4 for carrying out Fast Calibration to described scanner, and described scaling board 4 is the plate that the known gauge point in some relative coordinate positions is posted on one piece of surface; Described handheld three-dimensional scanner 1 several scanners also comprised for synchronously being obtained by two and above camera are in the scaling board image of different angles and position above scaling board, again to the Fast Calibration control module 5 that two and above camera and and the mutual locus of above laser projector demarcate, described Fast Calibration control module 5 is connected with described camera 2, laser projector 3 respectively.
Further, described Handheld laser 3 D scanning system also comprises human-computer interaction module 6, and described Fast Calibration control module 5 is connected with described human-computer interaction module 6.
Further again, the portable hard plate that described scaling board 4 is one piece of surperficial non-specular surface, thermal deformation coefficient is lower.Wherein, thermal deformation coefficient is lower is defined as: be less than 6 μm/m. DEG C.
Further, in described scaling board 4, some gauge points are arranged in the surface of this hard plate with rule or irregular topological order, and the relative coordinate position of each gauge point is known.
A kind of way of realization of the scaling board of the present embodiment is as shown in Figure 2: adopt one piece of length of side to be the rectangular flat glass sheet of twenty or thirty centimetre, it is pasted or marks a little after spraying background color, on scaling board, gauge point is with one 4 × 4 ranks forms arrangements substantially; Scaling board is placed in a sizeable flat boxes for protecting it.
The calibrating function of Fast Calibration module is mainly divided into the demarcation to camera position and the demarcation two parts to laser projector position.
Timing signal is being carried out to instrument camera position, the image (gauge point on this scaling board need appear in every piece image in whole or in part) of Fast Calibration control module synchronization gain two and the described scaling board captured by above camera, according to the corresponding relation of the gauge point in every width image and authentic signature point, in conjunction with the authentic signature point coordinate of the topology location of gauge point on scaling board known before dispatching from the factory, adopt relative orientation, the surveying methods such as rear crosses or front crosses, obtain the outer ginseng of camera, i.e. two and the mutual position relationship of above camera lens, the lens location completed in Fast Calibration is demarcated.
Further, although the step that an above-mentioned lens location is demarcated can obtain the outer ginseng of instrument camera, but the shooting only according to a position is probably crossed motion blur that is inclined or that shake and produce due to angle and caused the precision of calculating not high, thus impact demarcation effect.Therefore system of the present invention is taken scaling board by multiple angle, and the positions such as such as front is on the lower side, dead ahead, front is on the upper side, front is to the left, front is to the right, respectively as shown in (a) ~ (e) in Fig. 3.On the scaling board that described Fast Calibration control module obtains in the multiple angle positions relative to scaling board according to Handheld laser spatial digitizer, the coordinate of gauge point carries out being averaging process, to improve the precision of the outer ginseng of camera.
Pattern on scaling board is projected to carrying out timing signal Fast Calibration control module to Instruments Laser projector position according to the laser projector demarcated in Handheld laser spatial digitizer captured by two of good position and above camera, identify the laser wheel profile on every piece image, and utilize epipolar-line constraint principle, obtain the some cloud coordinate of laser projection outline line.
Further, instrument two and above distance and position projecting laser projection pattern on scaling board, obtain the some cloud coordinate of two and above laser projection outline line, under the laser wheel profile point cloud of repetitive measurement is transformed into the same coordinate system by Fast Calibration control module, and simulate lasing area, complete the location position of laser projector in Fast Calibration.As shown in Figure 4, user's hand held scanner converts the distance between itself and scaling board, image acquisition is carried out from the near to the remote in b1 to b3 position, a1 ~ a3 laser projection outline line launched by laser projector on scaling board, under the multi-stripe laser outline line point cloud of camera collection is transformed into the same coordinate system by Fast Calibration control module in instrument range conversion process, obtain c1 ~ c3 three dimensions line segment as shown in Figure 5, finally simulate lasing area, thus obtain the position coordinates between laser projector and camera.Certainly, in a laser projector location position process of practical operation user slowly by scanner from the near to the remote near scaling board or by as far as closely leaving scaling board, system can gather tens projection pattern of position to laser instrument, thus the line segment point cloud that under obtaining the same coordinate system tens approximate coplanar, comparatively accurate lasing area can be simulated like this, realize the location position of laser projector.
Claims (4)
1. one kind possesses the Handheld laser 3 D scanning system of Fast Calibration function, comprise Handheld laser spatial digitizer, described Handheld laser spatial digitizer comprises two and above camera and one and above laser projector, it is characterized in that: described Handheld laser 3 D scanning system also comprises the scaling board for carrying out Fast Calibration to described scanner, described scaling board is the plate that the known gauge point in some relative coordinate positions is posted on one piece of surface; Described handheld three-dimensional scanner several scanners also comprised for synchronously being obtained by two and above camera are in the scaling board image of different angles and position above scaling board, again to the Fast Calibration control module that two and above camera and and the mutual locus of above laser projector demarcate, described Fast Calibration control module is connected with described camera, laser projector respectively.
2. possesses the Handheld laser 3 D scanning system of Fast Calibration function as claimed in claim 1, it is characterized in that: described Handheld laser 3 D scanning system also comprises human-computer interaction module, described Fast Calibration control module is connected with described human-computer interaction module.
3. possess the Handheld laser 3 D scanning system of Fast Calibration function as claimed in claim 1 or 2, it is characterized in that: the portable hard plate that described scaling board is one piece of surperficial non-specular surface, thermal deformation coefficient is lower.
4. possesses the Handheld laser 3 D scanning system of Fast Calibration function as claimed in claim 1 or 2, it is characterized in that: in described scaling board, some gauge points are arranged in the surface of this hard plate with rule or irregular topological order, and the relative coordinate position of each gauge point is known.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105806221A (en) * | 2016-05-06 | 2016-07-27 | 西安工业大学 | Laser projection calibration device and method |
| CN106885519A (en) * | 2017-03-21 | 2017-06-23 | 华北理工大学 | Femtosecond laser is micro-/receive the image calibration plate and its fixed plate of processing vision system |
| CN106931903A (en) * | 2017-01-19 | 2017-07-07 | 武汉中观自动化科技有限公司 | A kind of hand-held spatial digitizer of real-time generation model |
| CN109540030A (en) * | 2018-11-27 | 2019-03-29 | 中国船舶重工集团公司第十二研究所 | A kind of handheld scanning device self poisoning accuracy checking method |
| CN109754433A (en) * | 2018-12-27 | 2019-05-14 | 中国科学院长春光学精密机械与物理研究所 | A kind of uncalibrated image acquisition method, device, equipment and storage medium |
| CN112414327A (en) * | 2020-11-17 | 2021-02-26 | 中国三峡建设管理有限公司 | Handheld concrete roughness three-dimensional detection device and method |
| CN114652471A (en) * | 2021-04-22 | 2022-06-24 | 宁波频泰光电科技有限公司 | Calibrator for three-dimensional oral cavity scanner |
-
2015
- 2015-08-26 CN CN201520648060.4U patent/CN204902785U/en active Active
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105806221A (en) * | 2016-05-06 | 2016-07-27 | 西安工业大学 | Laser projection calibration device and method |
| CN105806221B (en) * | 2016-05-06 | 2019-06-04 | 西安工业大学 | A kind of laser projection caliberating device and scaling method |
| CN106931903A (en) * | 2017-01-19 | 2017-07-07 | 武汉中观自动化科技有限公司 | A kind of hand-held spatial digitizer of real-time generation model |
| CN106885519A (en) * | 2017-03-21 | 2017-06-23 | 华北理工大学 | Femtosecond laser is micro-/receive the image calibration plate and its fixed plate of processing vision system |
| CN109540030A (en) * | 2018-11-27 | 2019-03-29 | 中国船舶重工集团公司第十二研究所 | A kind of handheld scanning device self poisoning accuracy checking method |
| CN109754433A (en) * | 2018-12-27 | 2019-05-14 | 中国科学院长春光学精密机械与物理研究所 | A kind of uncalibrated image acquisition method, device, equipment and storage medium |
| CN109754433B (en) * | 2018-12-27 | 2023-10-03 | 中国科学院长春光学精密机械与物理研究所 | Calibration image acquisition method, device, equipment and storage medium |
| CN112414327A (en) * | 2020-11-17 | 2021-02-26 | 中国三峡建设管理有限公司 | Handheld concrete roughness three-dimensional detection device and method |
| CN114652471A (en) * | 2021-04-22 | 2022-06-24 | 宁波频泰光电科技有限公司 | Calibrator for three-dimensional oral cavity scanner |
| CN114652471B (en) * | 2021-04-22 | 2024-04-19 | 宁波频泰光电科技有限公司 | Calibrator for three-dimensional oral cavity scanner |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: Room 102, Unit 1, Building 12, No. 998, Wenyi West Road, Wuchang Street, Yuhang District, Hangzhou City, Zhejiang Province, 311121 Patentee after: Sikan Technology (Hangzhou) Co.,Ltd. Address before: Room 611, Building 4, Zhejiang Overseas High-level Innovation Park, No. 998, Wenyi West Road, Yuhang District, Hangzhou City, Zhejiang Province, 311121 Patentee before: HANGZHOU SCANTECH Co. |
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| CP03 | Change of name, title or address |