KR20200052084A - Three dimensional scanning system and method - Google Patents

Abstract

The present invention relates to a three dimensional scanning system and a method thereof, which are implemented to perform three dimensional scanning while rotating a compensator serving as a reference located on a turntable with an object to be measured. The turntable is rotationally driven according to simultaneous driving control. A calibration reference body becomes reference data located on the turntable and the object to be measured is lifted or placed in an internal area. A three dimensional scanner device performs 3D scanning of the object to be measured and inputs a 3D scanning data value according to the simultaneous driving control. A control device controls the simultaneous driving of the turntable and the three dimensional scanner device according to a driving command of an input unit, generates a correction value according to the three dimensional scanning data value input from the three dimensional scanner device, applies the correction value to the measured value of the object to be measured and analyzes an actual value.

Description

Three-dimensional scanning system and method

The technical field of the present invention relates to a 3D stereoscopic scanning system and method, and more particularly, to a 3D stereoscopic scanning system and method implemented to perform 3D scanning while rotating a compensator serving as a reference positioned on a tentable with a measurement object.

The 3D stereoscopic scanning system can be roughly divided into a contact type and a non-contact type. Here, in the case of a contact-type 3D scan, high-precision three-dimensional measurement data can be obtained by obtaining three-dimensional coordinates in a state in which the sensor directly touches the measurement part of the measurement object of the scan, but the surface and clothes of the human body. It is impossible to apply when the shape changes when pressure is applied. Therefore, if the shape changes when pressure is applied, such as the surface of a human body or clothes, a non-contact 3D scan is used.

In the case of a non-contact 3D scan, by measuring the amount of energy reflected or transmitted from a measurement object to create a 3D model, the energy reflected from the measurement object is measured to measure the appearance of the measurement object. Optical type that utilizes image information by applying is mainly used.

The optical 3D scan can be divided into a passive method and an active method according to the sensing method. The manual method is a method applied to a measurement object composed of a structure such as a building or a line and a surface of a vehicle, and the intensity and parallax of an image photographed without artificially projecting energy to the measurement object. Calculate the 3D position using the back. The passive method is somewhat less accurate than the active method, but the equipment is simple and the texture can be directly obtained from the input image. However, since it is difficult to distinguish lines and faces from human faces, especially facial expressions, an active method is used rather than a passive method in the field of human 3D scanning.

Korean Registered Patent No. 10-1616176 (registered on April 21, 2016) discloses a human body high-speed stereoscopic scanning device, which is paired with a fixed angle of 360-degree azimuth and a symmetrical direction of concentric circles around the human body to be scanned, and a constant azimuth Two or more pairs of support spaced apart from each other so that they cannot be moved; For each support, at least two or more 3D scanner sensors having different altitudes are installed so as not to move mechanically during scanning, and acquire partial stereoscopic information of the human body viewed from the orientation and installation altitude of each support arranged in advance; Includes a computer that acquires full stereoscopic information of the human body using partial stereoscopic information of the human body obtained from each 3D scanner sensor.The 3D scanner sensor is a 3D scanner sensor that integrates an infrared projector, an infrared camera, and a color image camera. Is characterized by sequentially controlling the 3D scanner sensors so as to obtain partial stereoscopic information of the human body at the same time from 3D scanner sensors installed at different heights among 3D scanner sensors installed on the supports at symmetrical points. According to the disclosed technology, a plurality of scanner sensors are fixed in a double-sided projection manner in azimuth and altitude to obtain partial stereoscopic information of the human body, which forms the entire stereoscopic information of the human body, and infrared rays of each scanner sensor interfere with each other by a computer. By sequential scanning in order to prevent this, it is possible to acquire stereoscopic information of the entire human body in a short period of time without changing the expression or posture of the human body to be scanned, and also maintaining a constant interval while both the scanner sensor and the human body are stationary. In addition to being able to scan at a constant scan speed, the scanner that is positioned in the opposite and normal direction by the human body to 3D scan by vertically arranging the projector that projects the structured light and the camera that shoots the projected image from the unit scanner sensor The operation of the sensors is obscured, so each scanner sensor Since the interference will not occur between the scanning, it is possible to obtain a clear and precise 3D scan data.

Korean Registered Patent No. 10-1909552 (registered on October 12, 2018) does not require a separate video frame grabber or additional device, and also receives only a single video stream and obtains stereoscopic information therefrom. Disclosed is a 3D scanner and a 3D scanning method capable of improving the processing speed of the control unit, since an additional procedure for extracting a required portion from the unit video signal is unnecessary. According to the disclosed technology, a plurality of 3D scan modules including a plurality of 3D scan modules including a structured light module for projecting structured light onto a subject and a camera module for shooting a subject projected with structured light are disposed around the subject. Further comprising a control unit for obtaining a stereoscopic information of the entire subject using a single video stream time-synthesized by a plurality of unit video signals output from each of the camera module of the scan module, the first trigger signal generated by the control unit Any one 3D scan module received transmits a second trigger signal to an adjacent 3D scan module, but a plurality of 3D scan modules connected in series receives a first trigger signal in series and transmits a second trigger signal, thereby transmitting a 3D trigger signal. Each of the scan modules projects structural light onto the subject according to the first or second trigger signal and transmits the unit image signal during the time of the timeslot. Assigned to the video stream from one to, the units of the video signal taken in sequence based on the location of the plurality of the 3D scan module disposed around the subject is characterized in that time division in the synthesis of a single video stream.

In the conventional 3D stereoscopic scanning system as described above, a plurality of scanners must be provided on a plurality of supports, and a number of interlocking devices are required accordingly, so the cost of constructing the system is not only very expensive, but also a criterion for an object to be measured. This has the disadvantage that the 3D scanning data value of the measurement object is not accurate due to distortion or deformation occurring when 3D scanning the measurement object.

Korean Registered Patent No. 10-1616176 Korean Registered Patent No. 10-1909552

The problem to be solved by the present invention is to solve the disadvantages as described above, and provides a 3D stereoscopic scanning system and method implemented to perform 3D scanning while rotating a compensator serving as a reference object located on a tentable with a measurement object Is to do.

As a means for solving the above problems, according to one feature of the present invention, a turntable for rotational driving in accordance with simultaneous driving control; A calibration reference body for placing a measurement object or placing it in an internal area while becoming reference data located on the ten table; A 3D scanner device for inputting 3D scanning data values by 3D scanning the measurement object and the calibration reference object under simultaneous driving control; And controlling the simultaneous driving of the turntable and the 3D scanner device according to the driving command of the input means, and generating a correction value according to the 3D scanning data value input from the 3D scanner device and applying it to the measured value of the measurement object. It provides a three-dimensional stereoscopic scanning system including a control device for analyzing the actual value of the.

In one embodiment, the turntable is characterized by mounting or connecting the calibration reference body.

In one embodiment, the turntable is characterized in that it stops the operation according to the stop control of the control device.

In one embodiment, the correction reference body is characterized by having a structure in which the X, Y, and Z values in a square shape are based on a hexahedron.

In one embodiment, the calibration reference body is characterized in that it is a calibration body with reference data located in the ten table so as to be a reference to the measurement object.

In one embodiment, the reference data is characterized in that it is an absolute value that is produced and made in advance.

In one embodiment, the reference data is characterized in that the horizontal, vertical, and horizontal heights are designated as spatial values of X, Y, and Z.

In one embodiment, the correction reference body is characterized in that the end points are located in four places of the X-axis and the Y-axis to form a square in a plane.

In one embodiment, the calibration reference body is characterized in that the object to be measured is formed in a rectangular shape in the case of a human foot.

In one embodiment, the calibration reference body is characterized in that the object to be measured is formed in a square shape in the case of a human body.

In one embodiment, the calibration reference body, the height of the end point of the Z-axis that is the height value, the top of the scanner using the multi-scanner of the 3D scanner device and the scanner below the top of the overlapping position of the scanning range It is characterized by being placed.

In one embodiment, the correction reference body is characterized in that the object to be measured is in the case of a foot in the human body, and the cuboid under the foot has a structure as a reference.

In one embodiment, the correction reference body is formed in the form of a right-angled hexahedron fixed to the turntable and having a predetermined size of X * Y * Z when the object to be measured is a foot in the human body, so that both feet are raised in the upper surface. It is characterized by.

In one embodiment, the calibration reference body is characterized in that, when the object to be measured is a human body, four square pipes are arranged to be spaced apart from each other by a specified distance.

In one embodiment, the calibration reference body, when the object to be measured is a human body, four square pipes are arranged at designated coordinates of X and Y as planes, and the height value of Z is the number of scanners of the 3D scanner device. Accordingly, it is characterized in that it has a structure that is arranged up to the final height at which the scan overlap is formed.

In one embodiment, the calibration reference body is, in the case of the whole body of the human body to be measured, is fixed to the turntable and arranged to be a predetermined X * Y-sized rectangle and formed in the form of four square pipes with a Z height. It is characterized in that to raise the whole body inside.

In one embodiment, the 3D scanner device is characterized in that when the turntable rotates, 3D scan is performed within a predetermined scan range.

In one embodiment, the scan range is characterized in that it includes the entire measurement object, the calibration reference body or a part of the turntable including the calibration reference body.

In one embodiment, the 3D scanner device is characterized in that 3D scanning only the measurement object within the scan range.

In one embodiment, the 3D scanner device, in order to allow the control device to compare the deformation value of the object to be measured and the deformation value of the calibration standard proportionally, simultaneously 3D scanning the measurement object and the calibration standard It is characterized by.

In one embodiment, the 3D scanning data value is characterized in that the data value to form a shape with a point cloud.

In one embodiment, the 3D scanner device is characterized by merging each point cloud into a 3D file while performing 3D scanning.

In one embodiment, the 3D scanner device is characterized in that, upon completion of 3D scanning, the 3D scanned point cloud is merged and generated as a 3D file.

In one embodiment, the 3D scanner device separates the calibration reference object and the measurement object within a predetermined range so that the control device can analyze the distance between the point clouds of the 3D file, and each 3D file. Characterized in that formed.

In one embodiment, the 3D scanner device 3D scans the calibration reference body so that the top scanner using a multi-scanner and the scanner below it overlap the scanning range, and references the overlap of the calibration reference body. It is characterized by merging the 3D scanned point cloud of the measurement object.

In one embodiment, the 3D scanner device is characterized in that, when the turntable completes one rotation, 3D scanning of the calibration reference body is completed together with the measurement object.

In one embodiment, the 3D scanner device is equipped with a 3D scanning camera to recognize the designated position of the turntable and to notify the control device of the designated position recognition notification.

In one embodiment, the 3D scanning camera is characterized by consisting of a 3D scanner depth camera or an RGB camera.

In one embodiment, the 3D scanner device is characterized by notifying the control device of a designated position recognition notification by recognizing a point or color displayed on the turntable.

In one embodiment, the 3D scanner device is characterized by having a depth camera for a 3D scanner to recognize points.

In one embodiment, the 3D scanner device is characterized by having a RGB camera to recognize colors.

In one embodiment, the 3D scanner device is characterized in that it stops the operation according to the stop control of the control device.

In one embodiment, the control device compares distortion or deformed data after 3D scanning with pre-designated reference data of the calibration reference object among 3D files separated from the 3D scanner device and is distorted or deformed. It is characterized by calculating the error value.

In one embodiment, the control device is characterized in that also considers the scale when calculating the data error value.

In one embodiment, the control device is characterized in that it generates a data error value as a correction value applicable to the measurement object.

In one embodiment, the control device is characterized in that it compares the X, Y, and Z values of the reference data with the measured X, Y, and Z values after the actual scan, calculates the deviation, and generates it as a correction value.

In one embodiment, the control device is characterized by generating a corrected 3D scanning data value of the measurement object by applying the correction value to the measurement value of the measurement object.

In one embodiment, the control device is characterized by analyzing the measurement value of the actual measurement object by contrasting the correction value to the 3D scanning data value of the measurement object generated after the scan is completed.

In one embodiment, the control device is characterized in that it outputs the corrected data value of the measurement object through the display means.

In one embodiment, the control device is characterized by outputting the completed corrected data value after comparing the corrected value with the actual measured data value.

In one embodiment, the control device is characterized in that after transmitting the personal information through the input means transmits the data value output to the server.

In one embodiment, the control device is characterized in that it transmits data including a 3D file, a dimension file including a calibrated measurement value, and an authentication file having a customer authentication value to a server.

In one embodiment, the server is provided with a certificate server, a data server and a related server, and the certificate server stores data in a data server and a related server after confirming customer information.

In one embodiment, the server divides and stores data into subdivided information for each company or customer, and forms data that analyzes the customer's type into big data to identify similar types of preferences when a customer orders later. It is characterized by extracting recommended products.

In one embodiment, the control device is characterized in that the control to stop the operation of the turntable and the 3D scanner device at the same time in accordance with the designated position recognition notification notified from the 3D scanner device.

As a means for solving the above problems, according to another feature of the present invention, the control device controlling the simultaneous driving of the turntable and the 3D scanner device according to the drive command of the input means; Rotationally driving the measurement object in the inner region of the calibration reference body or the calibration reference body, which becomes the reference data located in the ten table, in accordance with the simultaneous driving control; Inputting a 3D scanning data value by 3D scanning the measurement object and a calibration reference object under the simultaneous driving control by the 3D scanner device; And a step in which the control device generates a correction value according to the 3D scanning data value input from the 3D scanner device and applies it to the measurement value of the measurement object to analyze the actual value of the measurement object. do.

As an effect of the present invention, by providing a 3D scanning system and a method implemented to perform 3D scanning while rotating a compensator serving as a reference positioned on a tentable with a measurement object, a 3D scanner device can be formed on one support. As there is no need for interlocking devices, and the cost of constructing the system is very low, 3D scanning of the object to be measured against the result of comparing the 3D scanned data value with the reference compensator and the preset reference data value. This means that one data value can be corrected, and thus 3D scanning data value of the measurement object can be more accurately obtained by correcting distortions or deformations generated when 3D scanning the measurement object.

1 is a diagram illustrating a 3D stereoscopic scanning system according to an embodiment of the present invention.
FIG. 2 is a diagram for explaining a case in which the object to be measured is the calibration reference body in FIG.
FIG. 3 is a view for explaining the case where the object to be measured is the whole body of the calibration reference body in FIG. 1.
FIG. 4 is a view for explaining the correction reference body in FIG. 1 as a second example when the object to be measured is a whole body.
5 is a diagram illustrating a 3D stereoscopic scanning method according to an embodiment of the present invention.

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 to which the present invention pertains may easily practice. However, since the description of the present invention is only an example for structural or functional description, the scope of the present invention should not be interpreted as being limited by the embodiments described in the text. That is, since the embodiments can be variously changed and have various forms, it should be understood that the scope of the present invention includes equivalents capable of realizing technical ideas. In addition, the purpose or effect presented in the present invention does not mean that a specific embodiment should include all of them or only such an effect, and the scope of the present invention should not be understood as being limited thereby.

The meaning of the terms described in the present invention should be understood as follows.

Terms such as "first" and "second" are for distinguishing one component from other components, and the scope of rights should not be limited by these terms. For example, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component. When a component is said to be "connected" to another component, it should be understood that other components may exist in the middle, although they may be directly connected to the other component. On the other hand, when a component is said to be "directly connected" to another component, it should be understood that no other component exists in the middle. On the other hand, other expressions describing the relationship between the components, that is, "between" and "immediately between" or "neighboring to" and "directly neighboring to" should be interpreted similarly.

Singular expressions are to be understood to include plural expressions unless the context clearly indicates otherwise, and terms such as "comprises" or "have" include the features, numbers, steps, actions, components, parts or components described. It is to be understood that a combination is intended to be present, and should not be understood as pre-excluding the existence or addition possibility of one or more other features or numbers, steps, actions, components, parts or combinations thereof.

All terms used herein have the same meaning as generally understood by a person skilled in the art to which the present invention pertains, unless otherwise defined. The terms defined in the commonly used dictionary should be interpreted to be consistent with meanings in the context of related technologies, and cannot be interpreted as having ideal or excessively formal meanings unless explicitly defined in the present invention.

Now, a 3D stereoscopic scanning system and method according to an embodiment of the present invention will be described in detail with reference to the drawings.

1 is a view for explaining a three-dimensional stereoscopic scanning system according to an embodiment of the present invention, Figure 2 is a view for explaining the case where the object to be measured is the calibration reference body in Figure 1, Figure 3 is in Figure 1 FIG. 1 is a diagram for explaining a case where the object to be measured is the whole body as a first example, and FIG. 4 is a diagram illustrating a case where the object to be measured is the whole body as a second example.

1 to 4, the 3D stereoscopic scanning system 100 includes a turntable 110, a calibration reference body 120, a 3D scanner device 130, and a control device 140.

The turntable 110 is rotationally driven according to the simultaneous driving control of the control device 140.

In one embodiment, the turntable 110 may be mounted or connected to the calibration reference body 120.

In one embodiment, the turntable 110 may stop operation according to stop control of the control device 140.

The calibration reference body 120 serves as reference data located on the turntable 110, and raises an object (that is, a measurement object) for 3D stereoscopic scanning.

In one embodiment, the correction reference body 120 may be a correction body that becomes a reference data value, and may have a structure in which rectangular X, Y, and Z values are based on a hexahedron.

In one embodiment, the calibration reference body 120 is a calibration body with reference data located on the turntable 110 in order to be a reference with respect to the measurement object, and may place a measurement object in the calibration body. Here, the reference data of the correction reference body 120 is an absolute value that has been produced and produced in advance, and may be a value specifying horizontal * vertical * height as spatial values of X, Y, and Z.

In one embodiment, the calibration reference body 120, the end points are located in four places of the X-axis and the Y-axis to form a square in a plane, where the object to be measured can be formed into a rectangle in the case of the human body's foot ( Alternatively, two rectangles corresponding to each foot may be formed), and the object to be measured may be formed in a square shape in the case of a human body.

In one embodiment, the calibration reference body 120 may have a structure in which a cuboid having a low height under the foot serves as a reference when the object to be measured is a foot in the human body.

In one embodiment, the correction reference body 120 is a shape of a right-sided hexahedron fixed to the turntable 110 and having a predetermined size, as shown in FIG. It is formed of an X * Y * Z-shaped square correction reference body, so that both feet can be raised in the upper surface of the right-angled cube (otherwise, both feet can be raised in the upper surfaces of the two right-angled cubes). .

In one embodiment, the calibration reference body 120 is fixed to the turntable 110, as shown in FIG. 3, when the object to be measured is a human body, a rectangle having a predetermined size (ie, a designated X * It is formed in the form of four square pipes (ie, square pipes with a specified Z height) arranged to be Y-sized squares, and inside the four square pipes (i.e., inside a square formed by four square pipes). Whole body).

In one embodiment, the calibration reference body 120 is a structure in which four square pipes are arranged apart from each other by a specified distance when the object to be measured is a whole body of the human body, that is, four squares at designated coordinates of X and Y in a plane. The pipes are arranged, and as shown in FIG. 4, Z of the height value may have a structure arranged to a final height at which a scan overlap is formed according to the number of scanners of the 3D scanner device 130.

In one embodiment, the calibration reference body 120, as shown in Figure 4, the height of the end point of the Z axis that is the height value of the top scanner using the multi-scanner of the 3D scanner device 130 and the bottom The scanner can be positioned up to the top of the overlapping range of the scanning range.

The 3D scanner device 130 performs 3D scanning of the measurement object and the calibration reference object 120 under the simultaneous driving control of the control device 140, and inputs the corresponding 3D scanned data value to the control device 140.

In one embodiment, when the turntable 110 rotates, the 3D scanner device 130 may perform a 3D scan within a predetermined scan range, and can also perform a 3D scan of only a measurement object within the scan range. . Here, the corresponding scan range may include not only the entire object to be measured, but also a part of the turntable 110 including the correction reference body 120 or the correction reference body 120.

In one embodiment, the 3D scanner device 130, at the same time to allow the control device 140 to compare the deformation value of the object to be measured and the deformation value of the calibration standard 120 in proportion, the measurement object and the calibration reference body at the same time 3D scanning of the 120 together, the 3D scanned data value may be input to the control device 140. Here, the 3D scanned data value may be a data value that forms a shape with a myriad of points (ie, point clouds).

In one embodiment, the 3D scanner device 130 may merge each point cloud into a 3D file while performing 3D scanning.

In one embodiment, the 3D scanner device 130 may generate a 3D file by merging the 3D scanned point cloud upon completion of 3D scanning.

In one embodiment, the 3D scanner device 130, the control device 140 in order to be able to analyze the distance between the point cloud of the 3D file, the calibration reference body 120 and the measurement object within a predetermined range Separately, each 3D file can be formed, and thus, each 3D file corresponding to the separation is input to the control device 140.

In one embodiment, the 3D scanner device 130 may 3D scan the calibration reference body 120 so that the top scanner using the multi-scanner and the scanner below it overlap the scanning range. The 3D scanned point cloud of the measurement object may be merged based on the overlap of the calibration reference body 120.

In an embodiment, when the turntable 110 completes one turn, the 3D scanner device 130 may also complete 3D scanning of the calibration reference body 120 together with the measurement object.

In one embodiment, the 3D scanner device 130 may be a 3D scanning camera, and the 3D scanning camera is a designated position of the turntable 110 so as to recognize completion of rotation of one turn of the turntable 110. ) To notify the controller 140 of the designated location recognition notification (that is, notification of completion of one turn of the turntable 110). Here, the 3D scanning camera may be a depth camera for a 3D scanner or a RGB camera.

In one embodiment, the 3D scanner device 130 may notify the control device 140 of the designated location recognition notification by recognizing a special point or color displayed on the turntable 110. In this case, in the case of a depth camera for a 3D scanner, a specific point can be recognized, and in the case of an RGB camera, a specific color can be recognized.

In one embodiment, the 3D scanner device 130 may stop operation according to stop control of the control device 140.

The control device 140 controls the simultaneous driving of the turntable 110 and the 3D scanner device 130 so that the turntable 110 and the 3D scanner device 130 are driven at the same time according to the driving command of the input means, and the 3D scanner device It receives the 3D scanned data value from 130 and generates a correction value to analyze the actual value of the measurement object by applying it to the measurement value of the measurement object.

In one embodiment, the control device 140, among the separated 3D file input from the 3D scanner device 130, the pre-specified reference data of the calibration reference body 120 and the distortion or transformed data after 3D scanning By comparison, it is possible to calculate distortion or deformed data error values. At this time, the control device 140 may also consider the scale when calculating the data error value.

In one embodiment, the control device 140 may generate the calculated data error value (ie, the analyzed data error value of the calibration reference body 120) as a correction value applicable to the measurement object, That is, the X, Y, and Z values of the reference data can be compared with the measured X, Y, and Z values after the actual scan, and the deviation can be calculated and then generated as a correction value.

In one embodiment, the control device 140 may generate the corrected 3D scanning data value of the measurement object by applying the generated correction value to the measurement value of the measurement object (ie, the 3D scanning data value of the measurement object). That is, it is possible to analyze the measurement value of the actual measurement object by contrasting the generated correction value with the 3D scanning data value of the measurement object generated after the scan is completed.

In one embodiment, the control device 140 may output the corrected data value of the measurement object through the display means, and then, after preparing the correction value to the actual measured data value, output the completed corrected data value I can do it.

In one embodiment, the control device 140 may transmit the output data value to a server (for convenience of description, not shown in the drawing) after receiving simple personal information through the input means. At this time, the data transmitted to the server may include a 3D file, a dimension file including the calibrated measurement values, an authentication file having customer authentication values, and the like. Accordingly, the server includes a certificate server, a data server, and a related server, and the certificate server can store data in the data server and the related server after confirming the customer's information. In addition, the data can be divided and stored for each company or customer, and the data that analyzes the customer's type is formed into big data to identify similar types of preferences when a customer orders later to extract recommended products. You can give.

In one embodiment, the control device 140 controls the turntable 110 and the 3D scanner device 130 to simultaneously stop driving when the designated position recognition notification is notified from the 3D scanner device 130, thereby turning the turntable. The 110 and the 3D scanner device 130 can be stopped at the same time.

The 3D stereoscopic scanning system 100 having the above-described configuration is implemented to perform 3D scanning while rotating the compensator 120 as a reference object located on the turntable 110 together with the measurement object, thereby 3D on one support. Since the scanner device 130 can be formed, an interlocking device is unnecessary, and the cost of constructing the system is very low, and the reference data value previously set and the reference data value compared with the 3D-scanned calibration object 120 are compared. In preparation for one result, it is possible to correct the data value of 3D scanning of the measurement object. Therefore, the 3D scanning data value of the measurement object can be obtained more accurately by correcting distortion or deformation caused when 3D scanning the measurement object. have.

5 is a diagram illustrating a 3D stereoscopic scanning method according to an embodiment of the present invention.

Referring to FIG. 5, after an operator places an object (that is, a measurement object) for 3D stereoscopic scanning in the calibration reference body 120 that becomes reference data located on the turntable 110, and then through an input means When a driving command is input, the control device 140, the turntable 110 and the 3D scanner device 130 so that the turntable 110 and the 3D scanner device 130 are driven simultaneously according to the driving command input through the input means. It controls the simultaneous driving of (S401).

If the simultaneous driving is controlled in the above-described step S401, the turntable 110 in which the calibration reference body 120 is mounted or connected is driven to rotate in accordance with the simultaneous driving control of the control device 140 (S402).

Simultaneously with the rotation drive in step S402 described above, the 3D scanner device 130 performs 3D scanning of the measurement object and the calibration reference body 120 according to the simultaneous driving control of the control device 140, and the corresponding 3D scanned data value Is input to the control device 140 (S403).

In inputting the 3D-scanned data value in the above-described step S403, when the turntable 110 rotates in the above-described step S402, the 3D scanner device 130 can perform a 3D scan within a predetermined scan range. In this case, at this time, only the measurement object within the corresponding scan range can be 3D scanned. Alternatively, not only the entire measurement object within the corresponding scan range, but also the turntable 110 including the calibration reference body 120 or the calibration reference body 120 ) Can also be 3D scanned.

In inputting the 3D scanned data value in the above-described step S403, in the 3D scanner device 130, the control device 140 compares the deformation value of the measurement object with the deformation value of the calibration reference body 120 proportionally. In order to give, simultaneously 3D scanning the measurement object and the calibration reference body 120 together, the 3D scanned data value (i.e., a data value to form a shape with a myriad of points (i.e., point cloud)) is a control device ( 140).

In inputting the 3D-scanned data value in step S403, the 3D scanner device 130 may merge each point cloud into a 3D file while performing 3D scanning.

In inputting the 3D scanned data value in the above-described step S403, the 3D scanner device 130 may merge the 3D scanned point cloud and generate a 3D file when 3D scanning is completed.

In inputting the 3D scanned data value in the above-described step S403, in the 3D scanner device 130, in order to enable the control device 140 to analyze the distance between the point clouds of the 3D file, within a predetermined range. The calibration reference body 120 and the measurement object may be separated to form each 3D file, and thus, each separated 3D file may be input to the control device 140.

In inputting the 3D-scanned data value in step S403 described above, the 3D scanner device 130 calibrates the calibration reference body 120 so that the top scanner using the multi-scanner and the scanner below it overlap the scanning range. ) May be 3D scanned, and the 3D scanned point cloud of the measurement object may be merged based on the overlap of the calibration reference body 120.

In inputting the 3D-scanned data value in step S403 described above, in the 3D scanner device 130, when the turntable 110 completes one revolution, 3D scanning of the correction reference body 120 together with the measurement object Can be done.

In inputting the 3D-scanned data value in step S403, the 3D scanner device 130, when equipped with a 3D scanning camera, uses a 3D scanning camera to designate a position of the turntable 110 (ie, a turntable ( The control device 140 may be notified of the designated position recognition notification (that is, notification of completion of one turn of the turntable 110) by recognizing the designated position for recognizing the completion of one rotation of 110).

In inputting the 3D scanned data value in the above-described step S403, the 3D scanner device 130 recognizes the special point or color displayed on the turntable 110 and notifies the control device 140 of the designated position recognition notification. In this case, when a depth camera for a 3D scanner is provided, a specific point can be recognized by using a depth camera for a 3D scanner, and when a RGB camera is provided, a specific color can be recognized.

In inputting the 3D-scanned data value in the above-described step S403, in the case where the designated position recognition notification is notified from the 3D scanner device 130, in the control device 140, the turntable 110 and the 3D scanner device 130 By controlling to stop the driving at the same time, the turntable 110 and the 3D scanner device 130 can be stopped at the same time. Accordingly, in the turntable 110, the operation may be stopped according to the stop control of the control device 140. In addition, even in the 3D scanner device 130, operation may be stopped according to the stop control of the control device 140.

When the 3D scanned data value is input in the above-described step S403, the control device 140 receives the 3D scanned data value from the 3D scanner device 130 to generate a correction value and applies it to the measured value of the measurement object. The actual value of the measurement object is analyzed (S404).

In analyzing the actual value of the measurement object in the above-described step S404, the control device 140 pre-specified reference data of the correction reference body 120 among the separated 3D files input from the 3D scanner device 130. After comparing 3D scan with distorted or distorted data, you can calculate the distortion or distorted data error value. At this time, the control device 140 may also consider the scale when calculating the data error value.

In analyzing the actual value of the object to be measured in step S404 described above, the control device 140 measures the data error value (ie, the analyzed data error value of the calibration reference body 120) calculated as described above. It can be generated as a correction value that can be applied to, that is, it can be generated as a correction value after comparing the X, Y, and Z values of the reference data with the measured X, Y, and Z values after the actual scan. have.

In analyzing the actual value of the measurement object in step S404 described above, the control unit 140 applies the generated correction value to the measurement value of the measurement object (ie, the 3D scanning data value of the measurement object) as described above. A calibrated 3D scanning data value of a measurement object can be generated, that is, a measurement value of the actual measurement object can be analyzed by comparing the generated calibration value with a 3D scanning data value of the measurement object generated after the scan is completed.

After analyzing the actual value of the measurement object in step S404 described above, the control device 140 outputs the corrected data value of the measurement object in display step S404 through the display means. After the correction value is compared to the value, the completed corrected data value can be output.

After analyzing the actual value of the measurement object in step S404 described above, the control device 140 may also transmit the output data value to the server after receiving simple personal information through the input means. At this time, the control device 140 may transmit data including a 3D file, a dimension file including the calibrated measurement value, and an authentication file having a customer authentication value to the server. Accordingly, the server includes a certificate server, a data server, and a related server, and the certificate server can store data in the data server and the related server after confirming the customer's information. In addition, the server can store and divide the data into subdivided information for each company or customer. At this time, the data that analyzes the customer's type is formed into big data, and when a customer orders later, a similar type of preference is identified and recommended products You can also extract

As described above, the embodiment of the present invention is not implemented only through the above-described apparatus and / or operating method, and a program for realizing a function corresponding to the configuration of the embodiment of the present invention, a recording medium in which the program is recorded, etc. It may be implemented, such an implementation can be easily implemented by those skilled in the art to which the present invention belongs from the description of the above-described embodiment. Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements of those skilled in the art using the basic concept of the present invention defined in the following claims are also provided. It belongs to the scope of rights.

100: 3D stereoscopic scanning system
110: turntable
120: calibration reference body
130: 3D scanner device
140: control

Claims (5)

A turntable for rotation driving according to the synchronous drive control;
A calibration reference body for placing a measurement object or placing it in an internal area while becoming reference data located on the ten table;
A 3D scanner device for inputting 3D scanning data values by 3D scanning the measurement object and the calibration reference object under simultaneous driving control; And
Simultaneous driving of the turntable and the 3D scanner device is controlled according to a driving command of the input means, and a correction value is generated according to the 3D scanning data value input from the 3D scanner device to be applied to the measured value of the measurement object. 3D stereoscopic scanning system including a control device for analyzing actual values.
According to claim 1, The turntable,
3D stereoscopic scanning system, characterized in that the calibration reference body is mounted or connected.
According to claim 1, The turntable,
3D stereoscopic scanning system, characterized in that the operation is stopped according to the stop control of the control device.
The method of claim 1, wherein the calibration reference body,
A three-dimensional stereoscopic scanning system, characterized in that the X, Y, and Z values of a square shape have a structure based on a hexahedron.
Controlling the control device to simultaneously drive the turntable and the 3D scanner device according to a driving command of the input means;
Rotating the rotation table to be driven on a calibration reference body and a calibration reference body, which are reference data located on the ten table, under a simultaneous driving control, or on a measurement object in an internal area of the calibration reference body;
Inputting a 3D scanning data value by 3D scanning the measurement object and a calibration reference object under the simultaneous driving control by the 3D scanner device; And
The control device generates a correction value according to the 3D scanning data value input from the 3D scanner device and applies it to the measurement value of the measurement object to analyze the actual value of the 3D stereoscopic scanning method.

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