KR102084414B1 - 3D scanner and method for scanning thereof - Google Patents

Abstract

The present invention relates to a three-dimensional scanner apparatus and a method of scanning using the same, and more specifically, to a three-dimensional scanner apparatus and a method of scanning using the same, which are able to scan a subject through a motion of rising/falling and rotating of a sensor module which acquires shape information of the subject. According to an embodiment of the present invention, the three-dimensional scanner apparatus comprises: a scanner base on which the subject to be scanned is put; and a scanner unit which photographs the subject, and acquires data on the shape and the size. The scanner base includes a support frame which moves the scanner unit up and down. The scanner unit is characterized by including: a scanner elevation/lowering member which is installed to allow the scanner unit to be moved up and down by the support frame; a rotary ring support member connected to the scanner elevation/lowering member; a rotary ring connected to the rotary ring support member to make a rotary motion; a sensor module which is located on one surface of the rotary ring, acquires shape information by photographing the subject, and includes a light receiving unit, and a light emitting unit; and a reflector plate which is at a position on the rotary ring to correspond to the sensor module, and reflects a light source irradiated by the light emitting unit towards the light receiving unit.

Description

3D scanner device and scanning method using the same

The present invention relates to a three-dimensional scanner device and a scanning method using the same, and more particularly to a three-dimensional scanner device for scanning the object through the lifting and rotation of the sensor module for obtaining the shape information of the object and a scanning method using the same It is about.

In the related art, in order to obtain shape information of a specific product, a measurement of an object was performed manually by using a tool such as a caliper. This conventional method is not only time-consuming but also could not be accurate work.

With the development of sensor technology, three-dimensional scanning technology, which uses a three-dimensional scanner to project a laser or white light onto an object, acquires shape information of the object and converts it into digital information, has been widely used. Using three-dimensional scanning technology, it is easy to acquire the shape information of ultra-large objects such as bolts and nuts, as well as aircraft, ships and even very large objects such as buildings, bridges or terrain.

Shape information obtained from 3D scanners is also actively utilized in the fields of reverse engineering and quality inspection, which are required for various industries.

In general, for 3D scanning, a method of acquiring shape information of an object by adjusting height while rotating the object with a sensor at a fixed position has been utilized. When the object is a person, a sense of rejection or stress may be generated by rotation or lifting, and when the object is an object in which deformation occurs due to movement, deformation may occur in the external shape of the object, so that the object may not be accurately scanned. In addition, when the object is rotated or lifted by the pedestal of the object, the position of the object can be changed, so the rotation or lifting speed must be adjusted, which is difficult for high-speed three-dimensional scanning.

Therefore, it is possible to flexibly cope with deformation or movement of an object and to develop a 3D scanner for 3D scanning of various objects.

Republic of Korea Patent No. 10-1410452 Republic of Korea Patent No. 10-1823671

An object of the present invention is to provide a three-dimensional scanner device for scanning an object through the lifting and rotation of the sensor module for obtaining the shape information of the object and a scanning method using the same.

However, the technical problem to be achieved by the present invention is not limited to the above-mentioned technical problem, and other technical problems not mentioned above are clearly understood by those skilled in the art from the following description. Could be.

In order to achieve the above object of the present invention, a three-dimensional scanner device according to an embodiment of the present invention includes a scanner base on which the object to be scanned is placed; And a scanner unit for photographing the object to obtain data about a shape and size, wherein the scanner base includes a support frame for moving the scanner unit in an up and down direction, and the scanner unit includes the scanner unit by the support frame. A scanner lifting member installed to move in a vertical direction; A rotating ring support member connected to the scanner lifting member; A rotary ring connected to the rotary ring support member and configured to rotate; A sensor module located on one surface of the rotary ring, photographing the object to obtain shape information, and including a light receiving unit and a light emitting unit; And a reflecting plate positioned at a position corresponding to the sensor module on the rotating ring and reflecting the light source irradiated from the light emitting unit to the light receiving unit.

 In one embodiment of the present invention, the support frame may include a driving means for generating a driving force to move the scanner in the vertical direction.

 In one embodiment of the present invention, the scanner unit may include a rotary ring driving means for generating a driving force required for the rotation of the rotary ring.

 In one embodiment of the present invention, a scanner base on which an object to be scanned is placed; A sensor module for capturing the object and obtaining shape information through a circular motion and a lifting motion around the object; First driving means for generating a driving force such that the sensor module moves up and down in a first axis direction through a lifting motion; And second driving means for generating a driving force so that the sensor module performs a circular motion on a surface perpendicular to the first axis.

 In one embodiment of the present invention, the three-dimensional scanner device may include a reflecting plate for returning the light source irradiated from the sensor module is reflected, and the circular motion with the sensor module.

 In one embodiment of the present invention, the reflector may be at a position opposite to 180 degrees from the central axis of the circular motion on the surface perpendicular to the first axis, such as the sensor module.

 In one embodiment of the present invention, the sensor module for obtaining the shape information by photographing the object; A controller for controlling the position of the sensor module; A driving unit providing a driving force to the sensor module; And a power supply unit supplying power to the sensor module and the driving unit, wherein the control unit controls the driving force of the driving unit to scan the object through the circular motion and the lifting motion.

 In one embodiment of the present invention, the three-dimensional scanner device further comprises a reflector for causing the light source irradiated from the sensor module to return, and the control unit determines the presence or absence of the object through the light source returned through the reflecting plate can do.

 In one embodiment of the present invention, the step of moving the sensor module to the initial position to scan the object located near the center of the base of the three-dimensional scanner device; Determining the presence or absence of an object at an initial setting position of the sensor module; Determining the presence or absence of the object by changing the angle or height of the sensor module based on the center of the base when it is determined that there is no object at the initial setting position of the sensor module; And if it is determined that the object is present, changing the angle or height of the sensor module based on the center of the base where the object is located, and scanning the object.

 In one embodiment of the present invention, the step of scanning the object, after changing the angle of the sensor module based on the center of the base where the object is located to scan 360 degrees, and change the height of the sensor module, The method may include scanning the object by repeating the process of changing the height of the sensor module after scanning 360 degrees by changing the angle.

 According to an embodiment of the present invention, a sensor module including N sensors located at each point N-divided around a circle to obtain shape information by photographing an object; A controller for controlling the position of the sensor module; A driving unit providing a driving force to the sensor module; And a power supply unit supplying power to the sensor module and the driving unit, wherein the control unit controls the driving force of the driving unit to scan the object through the circular motion and the lifting motion. Where N is an integer of 2 or more

In one embodiment of the present invention, the position of the 180 degrees corresponding to each of the N sensors on the circumference of the circle, it may further include N reflecting plate for reflecting the light source irradiated from the sensor module to return have

 In one embodiment of the present invention, the control unit may control the sensor module to perform a circular motion in a range of 360 / N degrees or more than 360 / (N-1) degrees.

 In one embodiment of the present invention, the step of moving the sensor module consisting of N sensors to the initial position to scan the object located near the center of the base of the three-dimensional scanner device; Determining the presence or absence of an object at an initial setting position of the sensor module; And scanning the object by changing an angle or height of the sensor module based on the center of the base where the object is located, if it is determined that the object is present, wherein the rotation radius of the sensor module is the center of the base. It can be limited to a range of more than 360 / N degrees or less than 360 / (N-1) degrees based on. Where N is an integer of 2 or more

 In an embodiment of the present disclosure, the scanning of the object includes changing the angle of the sensor module based on the center of the base where the object is located, scanning the rotational radius of the sensor module, and then changing the height of the sensor module. And scanning the object by repeating the step of changing the height of the sensor module after scanning the angle of the sensor module by the rotation radius of the sensor module in the original position direction.

3D scanner apparatus according to an embodiment of the present invention can maintain a constant distance from the target axis by the circular motion (rotation) and lifting motion of the sensor module in a state in which the scanning object in a fixed position without rotation The result is a fast measurement without complicated calculations and calculations.

In addition, according to the present invention, when the object is a person, it is possible to accurately scan the required body parts by reducing the discomfort or stress by the rotation or lifting.

In addition, according to the present invention, when the object is an object in which deformation occurs due to movement, the object can be accurately scanned by minimizing or minimizing the appearance of the object.

Further, according to the present invention, the sensor for scanning the object can be rotated or lifted to enable high-speed three-dimensional scanning without changing the position of the object.

1 is a view showing a three-dimensional scanner device according to an embodiment of the present invention.
2 is a view for explaining a lifting method of the scanner lifting member according to an embodiment of the present invention.
3 is a view for explaining a method of rotating a rotating ring according to an embodiment of the present invention.
4 is a view for explaining the structure of a rotary ring according to an embodiment of the present invention.
5 is a block diagram of a three-dimensional scanner device according to an embodiment of the present invention.
6 is a diagram for describing a method of recognizing an object, according to an exemplary embodiment.
7 is a view for explaining a scanning method of the three-dimensional scanner device according to an embodiment of the present invention.
8 is a view for explaining a scanning method of the three-dimensional scanner apparatus according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings will be described the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like parts throughout the specification.

Throughout the specification, when a part is said to be "connected (connected, contacted, coupled)" with another part, it is not only * when "directly connected", but also "indirectly" with another member in between. Connection ". In addition, when a part is said to "include" a certain component, it means that it may further include other components, without excluding the other components unless otherwise stated.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, terms such as "comprise" or "have" are intended to indicate that there is a feature, number, step, operation, component, part, or combination thereof described on the specification, and one or more other features. It is to be understood that the present invention does not exclude the possibility of the presence or the addition of numbers, steps, operations, components, components, or a combination thereof.

1 is a view showing a three-dimensional scanner device according to an embodiment of the present invention.

Referring to FIG. 1, a three-dimensional scanner apparatus 100 according to an exemplary embodiment of the present invention includes a scanner base 110 on which an object to be scanned is placed, and a scanner unit which acquires data about a shape and a size by photographing an object. 120 may be included.

The scanner base 110 may include a base frame 111 on which an object is placed, a scanner connection part 112 for connecting to the scanner part 120, and a support frame 113 connected and fixed to one side of the scanner connection part 112. Can be.

The base body 111 may include a protrusion having a cylindrical shape protruding in one direction. The base body 111 may be a cylinder having a length of the diameter of the cylinder is longer than the height of the cylinder. The scanner connection unit 112 may include a connection member that allows connection with the scanner unit 120 on one surface of the protrusion. The base body 111 may include an object pedestal so that the object may be located at the center of the base body 111, or may mark the position of the center of the base body 111.

The support frame 113 may include a lifting member driving means 114 to allow the scanner unit 120 to move in the vertical direction. The elevating member driving means 114 may include a elevating member control motor and a screw for generating and transmitting a driving force.

The scanner unit 120 includes a scanner lifting member 121, a rotating ring support member 122 connected to the scanner lifting member 121, and the scanner lifting member 121 installed to move up and down by the support frame 113. It may include a rotary ring 123, a rotary ring driving means 126, a sensor module 124, a reflecting plate 125 connected to the support member 122.

The scanner elevating member 121 may vertically move in the first axis direction (for example, may be the z axis direction) by the elevating member control motor.

The rotary ring support member 122 may be connected to the scanner lifting member 121 in a substantially vertical direction to support the rotary ring 123. The rotary ring support member 122 may extend to the lower surface of the rotary ring 123 in the same shape as the rotary ring 123 to support the rotary ring 123. When the rotary ring support member 122 extends to the lower surface of the rotary ring 123, a circular opening may be provided in the rotary ring support member 122 to allow an object to pass therethrough.

The sensor module 124 may be installed on one surface of the rotating ring 123, and the reflecting plate 125 may be the same surface of the rotating ring 123 in which the sensor module 124 is installed and may be 180 along the central axis of the rotating ring 123. It can be installed on the opposite side of the figure.

The sensor module 124 may include a light emitting part for irradiating a light source and a light receiving part for receiving light returned by the reflected light source. The sensor module 124 may include a plurality of sensors including a light emitting unit and a light receiving unit. The sensor of the sensor module 124 may photograph the object to obtain data about the shape and size. Here, the photographing may mean a variety of methods for determining the shape and size of an object such as sensing, measuring, and scanning. The sensor of the sensor module 124 may be one of a distance measuring sensor and a displacement sensor. The wavelength of the light source irradiated from the sensor module 124 may ensure safety of use by using a light source of 1400 nm or more, which is an eye protection area, in order to prevent an accident of the laser eye.

When no object exists in the space between the sensor module 124 and the reflector 125 in the inner space of the rotating ring 123, the light source irradiated from the light emitting part of the sensor module 124 is reflected by the reflector 125 It may be incident to the light receiving unit of the sensor module 124. The sensor module 124 may check the abnormality of the light source by using the light source reflected by the reflector.

The rotary ring driving means 126 may transmit a driving force so that the sensor module 124 and the reflection plate 125 installed in the rotary ring 123 and the rotary ring 123 may be rotatable. The rotary ring 123 may perform a rotary motion on the XY plane with the first axis (for example, Z axis, which is a vertical axis among three axes such as x, y, and z partitioning a three-dimensional space). .

2 is a view for explaining a lifting method of the scanner lifting member according to an embodiment of the present invention.

Referring to FIG. 2, the scanner lifting member 121 may include a support frame connecting portion 127 and a screw connecting portion 128 (in this case, “screw” is an example of lifting and lowering driving means).

The support frame connecting portion 127 is engaged with the supporting frame 113 and the rail structure, and wheels or ball bearings may be present between the supporting frame 113 and the supporting frame connecting portion 127 to facilitate the vertical movement of the elevating member. And a lubricant having a viscosity such as oil for smooth movement. As lubricants, mineral lubricants, fatty lubricants, mixed lubricants, greases and solid lubricants, water soluble cutting oils, silicone oils, fluorine oils and the like can be used.

The screw connection portion 128 is connected to the screw of the support frame 113, receives the driving force generated by the elevating member drive means 114 by the rotation of the screw of the support frame 113, the vertical movement of the elevating member You can make it possible. The screw is a device that changes the circular motion by the rotation of the elevating member driving means 114 to a linear motion, it can generate a vertical movement of the screw connection portion 128 coupled with the screw.

As shown in FIG. 2A, the screw may be a lead screw, and the screw connection portion 128 may also have a structure for easily transmitting power of the lead screw. The lead screw can be suitably used in a low noise or lubrication free environment.

2b and the screw may be a ball screw, the screw connection 128 may also have a structure that facilitates the power transmission of the ball screw. Ball screws can be used in environments where high efficiency or high speed or continuous use is required.

The highest point of the lifting member or the lowest point of the lifting member is a point at which the lifting member cannot move above the highest point or below the minimum point, and a blocking device may be provided on the screw to prevent the lifting member from moving above the highest point or the lowest point of the descending member.

The highest point of the ascending or descending point of the elevating member may prevent the elevating member from moving beyond the set point through the sensing unit 510. When the sensing unit 510 reaches the highest point by the elevating member, the driving of the elevating member driving means 114 may be stopped so that the elevating member may no longer move upward. When the sensing member 510 reaches the lowest point by the lifting member descending, the driving of the lifting member driving means 114 may be stopped so that the lifting member cannot move further down.

The sensor for detecting the degree of rising or falling of the elevating member may be located on the support frame 113 or the rotary ring 123 support member.

3 is a view for explaining a method of rotating a rotating ring according to an embodiment of the present invention.

Referring to FIG. 3, the rotary ring driving means 126 may be engaged with the rotary ring 123 with a tooth to transmit a driving force. 3, when the teeth of the rotary ring 123 is formed vertically along the outer circumferential surface of the rotary ring 123 and needs to be rotated about the Z axis, the teeth of the rotary ring driving means 126 are Z-axis ( It can be rotated about a single axis) to rotate the rotary ring 123.

When the teeth of the rotary ring 123 is formed obliquely on the outer circumferential surface of the rotary ring 123 or is formed on the side surface and requires rotation about the Z axis, the teeth of the rotary ring driving means 126 rotate about the X axis. And to rotate the rotary ring 123, it may have a form of bevel gear that the direction of the force is changed vertically (not shown).

The rotary ring 123 may be rotated 360 degrees in all directions, and the degree of rotation of the rotary ring 123 may be sensed by the sensing unit 510.

The rotation sensor of the sensing unit 510 may recognize the rotation degree of the rotation ring 123 as an angle, and may be located on the rotation ring support member 122 or the rotation ring 123.

4 is a view for explaining the structure of a rotary ring according to an embodiment of the present invention.

The upper surface of the rotary ring 123, the sensor module 124 for acquiring the shape information of the object and the reflecting plate 125 may be located in the opposite direction and the opposite surface of the rotary ring 123. The sensor module 124 and the reflector plate 125 may be positioned in pairs.

As shown in FIG. 4A, when a pair of the sensor module 124 and the reflecting plate 125 exist, the rotation ring 123 may be rotated by 360 degrees to scan all directions of 360 degrees of the object.

When the sensor module 124 and the reflecting plate 125 exist in three pairs as shown in FIG. 4B, the entire object may be scanned at a rotation angle of 0 to 120 degrees to scan all directions of 360 degrees of the object.

The sensor module 124 and the reflector 125 may be present in five or more pairs, and the sensor module 124 and the reflector 125 may be in an odd number of pairs in order to prevent the position of the sensor module 124 and the reflector 125 from overlapping. ) Can be installed.

When the sensor module 124 and the reflecting plate 125 are installed in an even pair, the sensor module 124 and the reflecting plate 125 may be installed in the same position by overlapping them up or down, or the sensor module 124 may serve as the reflecting plate 125. can do.

5 is a block diagram of a three-dimensional scanner device according to an embodiment of the present invention.

Referring to FIG. 5, the 3D scanner apparatus 100 according to an embodiment of the present invention may include a sensing unit 510, a driver 560, a controller 520, a communication unit 530, a storage unit 540, and a power supply unit. 550, an output unit 570, a user input unit 580, and an interface unit 590. The components shown in FIG. 2 are not essential for implementing the 3D scanner apparatus 100, so that the 3D scanner apparatus 100 described herein has more or less components than the components listed above. It can have elements.

Looking at each component in detail, the sensing unit 510 may acquire the appearance information of the object and transfer the acquired information to the control unit 520. In addition, the sensing unit 510 may include one or more sensors for sensing at least one of surrounding environment information and user information of the 3D scanner apparatus 100.

The sensing unit 510 may detect the height of the elevating member or the height at which the elevating member is raised or lowered. In addition, the sensing unit 510 may detect the degree of rotation of the rotary ring 123.

The sensing unit 510 may include a linear variable differential transformer, a distance measuring sensor (for example, a laser sensor, an ultrasonic sensor, an infrared sensor, a lidar sensor, a radar sensor, a camera sensor, etc.) Gyro Sensor, Acceleration Sensor, Magnetic Sensor, Proximity Sensor, Illumination Sensor, Touch Sensor, Gravity Sensor, G-sensor, Motion sensor, RGB sensor, infrared sensor (IR sensor), fingerprint scan sensor, ultrasonic sensor, optical sensor, battery gauge, It may include at least one of an environmental sensor, a chemical sensor. Meanwhile, the 3D scanner apparatus 100 disclosed herein may use a combination of information sensed by at least two or more of these sensors.

Representative sensors among various sensors that may be included in the sensing unit 510 will be described in more detail.

The displacement sensor measures the amount of movement when an object moves from one position to another position, and can be used not only for displacement but also for measuring dimensions such as height, width, and thickness of the object. Such a movement measurement method may include a contactless sensor using a magnetic field, light, or sound wave, and a contact displacement sensor such as a dial gauge or a differential transformer.

The distance measuring sensor uses the intangible energy such as light, sound, and radio waves to return from the object and measure the movement time and multiply the speed of the medium (eg, light, sound, radio waves, etc.). The distance value is the distance you are going and the return distance, so you can divide the value by 2 to get the distance to the target. Among the distance sensors, the laser sensor can find the distance by measuring the time (frequency, phase, displacement) difference reflected from the target by using the laser and can detect the distance with a very high resolution. Principles of laser distance measurement methods include pulsed modulation, frequency modulation, phase shift, triangulation, and interferometry.

The controller 520 controls the overall operation of the 3D scanner apparatus 100. For example, the controller 520 executes the programs stored in the storage 540 to detect the sensing unit 510, the communication unit 530, the storage unit 540, the power supply unit 550, the output unit 570, and the user. The input unit and the like can be controlled.

The controller 520 controls the driving or operation of the 3D scanner apparatus 100 or processes data related to an application program installed in the 3D scanner apparatus 100 based on the sensing signal generated by the sensing unit 510. Can perform a function or operation.

For example, the controller 520 may generate the entire object shape based on the shape information of the object acquired by the sensing unit 510.

The controller 520 may control the position of the sensor module 124 for acquiring shape information of the object by using the position of the elevating member sensed by the sensing unit 510 and the rotation information of the rotation ring 123. .

The control unit 520 detects the presence or absence of the object by the sensor module 124 and controls the position of the elevating member and the degree of rotation of the rotation ring 123 so that the sensor module 124 has shape information on all surfaces of the object. Can be obtained.

The communication unit 530 may configure a connection through which the 3D scanner apparatus 100 may transmit or receive data with a server or another device. In addition, the communication unit 530 may transmit data such as shape information of the object to a server or another device, or receive input data from the server or another device.

The communication unit 530 may include Bluetooth, Near Field Communication (WLAN), Wireless LAN (WLAN), Wireless-Fidelity (Wi-Fi), Zigbee, Infrared (IrDA), and Infrared Data Association (WFD). It can support local area networks such as Wi-Fi Direct (UWB), ultra wideband (UWB), Wireless Universal Serial Bus (Wireless USB), and Ant +, as well as mobile communication networks such as 3G, LTE, LTE-A, and 5G.

The storage unit 540 may store a program for processing and controlling the control unit 520, and may store input / output data.

The storage unit 540 may include a flash memory type, a hard disk type, a multimedia card micro type, and a card type memory (for example, SD or Micro SD memory). Random Access Memory (RAM) Static Random Access Memory (SRAM), Read-Only Memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Programmable Read-Only Memory (PROM), Magnetic Memory, It may include a storage medium of at least one type of magnetic disk, optical disk. In addition, the device may operate a web storage or a cloud server that performs a storage function of a memory on the Internet.

The power supply unit 550 receives power from an external power source and an internal power source under the control of the controller 520 to supply power to each component included in the 3D scanner apparatus 100. The power supply unit 550 may include a battery, and the battery may be a built-in battery or a replaceable battery.

In addition, the power supply unit 550 may include a connection port, and the connection port may be configured as an example of an interface to which an external charger for supplying power for charging the battery is electrically connected.

As another example, the power supply unit 550 may be configured to charge the battery inside the 3D scanner apparatus 100 in a wireless manner without using a connection port. In this case, the power supply unit 550 may use electric power by using at least one of an inductive coupling based on a magnetic induction phenomenon or a magnetic resonance coupling based on an electromagnetic resonance phenomenon from an external wireless power transmitter. Can be delivered.

The driving unit 560 may receive power from the power supply unit 550 to provide driving force to the scanner lifting member 121 and the rotation ring 123 of the 3D scanner apparatus 100. The driving unit 560 may include an elevating member driving means 114 and a rotary ring driving means 126.

The output unit 570 is for outputting an audio signal, a video signal, or a vibration signal, and the output unit 570 may include a display unit, a sound output unit 570, and the like.

The display unit displays and outputs information processed by the 3D scanner apparatus 100.

For example, the display unit may display execution screen information of an application program driven by the 3D scanner apparatus 100 or UI (User Interface) or Graphic User Interface (GUI) information according to the execution screen information.

Meanwhile, when the display unit and the touch pad form a layer structure and constitute a touch screen, the display unit may be used as an input device in addition to the output device. The display unit includes a liquid crystal display, a thin film transistor-liquid crystal display, an organic light-emitting diode, a flexible display, a 3D display, It may include at least one of an electrophoretic display. In addition, the 3D scanner apparatus 100 may include two or more display units according to the implementation form of the device.

The sound output unit 570 outputs audio data received from the communication unit 530 or stored in the storage unit 540. In addition, the sound output unit 570 outputs a sound signal associated with a function (for example, a call signal reception sound, a message reception sound, and a notification sound) performed by the 3D scanner apparatus 100. The sound output unit 570 may include a speaker, a buzzer, and the like.

The user input unit 580 is for receiving information from a user. When information is input through the user input unit 580, the controller 520 may control an operation of the 3D scanner apparatus 100 to correspond to the input information. Can be. The user input unit 580 may be a mechanical input unit (or a mechanical key, for example, a button, a dome switch, or a jog located at the front, rear, or side surfaces of the 3D scanner apparatus 100). Wheels, jog switches, etc.) and touch input means. As an example, the touch input means may include a virtual key, a soft key, or a visual key displayed on the touch screen through a software process, or a portion other than the touch screen. It may be made of a touch key disposed in the. The virtual key or the visual key may be displayed on the touch screen while having various forms, for example, graphic, text, icon, video, or the like. It can be made of a combination of.

The interface unit 590 serves as a path to all external devices connected to the 3D scanner apparatus 100. The interface unit 590 receives data from an external device, receives power, transfers the power to each component inside the 3D scanner apparatus 100, or transmits the data inside the 3D scanner apparatus 100 to an external device. do. For example, a wired / wireless headset port, an external charger port, a wired / wireless data port, a memory card port, or a port that connects a device equipped with an identification module. The port, an audio input / output (I / O) port, a video input / output (I / O) port, an earphone port, and the like may be included in the interface unit 590.

6 is a diagram for describing a method of recognizing an object, according to an exemplary embodiment.

If no object exists between the sensor module 124 and the reflector 125 as shown in FIG. 6A, the light source irradiated from the light emitting part of the sensor module 124 is reflected by the reflector 125 to the light receiver of the sensor module 124. Since it is incident, the distance measured by the sensor module 124 becomes t _{0, which} is a predetermined distance between the sensor module 124 and the reflecting plate 125, and is controlled between the sensor module 124 and the reflecting plate 125 by the controller 520. You cannot recognize that there is no object.

If an object exists between the sensor module 124 and the reflecting plate 125 as shown in FIG. 6B, since the light source irradiated from the light emitting unit of the sensor module 124 is reflected on the object and is incident on the light receiving unit of the sensor module 124, the sensor The distance measured by the module 124 becomes a distance t shorter than t ₀ , which is a predetermined distance between the sensor module 124 and the reflector 125, and is controlled by the controller 520 between the sensor module 124 and the reflector 125. You cannot recognize that there is an object.

The sensor module 124 may recognize that there is no object between the sensor module 124 and the reflecting plate 125 by the distance measured in one place, and additionally, even in a position where the rotation angle of the rotation ring 123 is different. If the measurement distance is detected as t ₀ by 124, it can be recognized that there is no object.

In addition, it can be recognized that the sensor module 124, the object is no case where the measured distance measured by the sensor module 124 from a different location in height of the rotary ring 123 as well as the first in the point is detected by t _0.

In addition, when the measurement distance measured by the sensor module 124 at one or more positions different from the rotation angle and the height of the rotation ring 123 as well as the point where the sensor module 124 is initially located is detected as t ₀ , there is no object. I can recognize it.

In order for the sensor module 124 to recognize the object or scan the shape of the object, the initial starting position may be the lowest point or the highest point of the elevating member. In order for the sensor module 124 to recognize the object, the initial starting position may be a midpoint rather than the lowest point or the highest point of the elevating member.

While the sensor module 124 recognizes the object or scans the shape of the object, the object may be in a fixed position without rotating or lifting.

7 is a view for explaining a scanning method of the three-dimensional scanner device according to an embodiment of the present invention.

Referring to FIG. 7, the scanning method of the 3D scanner apparatus 100 may include: initializing the sensor module 124 (S710); Confirming whether an object exists (S720); Scanning the object (S730); And terminating the scan of the object (S74).

Step S710 may be a process in which the 3D scanner apparatus 100 moves to an initially set position to scan an object. The initial position of the scanner may be a height at which the elevating member is the highest point or the lowest point, and may be a point at which the rotation angle of the rotation ring 123 is 0 degrees. The point where the rotation angle of the rotation ring 123 is 0 degrees may be set to the point where the sensor module 124 or the reflector 125 is closest to the rotation ring driving means 126.

In operation S720, the 3D scanner apparatus 100 may start a scan of an object at an initially set position to determine whether the object is present.

If the initial setting position of the scanner is the highest point of the elevating member, it is determined whether there is an object at the highest point height, and if it is determined that there is no object, the rotation angle of the rotating ring 123 is changed or the height of the elevating member is further reduced. Can be determined. When the rotation angle of the rotation ring 123 is repositioned to 0 degrees which is the initial rotation angle and the height of the elevating member reaches the lowest point, it may be finally determined that there is no object.

If the initial setting position of the scanner is the lowest point of the elevating member, it is determined whether there is an object at the height of the highest point, and if it is determined that there is no object, the rotation angle of the rotating ring 123 is changed or the height of the elevating member is further increased. Can be determined. When the rotation angle of the rotation ring 123 is repositioned to 0 degrees, which is the initial rotation angle, and the height of the elevating member reaches the highest point, it may be finally determined that there is no object.

If it is determined in step S720 that there is no object, the scanning of the object may be terminated and the sensor module 124 may be initialized.

If it is determined in step S720 that the object is present, scanning of the object may be performed (S730).

Scanning of the object may begin at the lowest point of the elevating member, which is the highest or lowest height at which the object is located.

The scanning method of the object is to change the angle of rotation of the rotary ring 123 at the object scanning position to scan all 360 degrees of the object, and then to change the height of the sensor module 124 to scan the 360 degree direction You can repeat the entire object scan.

In addition, the method of scanning the object scans the entire object at a specific rotation angle of the rotary ring 123 by changing the height of the lifting member at the object scanning position, and then by changing the specific rotation angle of the rotary ring 123 by a predetermined amount By changing the rotation angle of the sensor module 124, the operation of scanning the entire object at the corresponding rotation angle of the rotation ring 123 may be repeated to scan the entire object.

Operation S740 may be a process of scanning the entire object and detecting the completion of the scan.

When the scan completion is detected, the 3D scanner device 100 to initialize the sensor module 124 may enter a power off or power saving mode.

When the scan completion is detected, the output unit 570 may output a signal that the scan is completed.

8 is a view for explaining a scanning method of the three-dimensional scanner apparatus according to an embodiment of the present invention.

As shown in FIG. 8A, when the sensor module 124 and the reflector 125 are a pair, one sensor module 124 may scan an object in all directions in 360 degrees.

If the scan direction is from the highest height to the lowest height of the object, the sensor module 124 scans 360 degrees at the highest height of the object and lowers the height of the sensor module 124 at regular intervals by adjusting the height of the elevating member. 360 degrees scan can be performed. When the height of the sensor module 124 reaches the minimum height of the object, the scan may proceed in the last 360 degree direction and the scan may be terminated.

If the scan direction is from the lowest height to the highest height of the object, the sensor module 124 scans 360 degrees at the lowest height of the object, and raises the height of the sensor module 124 at regular intervals by adjusting the height of the elevating member. 360 degrees scan can be performed. When the height of the sensor module 124 reaches the maximum height of the object, the scan may proceed in the last 360 degree direction and the scanning may be terminated.

As shown in FIG. 8B, when there are several pairs of the sensor module 124 and the reflector plate 125, each sensor module 124 may scan an object in a predetermined angle direction.

When there are three sensors of the sensor module 124, each sensor may scan only the object in the direction of 120 degrees at the same height. Here, each sensor may scan a wider range than 120 degrees so that no scan is missing in the scanning process of the object.

When the number of sensors of the sensor module 124 is N (where N is an integer of 2 or more), each sensor may scan only objects in a direction of 360 / N or more rather than 360 / N or 360 degrees at the same height. More preferably, each sensor may scan a range larger than 360 / N degrees and narrower than 360 / N-1 degrees so that there is no missing portion in the scanning process of the object.

Each sensor of the sensor module 124 may scan a predetermined same angle even if the height of the sensor module 124 is changed. Here, each sensor of the sensor module may scan by reciprocating the scan radius of each sensor.

For example, sensor 1 scans from 0 ° to 120 ° and 120 ° to 0 °, sensor 2 scans from 120 ° to 240 ° and 240 ° to 120 °, and sensor 3 scans from 240 ° You can scan from 360 degrees to 240 degrees.

Each sensor of the sensor module 124 may scan different angle ranges in consideration of the changed position of the sensor module 124 as the height of the sensor module 124 is changed.

For example, as the height is changed, the first sensor is 0 to 120 degrees, 120 to 240 degrees, 240 to 360 degrees,. Scan in order, and sensor 2 is 120-240 degrees, 240-360 degrees, 0-120 degrees,…. Scanning is performed in order, and sensor 3 is 240 degrees to 360 degrees, 0 to 120 degrees, 120 to 240 degrees,. You can scan in order.

Even when there are several pairs of the sensor module 124 and the reflector plate 125, the starting point of the scan may be set to the highest height or the lowest height of the object.

The above description of the present invention is intended for illustration, and it will be understood by those skilled in the art that the present invention may be easily modified in other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as distributed may be implemented in a combined form.

The scope of the present invention is represented by the following claims, and it should be construed that all changes or modifications derived from the meaning and scope of the claims and their equivalents are included in the scope of the present invention.

100: 3D scanner device
110: scanner base
111: base body
112: scanner connection
113: support frame
120: scanner unit
121: scanner lifting member
122: rotating ring support member
123: rotary ring,
124: sensor module,
125: reflector
126: rotary ring drive means
127: support frame connection
128: screw connection

Claims (15)

A scanner base on which an object to be scanned is placed; And
In the three-dimensional scanner device including a scanner for photographing the object to obtain data about the shape and size,
The scanner base is,
A support frame for moving the scanner in a vertical direction; And
It includes a driving means for generating a driving force so that the scanner unit can move in the vertical direction,
The scanner unit,
A scanner lifting member installed to move the scanner unit in a vertical direction by the support frame;
A rotating ring support member connected to the scanner lifting member;
A rotary ring connected to the rotary ring support member and configured to rotate in a 360 degree direction around the object;
Rotary ring driving means for generating a driving force necessary for rotation of the rotary ring;
A sensor module positioned on one surface of the rotary ring, photographing the object to obtain shape information, and including a light receiving unit and a light emitting unit; And
The rotating ring is disposed at a position opposite to 180 degrees with respect to the central axis of the circular motion on a surface perpendicular to the first axis such as the sensor module to reflect the light source irradiated from the light emitting part to the light receiving part, It includes; and a reflector for the circular motion and the lifting motion with the sensor module,
The sensor module and the reflector plate are formed in an odd pair corresponding to a rotation angle set to scan all directions of the 360 degrees of the object to be located on the rotation ring to classify the object into an odd area and to sense the rotation degree to rotate And scanning the entirety of the object to accurately and accurately scan shape information of the object at high speed to more accurately generate and acquire three-dimensional shape data for the object formed in various shapes and sizes.
delete delete A scanner base on which an object to be scanned is placed;
A rotation ring which rotates about 360 degrees in the front direction about the object;
A sensor module positioned on one surface of the rotating ring and acquiring shape information by capturing the object through a circular motion and a lifting motion around the object;
First driving means for generating a driving force such that the sensor module moves up and down in a first axis direction through a lifting motion; And
Second driving means for generating a driving force so that the sensor module performs a circular motion on a surface perpendicular to the first axis;
The rotary ring is disposed at a position opposite to 180 degrees with respect to the central axis of the circular motion on a surface perpendicular to the first axis such as the sensor module to reflect light emitted from the sensor module, and Including; a reflector for circular motion and elevating motion together;
The sensor module and the reflector plate are formed in an odd pair corresponding to a rotation angle set to scan all directions of the 360 degrees of the object to be located on the rotation ring to classify the object into an odd area and to sense the rotation degree to rotate And scanning the entire object to accurately and accurately scan shape information of the object at high speed to generate and acquire three-dimensional shape data of the object formed in various shapes and sizes more accurately.
delete delete A sensing unit for photographing an object to obtain shape information;
A controller for controlling the position of the sensing unit;
A driving unit providing a driving force to the sensing unit;
A power supply unit supplying power to the sensing unit and the driving unit; And
And a reflector for reflecting and returning the light source irradiated from the sensing unit.
The sensing unit and the reflecting plate are formed in an odd pair corresponding to the rotation angle set to scan all directions of the 360 degrees of the object to be located on the rotation ring to classify the object into an odd area and to sense the rotation degree and rotate Scanning the entire object to accurately scan the shape information of the object at high speed,
The control unit may determine the presence or absence of the object through the light source returned through the reflector, and the sensing unit controls the driving force of the driving unit to scan the object through the circular motion and the lifting motion.
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