CN2665667Y - Laser tridimensional true colour scanner - Google Patents
Laser tridimensional true colour scanner Download PDFInfo
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- CN2665667Y CN2665667Y CN 03262612 CN03262612U CN2665667Y CN 2665667 Y CN2665667 Y CN 2665667Y CN 03262612 CN03262612 CN 03262612 CN 03262612 U CN03262612 U CN 03262612U CN 2665667 Y CN2665667 Y CN 2665667Y
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Abstract
The utility model discloses a laser three dimensional true color scanner. The key technique is that: a scanning head composes a double perspective scanning camera, an illuminating pulse light source and a laser pulse light source. The scanning head is arranged on a horizontal beam which is connected with a lead screw and a slide bar. The horizontal beam is connected with an inferior translational platform through the slide bar and a platform is arranged on the top of translational platform. The utility model adopts double perspective CCD image device which can complement field of view and can reduce effectively the blind area depth error caused by big changes of surface curvature. Adoption of exposing in two alternating lighting conditions can not only eliminate the influence of object surface color and background color to coordinates of an object surface but also obtain the true color the object under normal lighting condition.
Description
Technical field
The utility model relates to a kind of laser 3 d scanner, particularly a kind of three-dimensional true color scanner of non-contact laser that writes down three-dimensional object surface volume coordinate and these spatial point position surface colors.
Background technology
In the various applications of computing machine CAD/CAM technology, particularly based on the design manufacturing system under the three dimensional constitution (as: famous Unit Graphics, Pro/E) fields such as the modeling process in kind in and reverse-engineering, restoration of facial features, historical relic recovery, area of computer aided engraving, sculpture.Often require the three-dimensional surface coordinate and the color characteristic of the surface configuration complex object of exist actually are collected on the computing machine apace, again with the model of this object of computerized three-dimensional reconstruction.Requiring the calculating function to show reality intuitively in some cases, help people on the fluorescent screen, to reproduce three-dimensional world true to nature.Just be necessary that when obtaining the volume coordinate parameter of reflection volume morphing, also the true colors information with the body surface correspondence together collects this moment.For reaching this purpose, produce multiple three-dimensional scanning measurement device in the world in succession, as three-dimensional coordinate measuring instrument, non-contact laser spatial digitizer, three dimensional optical scanning instrument, computed tomography instrument CT, nuclear magnetic resonance analyser MRI, aerial survey etc.These devices can carry out the body measurement at real complex object and obtain three-dimensional data.
The three-dimensional body coordinate-measuring instrument mainly contains two big classes at present: a class is the accurate 3 D measuring instrument of contact; Another kind of is non-contact 3-D scanner (as: three-dimensional laser scanner, structured light or encoded light three-dimensional camera, computed tomography instrument CT, nuclear magnetic resonance analyser MRI, aerial survey etc.).Contact-type 3 D coordinate measuring apparatus fundamental purpose is accurate Measuring Object formal parameter, does not consider the surface color information of measurand.The common equipment that is used for obtaining fast the object surface shape parameter is three-dimensional laser scanner, structured light or encoded light three-dimensional camera, this part instrument can only be gathered the three-dimensional coordinate data of object mostly, and there is not the body surface colouring information, as the FastScan of the U.S., the MENSI 3D laser scanner of France etc.
The color three dimension scanner that has, 3D Capturor as Canadian inspeck company, its essence is not the color scanner for real meaning, and only be to utilize structured light to realize surveying the body surface three-dimensional coordinate parameters, then the two dimensional surface photo of object is come the color attribute of represented object as the texture mapping of three-dimensionalreconstruction object, this is just unavoidable to produce by stretching and the compression deformation of planar image in the 3-D view texture mapping process, and three-dimensional body is carried out texture mapping also is the relatively more bothersome work of part.
Another kind of color three dimension scanner, as the spatial digitizer of describing in the 3030RGB scanner head of U.S. Cyberware company and the Chinese patent application 981024084, though need not adopt artificial splicing texture mapping in the scanning later stage, the surface color of the 3 D color object that collects and body surface specified point do not have real incidence relation.And when color of object surface or background color are close with laser color, can influence the identification to the body surface form, the interference of surround lighting also is a undesirable element that is difficult to avoid for accurate identification laser position image in addition.Another shortcoming that this technology exists is to have only to bear the CCD image sensor that the three-dimensional object surface coordinate parameters is measured, thereby can't overcome the blind area noise that position that object surface depth undergos mutation produces.
Chinese patent application 008108501 has been described a kind of three dimensional optical scanning method, this technology belongs to real three-dimensional color scanning technology, and it also obtains the surface color information that joins with this spot correlation on the object in the three-dimensional coordinate parameter that obtains the body surface specified point.But it adopts the point source of light of multi-wavelength component, therefore causes data acquisition efficiency not high; The three dimensional optical scanning method has only optical devices of surveying object surface depth information in addition, might cause bigger blind area depth error like this.
Summary of the invention
The utility model purpose is to provide a kind of laser three-D true color scanner, obtains the colouring information on the body surface when obtaining the body surface three-dimensional coordinate parameters, reduces the blind area depth error, alleviates the shortcoming of prior art.
The purpose of this utility model is to realize like this.A kind of laser three-D true color scanner, wherein scanner head is installed on the horizontal beam, and horizontal beam is connected with slide bar with leading screw, and an end of horizontal beam is provided with second stepper motor, and first stepper motor is connected with leading screw; Scanner head is made of double-view angle scanning camera, bright pulse light source and laser pulse light source; Horizontal beam is connected with the translate stage of below by slide bar, and the both sides of translate stage are provided with the 3rd stepper motor and the 4th stepper motor, and the end face of translate stage is provided with article carrying platform.
Advantage of the present utility model: (1) adopts double vision angle CCD camera head to realize the visual field complementation, can reduce the blind area depth error that causes because of surface curvature change is excessive effectively.(2) the utility model utilizes same set of optical devices object to be taked the exposure method of two kinds of lighting condition checkers, help eliminating color of object surface or background color to the influence of body surface coordinate identification, can obtain the true qualities of object under the normal illumination condition again.(3) utilize the multiple exposure method of light and shade, can effectively overcome the interference to the laser image location recognition such as body surface intrinsic colour and smooth finish, have higher object adaptability, improved measuring accuracy body surface spatial point coordinate.
Description of drawings
Fig. 1 is the utility model structure construction synoptic diagram
Fig. 2 laser deflection scanister synoptic diagram
Fig. 3 controller block diagram
The anti-blind area of Fig. 4 double-view angle scanning synoptic diagram
Fig. 5 scanning head optics device scheme of installation
Fig. 6 wide viewing angle scheme synoptic diagram
Embodiment
Accompanying drawing is a specific embodiment of the utility model.
Below in conjunction with accompanying drawing the utility model particular content is described further.
As shown in Figure 1, scanner head 13 by about two colored CCD imageing sensor 6L, 6R, white highlighted semiconductor light-emitting-diode matrix lamp light source 7 and wire semiconductor laser light resources 12 constitute; Scanner head 13 is installed on the horizontal beam 5, and horizontal beam 5 one ends are provided with second stepper motor 3 (directions X driving), and horizontal beam 5 is connected with slide bar 10 with leading screw 11, and horizontal beam 5 is driven by ball-screw 11, first stepper motor 2 (driving of Z direction) and does vertical movement; Be rotation article carrying platform 9 on the translate stage 1, rotation article carrying platform 9 is driven by a cover worm-and-wheel gear, the 4th stepper motor 8, and translate stage is driven by the 3rd stepper motor 4 (driving of Y direction); Under computing machine or manual control, scanned and relative position scanner head 13 can be done the translation adjustment on three-dimensional X, Y, Z direction, and object rotates with rotation platform.
As shown in Figure 2, present embodiment wire scan laser generates by laser instrument and deflection optical scanister.Red laser diode 14 is (after the laser of λ=630nm) send focuses on through lens combination 15 and cylindrical mirror 16, project high speed rotating polygonal mirror 17, form through optical nonlinearity corrective lens (eye protection) 18, this sweep trace is adjusted to the center of rotation platform aimed at, and vertical.
As shown in Figure 3, single-chip microcomputer 20 control laser pulse control drive unit 22, communication interface 21, the asynchronous control module 23 of light and shade exposure light source, X segment control drive unit 25, Z to translation stepper motor numeral segmentation control drive unit 26, rotation platform stepper motor numeral segmentation control drive unit 27 to translation stepper motor numeral segmentation control drive unit 24, Y to translation stepper motor numeral in the laser true color scanner controller.
In the one camera measuring system, according to known optical triangulation principle, must allow the optical axis of laser and ccd sensor have a certain degree, thereby must have certain observation dead angle, i.e. blind area for some body surface.
Is blind spot as A point among Fig. 4 with respect to left ccd image sensor 6L, but passes through replenishing of right ccd image sensor 6R, overcomes the blind area noise image that the one camera scanning system can't be avoided effectively.The utility model adopts the double-view angle scanning measurement mechanism, and scanister disposes two ccd image sensors.They are simultaneously from two view objects, and it is big and be in the position in indentation zone to detect the body surface curved transition easily.
As shown in Figure 5, in order to realize the measurement of double vision angle three-dimensional object surface volume coordinate, dead zone-eliminating noise effectively, optical system need satisfy following condition:
1. about two visual angle ccd image sensors be centered close to same planar S 1 (faces of two ccd image sensor center processes), and this plane is vertical with the planar S 2 (laser swept surface) that laser scanning line forms.
2. the optical axis of two visual angle ccd image sensors should be positioned at same plane S3 (two faces that the ccd image sensor optical axis constitutes) about.
3. keep symmetry equivalent angle α (angle of ccd image sensor optical axis and laser swept surface) between the planar S 2 that the optical axis of two visual angle ccd image sensors and laser scanning line form about.
4. the camera lens of two visual angle ccd image sensors makes both be in the identical focal length and the depth of field about regulating.
As shown in Figure 6, increase and look up scanner head 28 and overlook 29 liang of covers of scanner head optical scanner, can construct the wide viewing angle scheme with facing scanner head 13, expand the observation visual angle on the positive vertical direction, be convenient to scan near those slope variation larger objects in two ends in vertical direction.
Under computer control, to being placed on the Exposure mode of the two kinds of lighting condition checkers of object enforcement on the rotation article carrying platform.Exactly concrete: close the environment lighting source, open the laser scanning light source, the laser scanning line image that is subjected to the object surface depth modulation is caught in certain zone on the scanning object, is called for short dark exposed image.Be maintained fixed under the constant condition in the object attitude, open the ambient lighting light source, close LASER Light Source simultaneously, catch the object chromatic image, be called for short bright exposed image.According to dark exposed image, identify the laser stitching that is subjected to the modulation of object scanning warp change in depth, calculating is measured and is excited the three-dimensional coordinate information at irradiate light place on the object, this two dimensional surface stitching is converted to a warp-wise outline line of three-dimensional body according to known triangulation algorithm.Gather and the object scanning of dark exposure laser scanning line corresponding position colouring information from bright exposed image again through line position.Once secretly exposure and bright exposure realizes gathering the color vector that is scanned warp volume coordinate vector and this object scanning warp by object that constitutes through the space surface set of points of continuity of line position of object.After the intact sampling at an angle, object is done a low-angle rotation, repeat above-mentioned sampling process, after whole object is scanned a week, finish 3-D scanning process whole object.For vertical higher object, splicing is complete automatically after carrying out fractional scanning by computer control.Can when accurately obtaining the 3 D stereo coordinate parameters of body surface point, catch the realistic colour information related according to this method with this point.
In the scanning process, whole scanner is placed in the camera bellows.Two ccd image sensors are caught two visual angle images about collection from view directions separately simultaneously.Earlier (as: right view) from top to down is searched for the two-dimensional coordinate of positioning object surface reflection laser picture point line by line from one of them visual angle image.If run into the blind area, in the time of can't finding the two-dimensional coordinate of laser picture point on the current line on right view, then determine the two-dimensional coordinate of laser picture point to the left view enterprising line search of going together.In the time all can't determining the two-dimensional coordinate of laser picture point on two visual angle colleagues, this position is made special processing (as hole).
The wire scan laser also can be by producing such as methods such as acoustooptic modulation deflection scanning, cylindrical mirrors except that aforementioned generation method.
The laser pulse light source also can adopt point-like, column, netted, circular light grating structure type light source or encoded light source except can using the linear laser light source.
Claims (5)
1. a laser three-D true color scanner comprises controller and article carrying platform (9), it is characterized in that:
A. scanner head (13) is installed on the horizontal beam (5), and horizontal beam (5) is connected with slide bar (10) with leading screw (11), and an end of horizontal beam (5) is provided with second stepper motor (3), and first stepper motor (2) is connected with leading screw (11);
B. scanner head (13) by the scan camera shooting head (6L, 6R), bright pulse light source (7) and laser pulse light source (12) constitute;
C. horizontal beam (5) is connected with the translate stage (1) of below by slide bar (10), and the both sides of translate stage (1) are provided with the 3rd stepper motor (4) and the 4th stepper motor (8), and the end face of translate stage (1) is provided with article carrying platform (9).
2. laser three-D true color scanner according to claim 1 is characterized in that article carrying platform (9) is the rotation article carrying platform.
3. laser three-D true color scanner according to claim 1, laser pulse light source (12) adopt wire, point-like, column, netted, circular light grating structure type light source or encoded light source.
4. laser three-D true color scanner according to claim 3, laser pulse light source (12) adopts the linear laser light-pulse generator.
5. laser three-D true color scanner according to claim 1, bright pulse light source (7) adopts white emitting light source.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03262612 CN2665667Y (en) | 2003-08-12 | 2003-08-12 | Laser tridimensional true colour scanner |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03262612 CN2665667Y (en) | 2003-08-12 | 2003-08-12 | Laser tridimensional true colour scanner |
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| CN2665667Y true CN2665667Y (en) | 2004-12-22 |
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| CN 03262612 Expired - Fee Related CN2665667Y (en) | 2003-08-12 | 2003-08-12 | Laser tridimensional true colour scanner |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103776387A (en) * | 2012-10-26 | 2014-05-07 | 上海测源数码科技有限公司 | Color large-space scanner and scanning method thereof |
| WO2015047067A1 (en) * | 2013-09-24 | 2015-04-02 | Generadora De Desarrollos Tecnologicos Gdtec, S. De R.L. De C.V. | Three-dimensional image scanner |
| CN104881864A (en) * | 2015-04-14 | 2015-09-02 | 精迪测量技术（上海）有限公司 | Human body head three dimensional scanner and three-dimensional modeling method |
| CN105928457A (en) * | 2016-06-21 | 2016-09-07 | 大连理工大学 | Omnidirectional three-dimensional laser color scanning system and method thereof |
| CN107065424A (en) * | 2017-02-15 | 2017-08-18 | 邢天宜 | Holographic system and holographic display system and Stereographing system and display methods |
| CN107727000A (en) * | 2017-11-15 | 2018-02-23 | 浙江森马服饰股份有限公司 | The measuring apparatus and measuring method of a kind of human body accurate measurement for cloth-cutting |
| CN108534672A (en) * | 2018-03-30 | 2018-09-14 | 深圳积木易搭科技技术有限公司 | A kind of spatial digitizer |
| CN110230998A (en) * | 2019-06-24 | 2019-09-13 | 深度计算(长沙)信息技术有限公司 | A kind of fast precise method for three-dimensional measurement and device based on line laser and binocular camera |
-
2003
- 2003-08-12 CN CN 03262612 patent/CN2665667Y/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103776387A (en) * | 2012-10-26 | 2014-05-07 | 上海测源数码科技有限公司 | Color large-space scanner and scanning method thereof |
| CN103776387B (en) * | 2012-10-26 | 2016-12-07 | 上海测源数码科技有限公司 | Colored large space scanner and scan method thereof |
| WO2015047067A1 (en) * | 2013-09-24 | 2015-04-02 | Generadora De Desarrollos Tecnologicos Gdtec, S. De R.L. De C.V. | Three-dimensional image scanner |
| CN104881864A (en) * | 2015-04-14 | 2015-09-02 | 精迪测量技术（上海）有限公司 | Human body head three dimensional scanner and three-dimensional modeling method |
| CN105928457A (en) * | 2016-06-21 | 2016-09-07 | 大连理工大学 | Omnidirectional three-dimensional laser color scanning system and method thereof |
| CN107065424A (en) * | 2017-02-15 | 2017-08-18 | 邢天宜 | Holographic system and holographic display system and Stereographing system and display methods |
| CN107065424B (en) * | 2017-02-15 | 2022-05-24 | 天津长瑞大通流体控制系统有限公司 | Holographic imaging system, holographic display system, stereoscopic imaging system and display method |
| CN107727000A (en) * | 2017-11-15 | 2018-02-23 | 浙江森马服饰股份有限公司 | The measuring apparatus and measuring method of a kind of human body accurate measurement for cloth-cutting |
| CN108534672A (en) * | 2018-03-30 | 2018-09-14 | 深圳积木易搭科技技术有限公司 | A kind of spatial digitizer |
| CN110230998A (en) * | 2019-06-24 | 2019-09-13 | 深度计算(长沙)信息技术有限公司 | A kind of fast precise method for three-dimensional measurement and device based on line laser and binocular camera |
| CN110230998B (en) * | 2019-06-24 | 2022-03-04 | 深度计算(长沙)信息技术有限公司 | Rapid and precise three-dimensional measurement method and device based on line laser and binocular camera |
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| CF01 | Termination of patent right due to non-payment of annual fee |