TW201508413A - Three-dimensional scanner - Google Patents
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Abstract
Description
本發明是有關於一種掃描裝置，且特別是有關於一種立體掃描裝置。 The present invention relates to a scanning device, and more particularly to a stereoscopic scanning device.
由於電腦技術的日新月異，多媒體的發展，電腦已慢慢地成為現代人日常生活中不可或缺的必需品，而影像處理的進展一日千里，帶動許多電腦周邊影像處理器的進步，立體掃描裝置即是一例。 Due to the rapid development of computer technology and the development of multimedia, computers have gradually become an indispensable necessity in the daily life of modern people. The progress of image processing is progressing day by day, which has led to the advancement of many computer peripheral image processors. The stereo scanning device is an example. .
一般而言，立體掃描裝置是一種用來偵測並分析現實世界中物體或環境的形狀(幾何構造)與外觀資料(如顏色、表面反照率等性質)的儀器，其蒐集到的資料常被用來進行三維重建計算，以在虛擬世界中建立實際物體的數位模型。這些模型具有相當廣泛的用途，舉凡工業設計、瑕疵檢測、逆向工程、機器人導引、地貌測量、醫學資訊、生物資訊、刑事鑑定、數位文物典藏、電影製片、遊戲創作素材、立體列印等都可見其應用。 In general, a stereoscopic scanning device is an instrument for detecting and analyzing the shape (geometric structure) and appearance data (such as color, surface albedo, etc.) of an object or environment in the real world, and the collected data is often Used to perform 3D reconstruction calculations to build a digital model of the actual object in the virtual world. These models have a wide range of applications, including industrial design, flaw detection, reverse engineering, robot guidance, geomorphology, medical information, biological information, criminal identification, digital cultural relics collection, film production, game creation materials, stereo printing, etc. Both can be seen in their application.
習知的立體掃描裝置通常是使用至少兩個攝影機對待重建之物體拍攝多個彩色影像，再將這些彩色影像經過影像處理軟 體計算而建造出數位立體模型。此方法在概念上，類似人類藉由雙眼感知的影像相疊推算影像深度，若已知攝影機的彼此間距與焦距長度，而擷取的圖片又能成功疊合，則深度資訊可迅速推得。此法須仰賴有效的圖片像素匹配分析(correspondence analysis)，一般使用區塊比對(block matching)或對極幾何(epipolar geometry)演算法達成，其中，使用兩個攝影機的立體視覺法又稱做雙眼視覺法(binocular)，另有三眼視覺(trinocular)與其他使用更多攝影機的延伸方法。然而，此種立體掃描裝置在建立數位立體模型的影像處理及計算上十分複雜，因而導致成本無法有效降低。 A conventional stereoscopic scanning device usually takes a plurality of color images by using at least two cameras to be reconstructed, and then passes the color images through image processing. A three-dimensional model is constructed by volume calculation. This method is conceptually similar to human beings in which image depth is estimated by overlapping images perceived by both eyes. If the distance between the cameras and the focal length is known, and the captured images can be successfully superimposed, the depth information can be quickly pushed. . This method relies on effective image pixel matching analysis, which is generally achieved using block matching or epipolar geometry algorithms. The stereo vision method using two cameras is also called Binocular, another trinocular and other extension methods that use more cameras. However, such a stereoscopic scanning device is very complicated in image processing and calculation for establishing a digital stereo model, and thus the cost cannot be effectively reduced.
本發明提供一種立體掃描裝置，其元件配置簡單，建立數位立體模型的效率較高且成本較低。 The invention provides a stereoscopic scanning device, which has simple component arrangement, and has high efficiency and low cost for establishing a digital stereo model.
本發明的一種立體掃描裝置，其適於建立關聯於一立體物體的一數位立體模型。立體掃描裝置包括一光源模組、一屏幕、一旋轉平台、一影像擷取單元以及一處理單元。光源模組用以發出一光束。屏幕設置於光束的一傳遞路徑上並具有面向光源模組的一投影面。旋轉平台用以承載立體物體，並設置於光源模組與屏幕之間。旋轉平台用以沿著一旋轉軸旋轉立體物體至多個方位，以於屏幕的投影面上形成立體物體分別對應於所述方位的多個物體陰影。影像擷取單元用以自屏幕的投影面擷取物體陰影， 以獲得多個物體輪廓影像。處理單元耦接影像擷取單元，並用以讀取並處理物體輪廓影像，以依據物體輪廓影像建立關聯於立體物體的數位立體模型。 A stereo scanning device of the present invention is adapted to establish a digital stereo model associated with a solid object. The stereoscopic scanning device comprises a light source module, a screen, a rotating platform, an image capturing unit and a processing unit. The light source module is used to emit a light beam. The screen is disposed on a transmission path of the light beam and has a projection surface facing the light source module. The rotating platform is used to carry a three-dimensional object and is disposed between the light source module and the screen. The rotating platform is configured to rotate the solid object to a plurality of orientations along a rotating axis to form a plurality of object shadows corresponding to the orientation of the solid objects on the projection surface of the screen. The image capturing unit is used to capture object shadows from the projection surface of the screen. Get multiple object contour images. The processing unit is coupled to the image capturing unit, and is configured to read and process the contour image of the object to establish a digital stereo model associated with the solid object according to the contour image of the object.
一種立體掃描裝置，其適於建立關聯於一立體物體的一數位立體模型。立體掃描裝置包括一光源模組、一旋轉平台、至少一影像擷取單元以及一處理單元。光源模組經配置以發出多個光束而形成一平面光幕。旋轉平台用以承載立體物體，使立體物體位於平面光幕的一傳遞路徑上。旋轉平台經配置以沿著一旋轉軸旋轉立體物體至多個方位，使平面光幕於立體物體的表面上形成分別對應於所述方位的多個光輪廓。影像擷取單元經配置以擷取光輪廓，以獲得多個光輪廓影像。處理單元耦接影像擷取單元，經配置以讀取並處理光輪廓影像，以依據光輪廓影像建立關聯於立體物體的數位立體模型。 A stereo scanning device adapted to establish a digital stereo model associated with a solid object. The stereoscopic scanning device comprises a light source module, a rotating platform, at least one image capturing unit and a processing unit. The light source module is configured to emit a plurality of light beams to form a planar light curtain. The rotating platform is used to carry a solid object such that the solid object is located on a transmission path of the planar light curtain. The rotating platform is configured to rotate the solid object along a rotational axis to a plurality of orientations such that the planar light curtain forms a plurality of light contours respectively corresponding to the orientation on a surface of the solid object. The image capture unit is configured to capture the light profile to obtain a plurality of light profile images. The processing unit is coupled to the image capturing unit and configured to read and process the light contour image to establish a digital stereo model associated with the solid object according to the light contour image.
基於上述，本發明將立體物體設置在立體掃描裝置的旋轉平台上，並在旋轉立體物體的同時，透過光源照射以將立體物體的陰影投射於後方屏幕上，或是利用準直光源照射以直接於立體物體的表面上形成光輪廓的方式得到立體物體的各角度的輪廓，並以影像擷取單元分別擷取所述各角度的輪廓影像，再透過處理單元依據這些輪廓影像建立關聯於立體物體的數位立體模型。如此，由於處理單元僅需處理立體物體的輪廓資訊，因而可大幅減輕處理單元進行影像處理及計算上的負擔，進而增加立體掃描裝置建立數位立體模型的效率，並且，本發明的立體掃描裝 置元件配置簡單，更可降低生產成本。 Based on the above, the present invention places a three-dimensional object on a rotating platform of the stereoscopic scanning device, and simultaneously irradiates the light source to project a shadow of the solid object onto the rear screen while rotating the solid object, or directly irradiates with the collimated light source to directly Forming a light contour on the surface of the solid object to obtain contours of the angles of the solid object, and respectively capturing the contour images of the angles by the image capturing unit, and then establishing, by the processing unit, the associated contour objects according to the contour images Digital three-dimensional model. In this way, since the processing unit only needs to process the contour information of the solid object, the processing unit can greatly reduce the burden on the image processing and calculation, thereby increasing the efficiency of the stereoscopic scanning device to establish the digital stereo model, and the stereoscopic scanning device of the present invention The component configuration is simple and the production cost can be reduced.
為讓本發明的上述特徵和優點能更明顯易懂，下文特舉實施例，並配合所附圖式作詳細說明如下。 The above described features and advantages of the invention will be apparent from the following description.
10‧‧‧立體物體 10‧‧‧Three-dimensional objects
12‧‧‧凹陷部 12‧‧‧Depression
20‧‧‧物體陰影 20‧‧‧ object shadow
100、200、300‧‧‧立體掃描裝置 100, 200, 300‧‧‧ stereo scanning device
110、210‧‧‧光源模組 110, 210‧‧‧Light source module
112‧‧‧光束 112‧‧‧ Beam
120、220‧‧‧屏幕 120, 220‧‧‧ screen
122‧‧‧投影面 122‧‧‧Projection surface
130、230、320‧‧‧旋轉平台 130, 230, 320‧‧‧ rotating platform
140、240、340‧‧‧影像擷取單元 140, 240, 340‧‧‧ image capture unit
150、250‧‧‧處理單元 150, 250‧‧ ‧ processing unit
160、260‧‧‧輔助影像擷取單元 160, 260‧‧‧Auxiliary image capture unit
212‧‧‧平面光幕 212‧‧‧ flat light curtain
214‧‧‧光輪廓 214‧‧‧Light outline
A1‧‧‧旋轉軸 A1‧‧‧Rotary axis
圖1是依照本發明的一實施例的一種立體掃描裝置的部份方塊示意圖。 1 is a partial block diagram of a stereoscopic scanning device in accordance with an embodiment of the invention.
圖2是依照本發明的一實施例的一種立體掃描裝置的示意圖。 2 is a schematic diagram of a stereoscopic scanning device in accordance with an embodiment of the present invention.
圖3是依照本發明的另一實施例的一種立體掃描裝置的部份構件示意圖。 3 is a partial schematic view of a three-dimensional scanning device in accordance with another embodiment of the present invention.
圖4是依照本發明的另一實施例的一種立體掃描裝置的示意圖。 4 is a schematic diagram of a stereoscopic scanning device in accordance with another embodiment of the present invention.
圖5是依照本發明的另一實施例的一種立體掃描裝置的部份構件示意圖。 FIG. 5 is a partial structural view of a stereoscopic scanning device in accordance with another embodiment of the present invention.
圖6是依照本發明的另一實施例的一種立體掃描裝置的示意圖。 FIG. 6 is a schematic diagram of a stereoscopic scanning device in accordance with another embodiment of the present invention.
有關本發明之前述及其他技術內容、特點與功效，在以下配合參考圖式之各實施例的詳細說明中，將可清楚的呈現。以 下實施例中所提到的方向用語，例如：「上」、「下」、「前」、「後」、「左」、「右」等，僅是參考附加圖式的方向。因此，使用的方向用語是用來說明，而並非用來限制本發明。並且，在下列各實施例中，相同或相似的元件將採用相同或相似的標號。 The above and other technical contents, features, and advantages of the present invention will be apparent from the following detailed description of the embodiments of the invention. Take The directional terms mentioned in the following embodiments, such as "upper", "lower", "front", "back", "left", "right", etc., are only directions referring to the additional schema. Therefore, the directional terminology used is for the purpose of illustration and not limitation. Also, in the following embodiments, the same or similar elements will be given the same or similar reference numerals.
圖1是依照本發明的一實施例的一種立體掃描裝置的部份方塊示意圖。圖2是依照本發明的一實施例的一種立體掃描裝置的示意圖。請同時參照圖1以及圖2，在本實施例中，立體掃描裝置100可針對一立體物體10進行三維建模(three dimensional model construction,3D model construction)，以建立關聯於立體物體10的一數位立體模型。立體掃描裝置100可例如耦接一立體列印裝置，使立體列印裝置讀取此數位立體模型，並依據此數位立體模型列印出此立體物體10的例如一複製品。本實施例的立體掃描裝置100包括一光源模組110、一屏幕120、一旋轉平台130、一影像擷取單元140以及一處理單元150。光源模組110經配置以發出一均勻的光束112。在本實施例中，光源模組110是採用發光二極體光源(light-emitting diode light source,LED light source)。屏幕120如圖2所示具有面向光源模組110之一投影面122，並設置於光束112的傳遞路徑上。在此，屏幕120用於使立體物體10的陰影成像，以在屏幕120的投影面122上形成物體陰影20，而此物體陰影20的尺寸與立體物體10的尺寸具有一固定比例。在本實施例中，上述的固定比例可實質上大於1。也就是說，物體陰影20的尺寸可成比例地大於立體物體10的尺寸。立體掃描裝置 100可例如透過調整光源模組110至立體物體10的距離以及立體物體10至屏幕120的距離，來控制物體陰影20與立體物體10之間的尺寸比例關係，以於屏幕120上形成尺寸比立體物體10大且與立體物體10有比例性的物體陰影20，因而可得到更精密的物體輪廓影像。 1 is a partial block diagram of a stereoscopic scanning device in accordance with an embodiment of the invention. 2 is a schematic diagram of a stereoscopic scanning device in accordance with an embodiment of the present invention. Referring to FIG. 1 and FIG. 2 simultaneously, in the embodiment, the stereoscopic scanning device 100 can perform three dimensional model construction (3D model construction) on a three-dimensional object 10 to establish a digital position associated with the solid object 10 . Three-dimensional model. The stereoscopic scanning device 100 can be coupled, for example, to a three-dimensional printing device, so that the three-dimensional printing device reads the digital stereo model, and prints, for example, a replica of the solid object 10 according to the digital stereo model. The stereoscopic scanning device 100 of the present embodiment includes a light source module 110, a screen 120, a rotating platform 130, an image capturing unit 140, and a processing unit 150. Light source module 110 is configured to emit a uniform beam 112. In this embodiment, the light source module 110 is a light-emitting diode light source (LED light source). The screen 120 has a projection surface 122 facing the light source module 110 as shown in FIG. 2 and is disposed on the transmission path of the light beam 112. Here, the screen 120 is used to image the shadow of the solid object 10 to form an object shadow 20 on the projection surface 122 of the screen 120, and the size of the object shadow 20 has a fixed ratio to the size of the solid object 10. In this embodiment, the above fixed ratio may be substantially greater than one. That is, the size of the object shadow 20 can be proportionally larger than the size of the solid object 10. Stereoscopic scanning device The size ratio relationship between the object shadow 20 and the solid object 10 can be controlled, for example, by adjusting the distance between the light source module 110 and the solid object 10 and the distance between the solid object 10 and the screen 120 to form a dimensional ratio on the screen 120. The object 10 is large and has a shadow 20 of the object proportional to the solid object 10, so that a more precise contour image of the object can be obtained.
承上述，旋轉平台130用以承載立體物體10，並設置於光源模組110與屏幕120之間，使立體物體10位於光束112的傳遞路徑上而阻擋光束112的傳遞。光源模組110所發射出的光束112具有穩定亮度，因此，光源模組110所發出的光束112照射於立體物體10後，可於後方的屏幕120上產生對比清晰的物體陰影20。在此須說明的是，立體掃描裝置100中的光源模組110、屏幕120以及旋轉平台130是呈直線排列，然而本發明並不限於此。在其它實施例中，上述元件的排列方式亦可以是非直線關係。舉例而言，其可以是經過反射或是具有傾斜夾角等方式進行排列。此外，立體掃描裝置100中的光源模組110、屏幕120以及旋轉平台130之間的距離可以根據例如是立體物體10的尺寸、影像擷取單元140的鏡頭光圈的大小、以及影像解析度的需求而有所改變，以建立更精確的數位立體模型。 In the above, the rotating platform 130 is configured to carry the solid object 10 and is disposed between the light source module 110 and the screen 120 such that the solid object 10 is located on the transmission path of the light beam 112 to block the transmission of the light beam 112. The light beam 112 emitted by the light source module 110 has a stable brightness. Therefore, after the light beam 112 emitted by the light source module 110 is irradiated to the solid object 10, a contrasting object shadow 20 can be generated on the rear screen 120. It should be noted that the light source module 110, the screen 120, and the rotating platform 130 in the stereoscopic scanning device 100 are arranged in a straight line, but the present invention is not limited thereto. In other embodiments, the arrangement of the above elements may also be a non-linear relationship. For example, it may be arranged by reflection or with an oblique angle. In addition, the distance between the light source module 110, the screen 120, and the rotating platform 130 in the stereoscopic scanning device 100 may be based on, for example, the size of the solid object 10, the size of the lens aperture of the image capturing unit 140, and the resolution of the image resolution. And changed to create a more accurate digital stereo model.
承上述，旋轉平台130適於沿著一旋轉軸A1旋轉立體物體10至多個方位，使立體物體10經由光束112的照射而於屏幕120上形成分別對應於所述方位的多個物體陰影20。在旋轉平台130旋轉立體物體10的同時，影像擷取單元140經配置以自屏幕 120的投影面122上擷取所述的多個物體陰影20。在此將影像擷取裝置140所擷取的物體陰影20所產生的影像定義為「物體輪廓影像」。在本實施例中，影像擷取裝置140可採用電荷耦合元件(charge coupled device,CCD)鏡頭的照相機，以擷取所述的物體陰影20而獲得多個物體輪廓影像。當然，本發明不侷限於此。 In the above, the rotating platform 130 is adapted to rotate the solid object 10 to a plurality of orientations along a rotation axis A1, so that the solid object 10 forms a plurality of object shadows 20 corresponding to the orientations on the screen 120 via the illumination of the light beam 112. While the rotating platform 130 rotates the solid object 10, the image capturing unit 140 is configured to be self-screening The plurality of object shadows 20 are captured on the projection surface 122 of 120. Here, the image generated by the object shadow 20 captured by the image capturing device 140 is defined as an "object contour image". In this embodiment, the image capturing device 140 may employ a camera with a charge coupled device (CCD) lens to capture the object shadow 20 to obtain a plurality of object contour images. Of course, the invention is not limited to this.
承上述，處理單元150耦接影像擷取單元140並用以讀取並處理所述的物體輪廓影像，以依據這些物體輪廓影像建立關聯於立體物體10的數位立體模型。在本實施例中，影像擷取單元140可例如為一黑白影像擷取單元，亦即，其獲得的物體輪廓影像為黑白影像，以減輕處理單元150進行影像處理及計算上的負擔(loading)。而處理單元150更可依據各物體輪廓影像之一最大灰階差(grey level difference)獲得對應的物體輪廓線，以依據這些物體輪廓線來建立數位立體模型。 In the above, the processing unit 150 is coupled to the image capturing unit 140 and configured to read and process the contour image of the object to establish a digital stereo model associated with the solid object 10 according to the contour image of the object. In this embodiment, the image capturing unit 140 can be, for example, a black and white image capturing unit, that is, the obtained object contour image is a black and white image, so as to reduce the processing and calculation load on the processing unit 150. . The processing unit 150 further obtains a corresponding object contour according to a maximum gray level difference of each object contour image, so as to establish a digital stereo model according to the object contour lines.
在本實施例中，處理單元150可包括記憶體以及處理器。記憶體用以儲存影像擷取單元140所擷取的物體輪廓影像，而處理器則用於處理記憶體中所儲存的物體輪廓影像，以建立關聯於立體物體10的數位立體模型。此外，在本發明的其他實施例中，亦可將影像擷取單元140與處理單元150整合至同一裝置，例如為具有照相或攝影功能的個人電腦、筆記型電腦、智慧型手機以及平板電腦等，本發明並不以此為限。此外，影像擷取單元140亦可利用有線傳輸或是無線傳輸的方式，將所擷取的物體輪廓影像傳輸至處理單元150。 In this embodiment, the processing unit 150 can include a memory and a processor. The memory is used to store the contour image of the object captured by the image capturing unit 140, and the processor is used to process the contour image of the object stored in the memory to establish a digital stereo model associated with the solid object 10. In addition, in other embodiments of the present invention, the image capturing unit 140 and the processing unit 150 may be integrated into the same device, such as a personal computer with a camera or a photographing function, a notebook computer, a smart phone, a tablet computer, and the like. The invention is not limited thereto. In addition, the image capturing unit 140 can also transmit the captured contour image of the object to the processing unit 150 by means of wired transmission or wireless transmission.
詳細來說，處理單元150更可耦接旋轉平台130，以控制旋轉平台130沿著旋轉軸A1旋轉立體物體10至多個方位。進一步而言，處理單元150可控制旋轉平台130沿著旋轉軸A1依序旋轉多個預設角度，以將立體物體10依序旋轉至上述的多個方位。此外，在本實施例中，旋轉平台130可例如具有一編碼器，用於記錄旋轉平台130旋轉的方位，並供處理單元150讀取。如此，旋轉平台130每將立體物體10旋轉一預設角度後，影像擷取單元140即自屏幕120上擷取其物體陰影20的物體輪廓影像。如此重複上述步驟至獲得立體物體10各角度的物體輪廓影像後，再利用處理單元150將這些物體輪廓影像轉換成平面座標上的物體輪廓線並將其分別對應所述多個方位的座標，以據此建造出關聯於立體物體10的數位立體模型。 In detail, the processing unit 150 is further coupled to the rotating platform 130 to control the rotating platform 130 to rotate the solid object 10 to a plurality of orientations along the rotating axis A1. Further, the processing unit 150 can control the rotating platform 130 to sequentially rotate a plurality of preset angles along the rotation axis A1 to sequentially rotate the solid object 10 to the plurality of orientations described above. Further, in the present embodiment, the rotating platform 130 may have, for example, an encoder for recording the orientation of rotation of the rotating platform 130 and for reading by the processing unit 150. In this manner, after the rotating platform 130 rotates the stereoscopic object 10 by a predetermined angle, the image capturing unit 140 captures an object contour image of the object shadow 20 from the screen 120. After the above steps are repeated to obtain the contour images of the objects at various angles of the solid object 10, the contour images of the objects are converted into the contours of the objects on the plane coordinates by the processing unit 150 and respectively correspond to the coordinates of the plurality of orientations, A digital stereo model associated with the solid object 10 is thus constructed.
在本實施例中，處理單元150控制旋轉平台130沿著旋轉軸A1旋轉的多個預設角度的總和為180度。也就是說，旋轉平台130每次將立體物體10旋轉一預設角度直至立體物體10總共旋轉了180度為止。在此需說明的是，旋轉平台130每次轉動的預設角度的大小取決於立體物體10的表面輪廓的複雜度。當立體物體10具有複雜度較高的表面輪廓時，旋轉平台130每次所需轉動的預設角度則可設定較小，也就是說，影像擷取單元140會產生較多的物體輪廓影像。 In the present embodiment, the processing unit 150 controls the sum of the plurality of preset angles at which the rotating platform 130 rotates along the rotation axis A1 to be 180 degrees. That is, the rotating platform 130 rotates the solid object 10 by a predetermined angle each time until the solid object 10 is rotated by a total of 180 degrees. It should be noted here that the size of the preset angle of each rotation of the rotary platform 130 depends on the complexity of the surface contour of the solid object 10. When the solid object 10 has a surface contour with high complexity, the preset angle of the rotating platform 130 to be rotated every time can be set small, that is, the image capturing unit 140 generates more object contour images.
一般而言，放置立體物體10時，理想上會將立體物體10放置於旋轉平台130的中心，以使立體物體10的中心軸與旋轉平 台130的旋轉軸A1實質上重合。因此，立體物體10於旋轉平台130的一初始方位所對應的初始物體輪廓影像理論上應與立體物體10旋轉180度後的一最終方位所對應的最終物體輪廓影像實質上重合。 In general, when the solid object 10 is placed, the solid object 10 is ideally placed at the center of the rotating platform 130 so that the central axis of the solid object 10 is flat with the rotation. The rotation axis A1 of the stage 130 substantially coincides. Therefore, the initial object contour image corresponding to an initial orientation of the solid object 10 on the rotating platform 130 should theoretically coincide with the final object contour image corresponding to a final orientation after the solid object 10 is rotated by 180 degrees.
然而，在現實情況中，立體物體10的設置可能會有所偏移而使立體物體10的中心軸未能與旋轉平台130的旋轉軸A1重合。如此，立體物體10於旋轉平台130的初始方位所對應的初始物體輪廓影像則無法與立體物體10在旋轉平台130旋轉180度後的最終方位所對應的最終物體輪廓影像完全重合。在此情況下，處理單元150可將此初始物體輪廓影像與此最終物體輪廓影像進行比對，以得到立體物體10位於此方位時真實的物體輪廓影像，並獲得物體輪廓影像的中心軸。 However, in reality, the arrangement of the solid object 10 may be offset such that the central axis of the solid object 10 fails to coincide with the rotational axis A1 of the rotating platform 130. As such, the initial object contour image corresponding to the initial orientation of the solid object 10 on the rotating platform 130 cannot completely coincide with the final object contour image corresponding to the final orientation of the solid object 10 after the rotating platform 130 is rotated by 180 degrees. In this case, the processing unit 150 may compare the initial object contour image with the final object contour image to obtain a true object contour image when the solid object 10 is located at the orientation, and obtain a central axis of the object contour image.
除此之外，若立體物體10具有往立體物體10的中心軸凹陷的一凹陷部12，影像擷取單元140可另行擷取凹陷部12的一灰階影像，供處理單元150讀取並處理此灰階影像，並依據上述的物體輪廓影像以及此灰階影像建立關聯於具有此凹陷部的立體物體10的數位立體模型。具體而言，處理單元150可在立體物體10旋轉至其凹陷部12面向影像擷取單元140時，控制影像擷取單元140擷取凹陷部12的灰階影像，使處理單元150能依據此灰階影像推算出凹陷部12的結構資訊，再依據立體物體10的各角度的物體輪廓影像及此凹陷部12的灰階影像來建立關聯於具有此凹陷部的立體物體10的數位立體模型。 In addition, if the solid object 10 has a recess 12 recessed toward the central axis of the solid object 10, the image capturing unit 140 can separately capture a grayscale image of the recess 12 for the processing unit 150 to read and process. The grayscale image is associated with a digital stereoscopic model of the solid object 10 having the recessed portion according to the object contour image and the grayscale image. Specifically, the processing unit 150 can control the image capturing unit 140 to capture the grayscale image of the recessed portion 12 when the solid object 10 is rotated until the recessed portion 12 faces the image capturing unit 140, so that the processing unit 150 can The order image is used to derive the structural information of the depressed portion 12, and the digital stereoscopic model associated with the solid object 10 having the depressed portion is established based on the contour image of the object at each angle of the solid object 10 and the grayscale image of the depressed portion 12.
圖3是依照本發明的另一實施例的一種立體掃描裝置的部份構件示意圖。在此必須說明的是，本實施例之立體掃描裝置100與圖2之立體掃描裝置100相似，因此，本實施例沿用前述實施例的元件標號與部分內容，其中採用相同的標號來表示相同或近似的元件，並且省略了相同技術內容的說明。關於省略部分的說明可參考前述實施例，本實施例不再重複贅述。以下將針對本實施例之立體掃描裝置100與圖2之立體掃描裝置100的差異做說明。 3 is a partial schematic view of a three-dimensional scanning device in accordance with another embodiment of the present invention. It should be noted that the stereoscopic scanning device 100 of the present embodiment is similar to the stereoscopic scanning device 100 of FIG. 2. Therefore, the present embodiment uses the component numbers and parts of the foregoing embodiments, wherein the same reference numerals are used to indicate the same or Approximate elements, and the description of the same technical content is omitted. For the description of the omitted part, reference may be made to the foregoing embodiment, and the description is not repeated herein. The difference between the stereoscopic scanning device 100 of the present embodiment and the stereoscopic scanning device 100 of FIG. 2 will be described below.
請參照圖1以及圖3，在本實施例中，立體掃描裝置100更包括一輔助影像擷取單元160，其耦接處理單元150。立體物體10具有往立體物體10的中心軸凹陷的一凹陷部12，而輔助影像擷取單元160如圖3所示面向凹陷部12設置，以擷取凹陷部12的一灰階影像，供處理單元150讀取與處理。如此，處理單元150即可依據影像擷取單元140所擷取的物體輪廓影像以及輔助影像擷取單元160所擷取的灰階影像建立關聯於此具有凹陷部12的立體物體10的數位立體模型。舉例而言，若凹陷部12位於立體物體10的一頂面，影像擷取單元140則如圖3所示朝向屏幕120設置而無法有效擷取凹陷部12的灰階影像，此時，輔助影像擷取單元160可例如朝向旋轉平台130的承載面設置而面向凹陷部12，以輔助擷取凹陷部12的灰階影像，供處理單元150讀取及處理。如此，處理單元150即可依據影像擷取單元140所擷取的物體輪廓影像以及輔助影像擷取單元160所擷取的灰階影像建立關聯於 具有此凹陷部12的立體物體10的數位立體模型。 Referring to FIG. 1 and FIG. 3 , in the embodiment, the stereoscopic scanning device 100 further includes an auxiliary image capturing unit 160 coupled to the processing unit 150 . The three-dimensional object 10 has a recessed portion 12 recessed toward the central axis of the solid object 10, and the auxiliary image capturing unit 160 is disposed facing the recessed portion 12 as shown in FIG. 3 to capture a grayscale image of the recessed portion 12 for processing. Unit 150 reads and processes. In this manner, the processing unit 150 can establish a digital stereo model associated with the solid object 10 having the recess 12 according to the contour image of the object captured by the image capturing unit 140 and the grayscale image captured by the auxiliary image capturing unit 160. . For example, if the recessed portion 12 is located on a top surface of the solid object 10, the image capturing unit 140 is disposed toward the screen 120 as shown in FIG. 3, and the grayscale image of the recessed portion 12 cannot be effectively captured. The capturing unit 160 can be disposed facing the recessed portion 12, for example, toward the bearing surface of the rotating platform 130 to assist in capturing the grayscale image of the recessed portion 12 for reading and processing by the processing unit 150. In this way, the processing unit 150 can be associated with the image of the contour of the object captured by the image capturing unit 140 and the grayscale image captured by the auxiliary image capturing unit 160. A digital stereo model of the solid object 10 having the recess 12 .
圖4是依照本發明的另一實施例的一種立體掃描裝置的示意圖。圖5是依照本發明的另一實施例的一種立體掃描裝置的部份構件示意圖。在此必須說明的是，本實施例之立體掃描裝置200與圖2之立體掃描裝置100相似，因此，本實施例沿用前述實施例的元件標號與部分內容，其中採用相同的標號來表示相同或近似的元件，並且省略了相同技術內容的說明。關於省略部分的說明可參考前述實施例，本實施例不再重複贅述。請參照圖4以及圖5，本實施例的立體掃描裝置200亦可適用於建立關聯於立體物體10的一數位立體模型。並且，立體掃描裝置200亦可例如耦接一立體列印裝置，使立體列印裝置讀取此數位立體模型，並依據此數位立體模型列印出此立體物體10的例如一樣品。立體掃描裝置200包括一光源模組210、一旋轉平台230、至少一影像擷取單元240以及一處理單元250。在本實施例中，光源模組210用以發出多個光束，所述多個光束共同形成一平面光幕(lighting curtain)212。更具體而言，在本實施例中，光源模組210為一雷射光源模組，以發出多個雷射光束而形成一平面雷射光幕。旋轉平台230用以承載立體物體10，使立體物體10位於平面光幕212的一傳遞路徑上而阻擋雷射光束的傳遞，因而於立體物體10的表面上形成一光輪廓214。 4 is a schematic diagram of a stereoscopic scanning device in accordance with another embodiment of the present invention. FIG. 5 is a partial structural view of a stereoscopic scanning device in accordance with another embodiment of the present invention. It should be noted that the stereoscopic scanning device 200 of the present embodiment is similar to the stereoscopic scanning device 100 of FIG. 2. Therefore, the present embodiment uses the component numbers and parts of the foregoing embodiments, wherein the same reference numerals are used to indicate the same or Approximate elements, and the description of the same technical content is omitted. For the description of the omitted part, reference may be made to the foregoing embodiment, and the description is not repeated herein. Referring to FIG. 4 and FIG. 5, the stereoscopic scanning device 200 of the present embodiment may also be adapted to establish a digital stereo model associated with the solid object 10. Moreover, the stereoscopic scanning device 200 can also be coupled to, for example, a three-dimensional printing device, so that the three-dimensional printing device reads the digital stereo model, and prints, for example, a sample of the solid object 10 according to the digital stereo model. The stereoscopic scanning device 200 includes a light source module 210 , a rotating platform 230 , at least one image capturing unit 240 , and a processing unit 250 . In this embodiment, the light source module 210 is configured to emit a plurality of light beams, and the plurality of light beams collectively form a planar lighting curtain 212. More specifically, in the embodiment, the light source module 210 is a laser light source module to emit a plurality of laser beams to form a planar laser light curtain. The rotating platform 230 is configured to carry the solid object 10 such that the solid object 10 is located on a transmission path of the planar light curtain 212 to block the transmission of the laser beam, thereby forming a light contour 214 on the surface of the solid object 10.
承上述，旋轉平台230適於沿著一旋轉軸A1旋轉立體物體10至多個方位，使立體物體10經由雷射光束的照射而於立體 物體10的表面上形成分別對應於所述方位的多個光輪廓214。在旋轉平台230旋轉立體物體10的同時，影像擷取單元240經配置以擷取這些光輪廓214，以獲得多個光輪廓影像。處理單元250耦接影像擷取單元240，並用以讀取並處理所述的光輪廓影像，以依據這些光輪廓影像建立關聯於立體物體10的數位立體模型。在本實施例中，影像擷取單元240的數量可為多個，對稱設置於平面光幕212的相對兩側，以由多個不同的角度擷取光輪廓影像。此外，影像擷取單元240可例如為一黑白影像擷取單元，亦即，其獲得的光輪廓影像為黑白影像，以減輕處理單元150進行影像處理及計算上的負擔。而處理單元150更可依據各光輪廓影像的邊緣之一最大灰階差獲得對應的光輪廓線，並依據這些光輪廓線來建立數位立體模型。 In the above, the rotating platform 230 is adapted to rotate the solid object 10 to a plurality of orientations along a rotation axis A1, so that the solid object 10 is irradiated by the laser beam in a stereoscopic manner. A plurality of light contours 214 respectively corresponding to the orientations are formed on the surface of the object 10. While the rotating platform 230 rotates the solid object 10, the image capturing unit 240 is configured to capture the light contours 214 to obtain a plurality of light contour images. The processing unit 250 is coupled to the image capturing unit 240 and configured to read and process the light contour image to establish a digital stereo model associated with the solid object 10 according to the light contour images. In this embodiment, the number of image capturing units 240 may be multiple, symmetrically disposed on opposite sides of the planar light curtain 212 to capture the light contour image from a plurality of different angles. In addition, the image capturing unit 240 can be, for example, a black and white image capturing unit, that is, the light contour image obtained by the image capturing unit 240 is a black and white image to reduce the burden on the processing unit 150 for image processing and calculation. The processing unit 150 further obtains corresponding light contours according to the maximum gray level difference of one of the edges of each light contour image, and establishes a digital stereo model according to the light contour lines.
詳細來說，處理單元250可耦接旋轉平台230，以控制旋轉平台230沿著旋轉軸A1旋轉立體物體10至多個方位。進一步而言，處理單元250可控制旋轉平台230沿著旋轉軸A1依序旋轉多個預設角度，以將立體物體10依序旋轉至所述的多個方位。如此，旋轉平台230每將立體物體10旋轉一預設角度後，平面光幕212即於立體物體10的表面上形成一光輪廓，影像擷取單元240則可擷取此光輪廓以獲得一光輪廓影像。如此重複上述步驟至獲得立體物體10各角度的光輪廓影像後，再利用處理單元250將這些光輪廓影像轉換成平面座標上的光輪廓線並將其分別對應所述多個方位的座標，以據此建造出關聯於立體物體10的數位立體模 型。 In detail, the processing unit 250 may be coupled to the rotating platform 230 to control the rotating platform 230 to rotate the solid object 10 to a plurality of orientations along the rotating axis A1. Further, the processing unit 250 can control the rotating platform 230 to sequentially rotate a plurality of preset angles along the rotation axis A1 to sequentially rotate the solid object 10 to the plurality of orientations. In this manner, after the rotating platform 230 rotates the stereoscopic object 10 by a predetermined angle, the planar light curtain 212 forms a light contour on the surface of the solid object 10, and the image capturing unit 240 can capture the light contour to obtain a light. Contour image. After the above steps are repeated to obtain the light contour images of the respective angles of the solid object 10, the light contour images are converted into the light contours on the plane coordinates by the processing unit 250 and respectively correspond to the coordinates of the plurality of orientations, According to this, a digital stereo model associated with the solid object 10 is constructed. type.
相似於前述實施例，在本實施例中，處理單元250控制旋轉平台230沿著旋轉軸A1旋轉的多個預設角度的總和為180度。也就是說，旋轉平台230每次將立體物體10旋轉一預設角度直至立體物體10總共旋轉了180度為止。因此，在立體物體10的中心軸與旋轉平台230的旋轉軸A1實質上重合的理想情況下，立體物體10於旋轉平台230的一初始方位所對應的初始光輪廓影像應與立體物體10旋轉180度後的一最終方位所對應的最終光輪廓影像實質上重合。 Similar to the foregoing embodiment, in the present embodiment, the processing unit 250 controls the sum of the plurality of preset angles at which the rotating platform 230 rotates along the rotation axis A1 to be 180 degrees. That is, the rotating platform 230 rotates the solid object 10 by a predetermined angle each time until the solid object 10 is rotated by a total of 180 degrees. Therefore, in the ideal case where the central axis of the solid object 10 substantially coincides with the rotation axis A1 of the rotating platform 230, the initial light contour image corresponding to an initial orientation of the solid object 10 on the rotating platform 230 should be rotated 180 with the solid object 10. The final light profile image corresponding to a final orientation after the degree substantially coincides.
然而，在現實情況中，立體物體10的中心軸可能無法完美地與旋轉平台230的旋轉軸A1重合而會有所偏移，因而使立體物體10於旋轉平台230的初始方位所對應的初始光輪廓影像則無法與立體物體10在旋轉平台230旋轉180度後的最終方位所對應的最終光輪廓影像完全重合。在此情況下，處理單元250可將此初始光輪廓影像與此最終光輪廓影像進行比對，以得到立體物體10於此方位時真實的光輪廓影像，並獲得光輪廓影像的中心軸。 However, in reality, the central axis of the solid object 10 may not perfectly coincide with the rotation axis A1 of the rotating platform 230 and may be offset, thereby causing the initial light corresponding to the initial orientation of the solid object 10 on the rotating platform 230. The contour image cannot completely coincide with the final light contour image corresponding to the final orientation of the solid object 10 after the rotating platform 230 is rotated 180 degrees. In this case, the processing unit 250 can compare the initial light contour image with the final light contour image to obtain a true light contour image of the solid object 10 in this orientation, and obtain a central axis of the light contour image.
相似於前述實施例，若立體物體10具有往立體物體10的中心軸凹陷的一凹陷部12，影像擷取單元240可另行擷取凹陷部12的一灰階影像，供處理單元250讀取並處理此灰階影像，並依據立體物體10於各角度的光輪廓影像以及其凹陷部12的灰階影像建立關聯於具有此凹陷部的立體物體10的數位立體模型。具體而言，處理單元250可在立體物體10旋轉至其凹陷部12面向 影像擷取單元240時，控制影像擷取單元240擷取凹陷部12的灰階影像，以獲取凹陷部12的影像資訊，使處理單元250能依據此灰階影像推算出凹陷部12的結構資訊，並依據立體物體10於各角度的光輪廓影像及其凹陷部12的灰階影像來建立關聯於具有此凹陷部的立體物體10的數位立體模型。 Similar to the previous embodiment, if the solid object 10 has a recess 12 recessed toward the central axis of the solid object 10, the image capturing unit 240 can separately capture a grayscale image of the recess 12 for the processing unit 250 to read and The gray scale image is processed, and a digital stereo model associated with the solid object 10 having the recessed portion is established according to the light contour image of the solid object 10 at each angle and the gray scale image of the recessed portion 12. In particular, the processing unit 250 can rotate the solid object 10 to its recess 12 facing The image capturing unit 240 captures the grayscale image of the recessed portion 12 to obtain the image information of the depressed portion 12, so that the processing unit 250 can calculate the structural information of the depressed portion 12 according to the grayscale image. And establishing a digital stereo model associated with the solid object 10 having the recessed portion according to the light contour image of the solid object 10 at each angle and the gray scale image of the recessed portion 12.
除此之外，如圖5所示的實施例中，立體掃描裝置200更可包括一輔助影像擷取單元260，其耦接處理單元210。立體物體10具有往立體物體10的中心軸凹陷的一凹陷部12，而輔助影像擷取單元260如圖5所示面向凹陷部12設置，以擷取凹陷部12的一灰階影像，供處理單元210讀取與處理此灰階影像，並依據影像擷取單元240所擷取的光輪廓影像以及輔助影像擷取單元260所擷取的灰階影像建立關聯於此具有凹陷部12的立體物體10的數位立體模型。舉例而言，若凹陷部12位於立體物體10的一頂面，而影像擷取單元240則如圖5所示沿著垂直於旋轉軸A1的方向朝向立體物體10設置，因而無法有效擷取凹陷部12的灰階影像，此時，輔助影像擷取單元260可例如沿著平行於旋轉軸A1的方向而面向凹陷部12設置，以輔助擷取凹陷部12的灰階影像，並供處理單元250讀取及處理此灰階影像。如此，處理單元250可依據影像擷取單元240所擷取的光輪廓影像以及輔助影像擷取單元260所擷取的灰階影像建立關聯於具有此凹陷部12的立體物體10的數位立體模型。 In addition, in the embodiment shown in FIG. 5, the stereoscopic scanning device 200 further includes an auxiliary image capturing unit 260 coupled to the processing unit 210. The solid object 10 has a recess 12 recessed toward the central axis of the solid object 10, and the auxiliary image capturing unit 260 is disposed facing the recess 12 as shown in FIG. 5 to capture a grayscale image of the recess 12 for processing. The unit 210 reads and processes the grayscale image, and associates the light contour image captured by the image capturing unit 240 with the grayscale image captured by the auxiliary image capturing unit 260. A digital stereo model of 10. For example, if the recessed portion 12 is located on a top surface of the solid object 10, and the image capturing unit 240 is disposed toward the solid object 10 in a direction perpendicular to the rotating axis A1 as shown in FIG. 5, the recessed portion cannot be effectively captured. The grayscale image of the portion 12, at this time, the auxiliary image capturing unit 260 can be disposed facing the recess 12, for example, along a direction parallel to the rotation axis A1, to assist in capturing the grayscale image of the recess 12, and for processing the unit 250 reads and processes this grayscale image. In this manner, the processing unit 250 can establish a digital stereo model associated with the solid object 10 having the recessed portion 12 according to the light contour image captured by the image capturing unit 240 and the grayscale image captured by the auxiliary image capturing unit 260.
圖6是依照本發明的另一實施例的一種立體掃描裝置的 示意圖。在本實施例中，立體掃描裝置300亦適用於建立關聯於立體物體10的數位元立體模型。立體掃描裝置300可例如耦接一立體列印裝置，使立體列印裝置讀取此數位元立體模型，並依據此數位元立體模型列印出此立體物體10的例如一樣品。立體掃描裝置300包括一旋轉平台320、多個影像擷取單元340以及一處理單元。處理單元可耦接並控制旋轉平台320以及多個影像擷取單元340。在本實施例中，立體物體10設置於旋轉平台320上，旋轉平台320經配置以沿著旋轉軸A1旋轉立體物體10至多個方位。如此，旋轉平台320每將立體物體10旋轉一預設角度後，上述多個影像擷取單元340即以不同的角度同時擷取立體物體10的多個物體影像。如此重複上述步驟至立體物體10旋轉180度而獲得立體物體10各角度的物體影像後，處理單元可例如利用影像處理技術計算出影像擷取單元340的公共視區內的物體影像的三維座標，以依據這些物體影像建造出關聯於立體物體10的數位立體模型。 FIG. 6 is a perspective scanning device according to another embodiment of the present invention. schematic diagram. In the present embodiment, the stereoscopic scanning device 300 is also adapted to establish a digital stereo model associated with the solid object 10. The stereoscopic scanning device 300 can be coupled, for example, to a three-dimensional printing device, so that the three-dimensional printing device reads the digital stereo model, and prints, for example, a sample of the solid object 10 according to the digital stereo model. The stereoscopic scanning device 300 includes a rotating platform 320, a plurality of image capturing units 340, and a processing unit. The processing unit can couple and control the rotating platform 320 and the plurality of image capturing units 340. In the present embodiment, the solid object 10 is disposed on a rotating platform 320 that is configured to rotate the solid object 10 to a plurality of orientations along the axis of rotation A1. In this manner, after the rotating platform 320 rotates the stereoscopic object 10 by a predetermined angle, the plurality of image capturing units 340 simultaneously capture multiple object images of the solid object 10 at different angles. After the above steps are repeated until the solid object 10 is rotated 180 degrees to obtain the object image of each angle of the solid object 10, the processing unit can calculate the three-dimensional coordinates of the object image in the common view area of the image capturing unit 340, for example, by using image processing technology. A digital stereo model associated with the solid object 10 is constructed from the images of these objects.
在本實施例中，影像擷取裝置340可採用電荷耦合元件(charge coupled device,CCD)鏡頭的照相機，以擷取立體物體10的物體影像。此外，影像擷取單元340可例如為彩色影像擷取單元，亦即，其獲得的物體影像為彩色影像。當然，本發明不侷限於此，在其他實施例中，影像擷取單元340亦可為黑白影像擷取單元，亦即，其獲得的物體輪廓影像為黑白影像，以減輕處理單元進行影像處理及計算上的負擔。 In the embodiment, the image capturing device 340 can use a camera with a charge coupled device (CCD) lens to capture an image of the object of the solid object 10. In addition, the image capturing unit 340 can be, for example, a color image capturing unit, that is, the object image obtained by the image capturing device is a color image. Of course, the present invention is not limited thereto. In other embodiments, the image capturing unit 340 may also be a black and white image capturing unit, that is, the obtained object contour image is a black and white image to reduce the processing unit for image processing and The burden of calculation.
綜上所述，本發明將一立體物體設置於立體掃描裝置的旋轉平台上，以沿一旋轉軸旋轉立體物體，並在旋轉立體物體的同時，透過光源照射以將立體物體的陰影投射於後方屏幕上，或是利用準直光源照射以直接於立體物體的表面上形成光輪廓的方式得到立體物體的各角度的輪廓，並以影像擷取單元分別擷取所述各角度的輪廓影像，再透過處理單元依據這些輪廓影像建立關聯於立體物體的數位立體模型。如此，由於處理單元僅需處理立體物體的輪廓資訊，因而可大幅減輕處理單元進行影像處理及計算上的負擔，進而增加立體掃描裝置建立數位立體模型的效率，且本發明的立體掃描裝置元件配置簡單，因而可降低生產成本。 In summary, the present invention provides a three-dimensional object on a rotating platform of a stereoscopic scanning device to rotate a solid object along a rotating axis, and to illuminate the light source to project a shadow of the solid object to the rear while rotating the solid object. On the screen, or by using a collimated light source to form a light contour directly on the surface of the solid object, the contours of the angles of the three-dimensional object are obtained, and the image images of the angles are respectively captured by the image capturing unit, and then A digital stereo model associated with the solid object is established by the processing unit according to the contour images. In this way, since the processing unit only needs to process the contour information of the solid object, the processing unit can greatly reduce the burden on the image processing and calculation, thereby increasing the efficiency of the stereoscopic scanning device to establish the digital stereo model, and the component of the stereoscopic scanning device of the present invention is configured. Simple, thus reducing production costs.
除此之外，若立體物體具有朝向其中心軸凹陷的凹陷部時，立體掃描裝置可利用其影像擷取裝置或是另一輔助影像擷取裝置另行對此凹陷部擷取一灰階影像，使處理單元能依據立體物體的各角度的物體輪廓及其凹陷部的灰階影像來建立數位立體模型，因而使立體掃描裝置可更精確的建立關聯於具有凹陷部的立體物體的數位立體模型。 In addition, if the three-dimensional object has a recessed portion that is recessed toward the central axis thereof, the stereoscopic scanning device may use the image capturing device or another auxiliary image capturing device to separately acquire a grayscale image of the depressed portion. The processing unit can establish a digital stereo model according to the contour of the object at each angle of the solid object and the grayscale image of the concave portion thereof, thereby enabling the stereoscopic scanning device to more accurately establish a digital stereo model associated with the solid object having the depressed portion.
雖然本發明已以實施例揭露如上，然其並非用以限定本發明，任何所屬技術領域中具有通常知識者，在不脫離本發明的精神和範圍內，當可作些許的更動與潤飾，故本發明的保護範圍當視後附的申請專利範圍所界定者為準。 Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention, and any one of ordinary skill in the art can make some changes and refinements without departing from the spirit and scope of the present invention. The scope of the invention is defined by the scope of the appended claims.
10‧‧‧立體物體 10‧‧‧Three-dimensional objects
12‧‧‧凹陷部 12‧‧‧Depression
20‧‧‧物體陰影 20‧‧‧ object shadow
100‧‧‧立體掃描裝置 100‧‧‧Three-dimensional scanning device
110‧‧‧光源模組 110‧‧‧Light source module
112‧‧‧光束 112‧‧‧ Beam
120‧‧‧屏幕 120‧‧‧ screen
122‧‧‧投影面 122‧‧‧Projection surface
130‧‧‧旋轉平台 130‧‧‧Rotating platform
140‧‧‧影像擷取單元 140‧‧‧Image capture unit
150‧‧‧處理單元 150‧‧‧Processing unit
A1‧‧‧旋轉軸 A1‧‧‧Rotary axis
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| JP2014144810A JP2015040856A (en) | 2013-08-23 | 2014-07-15 | Three-dimensional scanner |
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| TWI721849B (en) * | 2020-04-06 | 2021-03-11 | 中國鋼鐵股份有限公司 | Welding wire connecting device and operation method thereof |
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| US6093251A (en) * | 1997-02-21 | 2000-07-25 | Speedline Technologies, Inc. | Apparatus for measuring the height of a substrate in a dispensing system |
| US6460958B2 (en) * | 2000-02-29 | 2002-10-08 | Minolta Co., Ltd. | Three-dimensional object printing apparatus and method |
| TW200526386A (en) * | 2004-02-04 | 2005-08-16 | Hsiu-Che Wu | Rapid prototyping process and apparatus equipped with a spindle and an ink jet printing system |
| US7680555B2 (en) * | 2006-04-03 | 2010-03-16 | Stratasys, Inc. | Auto tip calibration in an extrusion apparatus |
| TW200821138A (en) * | 2006-11-14 | 2008-05-16 | Univ Kun Shan | Forming method of rapid prototyping applying closed-loop error control of RE (reverse engineering) technology |
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