KR101415980B1 - 3-Dimensional Scanner Device - Google Patents

Abstract

A three-dimensional scanner device suitable for measuring a three-dimensional shape of a small object with a simple structure and low manufacturing cost. A three-dimensional scanner device according to the present invention comprises a shelf for receiving a scanning object, a light source arranged to emit light toward the object to be scanned, a projection lens installed in front of the light source for condensing the light to be emitted, A high magnification lens for condensing light reflected from the scanning object and an image sensor for converting the light condensed by the high magnification lens into an electrical image signal. In a preferred embodiment, the three-dimensional scanner further comprises a holder having a support. In this case, it is preferable that the light source is connected to the strut through the first connecting member, and the image sensor is connected to the strut through the second connecting member.

Description

3-Dimensional Scanner Device}

The present invention relates to a three-dimensional scanning apparatus for obtaining three-dimensional shape data of a three-dimensional object, and more particularly, to a non-contact three-dimensional scanning apparatus.

The 3D shape measurement of an object has been widely applied in various fields such as inspection of a workpiece, CAD / CAM, medical, and solid modeling. A three-dimensional scanner is a device for acquiring three-dimensional shape data by measuring a three-dimensional shape of a three-dimensional object.

As an example of the three-dimensional scanner, there is a contact type three-dimensional scanner which measures the whole surface shape by measuring the spatial coordinates at one point while contacting the surface of the object. However, such a contact type three-dimensional scanner suffers from a problem that the measurement time is excessively long.

Accordingly, in recent years, a non-contact type three-dimensional scanner which optically measures the three-dimensional shape of an object has been widely used in order to solve the disadvantages of the contact type three-dimensional measuring device and to increase the measurement efficiency. Generally, a non-contact type three-dimensional scanner irradiates light on an object by a projector and analyzes the reflected light to measure a curved shape of the object. In the case of analyzing and analyzing light, a method of using a laser as a light emitted from a projector, measuring a light transmission time, using general light, and determining the position of each point by triangulation is widely used. When general light is used, a structured light or a modulated light having a different phase pattern may be used to increase the measurement accuracy.

In such a non-contact type three-dimensional measuring machine, the projector and the camera are usually driven by a motor so that the direction is precisely controlled. Since a separate encoder is provided for driving the motor, the number of components is large, There is a problem that this is expensive. In addition, since the number of components is large and the structure is complicated, the size of the apparatus becomes large. Therefore, only when the object to be scanned is a bulky machine or a person, a small object such as a tooth model, a ring, There is a problem that it is difficult to apply it to an application example in which scanning is performed.

It is a technical object of the present invention to provide a three-dimensional scanner device suitable for measuring a three-dimensional shape of a small object with a simple structure and low manufacturing cost.

According to an aspect of the present invention, there is provided a three-dimensional scanner device including a shelf for receiving a scanning object, a light source disposed to emit light toward the scanning object, and a light source disposed in front of the light source, A high magnification lens for condensing the light reflected from the scanning object, and an image sensor for converting the light condensed by the high magnification lens into an electrical image signal.

In a preferred embodiment, the three-dimensional scanner apparatus further comprises a cradle having a post. In this case, it is preferable that the light source is connected to the strut through the first connecting member, and the image sensor is connected to the strut through the second connecting member.

It is preferable to use a lens having a magnification of 5 to 50 times, such as a dermatologic microscope lens, as the high magnification lens.

Since the three-dimensional scanner device of the present invention can be manufactured in a simple structure with a small size, it is possible to miniaturize the scanner device and to manufacture the scanner device at a low cost. In addition to the small size of the apparatus, the distance between the projector and the image sensor and the object is shortened by adding a lens to each of the projector and the image sensor to greatly shorten the focal distance between the projector and the image sensor. It has an advantage of being able to easily and accurately scan a small object of 1 to 2 centimeters or less.

Particularly, when the scanner device is constructed based on a cradle as in a preferred embodiment described later, it is easy to assemble and install the scanner device.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. In the figure,
1 is a view showing an electrical configuration of a three-dimensional scanner system according to a preferred embodiment of the present invention;
FIG. 2 is a block diagram of a program executed in the PC shown in FIG. 1; FIG. And
FIG. 3 is a view showing an embodiment of the mechanical configuration of the scanner device shown in FIG. 1. FIG.

Referring to FIG. 1, a 3D scanner system according to a preferred embodiment of the present invention includes a PC 10 having a monitor 12 and a scanner device 100 connected to the PC 10.

The PC 10 provides a user with a guidance message for operating and calibrating the scanner device 100, controlling the operation of the scanner device 100, analyzing the image signal received from the scanner device 100, A unit image is generated, and a plurality of three-dimensional unit images are combined to generate a complete three-dimensional image. The operation of the PC 10 is performed based on a computer program.

The scanner device 100 includes a projector 110, a first lens 120, a second lens 130, and an image sensor 140. The projector 110 generates light and outputs the light toward the object 30 to be scanned. In the preferred embodiment, the projector 110 may be, but is not limited to, an LED projector using LEDs as a light source. The first lens 120 condenses light emitted from the projector 110 and allows the condensed light to be irradiated onto the scanning object 30. The second lens 130 condenses light reflected and scattered by the scanning object 30. It is preferable that the second lens 130 be a high magnification lens having a magnification of 5 to 50 times and a sufficient depth depending on the distance between the object to be scanned 30 and the image sensor 140. [ The image sensor 140 converts the light condensed by the second lens 130 into an electrical image signal. As the image sensor 140, for example, a CCD sensor or a CMOS sensor may be used.

2 is a block diagram of a program executed in the PC 10; The illustrated program includes a three-dimensional unit image acquiring unit 20, a unit image combining unit 22, and a rendering unit 24.

The unit image acquiring unit 20 receives the image signal from the scanner device 100, extracts depth information of each pixel in the image, and generates a three-dimensional unit image based on the extracted depth information. Such a three-dimensional unit image may be generated for each object, for example, four to seven, depending on the complexity of the object in the stereoscopic shape.

The unit image combining unit 22 combines a plurality of three-dimensional unit images to generate a perfect three-dimensional image. In combining unit images, preprocessing is first performed to improve distortion, distortion, low contrast, and the like existing in each unit image, and the unit images to be combined are converted into the same coordinates, The overlapping portion and the connecting position are determined, and smoothing processing is performed on the overlapping portion to obtain a seamlessly coupled three-dimensional image.

The rendering unit 24 displays each three-dimensional unit image or the completed three-dimensional image on the monitor 12 according to a user's keyboard or mouse operation.

FIG. 3 is a view showing an embodiment of the mechanical configuration of the scanner device 100 shown in FIG.

In the present embodiment, the scanner apparatus 100 is assembled and installed based on the cradle 150. [ The cradle 150 includes a lower support plate 152 and a support 154 provided to be connected to the support plate 152 in an upward direction. A plurality of clamps 160, 170, 180 may be fastened to the strut 154.

The object clamp 168 is connected to the first clamp 160 via the first arm 162 for clamping the object to be scanned 50. The first arm 162 includes one or more ball joints 164a, 164b and one or more links 166.

A fourth clamp 178 for gripping the projector 110 is mounted on the second clamp 170 via the second arm 172. The second arm 172 has two ball joints 174a and 174b and links 176a and 176b connecting the ball joints 174a and 174b and the fourth clamp 178 . The first lens 120 is fixed to the front surface of the projector 110.

A camera mount 188 for mounting the image sensor 140 is connected to the third clamp 180 via a third arm 182. The third arm 182 includes one or more ball joints 184 and one or more links 186.

The camera stand 190 is mounted on the camera stand 188 using screws or a clamp and the image sensor 140 chip is fixed to the camera stand 190. A protective cap 134 for protecting the image sensor 140 chip from external force or foreign matter is attached to the front of the camera support 190 in a front portion of the camera support 190. The second lens 130 is installed inside the protective cap 134 in a state in which the focal length adjusting knob 132 is exposed to the outside of the protective cap 134. The protective cap 134 may be made of acrylic or other plastic material.

The optical path of the light that is emitted from the projector 110 and passed through the first lens 120 and then incident on the scanning object 30 is reflected by the scanning object 50 and is reflected by the image sensor 140 The projector 110, the first lens 120, the second lens 130, and the image sensor 140 are disposed so that the optical path of the reflected light proceeding to the first lens 120 is approximately 70 degrees to 110 degrees. In a particularly preferred embodiment, the angle formed by the incident light path and the reflected light path is approximately 90 degrees.

The scanner device 100 operates as follows. The user connects the projector 110 and the image sensor 140 by connecting the projector 110 and the image sensor 140 of the scanner device 100 to the USB port of the PC 10 and activating the program, ) Maintains an optimal relative positional relationship. The calibration operation is performed without distorting the image displayed on the monitor 12 of the PC 10 in a state in which, for example, a roof grid pattern image in which a plurality of circles or other graphics are regularly arranged is placed on the shelf 168 So that focus formation is performed.

In a state in which the calibration is completed, the user places the scanning object 50 on the shelf 168 and operates the mouse or keyboard of the PC 10 to photograph and transmit the image signal. Then, the photographing and the video signal transmission are repeated while changing the direction.

The unit image acquiring unit 20 of the program executed in the PC 10 receives the image signal from the scanner device 100 and extracts depth information for each pixel in the image, Dimensional unit image. After the required number of unit images are secured, if the user applies a coupling command with a mouse or a keyboard, the unit image combining unit 22 of the program combines a plurality of three-dimensional unit images to generate a complete three-dimensional image.

As an experimental example, an LED type pocket projector MPro120 supplied by 3M Corporation (St. Paul, Minn., USA) was used as the projector 110. FIG. As the image sensor 140, a Pro 4000 webcam camera supplied by Logitech was disassembled to separate the sensor. As the first lens 120, a macro lens DINO for mobile phone supplied by Logitech was used. The second lens 130 was used to obtain a dermatologic microscope of an unknown origin, which was separated and used. Among the program modules to be executed in the PC 10, the three-dimensional unit image acquiring unit 20 includes UofKscannerLT (UofKscannerLT) developed by the Signal and Image Processing Laboratory of the Electrical and Computer Engineering Department of the University of Kentucky, .exe), and the unit image combining unit 22 is a David program. In this experimental example, the inventor successfully acquired a perfect three-dimensional image for a small object such as a ring.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the invention. Therefore, it should be understood that the above-described embodiments are illustrative in all aspects and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

10: PC, 12: Monitor
100: Scanner device
110: Projector
120: first lens
130: Second lens, 132: Focal length adjusting knob, 134: Protective cap.
140: Image sensor
150: cradle, 152: supporting plate, 154: holding
160: first clamp, 162: first arm, 168: object rack
164a, 164b, 174a, 174b, 184: ball joint
166, 176a, 176b, 186: Link
170: second clamp, 172: second arm, 178: fourth clamp
180: third clamp, 182: third arm, 188: camera holder

Claims (6)

A three-dimensional scanner device for three-dimensionally scanning a scanning object,
holder;
A light source which is connected to the holder via a first arm having at least one ball joint and at least one link so as to be able to change its position and direction and emits light toward the scanning object;
And a second arm which is connected to the cradle via at least one ball joint and at least one link and is arranged so as to be able to change the position and direction of the cradle. The light emitted from the light source, reflected by the scanning object, An image sensor for converting the signal into a signal;
Dimensional scanner unit. The method according to claim 1,
A data processing apparatus for combining a plurality of images received through the image sensor to generate a three-dimensional image;
Dimensional scanner unit. The method according to claim 1 or 2,
A projection lens installed in front of the light source to condense the emitted light; And
A high magnification lens disposed in front of the image sensor for condensing light reflected from the scanning object;
Dimensional scanner unit. 1. A three-dimensional scanner apparatus for scanning a three-dimensional object to be scanned, the three-dimensional scanner apparatus comprising:
A light source connected to the strut through a first arm having at least one ball joint and at least one link and arranged to change a position and a direction of the strut and to emit light toward the object to be scanned; And
And a second arm connected to the strut through at least one ball joint and at least one link so as to change a position and a direction of the light beam. The light beam emitted from the light source, reflected by the scanning object, An image sensor for converting the signal into a signal;
Dimensional scanner unit. The method of claim 4,
A data processing apparatus for combining a plurality of images received through the image sensor to generate a three-dimensional image;
Dimensional scanner unit. The method according to claim 4 or 5,
A projection lens installed in front of the light source to condense the emitted light; And
A high magnification lens disposed in front of the image sensor for condensing light reflected from the scanning object;
Dimensional scanner unit.

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