CN209279914U - A kind of device improving 3D scanning precision - Google Patents
A kind of device improving 3D scanning precision Download PDFInfo
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- CN209279914U CN209279914U CN201821607094.9U CN201821607094U CN209279914U CN 209279914 U CN209279914 U CN 209279914U CN 201821607094 U CN201821607094 U CN 201821607094U CN 209279914 U CN209279914 U CN 209279914U
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- camera
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- rotary
- laser scanner
- scanning
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Abstract
The utility model relates to 3D scanning technique field more particularly to a kind of devices for improving 3D scanning precision.Stepper motor 2 is fixed on 1 pedestal of shell in device, and the shaft of stepper motor 2 is coupled with 3 shaft of rotary-tray；The laser scanner 5 and the camera 6 are arranged on the shell 1 according to preset acquisition angles；The setting of master controller 4 is connect in the shell 1, and with the stepper motor 2, laser scanner 5 and camera 6；The pallet vibration caliberating device 7 is made of the column platform of discrete distribution, and the column platform is evenly distributed in around the rotary-tray 3.The camera inherently having in the utility model combination 3D scanning means, for pallet itself because bring is vibrated when stepper motor works, caused by accuracy decline problem in scanning process, provide the possibility of error compensation.
Description
Technical field
The utility model relates to 3D scanning technique field more particularly to a kind of devices for improving 3D scanning precision.
Background technique
Since stepper motor is the device for electric pulse being converted into discrete mechanical movement, there is good data control
Characteristic processed, therefore, computer become the ideal driving source of stepper motor, soft or hard with the development of microelectronics and computer technology
The control mode that part combines becomes mainstream, i.e., generates control pulse by program, drive hardware circuit.Single-chip microcontroller passes through software
It controls stepper motor, has preferably excavated the potentiality of motor.Therefore, have become one with single-chip microcontroller control stepper motor
Kind of inevitable trend, also complying with the digitized epoch becomes.
Due to the above-mentioned characteristic of stepper motor, it is also applied to 3D scanning field.3D scanning in, scanned object and
Shift in position relationship between scanning device needs accurately to be controlled, and general motor is unable to reach corresponding precision.
However, stepper motor is possessing its own be precisely controlled other than advantage, there is also certain deficiencies, such as: when slowly running,
Motor is easy to appear the phenomenon that shake rotation, extremely disadvantageous for accurately controlling.
Utility model content
One of the purpose of this utility model is to overcome in the prior art, scanned for being scanned using stepping as 3D
When the rotary drive of object, when slowly running, motor is easy to appear the phenomenon that shake rotates, for accurate control electrode
Its unfavorable problem.
The utility model is realized in this way:
The utility model provides a kind of device of raising 3D scanning precision, including shell, stepper motor, rotation support
Disk, master controller, laser scanner, camera and pallet vibrate caliberating device, comprising:
The stepper motor is fixed on the housing base, the shaft of stepper motor and the rotary-tray shaft coupling
It closes；
The laser scanner and the camera are arranged on the housing according to preset acquisition angles, wherein institute
Camera is stated for acquiring the scanning signal that the laser scanner projects object to be scanned on rotary-tray；
The master controller setting is connect in the shell, and with the stepper motor, laser scanner and camera,
For driving stepper motor rotation, driving laser scanner transmitting scanning signal, and obtain camera acquisition to
The scanning signal reflected on sweep object；
The pallet vibration caliberating device is made of the column platform of discrete distribution, and the column platform is evenly distributed in
Around the rotary-tray；For by feeding back to master controller to analyze the vibration when front tray by after camera acquisition
Emotionally condition.
Preferably, it is provided with one or more cutting face on the column platform of the pallet vibration caliberating device, also, every
Calibration point is provided on the center in one cutting face or the intersecting lens in two cutting faces.
Preferably, the camera includes the first camera and second camera, specific:
First camera is arranged on the sliding rail on shell, can be on the sliding rail according to the big of collected object
It is small, the angle of adjustment and laser scanner, so that the position that the two is formed meets the acquisition angles for corresponding to the acquisition target；
The second camera is fixed on shell, dedicated for acquiring the position letter of the pallet vibration caliberating device
Breath.
Preferably, the spacing distance of the column platform is according to the rotation speed of rotary-tray and the collection period meter of camera
Obtained acquisition distance, obtains after doing preset weighting.
Preferably, the column platform is additionally provided with infrared distance sensor towards the side at rotary-tray center, described red
Outer range sensor is connect with the main controller；For acquiring the distance between fixed object to be scanned, so as to main control
Device is converted to the vibrational state of each column platform by the vibration compensation of the acquisition signal of object to be scanned reflection by the distance.
Preferably, the camera is specially binocular camera；Then the binocular camera is also used to acquire each column platform
With the image information between fixed object to be scanned, so that each column platform is calculated with fixed wait sweep in master controller
Retouch the distance of the image between object, so as to master controller by the vibrational state of each column platform by the distance be converted to by
The vibration compensation of the acquisition signal of sweep object reflection.
Preferably, on the housing, the bottom corresponding to the rotary-tray is additionally provided with one or more carrying
Column is provided with bearing at the top of the bolster stake, and the bearing is abutted with rotary-tray bottom.
Preferably, rotary-tray bottom setting is there are three gear, and the insides of three gears is respectively at being fixed on
First gear coupling on stepper motor；The outside of three gears is respectively at the ring gear coupling being fixed on shell
It closes.
Preferably, the laser scanner and the camera are arranged on the housing according to preset acquisition angles,
Specifically:
The laser scanner and the camera are set on same slide bar, wherein the laser scanner and described
Camera can slide on the slide bar respectively, so as to adjust angle between the two.
Preferably, the laser scanner and the camera itself can also on the slide bar that it is fixed corresponding position
Rotate itself angle launch angle and acquisition angles.
In the present invention, it uses a kind of pallet and vibrates caliberating device, and combine and inherently have in 3D scanning means
Standby camera, for pallet itself because bring is vibrated when stepper motor works, caused by accuracy decline in scanning process
Problem provides the possibility of error compensation.During specific implementation, related existing compensation method can be used for reference, and according to
The positional fluctuation amplitude of camera pallet vibration caliberating device collected is believed to compensate the scanning of corresponding time/position point
Breath.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it can also be obtained according to these attached drawings other attached drawings.
Fig. 1 provides a kind of existing apparatus structure schematic diagram for improving 3D and scanning precision for the utility model embodiment；
Fig. 2 is that a kind of pallet provided by the embodiment of the utility model vibrates column platform structural schematic diagram in caliberating device；
Fig. 3 is that another pallet provided by the embodiment of the utility model vibrates column platform structural schematic diagram in caliberating device；
Fig. 4 is that the raising 3D of a kind of the first camera of band and second camera provided by the embodiment of the utility model scans essence
The apparatus structure schematic diagram of accuracy；
Fig. 5 is that a kind of pallet provided by the embodiment of the utility model vibrates the column with infrared distance sensor in caliberating device
Shape platform structural schematic diagram；
Fig. 6 is a kind of rotary-tray support construction schematic diagram with bolster stake provided by the embodiment of the utility model；
Fig. 7 is the driving gear structure that a kind of stepper motor provided by the embodiment of the utility model drives rotary-tray rotation
Schematic diagram.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are in the premise for not making creative work
Under all other embodiment obtained, fall within the protection scope of the utility model.
The realization principle of the utility model, since being to consider stepper motor and rotate under specific frequency that vibration can be abnormal
It is dynamic, and the rotary-tray of co-axial connection is caused equally to vibrate, and eventually affect scanning accuracy.Then one is used
Pallet is arranged on rotary-tray and vibrates caliberating device for kind, and using existing for acquiring the camera of laser scanning signal,
Synchronous acquisition pallet vibrates the location information of caliberating device, so as to (it is practical new can be this only increasing processor
The master controller that type is proposed, is also possible to third party and master controller establishes the host for having data connection, refers mainly to generation herein
With analysis camera scanning signal collected, restore the executing subject of 3D rendering) side for pallet vibrate caliberating device
Location information analysis, just can be realized scanning signal collected for corresponding camera, because stepper motor vibrate institute's band
The error come compensates.Reacted under the moment, the position by the location information that the pallet vibrates caliberating device
Vibrational state, therefore, doing the position compensation of scanning signal according to the location information that pallet vibrates caliberating device is this field skill
The method process that art personnel can realize.The raising 3D that the utility model is proposed is specifically described followed by embodiment
How the device of scanning precision is realized, and the preferred embodiment of corresponding expansible realization.
Embodiment 1:
The utility model provides a kind of device of raising 3D scanning precision, as shown in Figure 1, including shell 1, stepping electricity
Machine 2, rotary-tray 3, master controller 4, laser scanner 5, camera 6 and pallet vibrate caliberating device 7, comprising:
The stepper motor 2 is fixed on 1 pedestal of shell, the shaft of stepper motor 2 and 3 shaft of rotary-tray
Coupling；
The laser scanner 5 and the camera 6 are arranged on the shell 1 according to preset acquisition angles, wherein
The camera 6 is for acquiring the scanning signal that the laser scanner 5 projects object to be scanned on rotary-tray 3；
The master controller 4 is arranged in the shell 1, and with the stepper motor 2, laser scanner 5 and camera 6
Connection, for driving the rotation of stepper motor 2, the driving transmitting scanning signal of laser scanner 5, and acquisition camera 6 to adopt
The scanning signal reflected on the slave object to be scanned of collection；
The pallet vibration caliberating device 7 is made of the column platform of discrete distribution, and the column platform is uniformly distributed
Around the rotary-tray 3；For by feeding back to master controller 4 and working as front tray to analyze by after the camera 6 acquisition
Vibration Condition.
In the utility model embodiment, uses a kind of pallet and vibrate caliberating device, and combine this in 3D scanning means
The camera that body just has, for pallet itself because bring is vibrated when stepper motor works, caused by essence in scanning process
Decline problem is spent, the possibility of error compensation is provided.During specific implementation, related existing compensation method can be used for reference,
And it is swept according to the positional fluctuation amplitude of camera pallet vibration caliberating device collected to compensate corresponding time/position point
Retouch information.
During the utility model embodiment specific implementation, the acquisition direction of shown camera and setting height all may
It is adjusted, therefore, if calibration point only is arranged on the top of pallet vibration caliberating device 7, to the significant properties of calibration and can set
It sets difficulty to put forward higher requirements, in the case that the acquisition direction and setting height for being just able to satisfy camera are adjusted, still can
Effectively obtain the motion conditions of the calibration point.Therefore, it is based on the utility model embodiment, it is also proposed that a kind of extension realization
Scheme, the using flexible of the calibration point for improving above-mentioned pallet vibration caliberating device 7, and guarantee that it is acquired by camera
Validity.As shown in Figures 2 and 3, specific:
One or more cutting face 71, also, each are provided on the column platform of the pallet vibration caliberating device 7
Calibration point 72 is provided with (such as Fig. 3 institute on the center (as shown in Figure 2) in cutting face 71 or the intersecting lens in two cutting faces 71
Show).This expansion scheme can be in the case where sufficiently predicting shooting height present in camera and shooting angle, and selection is typical
Several cutting faces 71 or cutting face 71 intersection be arranged calibration point 72, to guarantee when calibration point 72 is acquired by camera
Target prominent characteristic provides more accurate method to record the vibration information of each column platform under motion state.Wherein, described
Calibration point 72 can be the coating mark more bright-coloured using color, to improve the accuracy of the acquisition identification of camera 6.
During specific implementation, in addition to multiple cut is arranged on the column platform of pallet vibration caliberating device 7 using above-mentioned
Bevel is set outside 72 mode of calibration point, and the utility model, which additionally provides another kind, can reach similar accurate record effect, but
It is that may realize that preferred embodiment is higher using cutting face compared to relatively upper one in cost.Specifically, as shown in figure 4, described take the photograph
Picture head 6 includes the first camera 61 and second camera 62, specific:
First camera 61 is arranged on the sliding rail on shell 1, can be on the sliding rail according to collected object
Size, adjustment and the angle of laser scanner 5, so that the position that the two is formed meets the acquisition for corresponding to the acquisition target
Angle.Wherein, the angle of first camera 61 and laser scanner 5, refer specifically to generation is swept with the first camera 61 and laser
Retouching 5 position of device is two-end-point, and with the angle that is constituted centered on object to be scanned position.
The second camera 62 is fixed on shell 1, dedicated for acquiring the position of the pallet vibration caliberating device 7
Information.Wherein, the location information of corresponding pallet vibration caliberating device 7 can equally use such as Fig. 2 or shown in Fig. 3,
The mode of calibration point 72 is set to complete on corresponding column platform.At this point, corresponding calibration point 72 can be positioned only on column platform
One at, and be optimal to be flushed with the acquisition central axes of the camera lens of the camera 62.
In the present invention, as shown in Figure 1, the spacing distance of the column platform is fast according to the rotation of rotary-tray 3
The acquisition distance that the collection period of degree and camera 6 is calculated, obtains after doing preset weighting.Wherein, the parameter of weighting
Be worth size, be arranged according to the acquisition precision of camera 6, such as: the acquisition precision of camera is higher, corresponding weighted value
All over bigger, it is final it is reflected be column platform setting interval it is bigger, corresponding processing and manufacturing cost also can be lower.
During the utility model embodiment is realized, it is contemplated that needs further increase collected by camera 6
The positional information calculation of the pallet vibration caliberating device 7 is used for the accurate of the offset of the scanning information of object to be scanned feedback
When spending, after such as Fig. 2 or Fig. 3 and improvement project shown in Fig. 4, also it is not enough to reach high accurancy and precision requirement.This is
Because camera 6 (or camera 62) the vibration information of collected calibration point 72 and the vibration information of object to be scanned deposit
In subtle difference, and the reason of bring the difference, both it is with a distance from the centre of oscillation (shaft of stepper motor 2) not
Together, therefore, in order to further increase the precision that offset acts on scanning information, in conjunction with the utility model, there is also a kind of excellent
The implementation of choosing, as shown in figure 5, the column platform is additionally provided with infrared Distance-sensing towards the side at 3 center of rotary-tray
Device 73, the infrared distance sensor 73 are connect with the main controller；For acquiring and the spacing of fixed object to be scanned
From so that the vibrational state of each column platform is converted to the acquisition reflected by object to be scanned by the distance by master controller 4
The vibration compensation of signal.What corresponding compensation method was known to the skilled person, do not do special description and restriction again.
In specific implementation, in addition to can use it is above-mentioned using infrared distance sensor 73 realize column platform with wait sweep
It is outer to retouch distance detection between object, it can also be using another alternative implementation, specifically, the camera 6 is specially
Binocular camera；Then the binocular camera is also used to acquire the letter of the image between each column platform and fixed object to be scanned
Breath, so that each column platform is calculated at a distance from the image between fixed object to be scanned in master controller 4, so as to master control
The vibrational state of each column platform is converted to by the distance and is mended by the vibration of the acquisition signal of object to be scanned reflection by device 4 processed
It repays.
In order to further increase the job stability of rotary-tray 3, in conjunction with the utility model, there is also a kind of preferred realities
Existing scheme, as shown in fig. 6, the bottom corresponding to the rotary-tray 3 is additionally provided with one or more on the shell 1
Bolster stake 8, the top of the bolster stake 8 is provided with bearing 81, and the bearing 81 is abutted with 3 bottom of rotary-tray.
On the other hand, it is driven bring inertia in order to improve stepper motor 2 and rotary-tray 3 and shakes, it is practical new in conjunction with this
Type embodiment, there are a kind of preferred implementations, as shown in fig. 7,3 bottom of the rotary-tray is arranged there are three gear 31,
The inside of three gears 31 is respectively at the first gear coupling 21 being fixed on stepper motor 2；Outside three gears
Side is coupled respectively at the ring gear 11 being fixed on shell 1.
In many implementations of the utility model, for installation and the tune of the laser scanner 5 and the camera 6
Prosecutor formula provides a kind of brief realization structure, as shown in Figure 1, the laser scanner 5 and the camera 6 are set together
On one slide bar 12, wherein the laser scanner 5 and the camera 6 can slide on the slide bar 12 respectively, to adjust
Whole angle between the two.Preferably, the laser scanner 5 and the camera 6 itself can also be in the cunnings that it is fixed
Corresponding position rotates the angle launch angle and acquisition angles of itself on bar 12.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection scope within.
Claims (10)
1. a kind of device for improving 3D scanning precision, which is characterized in that including shell (1), stepper motor (2), rotary-tray
(3), master controller (4), laser scanner (5), camera (6) and pallet vibration caliberating device (7), comprising:
The stepper motor (2) is fixed on the shell (1) pedestal, the shaft of stepper motor (2) and the rotary-tray (3)
Shaft coupling；
The laser scanner (5) and the camera (6) are arranged on the shell (1) according to preset acquisition angles,
In, the camera (6) is for acquiring the scanning that the laser scanner (5) projects object to be scanned on rotary-tray (3)
Signal；
The master controller (4) setting in the shell (1), and with the stepper motor (2), laser scanner (5) and take the photograph
As head (6) connection, for driving the stepper motor (2) rotation, driving laser scanner (5) to emit scanning signal, and obtain
The scanning signal reflected on the slave object to be scanned for taking camera (6) to acquire；
Pallet vibration caliberating device (7) is made of the column platform of discrete distribution, and the column platform is evenly distributed in
Around the rotary-tray (3)；For by the way that by after the camera (6) acquisition, it is current to analyze to feed back to master controller (4)
The Vibration Condition of pallet.
2. the device according to claim 1 for improving 3D scanning precision, which is characterized in that the pallet vibration calibration dress
Set and be provided with one or more cutting face (71) on the column platform of (7), also, the center in each cutting face (71) or
Calibration point is provided on the intersecting lens of two cutting faces (71) of person.
3. the device according to claim 1 for improving 3D scanning precision, which is characterized in that the camera (6) includes
First camera (6) and second camera (6), specific:
First camera (6) is arranged on the sliding rail on shell (1), can be on the sliding rail according to collected object
Size, the angle of adjustment and laser scanner (5), so that the position that the two is formed meets the acquisition for corresponding to the acquisition target
Angle；
The second camera (6) is fixed on shell (1), dedicated for acquiring the position of pallet vibration caliberating device (7)
Confidence breath.
4. the device according to claim 1 to 3 for improving 3D scanning precision, which is characterized in that the column platform
The acquisition distance that spacing distance is calculated according to the rotation speed of rotary-tray (3) and the collection period of camera (6), is doing
It is obtained after preset weighting.
5. the device according to claim 1 to 3 for improving 3D scanning precision, which is characterized in that column platform court
It to the side at rotary-tray (3) center, is additionally provided with infrared distance sensor (73), the infrared distance sensor (73) and institute
State master controller (4) connection；For acquiring the distance between fixed object to be scanned, so that master controller (4) is by each column
The vibrational state of shape platform is converted to by the distance by the vibration compensation of the acquisition signal of object to be scanned reflection.
6. the device according to claim 1 to 3 for improving 3D scanning precision, which is characterized in that the camera
It (6) is specially binocular camera (6)；Then the binocular camera (6) be also used to acquire each column platform with it is fixed to be scanned
Image information between object, so that master controller (4) is calculated between each column platform and fixed object to be scanned
The distance of image, so that master controller (4) is converted to the vibrational state of each column platform by object to be scanned by the distance
The vibration compensation of the acquisition signal of reflection.
7. the device according to claim 1 for improving 3D scanning precision, which is characterized in that right on the shell (1)
The bottom of rotary-tray described in Ying Yu (3) is additionally provided with one or more bolster stake (8), sets at the top of the bolster stake (8)
It is equipped with bearing (81), and the bearing (81) is abutted with rotary-tray (3) bottom.
8. the device according to claim 1 for improving 3D scanning precision, which is characterized in that rotary-tray (3) bottom
There are three gears for portion's setting, and the inside of three gears is respectively at the first gear coupling being fixed on stepper motor (2)；Institute
The outside of three gears is stated respectively at the ring gear coupling being fixed on shell (1).
9. the device according to claim 1 for improving 3D scanning precision, it is characterised in that:
The laser scanner (5) and the camera (6) are set on same slide bar (12), wherein the laser scanner
(5) it can be slided on the slide bar (12) respectively with the camera (6), so as to adjust angle between the two.
10. the device according to claim 9 for improving 3D scanning precision, which is characterized in that the laser scanner (5)
With the camera (6) itself itself angle launch angle can also be rotated in corresponding position on the slide bar (12) that it is fixed
And acquisition angles.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821607094.9U CN209279914U (en) | 2018-09-29 | 2018-09-29 | A kind of device improving 3D scanning precision |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821607094.9U CN209279914U (en) | 2018-09-29 | 2018-09-29 | A kind of device improving 3D scanning precision |
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| Publication Number | Publication Date |
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| CN209279914U true CN209279914U (en) | 2019-08-20 |
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| CN201821607094.9U Active CN209279914U (en) | 2018-09-29 | 2018-09-29 | A kind of device improving 3D scanning precision |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112967380A (en) * | 2021-03-05 | 2021-06-15 | 云南电网有限责任公司曲靖供电局 | Miniature foldable three-dimensional live-action modeling unmanned aerial vehicle system |
-
2018
- 2018-09-29 CN CN201821607094.9U patent/CN209279914U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112967380A (en) * | 2021-03-05 | 2021-06-15 | 云南电网有限责任公司曲靖供电局 | Miniature foldable three-dimensional live-action modeling unmanned aerial vehicle system |
| CN112967380B (en) * | 2021-03-05 | 2023-04-07 | 云南电网有限责任公司曲靖供电局 | Miniature foldable three-dimensional live-action modeling unmanned aerial vehicle system |
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