CN207231401U - A kind of scanning system - Google Patents
A kind of scanning system Download PDFInfo
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- CN207231401U CN207231401U CN201721303732.3U CN201721303732U CN207231401U CN 207231401 U CN207231401 U CN 207231401U CN 201721303732 U CN201721303732 U CN 201721303732U CN 207231401 U CN207231401 U CN 207231401U
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- turntable
- tested
- dimensional
- poppet
- scanner
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Abstract
A kind of scanning system, including fore-stock and after-poppet, the after-poppet are equipped with guide rail, and scanner is provided with guide rail, and centre position is equipped with laser emitter on front side of scanner, and laser emitter both sides are equipped with least a pair of of video camera；The fore-stock is equipped with can the front and rear shaft rotated, turntable is fixed with shaft, turntable upper surface have can circular-rotation turntable, pass through laser line projection to tested material object, gather image at the same time, the solution of three-dimensional coordinate is carried out, full-sized three-dimensional vision information in kind is tested and aids in realizing by multiaxial motion.The structural light three-dimensional scanning technique of the utility model is the principle using computer vision, utilize the spatial information of non-contact three-dimensional scan mode quick obtaining object, with high accuracy, quick processing, anti-interference, the advantage such as automatic collection splicing, available for fields such as industry, medical treatment.
Description
Technical field
3-D scanning technical field is the utility model is related to, more particularly to a kind of scanning system.
Background technology
Existing scanning means generally borrows a word and cross laser line structure 3-D scanning coordinate system, regenerates three afterwards
Dimension point cloud, is easily confined to interference, it is necessary to be taken multiple scan to same place object be subject to angle, cuts and be easy to cause error.
And traditional white light three-dimensional scanner or infrared spatial digitizer object material is required it is relatively good, it is impossible to identify black or
The texture of the more materials of person, and the data generated need to carry out artificial post processing to realize the calculating of object former.
The laser 3 d scanner of existing hand-held, although can be scanned with multi-angle, needs the artificial ginseng of plural number
With it is high with application condition that caused is scan efficiency.
And the spatial digitizer of traditional collocation turntable is generally fixed using scanner, turntable drives the pattern of object of which movement
Data identification is carried out, it is necessary to fix to the rotation position and angle of turntable, and needs the details of Multiple-Scan identification object, effect
Rate is low, and scan data easily has broken hole.
Utility model content
The utility model will solve problem of the prior art, there is provided a kind of scanning system and scan method,.
To reach above-mentioned purpose, the technical solution adopted in the utility model is as follows：
A kind of scanning system, including fore-stock and after-poppet, the after-poppet, the after-poppet are equipped with guide rail, guide rail
On be provided with scanner, centre position is equipped with laser emitter on front side of scanner, for projecting line-structured laser, Laser emission
Device both sides are equipped with least a pair of of video camera, for gathering view data；The fore-stock be equipped with can the front and rear shaft rotated, turn
Be fixed with turntable on axis, turntable upper surface have can circular-rotation turntable, during scanning, tested material object is fixed on turntable.Knot
The counting principle of structure light 3-D scanning is that either white light or indigo plant (green) light projection to the surface of object under test, utilize battle array by laser
Row camera obtains multiple image, and the coordinate of target is calculated according to the difference processing between multiple image, obtains the space of multiple points
Coordinate, generates and puts a cloud, and the quick splicing between more amplitude point clouds constructs threedimensional model, obtains the surface profile information of object.
Preferably, connected between the fore-stock and the after-poppet by cross bar.Both positions are fixed, and can obtain
The data message needed during some scannings, such as object distance, image distance.
Preferably, the video camera is two pairs, a pair of of video camera closer to the distance is less tested for gathering size
Material picture data, distant a pair of of video camera are used to gather larger-size tested material picture data.
Preferably, the turntable quantity is two, two tested material objects can be scanned at the same time, and using distant
A pair of of video camera.
Preferably, the shaft quantity drives for two and by different motor, both can individually scan, can also two
It is a to scan at the same time.And continuous scanning is realized, such as when left side starts scanning, corresponding preparation is done on right side, and left side is swept
Retouch completion and be switched to right side scanning at once, left side starts to do corresponding preparation, so repeatedly.
A kind of scan method based on above-mentioned scanning system, comprises the following steps：
(1) will be on the tested bottom in kind placed to the turntable of turntable and fixed；
(2) camera acquisitions are tested material picture information, and laser emitter launches line-structured laser to tested material object,
Gauging surface depth information obtains three-dimensional coordinate；
(3) repeat step (2) after scanners horizontally slip certain distance along guide rail, by continuously sliding continuous acquisition
Image information and calculating three-dimensional coordinate；
(4), which starts turntable, makes tested material object rotate by a certain angle, or starts shaft and make turntable and tested material object thereon
Rotated by a certain angle by front and rear；
(5) repeat steps (2) and step (3)；
(6) repeat steps (4) and step (5)；
(7), to tested progress comprehensive scanning in kind, is generated by multiaxial motion and is tested the three-dimensional seat of full-sized in kind
Mark, and build threedimensional model；
(8) sets sphere threedimensional model of the diameter not less than tested longest diameter in kind；
(9) tested three-dimensional data in kind is imported into sphere by, the midpoint of general tested longest diameter in kind and the centre of sphere
Overlap, calculated by negative, delete the three-dimensional data part in sphere, the reverse threedimensional model for being tested material object is calculated, i.e.,
Former.
Preferably, comprising the following steps that for tested physical three-dimensional coordinate is calculated in the step (2)：
(2-1) sets testee coordinate system as OXYZ, the lens F, OZ ' on camera coordinates system O'X'Y'Z', O O' with
XOZ is in same plane, it is known that the angle of ZOZ ' is α, then the angle of XOO ' is
(2-2) sets a point P on testee1(X1, Y1, Z1), P1Corresponding point is P on camera photosurface2(X2,
Y2)；
(2-3) sets X1The angle of FO is θ1, it is known that object distance U, image distance V, then：
It can thus be appreciated that X1With X2Correspondence be：
(2-4) sets Y1The angle of FO is θ2, X1Vertical point on O O' is M, and the length of OM is S, then:
It can thus be appreciated that Y1With Y2Correspondence be：
Pass through triangle OMX1Calculate S length be：
(2-5) resolution of video camera is it is known that resolution ratio in the horizontal direction isResolution in vertical direction
Rate isP2Pixel quantity of the coordinate on horizontal vertical direction is respectively i, j, it is seen that P2Coordinate (X2, Y2) beThen：
Preferably, in the step (2), if tested full size is smaller, taken the photograph using the nearer a pair of spacing
The tested material picture information of camera collection, if tested full size is larger or tested material object has two and is individually positioned in two
On a turntable, then material picture information is tested using a pair of of the camera acquisition of spacing farther out.
Preferably, in the step (8), by enumerating algorithm：
Σmax(r1,r2……rs)=Rmax,
The greatest radius of tested physical three-dimensional data are asked for, the radius of sphere is greater than or equal to Rmax。
The beneficial effects of the utility model are：1. the structural light three-dimensional scanning technique of the utility model is to use computer
The principle of vision, using the spatial information of non-contact three-dimensional scan mode quick obtaining object, have high accuracy, quick processing,
Anti-interference, the advantage such as automatic collection splicing can be through for fields such as industry, medical treatment.
2. carrying out three-dimensional measurement to object using the principle of more line lasers, there is image easily to detect, is anti-interference, measurement is differentiated
The advantages that rate is high, for a traditional word and cross laser line, carrying contains much information more line lasers, can scan
Object bigger, when the object for detecting larger face type larger area is the speed higher of more line lasers, and this optical system can
It is widely used in different complex situations.With in the 3-D scanning stage, every laser rays is carried out using laser plane attribute
Decoding so that every laser line coding is unique, and three-dimensional reconstruction is carried out to the identical coded laser light line of Stereo matching image pair.
3. the scanner of the utility model quick back and forth movement on slide, data knowledge is carried out for the object of rotation
Not, object data, efficient and accuracy guarantee are quickly obtained
4. the system of the utility model realizes full automatic laser scanning, manual intervention is avoided, triangle can be quickly generated
The grid data of change, by deleting the calculating each put in space, so as to obtain former
5. the utility model can quickly ask for object detail with more line lasers, high-precision to go back master mould, light is cut
The principle of method ensure that the accuracy for asking for object coordinates system, ensure that the successful of 3-D scanning.
Brief description of the drawings
Fig. 1 is the structure diagram of the utility model scanning system；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the side view of Fig. 1；
Fig. 4 is that in kind and video camera coordinate system schematic diagram is tested in the utility model scan method；
Fig. 5 is the XOZ plans in Fig. 4；
Fig. 6 is to pass through X1Ask for the schematic diagram of Y-axis coordinate；
Fig. 7 is the YOO ' plans in Fig. 4；
Fig. 8 is the X in Fig. 61MO triangle projective planum figures.
In figure：1st, fore-stock；2nd, after-poppet；3rd, guide rail；4th, scanner；4.1st, laser emitter；4.2nd, video camera；5th, turn
Axis；6th, turntable；6.1st, turntable；7th, cross bar.
Embodiment
The utility model is further described below by embodiment and attached drawing.
The utility model scanning system is：As shown in Figs. 1-3, a kind of scanning system, including fore-stock 1 and after-poppet 2, it is preceding
Connected between stent 1 and after-poppet 2 by cross bar 7.A guide rail 3 for being in horizontal linear, 3 restocking of guide rail are equipped with after-poppet 2
Equipped with scanner 4,4 front side centre position of scanner is equipped with laser emitter 4.1, and 4.1 both sides of laser emitter are equipped with least one
To video camera 4.2, such as two pairs, scanner 4 can horizontally slip on guides 3.And fore-stock 1 is equipped with turn that front and rear can be rotated
Axis 5, is fixed with turntable 6 in shaft 5,6 upper surface of turntable have can circular-rotation turntable 6.1.
Wherein, 6 quantity of turntable is two, and two turntables 6 are fixed in a shaft 5.But 5 quantity of shaft can also be
Two and driven by different motor, turntable 6 is separately fixed at two shafts 5.
The utility model scan method is：Based on above-mentioned scanning system, comprise the following steps：
(1) tested material object is placed on the turntable 6.1 of turntable 6 and fixed by；
(2) the tested material picture information of the collection of video cameras 4.2, laser emitter 4.1 are calculated to tested transmitting laser in kind
Case depth information, obtains three-dimensional coordinate；
(3) scanners 4 horizontally slip along guide rail 3, continuous acquisition image information and calculating three-dimensional coordinate；
(4), which starts turntable 6, makes tested material object rotate by a certain angle, or starts shaft 5 and make turntable (6) and quilt thereon
Material object is surveyed to rotate by a certain angle by front and rear；
(5) repeat steps (2) and step (3)；
(6) repeat steps (4) and step (5)；
(7) generations are tested full-sized three-dimensional coordinate in kind；
(8) sets sphere of the diameter not less than tested longest diameter in kind；
(9) tested three-dimensional data in kind is imported into sphere by, the midpoint of general tested longest diameter in kind and the centre of sphere
Overlap, calculated by negative, delete the three-dimensional data part in sphere, the reverse threedimensional model for being tested material object is calculated.
Wherein, comprising the following steps that for tested physical three-dimensional coordinate is calculated in step (2)：
Shown in (2-1) combinations Fig. 4, if testee coordinate system is OXYZ, on camera coordinates system O'X'Y'Z', O O'
Lens F, OZ ' and XOZ in same plane, it is known that the angle of ZOZ ' is α, then the angle of XOO ' is
(2-2) sets a point P on testee1(X1, Y1, Z1), P1Corresponding point is P on camera photosurface2(X2,
Y2)；
Shown in (2-3) combinations Fig. 5, if X1The angle of FO is θ1, it is known that object distance U, image distance V, then：
It can thus be appreciated that X1With X2Correspondence be：
Shown in (2-4) combinations Fig. 6 and Fig. 7, if Y1The angle of FO is θ2, X1Vertical point on O O' is M, and the length of OM is
S, then:
It can thus be appreciated that Y1With Y2Correspondence be：
With reference to shown in Fig. 8, pass through triangle OMX1Calculate S length be：
(2-5) video cameras (4.2) resolution ratio is it is known that resolution ratio in the horizontal direction isIn vertical direction
Resolution ratio isP2Pixel quantity of the coordinate on horizontal vertical direction is respectively i, j, it is seen that P2Coordinate (X2, Y2) beThen：
In the step (2), if tested full size is smaller, adopted using nearer a pair of of the video camera 4.2 of spacing
The tested material picture information of collection, if tested full size is larger or tested material object has two and is individually positioned in two turntables
On 6, then material picture information is tested using the collection of a pair of of video camera 4.2 of spacing farther out.
Wherein, in step (8), it is by enumerating algorithm to be tested material object longest diameter：
Σmax(r1,r2……rs)=Rmax,
The greatest radius of tested physical three-dimensional data are asked for, obtain the most short diameter of sphere.
Architectural feature the foregoing is merely specific embodiment of the utility model, but the utility model is not limited to
This, the utility model can be used on similar product, and any those skilled in the art is in the field of the utility model, institute
The change or modification of work are all covered among the scope of the claims of the utility model.
Claims (5)
- A kind of 1. scanning system, it is characterised in that：Including fore-stock (1) and after-poppet (2), the after-poppet (2) is equipped with and leads Rail (3), scanner (4) is provided with guide rail (3), and centre position is equipped with laser emitter (4.1), laser on front side of scanner (4) Transmitter (4.1) both sides are equipped with least a pair of of video camera (4.2)；The fore-stock (1) be equipped with can the front and rear shaft (5) rotated, be fixed with turntable (6), turntable (6) upper table in shaft (5) Face have can circular-rotation turntable (6.1).
- A kind of 2. scanning system according to claim 1, it is characterised in that：The fore-stock (1) and the after-poppet (2) Between pass through cross bar (7) connect.
- A kind of 3. scanning system according to claim 1, it is characterised in that：The video camera (4.2) is two pairs.
- A kind of 4. scanning system according to claim 3, it is characterised in that：Turntable (6) quantity is two.
- A kind of 5. scanning system according to claim 4, it is characterised in that：Shaft (5) quantity is for two and by not Same motor driving.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721303732.3U CN207231401U (en) | 2017-10-11 | 2017-10-11 | A kind of scanning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721303732.3U CN207231401U (en) | 2017-10-11 | 2017-10-11 | A kind of scanning system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207231401U true CN207231401U (en) | 2018-04-13 |
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ID=61851384
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721303732.3U Expired - Fee Related CN207231401U (en) | 2017-10-11 | 2017-10-11 | A kind of scanning system |
Country Status (1)
| Country | Link |
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| CN (1) | CN207231401U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107560547A (en) * | 2017-10-11 | 2018-01-09 | 杭州非白三维科技有限公司 | A kind of scanning system and scan method |
| CN111750802A (en) * | 2020-06-29 | 2020-10-09 | 山东大学 | Workpiece surface micro-topography measuring device and method based on line structured light |
-
2017
- 2017-10-11 CN CN201721303732.3U patent/CN207231401U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107560547A (en) * | 2017-10-11 | 2018-01-09 | 杭州非白三维科技有限公司 | A kind of scanning system and scan method |
| CN107560547B (en) * | 2017-10-11 | 2024-06-28 | 杭州非白三维科技有限公司 | Scanning system and scanning method |
| CN111750802A (en) * | 2020-06-29 | 2020-10-09 | 山东大学 | Workpiece surface micro-topography measuring device and method based on line structured light |
| CN111750802B (en) * | 2020-06-29 | 2021-04-16 | 山东大学 | Workpiece surface micro-topography measuring device and method based on line structured light |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180413 Termination date: 20191011 |
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| CF01 | Termination of patent right due to non-payment of annual fee |