KR101777229B1 - 3d scanner - Google Patents

Abstract

The present invention relates to a 3D scanner capable of obtaining omnidirectional scan data while minimizing the number of 3D scanner sensors. The 3D scanner includes a frame rotator support frame which is positioned at the upper end of a housing frame surrounding the periphery of a scan target, and is horizontal to the ground; a frame rotator which includes a motor and a power transmission member for transmitting the rotational force of the motor, and is mounted on and fixed to the frame rotator support frame; and a rotation frame which includes a horizontal frame section horizontal to the ground and coupled to the power transmission member, and a vertical frame section formed by bending one side of the horizontal frame section, and rotates the periphery of the scan target according to the rotation of the power transmission member; a plurality of 3D scanner sensors which is mounted on the vertical frame section of the rotation frame so as to scan the scan target; and a scan control part which controls the motor and the plurality of 3D scanner sensors to generate stereoscopic information about the scan target.

Description

3D SCANNER DEVICE {3D SCANNER}

The present invention relates to a three-dimensional scanner device, and more particularly, to a three-dimensional scanner device capable of obtaining omnidirectional scan data while minimizing the number of 3D scanner sensors.

The optical 3D scanning technique can be divided into a passive mode and an active mode depending on the sensing method. The manual method using only the camera that captures the image has a merit that the equipment is simple and the texture can be acquired directly from the input image although it is somewhat less accurate than the active method of capturing the specific pattern by scanning. However, In the human 3D scanning field, which requires acquisition of fast 3D data, it is difficult to distinguish the boundary between the subject and the background because the processing time is long, the number of cameras used increases, and the active method is mainly used rather than the manual method.

The active method is a method of projecting a predefined pattern or sound wave onto a target object and measuring the planar shape of the projected pattern image or the reflected energy of the sound wave to restore the 3D shape of the target object. Typical methods include laser, and a method of projecting a structured light onto a target object to measure the phase change according to the distance.

On the other hand, in order to measure the human body, it is more effective to transmit 2D structured light composed of infrared rays or the like having a wavelength of 825 ~ 850 Nm to an object, and to perform an active 3D scan . In this active 3D scanning method, a 3D scanner sensor integrating an illuminator, an infrared camera, and a color image camera is mainly used.

In the illuminator of the 3D scanner sensor, a specific point shape pattern having a different position is projected to a target object, for example, a human body to be scanned, using a time difference used in the active method. The results projected on the human body are not visible in the visible light range, but are captured in an infrared camera capable of capturing the same wavelength band as the illuminator's pattern, not in a typical color image camera, and used to calculate 3D distance and position information. This method corrects the accuracy by changing a certain point shape pattern several times within a short time when the camera captures an image once. And color image camera stores texture such as color of human body. Combining 3D distance and position information computed with an illuminator and an infrared camera and texture information captured with a color imaging camera provides a detailed color 3D scan model for the human body.

In order to obtain stereoscopic information about the human body by using the 3D scanner sensor, it is necessary to slowly and carefully scan all the directions and altitudes of the human body while another person is carrying one scanner sensor around the human body to be scanned. It is possible to obtain the body stereoscopic information required for the human body.

However, such a stereoscopic scanning method of the human body requires a long time to obtain a 3D scanning model and not only accurate 3D scanning information can not be obtained due to human shaking, but also there is a limitation in obtaining sharp and accurate 3D scanning information.

Korean Patent Registration No. 10-1616176 filed in Korea and registered as a technique for solving such a problem is available. As shown in FIG. 1, two or more pairs of supporting rods 1a-1d are arranged in pairs in a concentric direction of symmetry about a reference point 0 where a human body to be scanned is located, and are spaced apart by a predetermined azimuth angle, 3D scanner sensors h1 to h4 for acquiring partial stereoscopic information of a human body (reference point) installed on at least one of the supporting rods 1a to 1h and viewed from each direction; (h1 to h4) are sequentially controlled so that there is no interference of structured light (structured light formed by infrared rays) with each other, and the human stereoscopic image data And a computer system for acquiring total stereoscopic information.

However, in the proposed patent, since a plurality of 3D scanner sensors (h1 to h4) must be installed on the supports 1a to 1h spaced at a certain angle in order to acquire all the stereoscopic information about the human body, In addition, there is a disadvantage that the 3D scanner sensor is required and the system construction cost is increased, the calibration time is long and the calibration is complicated, and the calibration is repeated every time the initial setting position is changed due to external impact There are also inconveniences.

Korean Patent Publication No. 10-1616176

Accordingly, it is an object of the present invention to provide a three-dimensional scanner device capable of obtaining omnidirectional scan data for a scan target while minimizing the number of 3D scanner sensors,

It is still another object of the present invention to provide a three-dimensional scanner device capable of acquiring stereoscopic information about a scan object without a missing area to ensure reliability of the product.

In addition, the present invention provides a three-dimensional scanner device capable of simplifying calibration for aligning installation positions of 3D scanner sensors required to acquire stereoscopic information about a scan target,

In addition, the present invention provides a three-dimensional scanner device capable of minimizing wear, cracking, and deterioration of components constituting a frame rotator for rotating a frame equipped with a 3D scanner sensor,

Another object of the present invention is to provide a three-dimensional scanner device in which a safety device is adopted to eliminate a risk factor that may be applied to a scan target due to a structure drop.

According to an aspect of the present invention, there is provided a three-dimensional scanner apparatus including:

A frame rotatably supporting frame positioned at an upper end of a housing frame surrounding the periphery of the scan target, the frame rotatably supporting the frame;

A frame rotator including a motor and a power transmitting member for transmitting rotational force of the motor, the frame rotator being mounted on and fixed to the frame rotatable support frame;

And a vertical frame section in which one side of the horizontal frame section is formed by being folded, wherein the horizontal frame section is horizontal with respect to the ground and is coupled to the power transmitting member, A frame;

A plurality of 3D scanner sensors mounted in a vertical frame section of the rotating frame so as to scan the scanning object;

And a scan controller for controlling the motor and the plurality of 3D scanner sensors to generate stereoscopic information about the scan target.

Further, the above-described three-dimensional scanner apparatus may further include a balance weight mounted on another side of the horizontal frame section,

And the scan control unit controls the plurality of 3D scanner sensors so that the stereoscopic information about the scan target is obtained while controlling the rotation frame to rotate around the scan target.

The power transmitting member of the frame rotating body of the three-dimensional scanner device according to the above-

A reduction gear for decelerating the rotational force of the motor and for changing the direction of the power;

A pinion gear for transmitting power of the reduction gear to a central shaft gear;

A center shaft gear for rotating the rotating frame to be engaged with the pinion gear;

A center shaft gear shaft having a cable through hole formed at its center and having one side projecting through a center hole of the center shaft gear;

A gear shaft fixing bracket having through holes for the shafts of the pinion gear and the center shaft gear to penetrate therethrough, and bearings for shaft alignment fixing being inserted into the through holes;

A tapered bearing in which a cable through hole is formed;

A tapered bearing fixing holder into which the tapered bearing is inserted;

And a tapered bearing fixing holder fixing plate for fixing the tapered bearing fixing holder to the upper surface of the frame rotatable support frame, wherein a cable through hole and a reduction gear rotation shaft through hole are formed.

According to the above-mentioned problem solving means, the three-dimensional scanner device according to the embodiment of the present invention scans the scan target object in all directions while minimizing the number of 3D scanner sensors, and particularly acquires accurate 3D shape data And it is also possible to minimize the calibration for correcting the camera position error by positioning the plurality of 3D scanner sensors on the same axis.

Further, since the power transmitting members are coupled to each other so as to minimize wear, crack, and deterioration of the components constituting the frame rotator (corresponding to the power transmitting member) for rotating the frame equipped with the 3D scanner sensor, The reliability and durability of the power transmission member can be improved. Also, by adopting the safety device together, there is an advantage that the damage or the risk factor caused by the falling of the structure constituting the power transmission member is originally removed.

1 is an exemplary layout of a known 3D scanner sensor;
FIG. 2 is an exemplary view of a three-dimensional scanner device according to an embodiment of the present invention; FIG.
FIG. 3 is a diagram illustrating a connection state between a frame rotating body and a rotating frame in FIG. 2; FIG.
Fig. 4 is an illustration of an assembled state of the frame rotating body shown in Fig. 3; Fig.
Fig. 5 is a diagram showing a configuration example of the frame rotating body shown in Fig. 3; Fig.
6 is a view showing a cable passing through the connection bracket 300 shown in Fig. 3; Fig.
Fig. 7 is an exploded perspective view of the frame rotating body shown in Fig. 3; Fig.
Fig. 8 is an enlarged view of the center shaft gear shaft 225 shown in Fig. 7; Fig.
9 is a view for explaining a balance weight 400 mounted on one side of a horizontal frame section of a rotating frame according to an embodiment of the present invention.
10 is an example of stereoscopic information of a scan object (human body) obtained by scanning according to an embodiment of the present invention.

It is to be understood that the specific structural or functional description of embodiments of the present invention disclosed herein is for illustrative purposes only and is not intended to limit the scope of the inventive concept But may be embodied in many different forms and is not limited to the embodiments set forth herein.

In addition, the embodiments according to the concept of the present invention can make various changes and have various forms, so that the embodiments are illustrated in the drawings and described in detail herein. It should be understood, however, that it is not intended to limit the embodiments according to the concepts of the present invention to the particular forms disclosed, but includes all modifications, equivalents, or alternatives falling within the spirit and scope of the invention.

In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

2 illustrates an external view of a three-dimensional scanner device according to an embodiment of the present invention.

As shown in FIG. 2, the three-dimensional scanner apparatus according to the embodiment of the present invention includes:

A frame rotatable support frame 110 positioned at the upper end of the housing frame 100 surrounding the periphery of the scan target body (for example, a human body, B)

A frame rotator 200 including a power transmitting member for transmitting the rotational force of the motor 205 and the motor 205 and mounted and fixed to the frame rotator supporting frame 110,

And a vertical frame section (130) in which one side of the horizontal frame section (120) is formed by being bent, wherein the horizontal frame section (120) is horizontal with the ground and connected to the power transmitting member A rotating frame A rotating around the scanning target body B in accordance with the scanning direction,

A plurality of 3D scanner sensors 140 mounted on the vertical frame section 130 of the rotary frame A so as to scan the scanning object B,

And a scan control unit (not shown) for controlling the motor 205 and the plurality of 3D scanner sensors 140 to generate stereoscopic information about the scan target object B.

In FIG. 2, the housing frame 100 of the three-dimensional scanner device is shown as a cube shape. However, this is merely one example, and the housing frame may be modified into various shapes such as a cylinder and a hexagonal column. It is also assumed that the 3D scanner sensor 140 is a 3D scanner sensor including an infrared projector and an infrared camera and a color image (RGB) camera as described above.

The plurality of 3D scanner sensors 140 are two to four 3D scanner sensors mounted vertically (up and down) on the vertical frame section 130 of the rotating frame A and are mounted to a scan control section A calibration process for correcting an error according to a mounting position of the 3D scanner sensor 140 is performed. Since the plurality of 3D scanner sensors 140 are mounted on the same axis only in the vertical direction, the scan control unit of the three-dimensional scanner apparatus according to the embodiment of the present invention performs calibration only in one direction, There is an advantage that the number of calibrations can be reduced.

For reference, the calibration for correcting the position of the plurality of 3D scanner sensors 140 according to the mounting position attaches a specific planar image image to the sample of the scanned object, and the illuminator patterns 140 projected from each of the plurality of 3D scanner sensors 140 And a method of correcting a position error between the image and the RGB scanner image.

The scan control unit (not shown) includes a memory for storing control program data for controlling the operation of the three-dimensional scanner device. The scan control unit includes a motor 205 and a plurality of 3D scanner sensors Dimensional stereoscopic image of the scan target object B by combining the stereoscopic information of the scan target object B obtained through the plurality of 3D scanner sensors 140 and displays the generated stereoscopic information on the display device .

More specifically, the scan control unit controls the rotation of the rotation frame A about the scan target B while rotating the plurality of 3D scanner sensors 140 in accordance with the number of camera shot frames, The 3D scanner sensor 140 can be controlled so that the information can be obtained in real time, and as a modified embodiment, the stereoscopic information about the scan object B can be obtained at a predetermined angle, for example, 1.3 to 4 degrees, As shown in FIG. A plurality of 3D scanner sensors 140 can be driven and controlled at a predetermined angle through a timing counter of a driving signal applied to the motor 205 in order to know the number of rotations of the motor 205 and the gear ratio, The plurality of 3D scanner sensors 140 can be driven and controlled at predetermined time timing counting time (time required for rotation from 1.3 DEG to 4 DEG) after detection of the reference position.

The scan control unit may be provided in the three-dimensional scanner device, or may be implemented in a computer system connected to the three-dimensional scanner device and performing image signal processing.

9, the balance weight 400 is positioned at the other side of the horizontal frame section 120 of the rotary frame A so that the balance at both ends of the rotary frame A is maintained. This will be described later.

The rotating frame A shown in FIG. 2 and the frame rotating body 200 rotating the rotating frame A will now be described in more detail with reference to the accompanying drawings.

Fig. 3 is an illustration of a connection state of the frame rotating body A and the rotating frame 200 in Fig. 2, Fig. 4 is an illustration of an assembled state of the frame rotating body 200 shown in Fig. Fig. 6 shows a cable passing through the connecting bracket 300 shown in Fig. 3, Fig. 7 is a view showing the structure of the frame rotating body 200 shown in Fig. 3 9 is an enlarged view of the center shaft gear shaft 225 shown in Fig. 7, and Fig. 9 is an enlarged view of the center shaft gear shaft 225 shown in Fig. FIG. 10 is a diagram showing an example of total stereoscopic information display of a scan object (human body) as a result of scanning according to an embodiment of the present invention.

3, the frame rotator including the motor 205 and the power transmitting member 210, 215, 220, etc. for transmitting the rotational force of the motor 205 is disposed horizontally with respect to the frame rotatable support frame 110 A horizontal frame section 120 coupled to the power transmitting member and a vertical frame section 130 having one side of the horizontal frame section 120 bent.

A reinforcing bar C for preventing bending due to angular momentum is installed at a portion where the horizontal frame section 120 and the vertical frame section 130 are connected to each other. A connecting bracket (D) is used.

A plurality of 3D scanner sensors 140 are vertically mounted in the vertical frame section 130. The vertical scanner section 140 is installed in the vertical frame section 130 so that the scanner sensor can be mounted inside the vertical frame section 130, A mounting groove is formed and closed by a cover, a shutter, or the like. The cable connected to the scanner sensor through the mounting grooves formed in the horizontal and vertical frame sections 120 and 130 is also accommodated so that the cable tangles to peripheral equipment even if the rotating frame A rotates around the scanning object B. prevent.

A balance weight 400 is accommodated on the opposite side of the horizontal frame section 120 to which the vertical frame section 130 is connected. When the rotating frame A is stopped, the center of mass becomes m1 + m2 = m3 + m4 with respect to the center axis of the frame rotating body 200. [ However, the inertia applied to both sides during rotation of the rotating frame (A) is not the same as the shapes of m1 and m4, so that bending, cracking, and deterioration are damaged for each component having inertia momentum, A change occurs in the initial calibration setting value. In order to suppress or minimize the occurrence of such a change, in the embodiment of the present invention, the reinforcing bar C is concentrated on the portion where the rotational inertia momentum most works, and the frame connecting bracket D also has a rectangular shape, . In order to prevent cracks, abrasion, and deterioration of the shafts and gears of the rotation center shaft due to inertia momentum, the diameter and length of the center shaft shaft 225 are increased and the center shaft gear 220, the shaft fixing bearing 265, (240) to disperse rotational inertia momentum.

The length r1 from the rotation center axis of the rotary frame A to the vertical frame section 130 in which the 3D scanner sensor is mounted is equal to the length r2 from the rotation center axis of the rotation frame A to the position where the balance weight 400 exists, It is preferable to minimize the total mass (m1 + m2 + m3 + m4).

For reference, the lengths of the horizontal frame section 120 and the vertical frame section 130 can be changed in consideration of the size of the scanned object. For example, in the case of a human body, the scan range of the camera is calculated in consideration of the scan time and the elongation of the arm, and the horizontal frame period 120 and the vertical frame period 120 130 is determined.

Hereinafter, the structure of the frame rotating body 200 shown in FIG. 3 will be described in more detail with reference to the accompanying drawings.

First, as described above, the frame rotating body 200 includes a power transmitting member for transmitting the rotating force of the motor 205 and the motor 205, And is mounted and fixed to the rotatable support frame 110.

4, 5, and 7, the power transmitting member of the frame rotator 200 includes a bevel reduction gear (not shown) for reducing the rotational force of the motor 205, increasing the torque, 210,

A pinion gear 215 for transmitting the power of the reduction gear 210 to the center shaft gear 220,

(More specifically, a center shaft gear 220 for rotating the horizontal frame section 120 of the rotating frame,

A center axis gear shaft 225 having a cable through hole (225-1 in FIG. 8) formed at the center thereof and having one side projecting through the center hole of the center axis gear 220,

Through holes for the shaft of the pinion gear 215 and the center shaft gear 220 to pass therethrough and bearings 270 and 265 for fixing shaft alignment (of the pinion gear and the center shaft gear) An inserted gear shaft fixing bracket 260,

A tapered bearing 240 having a cable through hole formed therein,

A tapered bearing fixing holder 245 into which the tapered bearing 240 is inserted,

And a tapered bearing fixing holder fixing plate 250 for fixing the tapered bearing fixing holder 245 to the upper surface of the frame rotatable support frame 110. The tapered bearing fixing holder 250 includes a cable through hole and a through hole for a reduction gear rotation shaft 275 do.

It is not possible to directly fasten the rotating center shaft gear 220 and the horizontal frame section 120 of the rotary frame A directly. Sufficient space must be secured between the lower end of the central shaft gear 220 and the horizontal frame section 120 to prevent twisting or breakage of the cable housed in the horizontal frame receiving groove. To this end, in the embodiment of the present invention, as shown in FIGS. 4, 5 and 6, the connection bracket 300 having a concave-convex shape is used to connect the lower surface of the central shaft gear 220 to the horizontal frame section 120 , Cable through holes 305 and 307 are formed in the vertical direction and the horizontal direction as shown in FIG. 6 so that the cable housed in the receiving grooves of the horizontal frame section 120 passes through the center shaft gear shaft 225, Is connected to a computer system located externally through the entire support frame 110, inside the rotator support frame 110, and through the cable draw-out holes (500 in FIG. 2).

5, when the rotation power of the motor 205 is generated by the scan control unit, the reduction gear 210 is rotated by the power generated by the motor 205 x1) is rotated by 90 degrees (y1) using a bevel gear, and the speed is reduced to 60: 1, for example, to increase the torque. The pinion gear 215 is formed integrally with the gear portion and the shaft, and is fixed to the tap of the shaft center of the reduction gear 210 with a bolt through a groove in the center of the gear lower end. Thus, assembly of the horizontal axis (x1) and the vertical axis (y1) for transmitting the power is completed.

The center shaft gear 220 connected to the pinion gear 215 has a diameter twice as large as that of the pinion gear 215 to increase the deceleration ratio and increase the torque. Thus, the overall reduction ratio is 1/25 of the reduction gear 210 and the ratio of the pinion gear 215 (r = 40) and the center shaft gear 220 (r = 90) to 1 / 2.25, The position and speed of the entire rotating body A can be precisely controlled even with a small torque of the motor.

8, when the central shaft gear 225 and the central shaft gear 220 are coupled to each other, the central shaft gear 225 is pushed to the lower end of the central shaft gear 220, 225 are tightened to the lower surface of the central shaft gear 220 and then bolted through the bolt holes 225-6.

An insert plate 280 shown in Fig. 7 is provided as a configuration not shown in Figs. When the connection bracket 300 connecting the central shaft gear 220 and the horizontal frame section 120 is directly fastened to the lower end of the central shaft gear 220, the insert bracket 300 is inserted into the pinion gear 220, The size of the insert plate 280 should be smaller than the tooth diameter of the center shaft gear 220. [ That is, the insert plate 280 is positioned on the connection bracket 300 and fixed to the tab 222 of the center shaft gear 220. It is preferable that the length of the bolt fixing position at which the center shaft gear 220 and the bracket of the rotating frame A are fastened is maximized to disperse the rotational inertia momentum.

8, the center shaft gear 225 is inserted from below the center shaft gear 220, and then the snap ring 225-3 (or the nut) is inserted into the lower groove, and the rotation center shaft y2 ) Of the power transmission members can be finished. Another snap ring is fastened to the groove 225-4 formed at the upper end of the central shaft gear shaft 225 for the sake of double safety, thereby preventing the rotating frame A from falling down.

On the other hand, it is preferable that the horizontal parallelism (x2) of the pinion gear 215 and the center shaft gear 220 is maintained. If the rotational center axis y2 is shaken due to overload of the rotational inertia, . In order to solve this problem, it is preferable to increase the height of the central portion of the center shaft gear 220 integrally with the thickness of the gear to reduce the weight and maximize the area contacted by the shaft. In addition, the pinion gear shaft fixing bearing 270 is inserted by maximizing the thickness of the gear shaft fixing bracket 260, and the bearing 265 for fixing the center shaft gear shaft is inserted so that, when the shafts are rotated, So that friction with the shaft is eliminated, and the parallelism of the two axes y1 and y2 in Fig. 5 is ensured.

The diameter and height of the center shaft gearshaft fixing bearing 265 are preferably designed to be greater than the diameter and height of the bearing 270 engaged with the pinion gear 215 shaft to accommodate more torque.

Finally, the tapered bearing fixing holder 245 is fixed to the top of the rotation center, and the tapered bearing 240 is inserted. It is difficult to support the weight of the assembled power transmitting member when a general ball bearing is used. However, the tapered bearing 240 of the three-dimensional scanner device according to the embodiment of the present invention solves this problem, and also plays the role of reducing inertia momentum.

Hereinafter, the operation of the three-dimensional scanner device having the above-described configuration will be described in detail.

The scan control unit drives the motor 205 to acquire three-dimensional stereoscopic information about the scan target object B. 5, the driving force of the motor 205 is sequentially transmitted to the reduction gear 210, the pinion gear 215, and the center shaft gear 220 by the driving of the motor 205. [

When the center shaft gear 220 rotates in accordance with the driving force transmitted to the center shaft gear 220, the connection shaft 300 is coupled to the center shaft gear 220 and the connection bracket 300 fastened to the connection bracket 300 The horizontal frame section 120 of the rotary frame A receives the driving force and rotates together with the central axis gear 220. The vertical frame section 130 constituting the rotating frame A is rotated about the scanning target object B positioned in the housing frame 100 shown in FIG.

When the rotary frame A rotates about the scan target B as described above, the scan control unit simultaneously drives and controls the plurality of the 3D scanner sensors 140 during rotation to generate the three-dimensional information about the scan target B (The amount of partial stereoscopic information may vary depending on the entire scan time, shooting speed, resolution, etc.). If the system is capable of detecting the reference position of the center shaft gear 220 with the hall sensor, it is possible to detect a plurality of 3D scanner sensors 140 at a predetermined timing counting time (time required for 1.3 to 4 rotation) Dimensional stereoscopic image of the scan target object B and obtains the stereoscopic information of the human body by performing signal processing on the stereoscopic information about the scan target object B obtained in real time while the rotation frame A makes one rotation The display device is displayed as shown in FIG.

Referring to FIG. 10, when a human body is scanned using a three-dimensional scanner device according to an embodiment of the present invention, it can be seen that complete human body modeling has been performed without missing portions. That is, since the rotating frame with the 3D scanner sensor can obtain scan information about the human body every 1.3 to 4 degrees while using only 2-4 3D scanner sensors, Stereoscopic information can be acquired.

Therefore, the 3D scanner device according to the embodiment of the present invention has an advantage in that omnidirectional scan data for a scan target object can be obtained while minimizing the number of 3D scanner sensors, and a plurality of 3D scanner sensors are positioned on the same axis It is possible to minimize the calibration for correcting the position error.

Further, since the power transmitting members are coupled to each other so as to minimize wear, crack, and deterioration of the components constituting the frame rotator (corresponding to the power transmitting member) for rotating the frame equipped with the 3D scanner sensor, The reliability and durability of the power transmission member can be improved. Also, by adopting the safety device together, there is an advantage that the damage or the risk factor caused by the falling of the structure constituting the power transmission member is originally removed.

While the invention has been shown and described with reference to certain embodiments thereof, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. Accordingly, the true scope of the present invention should be determined only by the appended claims.

Claims (10)

A frame rotatably supporting frame positioned at an upper end of a housing frame surrounding the periphery of the scan target, the frame rotatably supporting the frame;
A frame rotator including a motor and a power transmitting member for transmitting rotational force of the motor, the frame rotatably mounted on the frame rotatable support frame;
And a vertical frame section in which one side of the horizontal frame section is folded to form a horizontal frame section which is horizontal with the frame rotating body support frame and is coupled to the power transmitting member, A rotating frame rotating about the center of the rotating frame;
A plurality of 3D scanner sensors mounted in a vertical frame section of the rotating frame so as to scan the scanning object;
And a scan control unit for controlling the motor and the plurality of 3D scanner sensors to generate stereoscopic information about a scan target object,
A pinion gear for transmitting the power of the reduction gear to the central shaft gear, and a rotating frame which is engaged with the pinion gear to rotate the rotating frame A center shaft gear having a center shaft gear and a cable through hole formed at the center thereof and penetrating a center hole of the center shaft gear to project one side thereof; A tapered bearing having a through hole formed therein, a tapered bearing fixing holder into which the tapered bearing is inserted, a cable penetrating hole formed in the through hole, Hole and a reduction gear rotating shaft through-hole are formed, and the tapered bearing fixing A three-dimensional scanner apparatus characterized in that it comprises a tapered bearing holder fixed to the fixed plate further fixing to an upper surface of the frame, the rotor support frame. The three-dimensional scanner device according to claim 1, further comprising a balance weight mounted on another side of the horizontal frame section. The apparatus of claim 1 or 2,
Wherein the control unit controls the resolutions and the number of image frames of the plurality of 3D scanner sensors so that omnidirectional partial stereoscopic information about the scan target is obtained while controlling the rotation frame to rotate around the scan target. The three-dimensional scanner device according to claim 1 or 2, wherein the scan controller controls the plurality of 3D scanner sensors so that the stereoscopic information on the scan target is obtained every 1.3 to 4 degrees. The scanner controller according to any one of claims 1 to 3, wherein the scan controller is a control unit of a computer system. The scanner controller calibrates a position error between the plurality of 3D scanner sensors based on an error between scan patterns obtained by projecting an illuminator pattern in one direction with respect to the scan target. And the three-dimensional scanner device. delete [3] The apparatus of claim 1, further comprising: a concave-convex connection bracket for coupling one side of the center shaft gear surface and the one side of the horizontal frame section, wherein a cable through hole is formed in a horizontal plane and a vertical plane of the concave- Dimensional scanner unit. The three-dimensional scanner device according to claim 7, further comprising: an insert plate inserted between the connection bracket and the lower surface of the central shaft gear. The three-dimensional scanner device of claim 1, further comprising: at least one snap ring or nut fastened to at least one groove formed in the upper end of the central shaft gear shaft. The three-dimensional scanner device according to claim 1 or 2, wherein the plurality of 3D scanner sensors are two to four 3D scanner sensors, and are mounted in a vertical direction in a vertical frame section of the rotation frame.

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