CN219875853U - 3D scanning handheld terminal - Google Patents

Abstract

The utility model belongs to the technical field of electronic mapping equipment, and particularly relates to a 3D scanning handheld terminal. Comprises a shell, a camera, an image processing device, a key part, a display screen and a handle, wherein the utility model integrates all devices for 3D mapping into a handheld terminal, the user shoots plane views of different poses of the measured object based on the camera, and the image processing device draws a three-dimensional model based on the plane views of the different poses; compared with manual measurement and subjective description of the traditional technology, the 3D mapping precision of the measured object can be greatly improved, and the mapping flexibility and the mapping efficiency are high.

Description

3D scanning handheld terminal

Technical Field

The utility model belongs to the technical field of electronic mapping equipment, and particularly relates to a 3D scanning handheld terminal.

Background

In the process of storing and transferring materials, parameters such as the size, the shape and the like of large cargoes are generally measured manually, described subjectively and the like, so that the working efficiency is low, and the time and the labor are consumed; although 3D imaging technology has been popular, miniaturization and handholding in production and life are insufficient, and in the field of logistics, there is a need for a portable tool that can be held, and that can help staff to quickly measure parameters such as the size and the dimension of goods, so as to facilitate subsequent work such as material transfer scheme design and material storage layout.

Disclosure of Invention

In view of this, the present utility model proposes a 3D scanning handheld terminal, which is provided with a housing, a camera, an image processing device, a key part, a display screen and a handle, wherein each device for 3D mapping is integrated into a handheld terminal, a user shoots planar views of different poses of a measured object based on the camera, and the image processing device draws a three-dimensional model based on the planar views of the different poses; compared with manual measurement and subjective description of the traditional technology, the utility model can greatly improve the 3D mapping precision of the measured object, and has high mapping flexibility and high mapping efficiency.

In order to achieve the technical purpose, the utility model adopts the following specific technical scheme:

a 3D scanning handheld terminal for handheld measurement of an object under test and building a three-dimensional model of the object under test, comprising:

a housing;

a camera mounted on the housing for capturing a plan view of the object under test;

the image processing device is arranged in the shell, is communicated with the camera, and constructs a three-dimensional model of the measured object based on plane views of different poses of the measured object;

a key part arranged on the first side surface of the shell and used for manually controlling the camera;

a display screen in communication with the image processing device for displaying the plan view;

and the handheld handle is arranged on the second side surface of the shell.

Further, the video camera is a perspective camera; the perspective camera comprises at least two groups of photosensitive lenses with optical axes parallel to each other.

Further, the 3D scanning handheld terminal further comprises a laser range finder; the laser rangefinder is in communication with the image processing device.

Further, the laser range finder and the camera are positioned on a third side surface of the shell, and the third side surface is perpendicular to the second side surface.

Further, the image processing device and the display screen are a digital processor and a touch screen of a smart phone.

Further, a mobile phone clamping groove is formed in the shell; when the smart phone is in the mobile phone clamping groove, the display screen and the second side face are positioned on two opposite sides of the shell.

Further, the first side surface and the second side surface are located on two opposite sides of the shell.

Further, the shell is also provided with a data interface through hole; the data interface through hole is convenient for the data interface of the smart phone to be exposed out of the shell.

Further, the 3D scanning handheld terminal further includes a second handheld handle; the second hand-held handle is arranged on the second side surface.

By adopting the technical scheme, the utility model has the following beneficial effects:

1. the measurement of the data such as the size, the shape and the dimension of the goods in the logistics transportation and the goods storage work is quickened, a user only needs to hold the equipment, the camera of the equipment is aimed at the goods to be measured, the equipment can measure the length, width and height data of the goods and load the data to the data management terminal, and a 3D model diagram is generated at the display end, so that the burden of staff is greatly reduced, and the working efficiency is quickened;

2. at present, the 3D scanning technology and the measurement imaging technology are integrated, miniaturized and handheld, and few products are applied to the logistics field; the method has good commercial application prospect;

3. the equipment has good compatibility, the terminal matrix is generally a common electronic equipment, the functions of network interconnection, data sharing, data transmission and the like can be realized, the function expansion of the equipment is realized, the equipment interconnection by multiple ports is supported, and the connection of the handheld equipment and a notebook computer and other large-scale systems is supported, so that the expansion of other works is facilitated.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is an isometric view of a 3D scanning handheld terminal in accordance with an embodiment of the utility model;

FIG. 2 is a side view of a 3D scanning handheld terminal in accordance with an embodiment of the present utility model;

FIG. 3 is a front view of a 3D scanning handheld terminal in accordance with an embodiment of the present utility model;

FIG. 4 is a flowchart illustrating the operation of an image processing apparatus according to an embodiment of the present utility model;

wherein: 1. a housing; 2. a first handle; 3. a second handle; 4. a camera; 5. a key section; 6. a display screen; 7. and a data interface.

Detailed Description

Embodiments of the present utility model will be described in detail below with reference to the accompanying drawings.

In one embodiment of the present utility model, a 3D scanning handheld terminal is provided for handheld measurement of an object to be measured and building a three-dimensional model of the object to be measured, as shown in fig. 1 to 3, including:

a housing 1;

a camera mounted on the housing 1 for capturing a plan view of the object to be measured;

an image processing device which is arranged in the shell 1 and is communicated with the camera, and constructs a three-dimensional model of the measured object based on the plane views of different poses of the measured object;

a key part 5 provided at a first side of the housing 1 for manually controlling the camera;

a display screen 6 in communication with the image processing device for displaying the plan view;

a hand grip is mounted on the second side of the housing 1.

The housing 1 of the present embodiment is a structural member made of a polymer material such as plastic, and is internally integrated with a circuit and a connection device for facilitating mutual data interaction of the camera, the key part 5, and the image processing device.

When the three-dimensional imaging device is used, according to the three-dimensional imaging principle, the image processing device needs to receive three views (front view, top view and side view) of goods (objects to be detected) at least, three-dimensional data of the goods can be generated according to the three views, and for imaging requirements of the three views, firstly, after the 3D scanning handheld terminal of the embodiment needs to be held to lock the goods, an operator needs to take a picture from directions with 3 solid angles being larger than 90 degrees, in order to ensure clear accuracy of imaging each time, the imaging lens adopts a large circular ring design, high resolution configuration is adopted, and comprehensive definition of imaging is ensured.

The key part 5 of the present embodiment can adjust the focal length and aperture of the camera so as to clearly image the object to be measured.

In this embodiment, the video camera is a perspective camera; the perspective camera comprises at least two groups of photosensitive lenses with optical axes parallel to each other.

In this embodiment, the 3D scanning handheld terminal further includes a laser rangefinder; the laser rangefinder is in communication with the image processing device. The laser rangefinder and the camera of this embodiment may be disposed on the same plane to establish a dimensional reference for a plan view to accurately describe the dimensions of the cargo in the Saratio model.

The laser range finder and the camera are positioned on a third side surface of the shell 1, and the third side surface is perpendicular to the second side surface.

In one embodiment, the image processing device and the display 6 are a digital processor and a touch screen of a smart phone. A clamping groove, a clamping part and a data jack of a data connection camera for clamping the smart phone are arranged in the shell 1; the size and the socket are conventionally planned based on the specific model of the camera and the smart phone, and the embodiment is not limited.

In order to facilitate operation, as shown in fig. 1-3, the housing 1 of the present embodiment is provided with a mobile phone slot; when the smart phone is in the mobile phone clamping groove, the display screen 6 and the second side face are positioned on two opposite sides of the shell 1. The first side and the second side are located on opposite sides of the housing 1.

In order to facilitate the data export of the three-dimensional model, as shown in fig. 1 and 2, a through hole of a data interface 7 is further arranged on the shell 1; the through hole of the data interface 7 facilitates the data interface 7 of the smart phone to be exposed out of the housing 1.

The 3D scanning handheld terminal further comprises a second handheld handle; the second hand-held handle is arranged on the second side surface.

In some embodiments, the image processing device is not limited to a smart phone, a camera and a 3D scanner, and the existing imaging platform is taken as a base, corresponding functional software and hardware are additionally installed, so that modification experiments are performed to achieve the expected effects of the above embodiments, and a specific workflow is shown in fig. 4.

The respective functional software and other hardware integrated by the image processing apparatus of the present utility model are described below.

1. Three-dimensional frame

The application front-end main body uses a Vue.js frame, and on the basis, the WebGL function packaged by the three.js frame is used for realizing the three-dimensional part main body, so that the program can be conveniently used across platforms. WebGL requires graphic knowledge, must have a full knowledge of the shader syntax and write the vertex shader itself if used directly. Js solves the difficult problem of WebGL development complexity, encapsulating the concepts of scenes, cameras, geometry, 3D model loaders, lights, materials, shaders, animations, particles, math tools, etc. These bottom layers can be conveniently skipped by using three.js, so that the developer can write the graphic application program by writing the traditional js.

2. Video camera

Two types of cameras are commonly used at three.js: orthogonal (orthographic) cameras, perspective (perspective) cameras. In order to simulate the human eyes, a perspective camera is generally adopted as the video camera of the embodiment; the orthogonal lens is characterized in that the rendering size of the object is independent of the distance from the object to the lens. That is to say that an object is moved in the scene, the size of which does not change. The orthogonal lens is suitable for 2D scenes, and the perspective lens simulates the visual characteristics of human eyes, so that objects with long distances are smaller. Perspective lenses are generally more suitable for 3D rendering.

3. Light of lamp

In three.js, a light source is necessary, and light is also an essential object in the scene, so that the computer renders the whole environment by calculating the reflection of light. The characteristics of AmbientLight, pointlight, spotlightlight, directionlight, area light and various colors of light sources are used for creating a vivid material transfer environment by using characteristics of static, dynamic calculation and the like, so that the authenticity is improved to the greatest extent.

4. Grid mesh

In the world of computers, an arc is a finite line segment of finite points. When the number of line segments is greater, the length is shorter, and when you are unaware that this is a line segment, a smooth arc appears. The three-dimensional model of the computer is also similar. Only the line segments become planar and are generally described by a grid of triangles. We refer to this model as the Mesh model. In the three.js world, the Material (Material) +geometry (Geometry) is a mesh.

5. Three-dimensional model

According to the embodiment of the utility model, modeling software such as blender is used for building a cargo three-dimensional model, a three-dimensional.js loader is used for realizing model loading, a text/binary model file is converted into a three-dimensional.js object structure, and each loader understands a certain specific file format. Such as JSON/OBJ/MTL/STL, etc. Json can be exported through blender or 3DsMax, and the Json can be exported with the plug-in of each exportjson after model mapping and animation are processed in software, and then the Json file and the corresponding mapping file are exported to the front end.

6. Realization of

An object file is written in JavaScript and linked onto the corresponding model file. The object file comprises the attributes of the length, width, height, material quality, labels, remarks and the like of the model, and after the scene is loaded, the page is rendered on a screen, and the position information processed by the material transfer bearing algorithm is ready to be received at any time and updated in real time. And updating various attributes of the object in real time by receiving the operation of the user on the page, and carrying out new scheme planning.

1. Intelligent ranging:

the 3D scanning handheld terminal provided by the embodiment of the utility model is provided with a laser range finder for carrying out range finding calculation.

2. Calculating the numerical value:

the numerical calculation is based on the most original similarity principle and the human eye imaging principle, and according to the size of a photosensitive area image and the distance between a lens and a photosensitive area, the distance between an object and the lens is analyzed (obtained by intelligent distance measurement in the first step), and the size of a real measured object is calculated by utilizing the principle that the size proportion of each side is the same when two shapes are similar.

3. 3D modeling:

the interface display and function implementation on the display screen 6 of the embodiment of the utility model is developed based on the front end framework of the uni-app. The uni-APP is a front end framework for developing cross-platform application by using Vue.js, a set of codes is written, and the codes can be compiled to a plurality of platforms such as Android, iOS, H5, applets and the like, and compared with ReactNative, weex, flutter and a plurality of mobile cross-platform APP development platforms, the universal application development platform has the advantages of high running speed, original UI experience, multiple plug-ins, abundant documents, high development efficiency, easiness in expansion and maintenance and the like, and has very strong competitive advantage. The uni-app may compile code to multiple platforms. The material visualization system software is compiled on the platform of H5 and finally displayed on the webpage. In the programming process, the mode development of HTML5+CSS+JavaScript is adopted, and unlike the traditional front-end code programming mode, three different modules are written into different files, and finally call is introduced into vue files, so that the programming of the program is simpler. According to the UI design manuscript obtained by design, a home file is created under a page folder under an engineering file wuzi, and a page layout framework is realized. The page is built through various components, including component view package element content, text component writing text content, block component performing list rendering, and input component forming an input box. Firstly, an array containing a plurality of objects is created in data, and different elements in the objects are displayed through indexes of the objects of each array by utilizing a block component at the uppermost part of a page, wherein the method comprises the following steps: six parts of My task, manual input, scanning materials, scheme downloading, intelligent generation and scheme viewing form a task bar. Different interface layouts can be built under each part, the index of the current index as the index of the current click item is changed by writing the @ click event clickModule (index) function in the method, whether the current index is the object index of the user or not is judged in different views, and then a judgment result is obtained through v-show, so that the function of switching different interfaces is realized.

The following is the construction and improvement thought of the 3D modeling and visual scene in the embodiment of the utility model

In the construction of the lower half of the page, page rendering is performed by going in class in the view component using different rendering styles in the imported file of free. The free. Css is a custom rendering file, and contains a large number of rendering styles including layout styles, colors, fonts, spacing, click animation and the like, and various icons which are required to be satisfied by us can be obtained from the css file, namely the iconfont. Css, so that the interface layout is more attractive and the effect is more satisfactory. Through the continuous perfection of the css file, more needed rendering patterns are added, the effect which is needed to be realized by the user can be achieved, and the page can be built more simply and conveniently in the next step along with the continuous perfection of the css file when the user uses the css file. The official network of the uni-app comprises various network materials, a large number of css libraries provide reference, and the documents are quite rich. After the whole page is built, the software implementation function and algorithm are further perfected. There are many buttons in the interface including creating data, scanning imported data, generating a spreadsheet, loading a schema. The use of hooks for data storage export, page lifecycle, page monitoring, etc. are all involved. It also relates to the writing of multi-button events to implement function functions. We can construct the function in method. The functions can also be written uniformly in js files. The js file can call functions in the js file, so that some common functions can be called more conveniently. Meanwhile, when a large number of data formats need to be called for use, in order to enable the page to be displayed more smoothly, the data can be stored in js files and called through reference. In the wuzi item, the frame advantage of the uni-app is well utilized, the vue, css, js files are separated, and the page building and function implementation of the whole software system are completed through the introduction of the separate calls. In terms of 3D animation implementation, we mainly use the Python language for programming. It has the characteristics of easy expansion, glue language and open source. Here we mainly use two three-dimensional visualizations of Matplotlib and NumPy and 3D drawing libraries to realize the visualized images and three-dimensional shapes. And implements a 3d dynamic visualization operation with the mayavi library.

1. 3D move the translate3D (x, y, z) to move the element in these three dimensions, or write separately the translate X (x), translate Y (y), translate Z (z): translate X (100 px); movement of the axis of/(X)

2. 3D scaling

scale3d(number,number,number),

It is also possible to write separately: scaleX (), scaleY (), scaleZ ().

3. 3D rotation

rotate3D (x, y, z, angle), specifies the coordinate axes that need to be rotated

rotateX (angle) the element rotates according to the X-axis.

rotateY (angle) is the rotation of the element according to the y-axis.

rotateZ (angle) is the rotation of the element according to the z-axis.

4. Numerical value loading and export:

the embodiment of the utility model adopts a most basic database management scheme, a small data management system is installed in an image processing device, SQL structured query language is adopted, measurement data is temporarily stored, and data interaction is carried out with computer equipment through a USB port.

The foregoing is merely illustrative of the present utility model, and the present utility model is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present utility model should be included in the present utility model. Therefore, the protection scope of the utility model is subject to the protection scope of the claims.

Claims (9)

1. The 3D scanning handheld terminal is characterized by being used for handheld measurement of an object to be measured and establishing a three-dimensional model of the object to be measured, and comprises:

a housing;

a camera mounted on the housing for capturing a plan view of the object under test;

the image processing device is arranged in the shell, is communicated with the camera, and constructs a three-dimensional model of the measured object based on plane views of different poses of the measured object;

a key part arranged on the first side surface of the shell and used for manually controlling the camera;

a display screen in communication with the image processing device for displaying the plan view;

and the handheld handle is arranged on the second side surface of the shell.

2. The 3D scanning handheld terminal of claim 1, wherein the video camera is a perspective camera; the perspective camera comprises at least two groups of photosensitive lenses with optical axes parallel to each other.

3. The 3D scanning handheld terminal of claim 1, wherein the 3D scanning handheld terminal further comprises a laser rangefinder; the laser rangefinder is in communication with the image processing device.

4. A 3D scanning handheld terminal according to claim 3, characterized in that the laser rangefinder and the camera are on a third side of the housing, the third side being arranged perpendicular to the second side.

5. The 3D scanning handheld terminal of claim 1, wherein the image processing device and the display screen are a digital processor and a touch screen of a smart phone.

6. The 3D scanning handheld terminal of claim 5, wherein a mobile phone card slot is provided on the housing; when the smart phone is in the mobile phone clamping groove, the display screen and the second side face are positioned on two opposite sides of the shell.

7. The 3D scanning handheld terminal of claim 1, wherein the first side and the second side are located on opposite sides of the housing.

8. The 3D scanning handheld terminal of claim 5, wherein the housing is further provided with a data interface through hole; the data interface through hole is convenient for the data interface of the smart phone to be exposed out of the shell.

9. The 3D scanning handheld terminal of claim 1, wherein the 3D scanning handheld terminal further comprises a second handheld handle; the second hand-held handle is arranged on the second side surface.