KR20190094786A - Apparatus and method for scanning subject automatically - Google Patents

Abstract

According to the present invention, a device for automatically scanning comprises: a laser scanner which rotates at a preset left and right angle to scan a subject with laser; a photographing device which rotates the laser scanner at the left and right angle to photograph the subject when laser scanning the subject; and a rotation rail disposed around the subject to move the laser scanner and the imaging device. Therefore, the present invention is capable of automatically acquiring three-dimensional geometric information and color information of the subject through interworking between a camera and the laser scanner and rotation rail.

Description

Apparatus and method for automatically scanning a subject {APPARATUS AND METHOD FOR SCANNING SUBJECT AUTOMATICALLY}

The present invention relates to an apparatus and method for automatically scanning a subject.

Cameras or laser scanners have been mainly used as a device for acquiring 3D geometry and colors of a subject. However, camera and laser scanners have limited information that can be obtained when used alone.

Cameras provide a wealth of information, as seen by human vision, but it is difficult to extract perspective or distance information, while laser scanners provide accurate distance information, but it is difficult to understand what the measured object means.

Therefore, it is very effective to obtain three-dimensional information by using two types of sensors at the same time, and to use this information in combination.

However, the application number 10-2017-0156689 (name of the invention: the three-dimensional information generating device) can be matched only by acquiring the interval information of the subject, the camera and the laser scanner, but manually repeated to obtain the interval information There was a problem with placement and adjustment.

An embodiment of the present invention provides an automatic scanning apparatus and a subject scanning method thereof capable of automatically obtaining three-dimensional geometric information and color information of a subject through mutual interaction between a camera, a laser scanner, and a rotating rail.

However, the technical problem to be achieved by the present embodiment is not limited to the technical problem as described above, and other technical problems may exist.

As a technical means for achieving the above technical problem, the automatic scanning device according to the first aspect of the present invention is a laser scanner for rotating a laser scan of the subject by rotating at a predetermined left and right angle, the laser scanner is rotated at a left and right angle to the subject And a photographing apparatus for photographing the subject during laser scanning and a rotating rail disposed around the subject to move the laser scanner and the photographing apparatus.

The laser scanner may laser scan the subject while stationary.

The laser scanner may scan the subject through one or more reflection points of the linear laser when rotating at the left and right angles.

The photographing apparatus may generate the geometric information and the color information of the subject by capturing the laser as the subject is photographed during the laser scan.

The laser scanning and the photographing are performed at a plurality of positions, and as the laser scanning and photographing at a first position of the plurality of positions is completed, the laser scanner and the photographing apparatus move to a second position to perform the laser scanning and the Shooting can be performed.

As the laser scan and the photographing are completed at the plurality of locations, the photographing apparatus may generate scan information of the subject based on the geometric information and the color information of the subject.

The rotating rail may be disposed in a 360 degree direction about the subject.

A pattern is formed on a floor between the rotating rail and the subject, the subject is disposed on the pattern, and the photographing apparatus may acquire its own location information through the pattern.

In addition, the subject scanning method in the automatic scanning apparatus according to the second aspect of the present invention comprises the steps of: the photographing apparatus to obtain the color information of the subject by photographing the current image of the subject; Rotating the laser scanner at a preset left and right angles to laser scan the subject; The photographing apparatus photographs one or more reflection points of the linear laser during the laser scan to obtain geometric information of the subject, and the color information and geometric information to obtain the color information and the geometric information. It includes the step of moving.

In the moving of the photographing apparatus and the laser scanner, the photographing apparatus and the laser scanner may move through a rotating rail disposed in a 360 degree direction about the subject.

The moving of the photographing apparatus and the laser scanner may move until color information and geometric information about a preset photographing range of the subject are obtained.

The method may further include generating, by the photographing apparatus, scan information of the subject based on the geometric information and the color information of the subject as the laser scanning and the photographing are completed at a plurality of positions corresponding to a preset photographing range. Can be.

Acquiring position information of the photographing apparatus based on a pattern formed on a floor between the rotating rail and the subject; Converting scan information of the subject into coordinate information based on the position information; The method may further include obtaining color and texture information of the 3D points through the coordinate information, and generating mesh data by connecting the 3D points.

According to any one of the above-described problem solving means of the present invention, it is possible to minimize the error rate for the three-dimensional information obtained by reducing the repetitive tasks that had to be performed manually by the administrator in the actual scanning process.

In addition, as the photographing apparatus rotates around the subject, the illumination received by the subject does not change according to the posture of the photographing apparatus, thereby obtaining a natural texture.

1 is a view for explaining an automatic scanning device according to an embodiment of the present invention.
2 is an internal block diagram of a laser scanner, an imaging device and a rotating rail.
3 is a flowchart illustrating a subject scanning method according to an embodiment of the present invention.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement 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.

When a part of the specification is to "include" any component, which means that it may further include other components, except to exclude other components unless otherwise stated.

1 is a view for explaining the automatic scanning device 1 according to an embodiment of the present invention. 2 is an internal block diagram of the laser scanner 100, the imaging device 200, and the rotation rail 300.

The automatic scanning device 1 according to the embodiment of the present invention includes a laser scanner 100, an imaging device 200, and a rotating rail 300.

The laser scanner 100 rotates at a predetermined left and right angles during a stop and laser scans the subject 10. In this case, the laser scanner 100 may scan the subject 10 through one or more reflection points of the linear laser when rotating at a left and right angle. Left and right rotation of the laser scanner 100 may be performed according to a predetermined angle and speed.

On the other hand, in the prior art, the administrator has to inconvenience the need to perform the scan while moving the laser scanner 100 by hand, the laser scanner 100 in one embodiment of the present invention is on the rotating rail 300 It includes a mount for fixed and moving and the motor for the left and right rotation, through which the automatic scanning of the subject 10 is possible.

According to an embodiment, the laser scanner 100 may be implemented as a robot arm having six degrees of freedom, and in this case, various movements may be expressed, thereby enabling a more efficient scanning operation.

The photographing apparatus 200 photographs the subject 10 when the laser scanner 100 rotates at a left and right angle so that the subject 10 is laser scanned.

In addition, as the photographing apparatus 200 photographs the subject 10 during the laser scan, the photographing apparatus 200 may generate the geometric information and the color information of the subject 10 by capturing the laser.

In addition, when all the scans and the photographing at a plurality of predetermined positions are completed, the photographing apparatus 200 may collect and match the geometric information and the color information at each position to generate scan information.

The photographing apparatus 200 acquires a natural texture as the illumination received by the subject 10 does not change according to the posture of the photographing apparatus 200 as the rotational movement around the subject 10 is performed along the rotating rail 300 to be described later. can do. To this end, the photographing apparatus 200 may be fixed to the mount and moved on the rotating rail 300 so that the reflection points of the subject 10 and the laser scanner 100 can be captured well.

On the other hand, the photographing apparatus 200 may be implemented as an independent camera device or a mobile terminal having a camera.

The rotary rail 300 is disposed around the subject 10 and moves the laser scanner 100 and the imaging device 200 on the rail. The rotary rail 300 may move the laser scanner 100 and the photographing apparatus 200 by a gear and a motor.

At this time, the rotation rail 300 may be disposed in the 360 degree direction around the subject 10, but is not necessarily limited thereto. That is, when only one side of the subject 10 is to be scanned, it may be arranged according to various methods such as being arranged in a direction facing the subject 10 to be scanned.

On the other hand, the rotary rail 300 may move the laser scanner 100 and the imaging device 200 according to a predetermined movement value.

In this case, the moving value may be determined experimentally to obtain high quality scan information when photographing in the 360 degree direction about the subject 10. For example, if sophisticated scanning is desired, it can be adjusted and moved to obtain a large number of scan information by slowing down the overall rotation speed and reducing the rotation range. On the other hand, when fast scanning is desired, the omnidirectional image of the subject 10 may be obtained by increasing the rotational speed and increasing the rotation range through a 90-degree rotational movement of photographing and scanning four times.

In addition, the moving speed may be determined according to the performance of the motor and the weight of the laser scanner 100 and the photographing apparatus 200.

The laser scanning and photographing is performed at a plurality of positions, and as the laser scanning and photographing at the first position among the plurality of positions is completed, the laser scanner 100 and the photographing apparatus 200 are installed along the rotating rail 300. Move to position 2 to perform laser scanning and imaging.

In this case, the first position or the second position may mean a position on the physically specified rotation rail 300, in which case the laser scanner 100 and the imaging device 200 may be implemented as one device. Alternatively, when the laser scanner 100 and the imaging apparatus 200 are configured independently, the first position or the second position means a position where the laser scanner 100 or the imaging apparatus 200 should be positioned at the same turn, respectively. can do. For example, in the first position in FIG. 1, the laser scanner 100 may be positioned at position (a), and the imaging apparatus 200 may be positioned at position (b).

On the other hand, the left and right rotation of the laser scan is stopped during the rotation movement, it is preferable that the recording of the imaging device 200 is also stopped but is not necessarily limited thereto.

When the laser scanner 100 and the photographing apparatus 200 are respectively moved in a plurality of positions on the rotating rail 300, and the laser scanning and photographing are completed, the rotation movement, the laser scan and the photographing are automatically terminated, and the photographing apparatus 200 is completed. ) Generates scan information of the subject 10 based on the geometric information and the color information of the subject 10.

The size of the subject 10 may be determined according to factors of the laser scanner 100, angle of view of the photographing apparatus 200, and factors of the rotating rail 300.

In addition, the automatic scanning device 1 according to the embodiment of the present invention has a pattern formed on the bottom of the rotating rail 300 and the subject 10 to provide further automation, and the subject 10 has a pattern shape. Can be placed in. Accordingly, the photographing apparatus 200 may acquire its own location information through the pattern.

The pattern is made to detect a feature of an image to detect a positional relationship between the photographing apparatus 200 and the subject 10. For example, the pattern may include a picture having almost all general textures.

On the other hand, in the automatic scanning device 1 according to an embodiment of the present invention, the laser scanner 100 and the rotating rail 300 are the communication module 11, the memory 12 and the processor 13 as shown in FIG. ) May be configured to include one or more of).

The communication module 11 transmits and receives data for interworking between the laser scanner 100, the photographing apparatus 200, and the rotation rail 300.

Here, the communication module 11 may include both a wired communication module and a wireless communication module. The wired communication module may be implemented as a power line communication device, a telephone line communication device, a cable home (MoCA), an Ethernet, an IEEE1294, an integrated wired home network, and an RS-485 control device. In addition, the wireless communication module may be implemented in a wireless LAN (WLAN), Bluetooth, HDR WPAN, UWB, ZigBee, Impulse Radio, 60GHz WPAN, Binary-CDMA, wireless USB technology and wireless HDMI technology.

The memory 12 stores a program for laser scanning at each position, or controls the photographing of the subject 10 at each position, and generates scan information based on geometric information and color information, or a program for preprocessing and post-processing. This is stored, or a program for moving the laser scanner 100 and the imaging device 200 to a plurality of locations is stored. The processor 13 executes a program stored in the memory 12.

In this case, the memory 12 collectively refers to a nonvolatile storage device and a volatile storage device that maintain the stored information even when power is not supplied.

For example, the memory 12 may be a compact flash (CF) card, a secure digital (SD) card, a memory stick, a solid-state drive (SSD), and a micro SD. Magnetic computer storage devices such as NAND flash memory such as cards, hard disk drives (HDDs), and optical disc drives such as CD-ROMs, DVD-ROMs, and the like. Can be.

For reference, the components shown in FIG. 1 according to an embodiment of the present invention may be implemented in software or hardware form such as a field programmable gate array (FPGA) or an application specific integrated circuit (ASIC), and perform predetermined roles. can do.

However, 'components' are not meant to be limited to software or hardware, and each component may be configured to be in an addressable storage medium or may be configured to reproduce one or more processors.

Thus, as an example, a component may include components such as software components, object-oriented software components, class components, and task components, and processes, functions, properties, procedures, and subs. Routines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables.

Components and the functionality provided within those components may be combined into a smaller number of components or further separated into additional components.

Hereinafter, a method of scanning the subject 10 in the automatic scanning device 1 according to an embodiment of the present invention will be described with reference to FIG. 3.

3 is a flowchart of a method of scanning a subject 10 according to an embodiment of the present invention.

In the method of scanning the subject 10 according to an embodiment of the present invention, first, the subject 10 is disposed at the center of the automatic scanning apparatus 1 to acquire 3D geometric information and color information of the subject 10 ( S110). In this case, the laser scanner 100 and the photographing apparatus 200 may be fixedly disposed in a mount on the rotation rail 300 in advance, and a separate fixing process may be performed when the photographing apparatus 200 is a mobile terminal. .

Next, when a scanning process is started according to an operation of an administrator, scan information of the laser scanner 100, the photographing apparatus 200, and the rotating rail 300 is initialized, and new scan information and additional data (color information, Geometry information, etc.) are prepared (S120).

After the preparation process and the initialization process are performed, the scanning and photographing process is performed (S130 to S170), and the scanning and photographing process may be performed until color information and geometric information about a preset shooting range are obtained. .

First, the photographing apparatus 200 acquires color information of the subject 10 by capturing a current image of the subject 10 (S130). In this case, the photographing apparatus 200 may obtain location information of the photographing apparatus 200 based on a pattern formed on the bottom between the rotating rail 300 and the subject 10.

Next, the laser scanner 100 rotates at a preset left and right angle and speed to laser scan the subject 10 (S140).

Next, the photographing apparatus 200 is changed from the photographing mode to the continuous photographing mode, and acquires geometric information of the subject 10 by photographing one or more reflection points of the linear laser during the laser scan (S150). That is, the photographing apparatus 200 detects the color of the reflection point displayed on the subject 10, which is changed into three-dimensional coordinates through an internal algorithm.

After acquiring the color information and the geometric information, the imaging apparatus 200 and the laser scanner 100 are moved to the next position along the rotating rail 300 (S160). The rotational movement may be performed in a manner in which the rotation rail 300 is controlled according to the control signal of the photographing apparatus 200.

Acquiring such color information and geometric information is performed while moving along the rotating rail 300 at a plurality of positions corresponding to a preset shooting range (eg, 360 degrees) (S170).

When all the color information and the geometric information at each position are acquired as laser scanning and photographing are completed at a plurality of positions corresponding to the preset shooting range, the photographing apparatus 200 may apply the geometric information and the color information of the subject 10. Based on the scan information of the subject 10 is generated (S180).

To this end, the photographing apparatus 200 converts the scan information of the subject 10 into the same coordinate information based on its location information, and at this time, performs an image process of converting the 3D points into the coordinates of the photographing apparatus 200. The photographing apparatus 200 may obtain color and texture information of the 3D points from the captured image.

In addition, as the post-processing is continuously performed, mesh data consisting of small triangles may be generated by connecting three-dimensional points.

In this process, the process of actually determining whether there is a hole generated when a connected area or a scan is wrong and filling the hole using an inclination value of the boundary determined as the hole may be additionally performed. In addition, several post-processing operations may be performed to connect texture and mesh data, normalize the data, and correct incorrect values.

In the above description, steps S110 to S180 may be further divided into additional steps or combined into fewer steps, according to an embodiment of the invention. In addition, some steps may be omitted as necessary, and the order between the steps may be changed. In addition, even if it is omitted, the contents already described with respect to the automatic scanning device 1 in FIG. 1 are also applied to the subject scanning method in FIG. 3.

Meanwhile, an embodiment of the present invention may be implemented in the form of a computer program stored in a medium executed by a computer or a recording medium including instructions executable by the computer. Computer readable media can be any available media that can be accessed by a computer and includes both volatile and nonvolatile media, removable and non-removable media. In addition, computer readable media may include both computer storage media and communication media. Computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Communication media typically includes computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave, or other transmission mechanism, and includes any information delivery media.

Although the methods and systems of the present invention have been described in connection with specific embodiments, some or all of their components or operations may be implemented using a computer system having a general purpose hardware architecture.

The foregoing 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 shown by the following claims rather than the above description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included in the scope of the present invention. do.

1: automatic scanning device
10: subject
100: laser scanner
200: shooting device
300: rotating rail

Claims (13)

In the automatic scanning device,
A laser scanner that rotates a laser beam at a preset left and right angle to scan a subject
A photographing apparatus which rotates the laser scanner at a left and right angle to photograph the subject when laser scanning the subject;
And a rotating rail arranged around the subject to move the laser scanner and the photographing apparatus. The method of claim 1,
And the laser scanner to laser scan the subject while stationary. The method of claim 1,
And the laser scanner scans the subject through one or more reflection points of a straight laser when rotating at the left and right angles. The method of claim 1,
And the photographing apparatus captures the laser to generate geometric information and color information of the subject as the subject is photographed during the laser scan. The method of claim 1,
The laser scanning and the photographing are performed at a plurality of positions, and as the laser scanning and photographing at a first position of the plurality of positions is completed, the laser scanner and the photographing apparatus move to a second position to perform the laser scanning and the An auto scan device that performs shooting. The method of claim 5,
And the laser scanning and the photographing are completed at the plurality of positions, wherein the photographing apparatus generates scan information of the subject based on the geometric information and the color information of the subject. The method of claim 1,
And the rotating rail is disposed in a 360 degree direction about the subject. The method of claim 1,
A pattern is formed at the bottom between the rotating rail and the subject, and the subject is disposed on the pattern,
And the photographing apparatus acquires its own location information through the pattern. In the scanning method of the subject in the automatic scanning device,
Capturing a current image of a subject by a photographing apparatus to obtain color information of the subject;
Rotating the laser scanner at a preset left and right angles to laser scan the subject;
Acquiring geometric information of the subject by photographing one or more reflection points of a linear laser beam during the laser scanning by the photographing apparatus; and
Moving the photographing apparatus and the laser scanner to a next position along a rotating rail as the color information and the geometric information are acquired. The method of claim 9,
The moving of the photographing apparatus and the laser scanner,
And a subject moving through a rotation rail arranged in a 360 degree direction about the subject. The method of claim 10,
The moving of the photographing apparatus and the laser scanner,
And moving until the color information and the geometric information of the preset shooting range of the subject are obtained. The method of claim 9,
The method may further include generating, by the photographing apparatus, scan information of the subject based on the geometric information and the color information of the subject as the laser scanning and the photographing are completed at a plurality of positions corresponding to a preset photographing range. How to scan a subject. The method of claim 12,
Acquiring position information of the photographing apparatus based on a pattern formed on a floor between the rotating rail and the subject;
Converting scan information of the subject into coordinate information based on the position information;
Obtaining color and texture information of 3D points through the coordinate information; and
And generating mesh data by connecting the three-dimensional points.

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