KR102665372B1 - Gantry-mounted 3D shape scanning apparatus and scanning method using same - Google Patents

Abstract

The present invention provides a scanning device including an imaging unit for photographing an object and a control unit for acquiring coordinate information and visual information about the photographed object and obtaining shape information of the photographed object by correlating the obtained coordinate information and visual information. do. In addition, the present invention includes a first preparation step of confirming the initial position of the pre-designated reference unit and the imaging unit, the imaging unit moving and photographing the reference unit, and the coordinate information of the imaging unit and the time of the reference unit photographed based on the position to which the imaging unit was moved. An adjustment step of adjusting the zero point targeting the reference unit by matching the coordinate information of the imaging unit obtained while acquiring information and the visual information of the reference unit, a second preparation step of moving the imaging unit to a pre-designated start coordinate, and a reference at each pre-designated unit time. A scanning method including a scanning step of obtaining relative coordinate information of the imaging unit based on the unit, acquiring coordinate information and visual information of the object being photographed while the imaging unit moves, and obtaining shape information by matching the coordinate information and visual information of the object. to provide.
According to an embodiment of the present invention, an object can be easily scanned without having to use a large number of scanning devices, a number of information processing steps can be omitted, and 3D scanning of easier and more precise quality can be performed without being limited by the size of the object. This is possible, and since no additional zero-point adjustment is required after the initial zero-point adjustment, errors in the scanning process can be prevented and rapid scanning can be performed.

Description

Gantry-mounted 3D shape scanning apparatus and scanning method using same {Gantry-mounted 3D shape scanning apparatus and scanning method using same}

The present invention relates to a gantry-mounted 3D shape scanning device and a scanning method using the same. In detail, various embodiments of the present invention relate to a technology that can more easily and precisely scan the shape of an object after one-time zero point adjustment while mounted on a gantry.

Recently, various technologies have been introduced to improve productivity, safety, and quality management in industrial sites such as construction and shipbuilding, and among these, automation technology using 3D vision is emerging. In particular, scanning of objects is essential for processing objects in various industrial sites. For this purpose, unlike the existing skilled person checking the shape and drawing of the object and extracting data using measuring means such as a tape measure, various scanning methods using imaging cameras have recently been used. However, the above-mentioned scanning means is easy to photograph small objects, but has a problem in that it is not suitable for scanning objects that have complex shapes or are very large in size. In addition, since multiple scanning means must be installed, there is the inconvenience of operating each scanning equipment and collecting information, and there is a problem of relatively low accuracy.

In order to solve the above problems, an imaging camera is installed on a material transfer gantry for the purpose of rapid transfer of materials between processes in automated production lines at various industrial sites, and then the camera captures images while moving the gantry. We intend to continuously implement a method of obtaining information about the shape of an object and disclose a device and method that can maximize accuracy and speed.

Various embodiments of the present invention are intended to solve the above problems and aim to easily scan large objects using fewer scanning means.

Additionally, the problem that the present invention aims to solve is to increase the accuracy of visual information that can be obtained during the scanning process.

Additionally, the purpose of the present invention is to prevent the acquisition of inaccurate visual information due to foreign substances that may occur during the scanning process.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned can be clearly understood by those skilled in the art from the description below.

For this purpose, the present invention is a scanning device that includes an imaging unit that photographs an object and a control unit that acquires coordinate information and visual information about the photographed object and obtains shape information of the photographed object by correlating the obtained coordinate information and visual information. Provides a device.

In addition, the present invention includes a first preparation step of confirming the initial position of the pre-designated reference unit and the imaging unit, the imaging unit moving and photographing the reference unit, and the coordinate information of the imaging unit and the time of the reference unit photographed based on the position to which the imaging unit was moved. An adjustment step of adjusting the zero point targeting the reference unit by matching the coordinate information of the imaging unit obtained while acquiring information and the visual information of the reference unit, a second preparation step of moving the imaging unit to a pre-designated start coordinate, and a reference at each pre-designated unit time. A scanning method that includes a scanning step of acquiring relative coordinate information of the imaging unit based on the unit, acquiring coordinate information and visual information of the object being photographed while the imaging unit moves, and obtaining shape information by matching the coordinate information and visual information of the object. to provide.

According to an embodiment of the present invention, an object can be easily scanned without having to use a large number of scanning devices, and a large number of information processing steps can be omitted.

Additionally, through the present invention, 3D scanning with easier and more precise quality is possible without being limited by the size of the object.

In addition, the present invention does not require additional zero-point adjustment after the initial zero-point adjustment, thereby preventing errors in the scanning process and enabling rapid scanning.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

1 is an overall diagram of a scanning device according to an embodiment of the present invention.
Figure 2 is a perspective view showing a working unit and an imaging unit provided for scanning an object according to an embodiment of the present invention.
Figure 3 is a diagram showing an adjustment area and a scan area according to an embodiment of the present invention.
Figure 4 is a diagram generally showing a method of scanning an object using a scanning device according to an embodiment of the present invention.
Figure 5 is a diagram showing the first preparation step according to an embodiment of the present invention.
Figure 6 is a diagram showing that the imaging unit moves to correspond to the reference unit in response to the first preparation step according to an embodiment of the present invention.
Figure 7 is a diagram showing an adjustment step according to an embodiment of the present invention.
Figure 8 is a diagram showing the second preparation step according to an embodiment of the present invention.
Figure 9 is a diagram showing the image capture unit moving to an object in response to the second preparation step according to an embodiment of the present invention.
Figure 10 is a diagram showing a scanning step according to an embodiment of the present invention.
Figure 11 is a diagram showing the movement path of the imaging unit in the scanning step according to an embodiment of the present invention.
Figure 12 is a diagram showing formation information with noise included and removed according to an embodiment of the present invention.
Figure 13 is a diagram showing a first mode and a second mode according to an embodiment of the present invention.
Figure 14 is a flowchart showing the first mode according to an embodiment of the present invention.
Figure 15 is a flowchart showing the second mode according to an embodiment of the present invention.
Figure 16 is a diagram relating to shape information obtained respectively according to the first mode and the second mode according to an embodiment of the present invention.
Figure 17 is a diagram showing an imaging unit and a sensing unit according to an embodiment of the present invention.
Figure 18 is a diagram showing a scanning process through a detection unit according to an embodiment of the present invention.

The terminology used herein is for describing embodiments and is not intended to limit the invention. As used herein, singular forms also include plural forms, unless specifically stated otherwise in the context. As used in the specification, “comprises” and/or “comprising” does not exclude the presence or addition of one or more other elements in addition to the mentioned elements. Like reference numerals refer to like elements throughout the specification, and “and/or” includes each and every combination of one or more of the referenced elements. Although “first”, “second”, etc. are used to describe various components, these components are of course not limited by these terms. These terms are merely used to distinguish one component from another. Therefore, it goes without saying that the first component mentioned below may also be a second component within the technical spirit of the present invention.

When it is said that a part "includes" a certain element throughout the specification, this means that, unless specifically stated to the contrary, it does not exclude other elements but may further include other elements. In addition, terms such as "... unit" and "module" used in the specification refer to a unit that processes at least one function or operation, which may be implemented as hardware or software, or as a combination of hardware and software. .

Before explaining the present invention, the “object (m)” is a subject that is the subject of scanning, and may be provided in various sizes and shapes, and is photographed by the imaging unit 200, which will be described later, to form visual information.

In addition, coordinate information refers to three-dimensional coordinates indicating the three-dimensional position of a specific object in the x, y, and z axes, and visual information refers to visual image information about the object captured by the imaging unit 200. it means.

In addition, unless otherwise specified in this specification, terms indicating direction refer to the case where the working unit 100 according to the present invention is arranged to stand upright, or to describe the position of the configuration within the present invention based on the drawings. Let's do it.

1 is an overall diagram of a scanning device according to an embodiment of the present invention. The gantry-mounted 3D shape scanning device according to the present invention is driven and scanned by a control unit.

Through the above control, the control unit moves the imaging unit 200 installed on the work unit 100 to obtain coordinate information and time information, and matches the obtained coordinate information and time information so that they correspond to each other to obtain shape information. do. For this purpose, the control unit includes a working unit 100 that moves the imaging unit 200, a standard unit (a) that presents matching standards for coordinate information and visual information, and a communication unit 310 that mediates communication with the imaging unit 200. , It includes a calculation unit 320 that acquires coordinate information and visual information based on visual information, and a linking unit 330 that acquires shape information. In addition, the operation unit, linkage unit, and storage unit included in the control unit can implement each function through execution of one or more instructions based on one or more processors preset in the control unit, and the implemented functions are implemented by each configuration included in the control unit. It can be performed or the control unit can perform it in an integrated manner.

Figure 2 is a perspective view showing the working unit 100 and the imaging unit 200 provided for scanning the object m according to an embodiment of the present invention.

The bottom plate (b) is a structure that provides a movement space and work space for the working unit 100, and is provided in the form of a plate and located below the working unit 100. The working unit 100 can induce work on the object m and movement of the imaging unit 200 by guiding the first horizontal moving unit 101 to move along the longitudinal direction of the bottom plate part (b).

The working unit 100 is a component that moves the imaging unit 200 to capture an object (m) located on the bottom plate (b), and includes a first horizontal moving unit (101) and a second horizontal moving unit (102). , a lifting and lowering unit (103), and a working arm. Additionally, when a plurality of working units 100 are provided, they can be moved within the range of each scan area.

The first horizontal movement unit 101 is configured to first horizontally move the imaging unit 200. In detail, the first horizontal moving unit 101 moves the imaging unit 200 in the longitudinal direction of the bottom plate portion (b) (lower left direction and upper right direction in FIG. 2) to detect an object (m) on the bottom plate portion (b). ) to enable continuous shooting. The first horizontal moving part 101 is provided in a form engaged with the bottom plate part (b) to enable guided movement, and can also be guided separately through a separate path providing means such as a rail. Meanwhile, the first horizontal moving unit 101 as described above is moved by a separate driving means, and the driving is controlled by a control unit.

The second horizontal movement unit 102 moves the imaging unit 200 in a second horizontal direction. In detail, the second horizontal moving unit 102 moves the imaging unit 200 in a direction perpendicular to the longitudinal direction of the bottom plate part (b) (upper left direction and lower right direction in FIG. 2). That is, as the moving direction of the first horizontal moving part 101 and the moving direction of the second horizontal moving part 102 are orthogonal to each other, the imaging unit 200 is configured to move the first horizontal moving part 101 and the second horizontal moving part 102 The eastern part 102 can move the x-axis and y-axis on the same plane. The second horizontal movement unit 102 moves horizontally while connected to the first horizontal movement unit 101, and its driving may be controlled by a control unit in the same way as the first horizontal movement unit 101.

The elevating and lowering unit 103 is configured to vertically move the imaging unit 200. In detail, the raising and lowering unit 103 moves the imaging unit 200 in the vertical direction to adjust the magnification of the imaged object m. For this purpose, the elevating and lowering unit 103 is located in the lower direction of the second horizontal moving unit 102 and moves in the vertical direction by exerting driving force using electricity, hydraulics, etc. In this process, the position of the imaging unit 200 disposed in the lower direction of the elevating and lowering unit 103 may be adjusted in the upper and lower directions as one body with the elevating and lowering unit 103.

The imaging unit 200 is a component that photographs the object m. More specifically, it forms visual information for zero point adjustment through photographing a reference portion, which will be described in more detail later, and transmits it to the control unit. After zero point adjustment is completed, the object (m) is photographed to form visual information, and this is transmitted to the control unit, so that the calculation unit 320 and linkage unit 330, which will be described later, obtain coordinate information and visual information, respectively. Basic data is provided to enable this to be reconciled. Here, the imaging unit 200 is equipped with an imaging means such as a TOF (Time of Flight) camera for acquiring visual information in the form of 3D point cloud data, and captures the reference unit and the object every unit time predetermined by the control unit. (m) can be imaged.

The reference unit (a) is a configuration that serves as a standard for finally obtaining more accurate visual information from the object (m). In detail, the reference unit (a) adjusts the zero point to obtain more accurate shape information in the process of matching the visual information and the corresponding coordinate information obtained by the imaging unit 200 by photographing the object (m). It is provided for the purpose of. That is, the reference unit (a) is used as a reference for determining relative coordinate information of the imaging unit 200 when the imaging unit 200 moves toward and photographs the object m.

For this purpose, the reference part (a) must be provided in a position adjacent to the bottom plate part (b) and adjacent to the imaging unit 200, and must be provided in a position where the imaging unit 200 can capture images through movement of the working unit 100. It is desirable to do so. Taking Figure 2 as an example, the reference part (a) is placed on a separate fixing space located in front of the bottom plate part (b) (lower right direction in Figure 2), and is continuously fixed by a separate fixing jig. maintain Through the reference unit (a) as described above, the zero point can be adjusted by matching the visual information of the reference unit (a) with the coordinate information of the imaging unit 200 while the coordinate information of the reference unit (a) is fixed. Meanwhile, the reference part (a) may be provided in various shapes such as a sphere or polyhedron.

As another embodiment of the present invention, it may further include a center (b). The center (b) is placed at the center of the reference portion (a) and has fixed coordinate values, so it can be presented as a reference for zero point adjustment. In detail, the center (b) is provided to have more accurate coordinate information by replacing the reference portion (a), and the coordinate information can be input to the control unit. The center portion (b) can remain fixed in the same state as the reference portion (a). Since the center (b) as described above is provided and the control unit matches the coordinate information of the imaging unit 200 with the visual information about the captured center (b), more accurate coordinates are obtained when the reference portion (a) has a shape other than a sphere. can be presented, which can significantly increase the accuracy related to zero point adjustment. In other words, easy zero point adjustment is possible even if the shape of the reference part changes through the center.

Figure 3 is a diagram showing an adjustment area and a scan area according to an embodiment of the present invention. In FIG. 3 , in order to prevent confusion between the plurality of work units 100, the names of the work units 100 and the names of the scan areas will be temporarily described differently. In addition, in FIG. 3, the object (m) is described as being provided in only one scan area among the plurality of scan areas, but in the case of a large object (m), it is preferable to be placed across a plurality of scan areas.

The adjustment area (d) is an area where the reference unit (a) is placed, and the movement displacement of the work unit 100 that moves the imaging unit 200 through the interaction between the reference unit (a) and the imaging unit 200 is adjusted. Control and adjust the zero point. That is, in the adjustment area (d), work is performed to ensure the accuracy of the shooting position of the imaging unit 200 by increasing it.

The scan area (s) is an area where the object (m) is placed, and the first horizontal movement (left and right directions in FIG. 3), second horizontal movement (up and down directions in FIG. 3) and vertical movement are performed according to the configuration of the working unit 100. This is a space where the object (m) on the bottom plate (b) is scanned through movement.

3 as an example, when scan area A (s1) to scan area C (s3) are set along the longitudinal direction of the bottom plate (b) and the object (m) is placed only within scan area A (s1), scan The working unit A corresponding to area A(s1) moves to the adjustment area, performs zero-point adjustment, and then moves again to the scan area A(s1), then moves tracking along the shape of the object (m), and the imaging unit 200 detects the visual Encourage them to obtain information. On the other hand, since the object (m) is not located in scan area B (s2) and scan area C (s3), the driving remains stopped.

If the object (m) is formed and arranged across multiple scan areas, zero point adjustment with the reference unit (a) and imaging of the object (m) are performed through the first or second mode pre-stored in the control unit. , A more detailed description of this will be provided in FIGS. 13 to 16.

Figure 4 is a diagram generally showing a scanning method of an object (m) using a scanning device according to an embodiment of the present invention.

The scanning method using a scanning device according to the present invention includes a first preparation step (s110) of confirming the initial position of the pre-designated reference unit (a) and the imaging unit 200, and an adjustment step (s120) of adjusting the zero point for the reference unit. ), a second preparation step (s130) of moving the imaging unit 200 from a predetermined starting coordinate, and a scanning step of acquiring coordinate information and visual information of the object at each predetermined unit time and obtaining shape information by correlating them ( s140), and each step is performed sequentially by the imaging unit or control unit.

Figure 5 is a diagram showing the first preparation step (s110) according to an embodiment of the present invention, and Figure 6 is a diagram showing the image capture unit 200 corresponding to the first preparation step (s110) according to an embodiment of the present invention. This is a diagram showing movement to correspond to (a). Here, the reference part (a) may be replaced by the above-mentioned center (b), and in this specification, the standard for zero point adjustment is explained as the reference part (a). However, if the reference part (a) has a complex shape, it is spherical. The center (b) of can be the standard for zero point adjustment.

The first preparation step (s110) is a preparation step for zero point adjustment and is a step of determining the positions of the reference unit (a) and the imaging unit 200. To this end, the first preparation step (s110) includes a first input step (s111), a second input step (s112), and a coordinate reception step (s113), so that the control unit uses the reference unit (a) and the imaging unit 200. It is set to confirm the initial position of and receive coordinate information and time information about the reference unit according to the movement of the imaging unit 200.

The first input step (s111) is provided to determine the position of the reference unit (a). In detail, in the first input step (s111), the control unit collects or inputs information about coordinate information about the reference unit (a). When coordinate information about the reference unit (a) is pre-designated, the coordinate information is stored in the control unit, and when the coordinate information is not secured, the control unit collects and stores information about the coordinate information. Here, the coordinate information regarding the reference unit (a) may be input by the operator using a separately connected input means and stored.

The second input step (s112) determines the location of the imaging unit 200, and the control unit collects coordinate information of the imaging unit 200 connected to the working unit 100. Here, the imaging unit 200 may be further equipped with a separate mapping means capable of obtaining location coordinates.

The coordinate reception step (s113) is performed after completion of the first preparation step (s110) and the first input step (s111) and acquires coordinate information about the imaging unit 200. In detail, after completing the second input step (s112), a plurality of coordinate information about the imaging unit 200 is acquired while the imaging unit 200 moves toward the reference unit (a).

Figure 7 is a diagram showing an adjustment step (s120) according to an embodiment of the present invention.

The adjustment step (s120) is a step in which zero point adjustment for the reference part (a) is performed in earnest after the preparation for zero point adjustment is completed. For this purpose, the adjustment step (s120) includes the first recognition step (s122), comparison step (s123), first acquisition step (s124), first imaging step (s125), second acquisition step (s127), and linkage step ( s128). Additionally, the adjustment step (s120) is performed by the imaging unit 200, the calculation unit 320, and the linking unit 330.

The first recognition step (s122) is a step of recognizing and acquiring visual information formed by the imaging unit 200. In detail, the control unit receives and receives visual information regarding the reference unit (a) photographed by the imaging unit 200.

In the first recognition step (s122), the imaging unit 200 obtains visual information by photographing the reference unit (a) at predetermined unit times. Information about unit time is pre-specified and stored in the control unit and can be designed in various ways, such as 1 second, 3 seconds, or 5 seconds. Every unit of time, the control unit acquires coordinate information about the imaging unit 200 and visual information about the reference unit (a) photographed by the imaging unit 200.

The comparison step (s123) is performed after obtaining visual information through the first recognition step (s122). In detail, the control unit compares the number of times the imaging unit 200 detects the reference unit (a) with the number of times the reference unit is photographed. The number of times the reference unit is photographed is pre-stored in the control unit and is a standard for determining whether the visual information collection by the imaging unit 200 regarding the reference unit (a) has been sufficiently collected. Here, when the reference part (a) is the target of zero point adjustment, the number of detections corresponds to the case where the center part of the reference part (a) is photographed by the imaging unit 200, and detection occurs when the center part (b) is further provided. The number of times can be limited to cases where imaging of the central portion of the center (b) is performed. For example, the standard detection number can be set variously, such as 3 times, 5 times, etc., and stored in the control unit, but is not limited to this.

Upon completion of the first recognition step (s122), the control unit calculates the number of detections of the relevant visual information as 1, and proceeds with the first acquisition step (s124), which will be described later, according to the result of comparing the accumulated number of detections with the number of standard shots. decide.

If the number of detections of the imaging unit 200 targeting the reference unit (a) is less than the number of recordings of the reference unit, the control unit continuously moves the imaging unit 200 by driving the working unit 100 and detects the Control to capture the reference portion (a). Accordingly, the coordinate information of the imaging unit 200 and the visual information targeting the reference unit (a) are additionally stored in the control unit, and the number of detections is accumulated.

On the other hand, when the number of detections of the imaging unit 200 is equal to the number of times of photographing the reference unit, the control unit controls the imaging unit 200 to stop photographing the reference unit (a). In addition, the coordinate information of the imaging unit 200 and the visual information related to the reference unit (a) stored as many times as the number of times the reference unit has been photographed are transmitted from the imaging unit 200 to the calculation unit 320 included in the control unit.

For example, when the number of reference unit shots is 3, the coordinate information of the imaging unit 200 is obtained in the form of (1, 1, 1), (1, 4, 1), (2, 4, 1). And the visual information of the reference unit (a) captured for each coordinate information is transmitted to the calculation unit 320.

The first acquisition step (s124) is performed after the comparison step (s123) and is performed by the calculation unit 320 included in the control unit. In detail, the first acquisition step (s124) is a step for acquiring coordinate information and visual information of the reference unit. Coordinate information about the imaging unit 200 that photographed the reference unit (a) at different viewpoints and the corresponding visual information of the reference unit (a) may be listed for each viewpoint. Through the first acquisition step (s124), the imaging unit 200 can be moved closer to the reference unit (a) so that the midpoint of the reference unit (a) can be captured more accurately and quickly.

The first imaging step (s125) is performed after the first acquisition step (s124) and is a step of imaging the reference portion (a) again. The control unit drives the stopped working unit 100 again to move the imaging unit 200. Accordingly, the imaging unit 200 acquires visual information regarding the reference unit (a) and transmits it to the control unit again.

The second recognition step (s126) is a step of recognizing the imaging unit 200 that moves and photographs the reference unit (a) again through the control unit. In detail, the control unit receives the visual information formed in the first imaging step (s125) and is provided with information regarding coordinate information regarding the corresponding imaging unit 200. Afterwards, the collected information regarding visual information and coordinate information is moved to the calculation unit 320 again.

The second acquisition step (s127) is performed by the calculation unit 320, and the calculation unit 320 collects the visual information of the reference unit (a) and the imaging unit 200 in the same way as the first acquisition step (s124) described above. Coordinate information is acquired, and the obtained visual information and coordinate information are transmitted to the linking unit 330.

The linking step (s128) is performed by the linking unit 330 and is a step in which zero point adjustment for the reference unit (a) and the imaging unit 200 is finally completed. In detail, in the linking step (s128), the linking unit 330 matches the received visual information of the reference unit (a) and the coordinate information of the imaging unit 200. That is, the coordinate information of the imaging unit 200 and the visual information of the reference unit (a) are matched through the linking unit 330. The visual information of the reference unit (a) collected every unit of time is moved and stored in response to the coordinate information of the imaging unit 200 based on the relative coordinates of the reference unit (a). In this process, as the relative coordinate data of the reference part (a) is calculated, zero point adjustment is completed.

For example, visual information A acquired at (1, 1, 1) at 1 second, visual information B acquired at (2, 2, 2) at 2 seconds, and visual information B acquired at (3, 3, 3) at 3 seconds. When visual information C exists, a transformation matrix is applied by the linkage unit 330 to visual information A to visual information C, and the positions are specified in correspondence with each coordinate information.

Through the linking step (s128) in which the coordinate information and visual information are matched to correspond to each other by applying the transformation matrix as described above, faster and more accurate scanning can be performed targeting the reference portion (a), which is the zero point standard for scanning. there is. Additionally, the present invention can prevent errors from occurring during the scanning process of the object (m). In addition, the present invention does not correct the heterogeneous arrangement of visual information during the scanning process of the object (m), but rather creates a transformation matrix so that the visual information and coordinate information correspond to each other for the reference part (a) before scanning the object (m). Since registration is performed by applying , it is possible to prevent the inconvenience of having to frequently correct the imaging results regarding the object (m).

In addition, the control unit acquires information about the moving speed of the imaging unit 200 in the adjustment step (s120) targeting the reference unit, and based on this, the moving speed obtained when the imaging unit 200 photographs the object (m) You can control it to move to . Therefore, in the process of acquiring the visual information of the object (m) while the imaging unit 200 photographs the object (m), the relative coordinate information of the imaging unit 200 is more accurately based on the position of the reference unit (a). You can decide. In addition, the accuracy of the visual information of the object obtained in response to the relative coordinate information of the imaging unit 200 can be improved.

Meanwhile, after the above-described adjustment step (s120) is completed, the second preparation step (s130) prepares for shooting the object (m).

Figure 8 is a diagram showing the second preparation step (s130) according to an embodiment of the present invention, and Figure 9 is a diagram showing the image capture unit 200 corresponding to the second preparation step (s130) according to an embodiment of the present invention. This is a drawing showing movement to m).

The second preparation step (s130) is a step of preparing for imaging the object (m). In detail, the second preparation step (s130) is the object (m) and the imaging unit 200 through the first grasping step (s131), the second grasping step (s132), the viewpoint designation step (s133), and the moving step (s134). ) are sequentially determined and a starting point is set to induce movement and shooting of the imaging unit 200.

The first identification step (s131) is a step of confirming the location of the object (m), and the control unit obtains information about coordinate information from the object (m). This can be implemented by placing the object (m) at a pre-designated marking point (p) or by having the operator set the coordinate information of the previously placed object (m) to specific coordinates such as the origin and input it to the control unit.

The second identification step (s132) is a step of determining the location of the imaging unit 200, and is performed after the first identification step (s131). For this purpose, the control unit receives information regarding the coordinate information of the imaging unit 200. As another embodiment of the present invention, in addition to the coordinate information of the imaging unit 200, the control unit also receives visual information about the direct direction collected by the imaging unit 200, thereby controlling the scanning step (s140) to be performed later. ) can also be referred to as a reference point in the process of matching coordinate information and visual information.

The viewpoint designation step (s133) determines the scanning position of the imaging unit 200 and is performed after the first grasping step (s131) and the second grasping step (s132). In detail, the viewpoint designation step s133 moves the imaging unit 200 to a pre-designated start coordinate and is performed based on information about the start coordinate previously stored in the control unit or the storage unit. Through this, the imaging unit 200 moves from a random position to the starting coordinate. Here, when the starting coordinate is designated as the marking point (p) of the object (m) described above, more precise and easy imaging of the object (m) is possible. Additionally, the starting coordinates may be set to be spaced apart from the coordinate information of the reference unit by a preset distance. Through this, in the process of photographing the object (m), which will be described later, the coordinate information of the object based on the coordinate information of the reference unit and the starting coordinate can be obtained more accurately, thereby eliminating rework due to errors in the scanning process for the object. It has the effect of

The movement step (s134) instructs the imaging unit 200 to move through the control unit. More specifically, the control unit instructs the working unit 100 to drive and controls the operation unit 100 to move from a stop position at the start coordinate.

FIG. 10 is a diagram showing the scanning step (s140) according to an embodiment of the present invention, and FIG. 11 is a diagram showing the movement path of the imaging unit 200 in the scanning step (s140) according to an embodiment of the present invention. 12 is a diagram showing formation information with noise included and removed according to an embodiment of the present invention.

The scanning step (s140) is a step for acquiring formation information targeting the object (m). In detail, the scanning step (s140) forms formation information by matching the visual information targeting the object m and the coordinate information of the imaging unit 200, and further removes noise to have more accurate image quality. For this purpose, the scanning step (s140) includes an imaging step (s141), a recognition step (s142), an acquisition step (s143), a shape information forming step (s144), an initial storage step (s145), and a removal step (s146). .

The imaging step s141 involves capturing an object m, and forms visual information about the object m by moving the imaging unit 200 disposed on the starting coordinates. Here, when the starting coordinates are directly above the marking point (p) where the object (m) is placed or correspond to the marking point (p), the imaging unit 200 can more easily form visual information. Meanwhile, the formed visual information is transmitted from the imaging unit 200 to the control unit, and the visual information is sequentially transmitted at predetermined unit times. In this process, information regarding coordinate information regarding the imaging unit 200 is also moved to the control unit.

The recognition step (s142) is a step of recognizing a shot of the object (m) of the imaging unit 200 based on the visual information formed through the imaging step (s141). In detail, the control unit receives information about time information and coordinate information of the imaging unit 200 every unit time. The information regarding the time information and coordinate information is then moved to the calculation unit 320.

The acquisition step (s143) is performed by the calculation unit 320 and is provided for the purpose of acquiring coordinate information and time information. The calculation unit 320 included in the control unit acquires relative coordinate information of the imaging unit based on the position of the reference unit every predetermined unit time. In detail, the control unit determines the relative coordinates of the imaging unit that is spaced apart or approaching based on the coordinate information of the reference unit every time a unit of time elapses. Thereafter, the calculation unit 320 acquires the visual information of the object (m) acquired by the imaging unit 200 every unit of time in response to the relative coordinate information of the imaging unit 200. The acquired visual information and coordinate information of the object (m) are transmitted from the calculation unit 320 to the linking unit 330.

The shape information forming step (s144) is provided to form shape information. The shape information forming step (s144) is performed on the same principle as the linking step (s128) described above, but is obtained through the relative coordinate information of the imaging unit 200 acquired every unit time compared to the coordinate information of the fixed reference unit (a). It is implemented using a transformation matrix method that matches the coordinate information and visual information of the object (m) so that they match each other.

That is, in the process of moving along a planned path previously stored in the control unit and capturing an object (m), the coordinate information on the imaging unit at each shooting point is matched with the visual information on the object (m). Through this, shape information is formed by moving and arranging the visual information of the object (m) acquired at different shooting times in response to the coordinate information.

The initial storage step (s145) is a step of primary storage of shape information, and is provided for the purpose of storing shape information before correction for later comparison or restoration of shape information. To this end, in the initial storage step (s145), the storage unit 340 stores shape information as initial information. The initial information may be stored locally in the storage unit 340, or may be stored in a storage means such as a cloud server separately connected to communication.

The removal step (s146) removes noise (x) from shape information and is provided to secure shape information that is clearer and does not reflect foreign substances. To this end, the removal step (s146) is performed by the linking unit 330 and is performed after the shape information forming step (s144) described above.

Here, noise (x) is an element unnecessary for detection of the object (m), and is an element located around the object (m) that interferes with 3D scanning. For example, noise (x) includes dust located adjacent to the object (m), objects other than the object (m), etc., but is not limited thereto.

The linking unit 330 detects noise (x) from shape information. Referring to FIG. 12, noise (x) is an identified object other than the object (m), and may include at least one of foreign matter, interference, the bottom plate (b), and the work unit 100 around the object (m). You can. The linking unit 330 identifies noise when the operator inputs information about the noise into the control unit, inputs information about the shape of the object, and then sets a processor to delete objects that do not match the shape of the object. This is possible through machine learning such as deep learning, but is not limited to this.

Through the scanning step (s140) as described above, the object (m) can be easily scanned with only a single imaging unit 200, eliminating the need for operation of multiple scanning equipment and simplifying the cost and information processing process. You can.

In addition, since the scanning of the object (m) is performed with the zero point adjustment for the visual information acquired by the imaging unit 200 using the reference unit (a) in advance, the error correction process due to position error can be minimized. there is. In addition, the scanning step (s140) according to the present invention can be used not only for scanning the object (m) of the imaging unit 200 but also for various industrial fields such as a robot welding environment. Therefore, it is possible to operate industrial robots easily and precisely without operator instruction or system settings, thereby significantly increasing versatility.

FIG. 13 is a diagram showing a first mode and a second mode according to an embodiment of the present invention, FIG. 14 is a flowchart showing a first mode according to an embodiment of the present invention, and FIG. 15 is a diagram showing a first mode according to an embodiment of the present invention. It is a flowchart showing the second mode, and Figure 16 is a diagram related to shape information obtained according to the first mode and the second mode, respectively, according to an embodiment of the present invention.

In the case of a large object (m), it is located over a plurality of scan areas when placed on the bottom plate (b). In this case, in order to secure more precise shape information and shorten the scanning time, the control unit controls scanning of the object (m) through the first and second modes stored in advance.

The first mode is a mode in which a plurality of working units 100 move sequentially to acquire, match, and correct visual information about the object m, and the second mode is a mode in which a plurality of working units 100 move simultaneously. This is a mode in which scanning is performed on the object (m). The first mode and the second mode have different movement steps (s134) within the aforementioned second preparation step (s130), and different acquisition steps (s143) and shape information forming steps (s144).

Referring to FIG. 14, the first mode sequentially moves the imaging unit 200 in the movement step (s134) that follows the viewpoint designation step (s133). In detail, in the first mode, the control unit moves from any one work unit 100 or any work unit 100 closest to the reference unit (a) among the plurality of work units 100, and moves the corresponding work unit 100. ) is controlled to perform the scanning step (s140) starting from the imaging unit 200 disposed in ). In the case of FIG. 14 , the imaging unit 200 sequentially moves and images the object (m) starting from A. Afterwards, in the first mode, shape information is formed through a first matching step, a second matching step, and an integration step.

The first matching step is based on the coordinate information for the one imaging unit 200 that first started capturing the object (m) among the plurality of imaging units 200 and the visual information acquired by the corresponding imaging unit 200. Coordinate information and visual information are acquired and matched through the linkage unit 330. After the visual information of the object (m) and the coordinate information of the imaging unit 200 A according to the movement and imaging of the imaging unit 200 A are acquired per unit time, the first registration is completed, thereby forming shape information.

In the second matching step, matching is performed after obtaining coordinate information and visual information about another imaging unit 200 that moves to a position following the movement of one imaging unit 200 corresponding to the first matching step. In other words, coordinate information and visual information of the object (m) are acquired every unit time targeting the imaging unit 200 B, which moves next to the imaging unit 200 A, and the second registration is completed based on this to obtain shape information. forms.

The integration step is performed after the first matching step and the second matching step, and each matched shape information is integrated through the linkage unit 330. The integrated shape information is moved to the storage unit 340, and then the removal step (s146) described above in FIG. 10 is performed.

Referring to FIG. 15, in the second mode, the imaging unit 200 corresponding to all scan areas where the object m is placed moves simultaneously in the movement step s134 that proceeds after the viewpoint designation step s133. Using Figure 15 as an example, the imaging unit 200 A and the imaging unit 200 B move simultaneously. Afterwards, all coordinate information and time information acquired by the plurality of imaging units 200 are moved to the calculation unit 320, and a third matching step is performed in which they are all matched at once in the linking unit 330. Through this, when the object (m) is inevitably scanned at once using a plurality of imaging units 200, shape information can be formed more quickly using the second mode.

Through the first mode, it is possible to compare each formed shape information, so that error situations can be quickly identified, and through the second mode, scanning time can be shortened.

FIG. 17 is a diagram showing the imaging unit 200 and the sensing unit 800 according to an embodiment of the present invention, and FIG. 18 is a diagram showing a scanning process through the sensing unit 800 according to an embodiment of the present invention.

The detection unit 800 is provided to remove noise such as foreign substances that are difficult to identify. In detail, the detection unit 800 captures images of the object m and the surrounding environment of the object m, and forms removal information based on the visual information transmitted from the detection unit 800, thereby providing clearer and Leads to rapid noise removal. For this purpose, the sensing unit 800 is installed in the working unit 100 corresponding to the imaging unit 200. 17 as an example, the sensing unit 800 may be located at the rear of the working unit 100 in which the imaging unit is installed in the front, but the location of the sensing unit 800 is not limited to this. Additionally, the sensing unit 800, like the imaging unit 200, may be equipped with a camera for acquiring 3D point cloud data.

Referring to FIG. 18, the detection unit 800 forms removal information through a correction step (s150) after the second preparation step (s130). The correction step (s150) includes a photographing step (s151), a receiving step (s152), a calculating step (s153), a removal information forming step (s154), and a synchronization step (s155). The above correction step (s150) may be performed in parallel with the previously described scanning step (s140).

The imaging step (s151) is performed in the same manner as the imaging step (s141), except that the sensing unit 800 captures all images of the surrounding environment including the object (m). The visual information formed accordingly moves to the control unit.

The receiving step (s152) is a step in which the control unit receives information about visual information and coordinate information about the surrounding environment of the object (m) through the sensing unit 800.

The calculation step (s153) is performed in the same manner as the above-mentioned acquisition step (s143), except that the visual information and detection unit regarding the surrounding environment of the object (m) are based on a series of information transmitted by the control unit in the reception step (s152). Acquire coordinate information of (800).

The removal information forming step (s154) is performed after the calculation step (s153), and the linkage unit 330 forms removal information by matching the time information and coordinate information in the calculation step (s153). The process of forming removal information according to matching is the same as the shape information forming step (s144) described above, and may be performed simultaneously with the shape information forming step (s144) or may be performed at a predetermined time interval.

The synchronization step (s155) is a difference calculation of the initial information and removal information stored by the storage unit 340 in the scanning step (s140), and is performed by the storage unit 340 and the linking unit 330. In detail, the storage unit 340 transmits the initial information stored through the initial storage step (s145) to the linking unit 330, and the linking unit 330 transmits the initial information and the removal information transmitted through the calculation unit 320. Carry out the difference calculation.

By excluding the object (m) included in the initial information from the surrounding environment including the object (m) in the removal information, data regarding the surrounding environment from which only the object (m) has been removed is formed.

Afterwards, as a difference operation is performed on data about the surrounding environment in which only the object (m) is removed from the shape information, shape information only about the object (m) is formed.

Through the detection unit 800 and the correction step (s150) as described above, it is possible to easily remove noise that was not identified in the above-described removal step (s146). Additionally, the operator's screening process to identify noise can be omitted, thereby reducing inconvenience.

The steps of the method or algorithm described in connection with embodiments of the present invention may be implemented directly in hardware, implemented as a software module executed by hardware, or a combination thereof. The software module may be RAM (Random Access Memory), ROM (Read Only Memory), EPROM (Erasable Programmable ROM), EEPROM (Electrically Erasable Programmable ROM), Flash Memory, hard disk, removable disk, CD-ROM, or It may reside on any type of computer-readable recording medium well known in the art to which the present invention pertains.

Above, embodiments of the present invention have been described with reference to the attached drawings, but those skilled in the art will understand that the present invention can be implemented in other specific forms without changing its technical idea or essential features. You will be able to understand it. Therefore, the embodiments described above should be understood in all respects as illustrative and not restrictive.

m: object a: reference part
b: bottom plate part 100: working part
101: first horizontal moving part 102: second horizontal moving part
103: elevating and lowering unit 200: imaging unit
310: communication unit 320: calculation unit
330: linking unit 340: storage unit
s110: First preparation stage s120: Adjustment stage
s130: second preparation step s140: scanning step
s150: Correction stage

Claims (9)

An imaging unit that photographs an object;
a control unit that acquires coordinate information and time information about the photographed object, and obtains shape information of the photographed object by correlating the obtained coordinate information and time information; and
It includes a storage unit that stores the shape information of the obtained object as initial information,
The control unit,
Confirm the initial position of the pre-designated reference unit and the imaging unit,
As the imaging unit moves, coordinate information of the imaging unit and visual information of the reference unit captured based on the position at which the imaging unit was moved are acquired,
Adjusting the zero point for the reference unit by matching the coordinate information of the imaging unit and the acquired visual information of the reference unit,
After storing the initial information, the control unit removes noise from the shape information stored in the storage unit at a predetermined period and re-stores it in the storage unit. According to claim 1,
The control unit,
Moving the imaging unit to a predetermined position based on a predetermined number of reference unit shots,
Obtaining coordinate information and time information of the reference unit photographed a predetermined number of times based on the position to which the imaging unit was moved,
A gantry-mounted 3D shape scanning device that calculates relative coordinate data of the photographed reference unit based on coordinate information of the position where the imaging unit was moved. According to claim 1,
It further includes a center provided at the center of the reference portion provided close to the imaging portion,
The control unit,
As the shape of the reference part changes, the coordinate value of the center provided at the center of the reference part is acquired,
A gantry-mounted 3D shape scanning device that corresponds coordinate information of the imaging unit and visual information of the center. According to claim 1,
The control unit,
Obtaining information about the moving speed of the imaging unit that photographs the reference unit,
A gantry-mounted 3D shape scanning device that controls the imaging unit to photograph the object based on the acquired information about the moving speed of the imaging unit. According to claim 1,
The imaging unit moves from a pre-designated starting coordinate and captures the object,
A gantry-mounted 3D shape scanning device, characterized in that the pre-designated starting coordinates are set to be spaced apart from the coordinate information of the reference unit for which zero point adjustment has been completed by a preset distance. According to claim 5,
The control unit,
Gantry-mounted 3D shape scanning that acquires coordinate information and visual information of the object being photographed while the imaging unit moves in response to the relative coordinate information of the imaging unit determined based on the position of the reference unit every predetermined unit time. Device. delete delete A first preparation step of confirming the initial positions of the pre-designated reference unit and the imaging unit;
The imaging unit moves and photographs the reference unit as a target, acquires coordinate information of the imaging unit and visual information of the reference unit photographed based on the position at which the imaging unit was moved, and obtains coordinate information of the imaging unit and the reference unit. An adjustment step of adjusting the zero point targeting the reference unit by matching visual information;
A second preparation step of moving the imaging unit to a predetermined starting coordinate; and
At each predetermined unit time, relative coordinate information of the imaging unit is acquired based on the reference unit, coordinate information and time information of the object being photographed while the imaging unit moves are acquired, and the coordinate information and time information of the object are matched to form a shape. It includes a scanning step of obtaining information,
Store the shape information of the acquired object as initial information in the storage unit,
A scanning method using a gantry-mounted 3D shape scanning device in which, after storing the initial information, noise is removed from the shape information stored in the storage unit at a predetermined period and re-stored in the storage unit.