CN85102933A - Produce the method and apparatus of 3D shape - Google Patents
Produce the method and apparatus of 3D shape Download PDFInfo
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- CN85102933A CN85102933A CN85102933A CN85102933A CN85102933A CN 85102933 A CN85102933 A CN 85102933A CN 85102933 A CN85102933 A CN 85102933A CN 85102933 A CN85102933 A CN 85102933A CN 85102933 A CN85102933 A CN 85102933A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/4202—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model
- G05B19/4207—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine preparation of the programme medium using a drawing, a model in which a model is traced or scanned and corresponding data recorded
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/37—Measurements
- G05B2219/37048—Split beam, stripe projection on object, lines detected with cameras
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49011—Machine 2-D slices, build 3-D model, laminated object manufacturing LOM
Abstract
Being used for producing one from an object with 3D shape one equals or similar in appearance to the apparatus and method of this 3D shape, laser light irradiation is to object.The luminous point of laser beam is picked up by an image pickup device, and the two-dimensional position of luminous point is then tried to achieve each microspur on the vertical direction of object, thereby produces 3D shape.
Description
Technical field
The invention relates to a method and apparatus that produces 3D shape (shape) or three-dimensional body, for example an object with 3D shape (as human body etc.) is generated the method and and the equipment of 3-D view.
Once there were the copying machine of use, casting, reverse mould to wait the proposal that produces the 3D shape that is equal to an object with 3D shape.
The shortcoming of above-mentioned proposal is the limited space owing to copying machine, casting etc., thereby the ability of the three-dimensional shape model of an object is made in the limit restriction, and so just reproducible does not have complex outline corridor and obvious concavo-convex 3D shape.In addition, if this object make by flexible material, just then its copying need artistic feeling and the height skill.
At automatic technology monthly magazine in February, 1981 number 13 No. 2 45-49 page or leaf (AUTOMATION TECHNIQUE.FEBRUARY 1981 of volume, Vol13, No.2, PP45-49) title is in the paper of " utilizing graph technology to duplicate object " (copying of object Using Pattern Technique), having disclosed application ITV(industrial television) video camera picks up the slit optical imagery of penetrating on an object (slit optical image), thereby the ray space coordinate that is produced by body surface light is provided, and the possibility of duplicate physical efficiency power is provided.Yet, do not deliver any concrete equipment that is used for duplicating object in this paper.
Fundamental purpose of the present invention provides a method and apparatus, it can produce a 3D shape with easy measuring method, and can produce with high accuracy and equate with a 3D shape object or with the similar 3D shape of certain enlargement factor, no matter and shape that should material object whether complexity and material hard.
In order to obtain above-mentioned purpose of the present invention, one laser is irradiated onto on the object of 3D shape, thereby the optical imagery that picks up this object is to provide the two-dimensional position of this optical imagery, the optics cutting planes that is obtained by laser just is used for measuring whole object, and a 3D shape just can produce based on the optics cutting planes.
Utilize following description with accompanying drawing, other purposes and feature are just more obvious.Wherein:
Figure 1A and 1B form facing and side view of first embodiment according to the present invention;
Fig. 2 A and 2B explain in first embodiment of the present invention the synoptic diagram of object optics image measurement;
Fig. 3 is the image diagram that is used for representing an itv camera machine (two dimensional image pick device);
Fig. 4 is illustrated in the picture signal state of image shown in Figure 3;
Fig. 5 is a calcspar, and its expression is to the data processing of first embodiment cross sectional shape operation of the present invention;
Fig. 6 A and 6B are facing of second embodiment of the invention and side view;
Fig. 7 A and 7B are the optical imagery measurements that is used to explain second embodiment, one object of the present invention;
Fig. 8 A, 8B and 8C are in second embodiment of the present invention, are used for representing the synoptic diagram of one dimension line sensing video camera (line Sensor Camera) (image pick up equipment) pick-up situation;
Fig. 9 is a calcspar, is used for being illustrated in second embodiment of the present invention the data processing of pair cross-section shape manipulation;
Figure 10 A and 10B are respectively facing of third embodiment of the invention and side view;
Figure 11 is in the third embodiment of the invention, the optics track that expression is picked up by the PSD video camera;
Figure 12 represents to have used in the third embodiment of the invention, the PSD video camera pick up screen;
Figure 13 is a calcspar, is used for representing in the third embodiment of the invention operation of a 3D shape and generation;
Figure 14 is a two-dimensional shapes storage chart in the expression third embodiment of the invention;
Figure 15 is in the expression third embodiment of the invention, two-dimensional shapes is converted to the principle of three-dimensional structure;
Figure 16 is with shown in Figure 14 the same, and expression is converted to two-dimensional shapes in the storage chart of 3D shape;
Figure 17 represents in the 3rd embodiment, constitutes the principle of parallel cut in the production of 3D shape;
Figure 18 represents to be used to constitute the storage chart of parallel cut shown in Figure 17;
Figure 19 is the outboard profile that forms according to four embodiment of the invention;
Figure 20 be illustrated in the 4th embodiment the screen of the itv camera machine that uses (two-dimentional pick device);
Figure 21 is illustrated on the plane of delineation shown in Figure 20, the state of its picture signal;
Figure 22 A and 22B are respectively side-looking and the front view that forms the 5th embodiment according to the present invention;
Figure 23 is illustrated in the image of the itv camera machine that uses in the 5th embodiment;
Figure 24 represents the vision signal state on the plane of delineation shown in Figure 23;
Figure 25 is a calcspar, is illustrated in the 5th embodiment, and the cross section is handled in the measurement of pair cross-section shape;
Figure 26 is in the 5th embodiment, the work system sketch of sheet cutting;
Figure 27 is the side view of expression sixth embodiment of the invention;
Figure 28 A and 28B are respectively forward sight and the side views that forms the 7th embodiment according to the present invention;
Figure 29 represents the image of the itv camera machine that uses in the 7th embodiment;
Figure 30 is illustrated in the state of a vision signal on the plane of delineation shown in Figure 29;
Figure 31 A and 31B are respectively side-looking and the preceding diagrammatic sketch that forms the 8th embodiment according to the present invention;
Figure 32 represents the image of the itv camera machine that uses in the 8th embodiment;
Figure 33 is illustrated in the state of a vision signal on the plane of delineation shown in Figure 29.
Below, will explain first embodiment of the present invention with reference to the accompanying drawings.Figure 1A and 1B represent a part of device of first embodiment, wherein for for the purpose of simplifying explanation, have used one to simplify the model 1 of people's face as object.Model 1 is fixed coordinate, and coordinate axis is the normative reference as the image pick-up device position of beam irradiation position and optical imagery.The center, the end that coordinate is made model 1 is initial point G, has an X-axis to stretch with horizontal direction from initial point G in forward sight Figure 1A, among forward sight Figure 1A and have a Y-axis to stretch with vertical direction from initial point, and the vertical Z of the Central Line axle of a model 1 is arranged among side-looking Figure 1B.One beam irradiation device 2 irradiate light beam 2 with former degree △ h ', for example,, penetrate on model 1 as object with 0.5 millimeter thickness from being light source just like laser beam generator.Thickness be the light beam 2 ' be radiated at of △ h on the model and by a rotating mirror or similarly device and an optical lens system by rotation angle θ scanning.And be as center line at this moment with the line vertical with the Z axle.The beam plane that will be formed by beam flying is as the X-Y axial plane, and makes the initial point G(Zo of Z axle in the bottom surface of model), with this as the benchmark that this object is measured.
One itv camera machine 3 is two dimensional image pick devices, it with a fixed range be arranged in beam irradiation device 2 below.The light beam 2 of beam launcher 2 ' and the optical axis of itv camera machine 3 provide one to pass the Z axle and fixed angles β between between X-Y plane, and the viewing angle that itv camera machine 3 is got is α.Beam launcher 2 is to be installed on regularly on the tooth plate (rack) 8 with itv camera machine 3, and leads in the grain 7 with sliding type; Tooth plate 8 is fixed in spherical nut (ball mut) 6, and this spherical nut 6 is threaded onto on the spherical screw shaft 5.Spherical screw shaft 5 is connected with a step motor (not showing), and this stepper motor steps drives spherical nut 6, so tooth plate 8 is to make the height of corresponding beam diameter △ h rise and descend.
For with light beam 2 ' come the whole periphery (whole peripheral irradiation unit) of irradiating object model 1, and pick up whole periphery accordingly with itv camera machine 3 as the two dimensional image pick device.In this embodiment, four beam irradiation devices 2 and four itv camera machines 3 just be installed on mock-up 1 around.Like this, these itv camera machines 3 are placed in the Z axle of model 1 equidistantly, and the optical imagery of and mock-up 1 direct with identical optical magnification relatively, and this optical imagery is to be made of the corresponding light beam from irradiation unit Z; These itv camera machines and to measurement data that should optical imagery is handled.
With reference to figure 2A and 2B, will come the geometric position of irradiation unit 2 and each itv camera machine 3 to make an explanation to each light of mock-up 1 below.
Among Fig. 2 A, get a rotation angle θ from the light beam 2 of beam irradiation device 2, view on Y-axis restriction SLM is in 0 to+Ym scope, and the position of the initial point of mock-up 2 on Y-axis is Ym/
2Utilize the equipment of a beam irradiation device 2 to shine the periphery of whole model 1, it is in 90 ° of scopes at center that its range of exposures must be limited in the initial point, that is in Y-axis from YL
1To YL
2Scope.From the light beam 2 of beam irradiation device 2 ' be mapped on the model 1 and meet at a fixed angles β on the Z axle optical axis 3 as the itv camera machine 3 of two dimensional image pick device ' on, its launching position on the Z axle is assumed to be Zi.When from the light beam 2 of beam irradiation device Z ' shine on the mock-up 1, and this light beam 2 ' when being picked up by itv camera machine 3, optical imagery on model 1 dependent cross-section constitutes an optical imagery plane, this optical imagery plane comprises a sickle formula image (Sickle image) of being made up of continuous light beam, as shown in Figure 3, in the optical imagery plane, the line image (line image) that Zi upward is parallel to Y-axis is passed in line segment 10 expressions one.Point Pi shown in Figure 3 represents the image of 1 Pi of light, and this point can be and is incident upon model 1 lip-deep any point,
Suppose among Fig. 2, towards the plane of containing itv camera machine 3 optical axises and the direction that is parallel to Y-axis, the oriented some perpendicular line that Pi stretches, its length is △ li; And in Fig. 3, putting Pi certainly is Yi to the perpendicular line position that line segment 10 stretches, and the length of its line segment Pi ' Yi ' is △ Zi,
△li＝1/n×△Zi
Wherein n is the optical magnification of itv camera machine.
In this situation, △ Zi will be obtained by following manner.
By shown in Figure 3, the plane of delineation of an itv camera machine is made of γ (about usually 240-500) bar sweep trace, and they from top to bottom are Si, S
2Sn ... Sr.As shown in Figure 4.The itv camera machine produces a plane of delineation initiating signal VBL, is first water sweep signal HBL then.And then be exactly corresponding dash area seeing image part vision signal HS and scan bright dark signal with the sweep trace epigraph of set time ta scanning.At scanning S
1After.Produce the HBL signal once more, follow sequential scanning S again
2Vision signal.When light beam 2 ' optical imagery was found in the scanning on Sn, it just light beam vision signal BHS occurred with light beam vision signal BHS significantly in picture signal HS.Repetitive sequence scanning arrives the scanning that Sr just stops a plane of delineation.After finishing the scanning of Sr, a motor just with light beam on the Z direction mobile △ h distance to a close position.The initiating signal VBL that produces the 2nd plane of delineation then earlier produces horizontal time-base again, begins the scanning of another plane of delineation.
Fig. 5 is a calcspar, and its expression utilizes an itv camera machine to obtain the control circuit of △ Zi.In the drawings, numeral 3 expression itv camera machines, separation circuit of 31 expressions.It receive picture signal HS, horizontal scanning initiating signal HBL and by itv camera machine 3 pick up light beam 2 ' the plane of delineation initiating signal VBL of optical imagery, vision signal is separated by among HBL and the VBL.20 expressions one are in order to the counter of calculated level scanning initiating signal HBL number.When producing image initiating signal VBL, counter zero setting.So, transmitting a plane of delineation initiating signal VBL to transmitting follow-up VBL within the time, the number of counter 20 calculated levels scanning initiating signal HBL.Like this, the number of sweep trace Si just can be predicted by the numerical value of counter 20.Multiplier 21 multiply by one scan distance between centers of tracks △ 9 with the sweep trace Si number that records, and just gets S
1Length to Si.This length is by the center line of a numerical value rx △ q/Z(plane of delineation, the position of corresponding diagram 3 line segments 10) deduct, thus calculate the analyzing spot distance of vertical direction from line segment 10.
On the other hand, oscillator 23 produces ta sweep time that has by the one scan line and is divided into the m spacing pulse (interval pulses) of the part duration that determines.The number of spacing pulse is calculated by the counter 24 of horizontal scanning initiating signal zero setting by one.Promptly be the number that counter 24 calculates a certain trace interval pulse, until producing horizontal scanning initiating signal HBL on next sweep trace, and this evaluation is that the length △ ye that m is partly determined multiplies each other with branch scanning line length.Like this, the horizontal level of any analyzing spot just can be calculated by the output signal of multiplier 26 on the itv camera machine plane of delineation.
Collect binary code for sieve that vision signal is converted to bright " 1 " and dark " 0 ", a digitizer 25 links with separation vessel 31 rear portions, simultaneously a digitizer outputting video signal HS.Wherein, shine usefulness " 1 " expression in the object model periphery, other parts are then used " 0 " expression.
For the upright position of optical imagery, when digitizer 25 is output as " 1 ", the output of subtracter 22 is stored in the memory circuit 28 by gate circuit 27.For the horizontal level of optical imagery, when digitizer 25 is output as " 1 ", the output of multiplier 26 is stored in the memory circuit 30 by gate circuit 29.
Therefore, according to Fig. 5, by the upright position of one scan line Si among Fig. 3, the optical imagery on the represented photographic image plane of Zi and horizontal level △ Yi is determined.When on one scan line line, recording a plurality of △ Zi and △ Yi, they all will be confirmed as △ Zi ,-△ ZiP, and △ Yi ,-△ YiP.
Convert a plane of delineation of itv camera machine to a two dimensional surface, promptly during X-Y axle system plane, can get from following formula:
Xi＝ 1/(n) ×△Zi× 1/(Sinβ) ……（1）
Yi＝（ (Ym)/2 - 1/(n) ×△Yi）+（ (Xi)/(L) + 1/(n) ×△Yi） …（2）
N is an optical magnification of itv camera machine.
Above-mentioned running is carried out by a mini-computer, say more clearly, the optical imagery track in a certain cross section of object is the number of the beam optical image picked up by the itv camera machine, sweep trace and the relation decision of a certain sweep trace moment of living in, thereby calculates the optical cross section in corresponding certain cross section.
Light beam 2 ' promoted up and down to be radiated on the whole model 1 by stepping ground.More particularly, beam irradiation device 2 is to be fixed on the tooth plate 8, tooth plate 8 also is fixed in on ball screw and the fixing ball nut, thus by the motor (not shown) drive light beam that ball screw and tooth plate 8 just can make diameter (thickness) △ h along the Z-direction stepping move up and down.
Each △ h diameter between model 1 top and the bottom is by light beam 2 ' generation optical imagery track.This model 1 is the object in the plane that is made of light, is the plane of X-Y axle system, and the shape data on X-Y axle system plane (Xi Yi) provides for each beam diameter △ h.
To be that △ h sheet material is sketched the contours of the template identical shaped with shape data from a thickness by shape data (Xi, Yi) input one NC(the is digital control) laser cutting machine of the light beam 2 of each diameter △ h ' obtained.Heap is taken such template successively, has just constituted the 3D shape that has with the same shape of object.
According to this embodiment, even body form complexity and soft surface, for example people's face or human body also can be easy to generate its 3D shape.
Though in this embodiment, adopt with the sheet of beam diameter same thickness and do the template identical shaped with object, but also can utilize thickness to become the sheet of a certain ratio can amplify or dwindle object at an easy rate with beam diameter, obtain synthetic 3D shape, equally also can or dwindle the original-shape data according to the certain ratio amplification.Though in this embodiment, adopted 4 beam irradiation devices and 4 itv camera machines, and the rotating disk 9 of rotatable 90 degree be provided shown in Figure 1B, by a beam irradiation device object is shone by this, and the itv camera machine that order links to each other has received image.
6 to 9 pairs of second embodiments of the present invention are described below with reference to the accompanying drawings.
In first embodiment, beam irradiation device is as carrying out in a fixed angle interscan, and the itv camera machine is used as image pick-up device as a two dimensional image pick device.On the other hand, in second embodiment, a light beam 12a ' parallels mobile with Y-axis, and as image pick-up device, uses an one dimension line sensing video camera as the one dimension image pick-up device.
Shown in Fig. 6 A and 6B, numeral 12 expressions one beam irradiation device, in order to emission light beam 12a ', light beam 12a ' is different with first embodiment, only carries out parallel sweep, and not in the fixed angle interscan.Beam irradiation device 12 is to be fixedly mounted on one can move on other tooth plate 18 along X-axle and Y-direction of principal axis.The light beam 12 of diameter △ h ' by the System planes of beam irradiation device 12 projection, and when mobile tooth plate 18 moves along the Y-direction is moving, object model 1 to-Y-Z axle by consequent parallel sweep by light beam irradiates.Tooth plate 18 can be by being realized by step motor (not shown) travelling nut 6 and ball screw 5, as moving on the Z direction in first embodiment along moving of Y-axis.Position detector on the digital in addition 19 expression Y-axis.
An one dimension line sensing video camera 13 is installed on the position that is lower than beam irradiation device 12 on the tooth plate 18, and parallel with one of Z, thus make consequent optical axis become the β angle with the X-Y axial plane, and past its detection side is to parallel with the X-Z axial plane.
In this embodiment, also be equipped with 4 cover tooth plates 18 in addition and be centered around the whole periphery of the object 1 of one of Z, but only a cover is wherein explained here with continuous detecting.
Fig. 7 A and 7B are forward sight and side view, the geometric position of their difference display beams irradiation units 12 and one dimension sensing video camera 13.Among Fig. 7 B, Zi is the optical axis of line sensing video camera 13 and the intersection point of Z axle.
Shown in Fig. 8 A, one dimension line sensing video camera 13 is made up of optical lens 50 and one dimension line sensor 51.Shown in Fig. 8 B, one dimension sensor 51 comprises arranges in a straight line that the common E of miniature optical sensor 40(of E number is 128,256,512,1024 ... 4096).
Now hypothesis is Pi by the intersection point of beam launcher 12 emitted light beams 12 ' constitute with model 1 surface.When a Pi is picked up by one dimension line sensing video camera 12, focused on e element at the image Pi that manifests on the one dimension line sensor 51, and focused on E/2 element with respect to a Zi, suppose A at Fig. 8, by a Pi to comprising line sensing camera optical axis 13 and being △ li with the vertical line length on a parallel plane of Y.And the length of each element is direction towards line in one dimension sensor 51, then satisfies following relationship:
△li＝ 1/(n) ×〔（ (E)/2 -e）×△q〕 ……（3）
N is the optical magnification of line sensing video camera.
In addition, Pi ' each component number e of focusing the one dimension line sensor 51 at place is obtained by following manner.
Shown in Fig. 8 B.Each element of one dimension line sensor 51 provides corresponding to the light income electric charge △ q in (light intensity * number is between the time receiving).
In the figure, fixed 41 expression one switches (Switch) of number, it is used for and will be stored in each element electric charge and electric charge one electric pressure converter 42 lotus roots are closed.For responding the switching signal CHS of a control circuit 43, these connection serve as to begin to move in regular turn one by one from first at interval with the △ t time.To have only a switch to be in opening in a flash at certain.
Fig. 8 C shows the waveform of an output voltage.It is transformed into voltage by charge voltage converter 42 with the electric charge of each sensor element and produces.
Since light beam image focus e in first to E element individual on, then this sensor element provides the output than the high one deck of other element.
Figure P shows a circuit that detects one dimension line output element number.In the figure, the counter of start signal is calculated in numeral 44 expressions one.First start signal is before control circuit 43 outputs, and a unlatching initiating signal STB who is sent by control circuit 43 makes counter 44 zero setting.Counter 44 also calculates from the start signal number of control circuit 43 outputs, till the STB signal is supplied to, thus the existing switch number that needs conversion of the output of counter 44 indication.
The output voltage that digitizer 45 is used to change charge voltage converter 42 becomes two logic value of brightness " 1 " and darkness " 0 "; And the surface portion of model 1 that output is subjected to light beam irradiates is for " 1 ", and other parts are " 0 ".
As mentioned above, tooth plate 18 can move along Y, Z-direction, and the current position of each can be detected by two position detectors.When digital circuit 45 output is " 1 " (bright), the output of another gate circuit 47 output Y-axis position detectors, and this signal input is stored in the storage circuit 49, it is stored in the storage circuit 48 with output with counter 44 carries out synchronously.When mobile tooth plate 18, aforesaid operations can Fig. 7 A in beam diameter △ h be that spacing is shifted to Ym from 0 and repeated.
Meanwhile, can obtain by following formula to the vertical line that the Z axle extends from putting Pi along X-direction:
Xi＝△li× 1/(Sinβ) ……（4）
And can get by equation (3)
Xi＝ 1/(n) ×〔（ (E)/2 -e）×△q〕× 1/(Zinβ) ……（5）
At this moment, the Pi Y-axis coordinate of ordering is corresponding to the numerical value of Y-axis position detector.Equation (5) waits computing by electronic circuit such as microcomputer.Thereby provide a cross sectional shape parallel with the X-Y plane of shot subject.
As in first embodiment, template is based on the shape that obtains and makes, and takes these templates by heap and produce a 3D shape.
And second embodiment also can produce valuable effect because of the expense of using one dimension line sensing video camera to reduce total system except the advantage with first embodiment.
The explanation of the 3rd embodiment of the present invention can be with reference to figure 10A and 10B, and it has shown a part of this embodiment design.
In these figure, numeral 2 is the laser generators that produce laser beam, the 60th, order the rotary reflective mirror of the laser beam flying model 1X-Y axial plane that produced by X-axis R.Laser beam along with the vertical direction (Z axle) of shot subject 1 to have comprised the angular range (P of whole main bodys
φ 1-P
φ n) in the φ angle scan.The 61st, the position probing video camera, for example, it can be to use the image pick-up device of two-dimentional light spot detector (PSD), this video camera also has a principal point on its camera lens, this point is on the X-Y axial plane, by initial point G, and forms a point in the angle theta scope with X-axis.This camera also has one to be extended down to the optical axis GQ that Q is ordered by initial point G.The laser beam optical imagery exposes to model 1, and is picked up by PSD camera 61.Therefore suppose among Figure 10 A and Figure 10 B, when the scan angle of laser beam and X-axis formation is
φI(i=1-n) time, luminous point is P
φI; This luminous point P
φI to the intersection point of line segment GQ be S, and PSD video camera 61 principal point Q to the vertical line intersection point of X-axis be QO; Luminous point P like this
φ 1Image path P '
Picked up by PSD video camera 61.Its result as shown in figure 11.This track is the cross sectional shape of model 1X-Z axial plane.Among Figure 11, above-mentioned S that some S ' and P ' O are picked up by the PSD video camera respectively and PO point obtain.Line X ', Y ' and Z ' correspond respectively to X, Y and Z axle.
From Figure 11, when calculating luminous point P
φThe coordinate X of the X-axis of i and Z axle
φI and Z
φDuring i, because of X
φI equals line segment GP
φI, and Z
φI equals POP again
φ iSo, can draw from following equation:
X-axis coordinate X
φI=GP
φi
……（6）
Wherein: K:PSD camera optics enlargement factor.
Among C ' P ' O:(Figure 11) on the PSD plane of delineation G ' to P ' O point distance.
Z axle bed mark Z φ i=POP
φi
……（7）
B wherein: principal point is to the distance on PSD image capture plane
P ' OP '
φI: P ' O point is to P ' on the PSD plane of delineation
φThe length that i is ordered (Figure 11).
To explain that below dot pattern is as P ' on the PSD plane of delineation of PSD video camera 61
φThe account form of the position of i.When a luminous point appears in a certain point on the PSD image pickup plane, promptly, just produce a photoelectric current at W point (Point W).This photoelectric current flows to the electrode A at four edges, PSD image pickup plane
1, A
2, B
1And B
2, and this strength of current and W point to the distance of each electrode is inversely proportional to, and supposes as shown in figure 12, and the abscissa by image capture planar central point is a axle, and the longitudinal axis is the b axle, and flows to A
1, A
2, B
1And B
2The electric current of each electrode is IA
1, IA
2, IB
1And IB
2, and the W point to be a axle and b shaft position can be obtained by following equation.
By the distance of W point to a axle (Wa)
= (IA
1-IA
2)/(IA
1+IA
2) ×l
1……（8）
By the W point to b axle (Wb) distance=IB
1-IB
2(9)
L wherein
1=electrode A
1To electrode A
2Between distance.
l
2=electrode B
1To electrode B
2Between distance.
Furtherly, P '
φThe position of i, that is, G ' P ' O, P ' O '
φI can calculate be obtained by following formula, and wherein a axle and b shaft position are to determine on the image pickup plane of PSD video camera as shown in Figure 12, thereby make them correspond respectively to the image X ' and the Y ' of X-axis and Y-axis.
Especially, model 1 passes through rotating mirror 60 from its summit P by laser beam
φ'
nBe scanned up to its lower curtate point P
φ n, laser beam is by P
φ 1To P
φ nThe optical imagery of directive every bit is picked up by the PSD video camera, and it just can get the X of each position by above-mentioned equation (5), (6), (7) and (8) are calculated
φI, Z
φI.
By the P that will measure successively
φ 1To P
φ nThe coordinate of each point correspondence (X φ i, Z φ i) combination just provides a two-dimensional shapes corresponding to the approximate half garden shape part of the X-Z axial plane of model 1 being shot.Two-dimensional shapes is a series of from position P by what obtain
φ 1To P
φ nCoordinate form, this graph data can be stored in the storer, as the data that produce three-dimensional (solid) shape below will describe.
So just, explained the method corresponding to the two-dimensional shapes of the X-Z axial plane of model 1 that obtains.Yet,, must obtain the two-dimensional shapes of whole model in order to produce the 3D shape of model 1.For this reason, need this model of rotation.Particularly the position corresponding to model X-Z axial plane need change, and shown in Figure 10 A, it is to use an electro-motor 62 that a turntable 65 is turned an angle and realizes that electro-motor 62 is fixed on the fixed support device 64, and this device is installed on the ground.Then, by laser beam scanning, obtain two-dimensional shapes again, this shape is the two-dimensional shapes corresponding to the half new garden shape part of model 1.Will be corresponding to two-dimensional shapes (the X φ i in each cross section, Z φ i) deposits storer in, so just, obtain the two dimensional image of whole model, also deposit it in storer, the rotational angle that rotates estrade 65 is detected by the rotating shaft positioning indicator 63 that is bound up with electro-motor 62, and the output of this indicator together stores with two-dimensional shapes corresponding to model 1 each cross section.
Figure 13 shows that the circuit block diagram that on the basis of the above-mentioned two-dimensional space shape that obtains, obtains the three dimensions shape.The circuit structure and the operation thereof of this circuit block diagram then are described below.Numeral 1 expression one model among the figure as object, numeral 2 expressions one laser beam generator, numeral 60 expressions one tilting mirror, and numeral 61 expressions one PSD video camera.
The circuit structure that produces the three dimensions shape of model 1 comprises light spot position counting circuit 71,72, is used to measure the position of each luminous point that is picked up by the PSD video camera; One laser beam flying control circuit 73 is used for the tilting mirror 60 of gated sweep laser beam; One motor-driven operation circuit is used to control the motor 62 that makes model rotation arrive a certain angle; And A/ D converter 75,76; One micro calculator 78,79,80,81; Tape puncher 82, this perforator can be finished processing, computing, storage and the output of data.
The following describes the operation of foregoing circuit structure.Purpose for the purpose of simplifying the description only illustrates that below laser beam is that the anglec of rotation at model 1 is to carry out the irradiation first time under 0 the situation.Tilting mirror 60 along with the output of laser beam scan control circuit 73 from the top P of model 1
φ 1To its bottom P
φ nCarry out laser radiation.
Above-mentioned equation (6), (7) be by with G ' PO ' and the P ' OP ' of input in the microcomputer
φThe digital value of i correspondence (digital value) is carried out computing, to obtain luminous point P
φThe Building X mark of i and Building Z mark.I.e. (X
φI, Z
φI).This value (X
φI, Z
φI) and the corner (being " O " now) of the swivel plate of measuring by rotary converter 63, together deposit storer 78 in.Therefore in each regular time, as the luminous point of laser scanning top P from model 1
φ 1Move to bottom P
φ nThe time (in this set time, laser beam is continuous), just can repeat to obtain above-mentioned data, when the corner of swivel plate 65 was 0 °, the Building X of the cross section of the nearly half garden shape corresponding with the X-Z axial plane of model 1 (can see in the PSD video camera) mark and Building E mark just deposited in the storer 78 like this.
Then, give 74 1 drive signals of motor-drive circuit by microcomputer 77, make swivel plate 65 rotate fixing angle △ α=360 °/m(m by driving machine 62 and represent a scope, laser beam is continuous in this scope).By the rotating shaft state encoding device (rotary encoder) that links to each other with motor 62 63 corner △ α is input in the microcomputer 71.
The store status of storer 78 is described with reference to Figure 14.Memory address is represented the luminous point P of laser beam scanning among the figure
φ 1And P
φ nThe position.The anglec of rotation of rotating shaft state encoding device 63, Building X mark and Building Y mark deposit storer in accordingly with memory address.
The two-dimensional space shape that is obtained by above-mentioned two-dimensional space determination data is each the fixed angle △ alpha cross section corresponding shape that centers on model 1 central transformation, so the stack of these two-dimensional space shapes can not provide the three dimensions that equates with model 1 shape.
So, be stored in the X-Z coordinate (X in the storer 78
φI, Z
φI) data must change two-dimensional shapes into, and the cross section relevant with these two-dimensional shapes is to be that cross section on 0 ° is parallel with the anglec of rotation.
Carry out in cross section when the changing of data change to be to be 0 ° with the anglec of rotation, and this cross section is by chance consistent with X-Y plane.The anglec of rotation be j △ α (j=0,1,2,3 ... m) time, as shown in figure 15, luminous point P
φThe Building X mark X of i
φI(j △ α), Building Y mark Y
φ i(j △ α) and Building Z mark Z
φ i(j △ α) can obtain from following equation:
This luminous point P
φ iThree-dimensional coordinate (X
φ i, Y
φ i, Z
φ i) be stored in the storer 79.The storage mode of storer 79 can from Figure 16 for example see.
All need to be used for the luminous point coordinate of 3D shape of modeling 1 and can obtain from aforesaid operations in each cross section.And then, for the ease of making 3D shape as shown in figure 17, Y-axis is cut apart fixing branch apart from the interval, the Building Y mark that in each interval, is comprised, and it is stored in the coordinate data Y of the 3D shape in the storer 79 relatively
φ i(j △ α) available following equation is classified:
K·△y≤Y
φi（j△α）＜（K+1）△y ……（11）
Here K=0 or be equivalent to integer ± 1, ± 2, ± 3
Classification results is stored in the storer 80 in mode shown in Figure 180.More exactly, all in Building Y mark certain limit as, the Y of △ y of K △ y≤Y＜(K+1)
φ i(j △ α) takes out from storer 77, and according to their grouped data together with its corresponding X
φ i(j △ α) and Z
φ i(j △ α) sequentially is stored in the storer 80.Therefore, at set intervals, X
φ i(j △ α) and Z
φ i(j △ α) coordinate just stores up in storer 80, and K △ y≤Y＜(K+1) △ y represents that thickness is the cross sectional shape of △ y, and the plane parallel of the X-Z axle of this cross section and model 1.
By the way, in above said classification, in the same interval of the △ y of Building Y mark K △ y≤Y＜(K+1), has identical Building X mark X
φ i(j △ α) and different Building Z mark Z
φ i(j △ α).In this case, can adopt Z
φ iThe mean values of (j △ α).This also can be applied to Building X mark X
φ iOn (j △ α).
The Building X mark X of feram memory 81
φ i(j △ α) is classified in mark interval, the Building Y of △ y, and and Z
φ i(j △ α) ' s together, X
φ i(j △ α) is to be discharged to negative maximal value by positive maximal value.Similarly, Building Z mark Z
φ i(j △ α) also available above mode is arranged.
Therefore, X is marked in the Building X that is stored in the storer 81
φ i(j △ α) and Building Z mark Z
φ i(j △ α) is to be aligned to negative maximal value by positive maximal value.The content of storer 81 can utilize microcomputer 77 to read.And NC be with 83 can utilize paper-tape punch 82(paper tape puneber) make.NC(is digital control) be with 83 can utilize a paper-tape reader (paper tape reader) (in figure, not showing) earlier, be input into (NC sheet cutting device) in the NC scraps of paper cutter (in figure, not showing).And then thickness is △ y the scraps of paper are cut into a template.This template is equal to that tangent plane parallel with the X-Z axial plane of model haply.The scraps of paper that are cut into by NC scraps of paper cutter are when its thickness dwindles with Building X mark and Building Y target ratio or when enlarging, template is also to a certain degree to dwindle from model 1 to be equal to.
Those templates of piling up from above method can provide a 3D shape, the model 1 that quantitatively dwindles.For the ease of piling up when making 3D shape, for example many reference bore of data (plural reference holes) are imported in the NC band, thereby provide and the corresponding hole of each template.So when piling up template, each template hole corresponding with it firmly linked together, just can produce a 3D shape easily.
In this embodiment, explained the situation of making 3D shape with NC scraps of paper cutting machine.But, the cross section of the X-Z axial plane of relevant model 1 can be connected in X-Y plotter or register with the output as microcomputer 77 and paints and mark.Thereby can be when the cutting scraps of paper, according to the shape cutting that is marked.This also can produce a 3D shape.
In the following description, the 4th embodiment of the present invention is narrated with reference to Figure 19.But separate this 4th embodiment from relatively Figure 1A, 1B and Figure 19 Liao and be different from first embodiment.Their differences are that this 4th embodiment is that to go to irradiate thickness with a section light illuminator 90 be △ h(such as 0.5mm) light belt 90 ' section light 90, thereby replace the light beam of laser.Itv camera machine 3 is installed on guiding device (guide device) 8a.Because itv camera machine 3(can be on the guiding device 8a) in predetermined radius R scope, slide, make it can change optical axis and the formed optical axis angle of X-Y plane that passes the Z axle by the itv camera machine.(by the way, this 8a guiding device also is applicable to the embodiment of the present invention of having narrated) except that above said do not exist together, the 4th embodiment of the present invention (as shown in figure 19) and first embodiment of the present invention (shown in Figure 1A and 1B) are duplicate.
The optical imagery that itv camera machine 3 is taken the photograph is illustrated with reference to Figure 20.Since use section light (Slit light) 90 ', the optical imagery of horizontal type 1 can become a sickle formula image (Sickle image).Picture signal state in itv camera machine 3 can be seen from Figure 21.As shown in figure 20, when the optical imagery of sweep trace Sn and falciform intersects.Just can produce high level picture signal as shown in figure 21.The optical cross-section of particular cross section is by obtaining in its relevant optical track mark.The optical track mark is realized by handling picture signal.Optical cross-section as shown in Figure 5.First embodiment equally is to obtain when handling the cross sectional shape data that obtain.
Below the 5th embodiment of the present invention explained with reference to Figure 22 A and 22B.Scheme the side view and the front view of embodiment for this reason for these two.The characteristics of this embodiment are with the plural section light 90a of a section light illuminator 90 ' provide, thereby shorten the irradiation time of object 1.
Be 3 can make section light 90a shine the whole surface of model 1, and pick up synthesis of optical image, need to settle a plurality of section light illuminators 90 and corresponding itv camera machine 3, so that encase whole model 1 surface.
In the case, when each itv camera machine to the distance as the Z axle of model 1 center line is when equating, and its optics amplifies when also equating, by measurement result the operation that constitutes the NC data just can simplify, this is owing to can directly compare after being picked up by relevant itv camera device 3 with respect to the optical imagery of section.But this is not a requisite necessary condition.For example, only, when this shape data is compared with the data of above-mentioned said each itv camera machine 3 generation, equally also can detect the measurement data of each video camera with the shape in a certain cross section of measuring before and exactly.
Figure 23 shows the optical imagery that is picked up by itv camera 3.These light images are radiated at model 1 by section light 90a and form.Itv camera machine 3 is the directions that are arranged in its sweep trace, parallels with the plane that is made of X-axis and Z axle (being the X-Z plane), when that is picked up by the itv camera device corresponding to the optical imagery that is radiated at the section light 90a on the model 1.Just can form 10 arcuate profile images, as shown in figure 23.P ' i point in the light image of Figure 23 midship section is the Pi point of image in Figure 22 A and the 22B, also corresponding to any point of shining in model 1 lip-deep section light.Coordinate Y and Z are for the X of Figure 22 A and 22B and Z axle.Attach and say S among Figure 23
1-S
i-S
rSweep trace for itv camera machine 3.Ka is a threshold value, and it is used for receiving signal digital is changed into bright (height) and dark (low) two kinds of different values.
In order to obtain picking up the optical cross section of image as shown in figure 23, with X-axis, Y-axis and the Z axial coordinate that illustrates that Pi is ordered by video camera 3.As shown in figure 23, itv camera machine 3 plane of delineation is the picture signal of being sent by itv camera machine 3 by (normally 250-500) scanning on the r sweep trace.These sweep traces are called as S
1, S
2, S
3-S
i-S
r, be from left to right by the scanning sequence of picture signal.
Pick up the optical imagery of model 1 when itv camera machine 3 after, just can export as the output signal as shown in Figure 24.As shown in figure 24, the way of output is to be called as vertical synchronizing signal below the commencing signal VBL(of first output image plane), and then export horizontal scanning commencing signal (hereinafter referred to as horizontal-drive signal), follow again, with a set time ta at sweep trace S
1Last scanning has the picture signal of bright dark optical imagery.After scanning was finished for the first time, the second horizontal-drive signal HBL just can export, and at sweep trace S
2After the last scan image signal, repeat scanning to picture signal until sweep trace S
rThereby, finish a plane of delineation.
The calcspar of Figure 25 display control circuit.This control circuit be utilize itv camera machine 3 obtain corresponding Y-axis of luminous point Pi among Figure 23 and Z axle coordinate (Xi, Yi, Zi).In Figure 25, the 3rd, video camera, 109 is synchronous separation circuits, and the picture signal of the optical imagery of wherein corresponding model 1 is S, and it and horizontal-drive signal HBL and vertical synchronizing signal VBL import simultaneously, and separate from HBL and VBL.The optical imagery of model 1 is by section light 90a irradiation, and obtain by the ITV picked-up.
101 expressions, one counter.This counter has a counting input end (IN), and the horizontal-drive signal HBL that it sends with horizontal synchronization separation circuit 109 lotus root mutually closes.101 put 0 end (Reset) in addition, it with vertical synchronizing signal VBL mutually lotus root close.Counter 101 puts 0 by vertical synchronizing signal VBL, and vertical synchronizing signal produced before scanning one plane of delineation.The number of counter calculated level synchronizing signal HBL, wherein each signal HBL is beginning to scan sweep trace S
1-S
rIn produce before each root.The count value of counter 101 is represented the number of sweep trace, and the itv camera machine scans these sweep traces, and produces vision signal.
102 represent an oscillatory circuit, and this circuit is ta/m output one pulse continuously with the time interval, and ta/m is by branches such as the m scanning one scan desired time of line.The pulse that oscillatory circuit 102 produces is to be calculated by a counter, and this counter puts 0 by horizontal-drive signal HBL.Counter 103 to these step-by-step countings till the horizontal-drive signal HBL that produces next bar sweep trace.Thereby can get analyzing spot on the plane of delineation of itv camera machine.Umber of pulse by counter 103 countings is to be stored in the memory circuit 107 by a gate circuit.
The picture signal of itv camera machine 3 is separated in vertical synchronizing signal VBL and horizontal-drive signal HBL in synchronizing separator circuit 109, digitizer 108 usefulness one predetermined signal horizontal Ka(Figure 23) conduct is with reference to level, this picture signal is converted to digital signal (to call digitized signal in the following text) with one bright " 1 " and dark " 0 " two values, therefore the bright section optical imagery of the outside surface of model 1 is partly used " 1 " expression, and other partly use " 0 " expression.This digitized signal is each the conversion and control end N that adds to gate circuit 104 and 105, and gate circuit 104 and 105 is only just to close when digitized signal is " 1 ", thereby the information in counter 101 and 103 is deposited in respectively in memory circuit 106 and 107.So when picking up the optical imagery of model 1, the position (information of counter 103) of numeral of sweep trace (information of counter 101) and a certain pipeline purging stores.Suppose that now information in the memory circuit 106 is △ Yi and information in the memory circuit 107 is △ Zi.
And, under possible situation, be to have a plurality of △ Yi and a sweep trace of △ Zi supply.Thereby all these △ Yi-△ Yip and △ Zi-△ Zip are stored in memory circuit 106 and 107.Because of the luminous point of a plurality of smooth section optical imagerys may be arranged in a sweep trace, therefore, be surely and section light 90 to the prison of △ Yi information and △ Zi information
A1-90
A10The lighting instruction synchronised, lighting instruction adds to light section irradiation unit 90 by computing machine 110 subsequently.With reference to 22A, the acquisition of △ Yi and △ Zi makes Building X mark that the Pi of model 1 orders and Building Y mark, and (Xi Yi) can be obtained by following method.
Pi point shown in Figure 22 A and the 22B is the intersection point of AQ line segment and line segment Z=ZL.And Xi is tried to achieve by following formula:
Z＝ZL
Distance between wherein between GQ:G point and Q point.
The distance of the central point of L:Z axle and itv camera machine camera lens.
ZL: section light 90
A2Between distance.
GQ at formula (14) can be tried to achieve by following formula:
GQ＝Ltan（α+γ- (α)/(m) ·△Zi） ……（15）
Wherein: α: the visual angle of itv camera machine.
γ: the angle that is constituted by the base angle and the X-axis of itv camera machine.
M: sample time
Yi is tried to achieve by following formula:
Yi＝（L-Xi）tan（ (α)/2 - (α)/(n) ·△yi） ……（16）
N wherein: at the sweep trace sum of a plane of delineation.
Xi: by the value that draws in formula (14) and (15)
The computing of formula (14), (15) and (16) is to be carried out by microcomputer 110, and operation result also is stored in the storer 111.
(Xi Yi) has calculated, and after its result also is stored, in order to finish computing recited above when all X relevant with the plane of delineation of itv camera machine 3 and Building Y mark.In Figure 22 A represented tooth plate 4 be by stepper motor (among the figure not shown in) with the thickness △ h length stepper drive of section light, and this tooth plate 4 be by with section light at interval △ h move.
More than completed be the explanation that measurement mechanism comprises the itv camera machine.After the measurement in space of the overall circumference of model 1 was designated, it was last to be placed in equal distance in the Z axle of compound itv camera machine 3 self models 1, and connect with the measurement mechanism mating part, thereby obtained consistent △ Yi and △ Zi information.△ Yi relevant with each video camera and the corresponding data of △ Zi then are imported in the microcomputer 110 and calculate corresponding coordinate (Xi, Yi), and result of calculation also is stored in the storer 111.
The three-dimensional measurement method of the whole periphery of model 1 is just finished like this.Then, compound itv camera machine just produces a plurality of image planes, and a plurality of image planes just causes having overlapping part to occur between each image plane and the contiguous image plane.But, the image capturing that these laps can be by each itv camera machine of adjusting in advance and being got rid of.For example, n itv camera machine by certain compartment of terrain be placed in model 1 around the time, the image capturing scope can arbitrarily be adjusted on the optical axis of each itv camera machine 3 in for the scope of Z axle ± 360/2n.
Also have, in the present embodiment, in order to simplify procedures, all itv camera machines all are moved on the position of same level of Z axle.
Below, will be according to (Xi Yi) illustrates and produces or the situation of the 3-dimensional image of reconstructed model 1 from the resulting point of the 3-dimensional image of model 1.
Suppose itv camera machine 3 now
1-3
nThe sweep trace of majority be respectively 1Si-nsi, and section light belt coordinate 90
A1-90
A101Si is relevant with sweep trace, and being stored in the storer 111 is (Xi90
A1, Yi90
A10) 1Si-(Xi90
A1, Yi90
A10) 1Si.In this embodiment, as shown in figure 26,10 NC laser cutters 150
1-150
10Be that this cutter has formed a work system as unilateral cutting, and this system is controlled by the NC instruction in the micro calculator on these cutters 111 in succession.When a thickness is after the sheet material of △ h is set, at each laser cutter 150
1-150
10In, above-mentioned coordinate instruction (Xi90
A1, Yi90
A10) 1S
1-(Xi90
A10, Yi90
A10) 1S
1, also be applied in each cutter, and begin respectively, cut those sheet materials.Then, be applied to laser cutter 150
1-150
10Coefficient instruction (Xi90
A1, Yi90
A1) 1S
2-(Xi90
A10, Yi90
A10) 1S
2Also carry out corresponding cutting work respectively.Such operation is heavily carried out with covering, until coordinate instruction (Xi90
A10, Yi90
A10) 1S
rTill the execution.When relevant itv camera machine 3
1NC cutting work finish after, according to coordinate instruction (Xi90
A1, Yi90
A1) 2S
1-(Xi90
A10, Yi90
A10) 2S
rAnd the NC that carries out cutting work also is itv camera machine 3
2And carry out.Similarly cutting work is heavily carried out until itv camera machine 3 with covering
nTill operation is finished.Like this, the example edition of each the thickness △ h on first measuring point all has and relevant each section optical plane 90
A1-90
A10Model sectional view as identical image.Handle in second measuring position of following.Such mensuration handling procedure, repeat predetermined times so that the corresponding template of all cross sectional images with relevant model to be provided.
The template that forms is piled up along measuring order, for example, use bonding agent to fix, model easily is replicated.According to this embodiment, the running program of a high speed can realize, this is that therefore, this kind section light source can move with a distance because one group of compound section light is arranged the Z axle with irradiation model; Simultaneously, light-struck time of section also can reduce.Also have, the sweep trace of itv camera machine is to be arranged on the vertical direction, therefore, when comparing with horizontal direction, resolving power on the vertical direction just can double or more than one times, from having improved the model that extends in vertical direction, for example: the measuring accuracy of human body.
In addition, in order to simplify procedures, though in this embodiment, all itv camera machines are all rotating on the same level on the Z axle, and this is not requisite necessary condition.For example the height of each itv camera machine that will measure by a scrambler adds to a microcomputer by a scrambler, and then (Xi Yi) should have same height to the data that provided of another itv camera machine.Amplify or dwindle and can be can be N △ h or △ h/N by the sheet thickness of NC cutter cuts, (Xi Yi) takes advantage of N or 1/N get final product to those petty need, so just can be to the shape of this model with the virtually any size amplification or dwindle with data.
Figure 27 is the side view of sixth embodiment of the invention, and wherein itv camera machine 3 is here fixed.And have only laser irradiation device 2 is movably.When mobile laser irradiation device 2, the formed β angle in optic axis X-Y axle system plane that can form by itv camera machine 3 also changes.Therefore, when constituting the light section,, laser irradiation device cause the change of β just to need to correct because moving institute.
Figure 28 A and Figure 28 B are the front view and the side view of the 7th embodiment of the present invention, here are to replace laser irradiation device with an incandescent lamp 120.In this embodiment, provide a loam cake 121 around model 1, bright and the dark part 122 and 123 of model 1 is by 3 picked-ups of itv camera machine, and the picture signal, the Video signal processing program that produce as shown in Figure 4 are that the first string of inventing therewith is identical, and this is in order to obtain a light section.At last, the side view and the front view of the 8th embodiment that Figure 31 A and Figure 31 B invent for this reason, here itv camera machine 3 is placed on the model 1, promptly be on the Z axle, in this embodiment, the model 1 that is shone by the section light irradiation device is the image that itv camera machine 3 is picked up, thereby produces shown in figure 32 an optical imagery 130.This picture signal is corresponding with optical imagery as shown in figure 33.This signal of video signal is to be subjected to providing a smooth section as identical data processing in first embodiment.
Claims (17)
1, one produces the method for 3D shape, it is characterized by and comprise the steps: from object with 3D shape
Parallel rays with preset width is shone the periphery of said object;
Examine an optical imagery that picks up irradiated object by a two dimensional image pickup apparatus, at this moment, the optical axis of pickup apparatus intersects with a predetermined angular and the light face that is formed by said parallel rays;
According to the optical imagery shape that inspection is picked up, measure the cross sectional shape of the said object of corresponding said optical imagery;
The width of vertical moving parallel rays and two dimensional image pickup apparatus one parallel rays, the shape of Measuring Object adjacent sections successively.
After having measured the cross section of whole object, make template corresponding to the cross sectional shape of being measured with sheet material;
And said template piled up to make one be equivalent to or the 3D shape of similar said object.
2, claim 1 described produces the method for 3D shape, it is characterized by, and said parallel rays is a laser section light.
3, claim 1 described produces the method for 3D shape, it is characterized by, and said parallel rays is a laser beam.
4, a device that is used for producing a 3D shape from an object with 3D shape, its feature comprises:
Be used for parallel rays is shone device on the said object with a fixing horizontal direction;
Be used to examine and pick up the device that shines the light on the said object;
Be used for examining the device that ten optical imagery is measured cross sectional shape from the image pickup apparatus;
Be used for according to said cross sectional shape,, sheet material made the device of template in the mode of said cross sectional shape corresponding to sheet thickness;
Be used in vertical direction moving the device of said light irradiation device and said image pick-up device, thereby form and the corresponding template of whole object, produce one and equal or similar in appearance to the 3D shape of object.
5, claim 4 described is used to produce the device of 3D shape, it is characterized by, and said light irradiation device is the device that is used for irradiating laser section light.
6, claim 4 described is used to produce the device of 3D shape, it is characterized by, and said light irradiation device is the device that is used for the irradiating laser light beam.
7, claim 4 described is used to produce the device of 3D shape, it is characterized by, said image pick-up device is a 1TV video camera, it is a two dimensional image pick device, and the said device that is used to measure cross sectional shape was measured according to the wire size and the time in a certain scan period of the sweep trace on the 1TV video camera.
8, claim 4 described is used to produce the device of 3D shape, it is characterized by, said image pick-up device is an one dimension line sensing video camera, this video camera is an one dimension image pick-up device, and the said device that is used to measure cross sectional shape is the device that is used to detect one dimension line sense video camera output element.
9, claim 4 described is used to produce the device of 3D shape, it is characterized by, said image pickup apparatus is that a luminous point detects (PSD) sensor, this sensor is a two dimensional image pick device, and said to be used for measuring the cross sectional shape device be the device that is used to detect the luminous point detecting sensor quantity of electric charge.
10, claim 4 described is used to produce the device of 3D shape, it is characterized by, and is equipped with a plurality of said light irradiation devices, and these install numerous irradiate light to object.
11, claim 4 described is used to produce the device of 3D shape, it is characterized by, and said image pick-uping part has the ability of the image pickup position that changes said object.
12, claim 4 described is used to produce the device of 3D shape, it is characterized by, and said image pick-up device is fixed.
13, claim 4 described is used to produce the device of 3D shape, it is characterized by, and said light irradiation device is an incandescent lamp.
14, claim 4 described is used to produce the device of 3D shape, it is characterized by, said shape pick device be installed in said object directly over, its direction is then perpendicular to the radiation direction by said light irradiation device shone.
15, claim 7 described is used to produce the device of 3D shape, it is characterized by, and the duration interior during the wire size of said sweep trace and a certain sweep trace calculates from horizontal time-base and commencing signal respectively.
16, a device that is used for producing from the object with 3D shape 3D shape comprises:
Rotate the device of said object with a little angle;
One have laser beam scanning on said object to form the beam irradiation device of a light beam face ability.
One is fixed on two dimensional image pick device on the said beam irradiation device with certain angle at a certain distance, and it is used to pick up the luminous point that shines the laser beam on the object.
One is used to calculate the device that is picked up the light spot position in each little angle of the said object of said object per minute angle by pick device, and this device also is used to calculate the object cross sectional shape of parallel said light beam face;
One is used for the sheet material with a certain thickness, with the device of predetermined ratio according to said cross sectional shape template; With being used for said template is piled up the device that produces the 3D shape of said object with predetermined ratio.
17, claim 16 described is used for producing from an object with 3D shape the device of a 3D shape, it is characterized by, and said whirligig is a rotating shaft state encoding device, and it is used to detect the anglec of rotation.
Applications Claiming Priority (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP210775/84 | 1984-10-08 | ||
| JP59210775A JPH0654228B2 (en) | 1984-10-08 | 1984-10-08 | Three-dimensional shape manufacturing method and manufacturing apparatus |
| JP210775-84 | 1984-10-08 | ||
| JP59253486A JPH068727B2 (en) | 1984-11-30 | 1984-11-30 | Method and apparatus for forming three-dimensional shape |
| JP253486-84 | 1984-11-30 | ||
| JP253486/84 | 1984-11-30 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN85102933A true CN85102933A (en) | 1986-03-10 |
| CN85102933B CN85102933B (en) | 1988-09-21 |
Family
ID=26518263
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN85102933A Expired CN85102933B (en) | 1984-10-08 | 1985-04-17 | Produce the method and apparatus of 3D shape |
Country Status (2)
| Country | Link |
|---|---|
| KR (1) | KR910000185B1 (en) |
| CN (1) | CN85102933B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102878945A (en) * | 2012-06-08 | 2013-01-16 | 刘亮 | System and method for acquiring three-dimensional and color data of object |
| CN104359405A (en) * | 2014-11-27 | 2015-02-18 | 上海集成电路研发中心有限公司 | Three-dimensional scanning device |
| CN105717511A (en) * | 2015-05-07 | 2016-06-29 | 北京雷动云合智能技术有限公司 | Multipoint distance measurement apparatus and method based on line beam laser and common camera chip |
| CN110864613A (en) * | 2019-11-05 | 2020-03-06 | 北京航空航天大学 | Food volume measuring method based on electric field force model |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001245322A (en) * | 2000-03-01 | 2001-09-07 | Inst Of Physical & Chemical Res | Input method and device for stereoscopic image |
| KR101446171B1 (en) * | 2013-08-14 | 2014-10-01 | 한국건설기술연구원 | Measuring Method of Paste-Void Spacing Factor of Hardened Cement Paste using X-ray Computed Tomography |
-
1985
- 1985-04-17 CN CN85102933A patent/CN85102933B/en not_active Expired
- 1985-06-14 KR KR1019850004193A patent/KR910000185B1/en not_active IP Right Cessation
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102878945A (en) * | 2012-06-08 | 2013-01-16 | 刘亮 | System and method for acquiring three-dimensional and color data of object |
| CN102878945B (en) * | 2012-06-08 | 2015-09-02 | 刘亮 | A kind of system and method obtaining object dimensional and color data |
| CN104359405A (en) * | 2014-11-27 | 2015-02-18 | 上海集成电路研发中心有限公司 | Three-dimensional scanning device |
| CN105717511A (en) * | 2015-05-07 | 2016-06-29 | 北京雷动云合智能技术有限公司 | Multipoint distance measurement apparatus and method based on line beam laser and common camera chip |
| CN105717511B (en) * | 2015-05-07 | 2018-02-09 | 北京雷动云合智能技术有限公司 | Multiple point distance measurement method based on line beam laser device and common camera chip |
| CN110864613A (en) * | 2019-11-05 | 2020-03-06 | 北京航空航天大学 | Food volume measuring method based on electric field force model |
Also Published As
| Publication number | Publication date |
|---|---|
| KR910000185B1 (en) | 1991-01-21 |
| KR860003561A (en) | 1986-05-26 |
| CN85102933B (en) | 1988-09-21 |
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