WO2017028600A1

WO2017028600A1 - Light filtering and supplementing structure for hand-held laser three-dimensional scanner

Info

Publication number: WO2017028600A1
Application number: PCT/CN2016/084369
Authority: WO
Inventors: 方乐; 郑俊
Original assignee: 杭州思看科技有限公司
Priority date: 2015-08-17
Filing date: 2016-06-01
Publication date: 2017-02-23
Also published as: CN204854633U

Abstract

A light filtering and supplementing structure for a hand-held laser three-dimensional scanner, comprising a light filtering device (03) for selecting light of a specific wavelength band in front of a camera lens (01) and a highlight supplementary light generator (05) for illuminating marking points. The light filtering device (03) is located at a front end of the camera lens (01) and fixedly installed on the camera lens (01). The highlight supplementary light generator (05) is fixedly installed around an outer periphery of the camera lens (01) and annularly distributed around the light filtering device (03). The light filtering device (03) has the same wavelength band of light with the highlight supplementary light generator (05). The light filtering and supplementing structure for the hand-held laser three-dimensional scanner has high precision and good stability.

Description

Filter and fill light structure of a handheld laser three-dimensional scanner

Technical field

The invention belongs to the field of handheld three-dimensional scanning technology, and in particular relates to a filter and fill light structure of a handheld laser three-dimensional scanner.

Background technique

As a high-tech instrument, the handheld laser 3D scanner is mainly used to detect and analyze the shape and appearance data of objects or environments in the real world, perform 3D reconstruction calculation of the data obtained by the instrument, and create numbers of actual objects. model. Its applications in industrial design, reverse engineering, machine vision, flaw detection, criminal identification, digital heritage and video game production are all visible.

At present, scanners can be roughly divided into contact type 3D scanners and non-contact type 3D scanners. Contact type 3D scanners calculate depth by touching the surface of the object, while non-contact type 3D scanners use extra energy. Projected onto the surface of the object to be measured, and the three-dimensional spatial information is calculated by the reflection of energy; the handheld laser three-dimensional scanner is used as a non-contact three-dimensional scanner, and the principle uses a laser as an energy source to project onto the surface of the object to be measured. The camera recognizes the laser spot on the surface of the body; because the reflective efficiency of the marked points is different in different environments, the handheld device needs to add a fill light mechanism to illuminate the marked points to ensure the best detection state, and at the same time Excluding the influence of the light source outside the laser on the laser spot extraction of the camera, it is necessary to add a filter device in front of the camera lens to select a specific band of light. Therefore, a hand-held laser 3D scanner device needs to install a lens at the lens. Filter and fill light structure.

At present, the scanning principle of handheld laser 3D scanners is based on prior calibration. Two or more cameras and laser projectors are positioned to obtain a point cloud of the surface contour of the scanned object. Handheld laser 3D scanner accuracy will be worse than non-mobile use during mobile use. The main reason for the analysis is that the handheld laser 3D scanner exists between the scanner housing and the internal lens assembly during operation because of internal components. The phenomenon that the gravity or the outer casing is biased by force, because the lens filter and the fill light assembly are mounted on the scanner housing, the optical axis of the lens filter and the fill light assembly and the optical axis of the lens are changed from the original collinear state. The state of intersection is angled, which causes the center band of the filter to shift, causing the effective band of the reflection of the mark irradiated by the laser and the fill light source on the surface of the object to be blocked, and the light of other bands will pass through the filter. Slice, interference scan. At the same time, when there is a large deviation between the scanner housing and the internal lens assembly during the working process, and the actual reserved installation space is small, the lens and the scanner housing will mechanically interfere, resulting in a slight change of the camera position, thereby causing the camera to Changes in the external parameters affect the scanning accuracy. Due to the above problems, the use of handheld 3D scanners in some high precision requirements is limited to some extent.

Summary of the invention

In order to overcome the deficiencies of the prior art, the present invention provides a filter and fill light structure of a hand-held laser three-dimensional scanner with high precision and good stability.

The technical solution adopted by the present invention to solve the technical problem thereof is:

A filter and fill light structure of a handheld laser three-dimensional scanner, comprising a filter device for selecting a specific band of light in front of a camera lens and a highlight fill light generator for illuminating the mark point, the filter device is located The front end of the camera lens is fixedly mounted on the camera lens, and the high-brightness fill light generator is fixedly mounted on the outer ring of the camera lens and is annularly distributed a periphery of the filter device; the filter device has the same optical band as the highlight fill generator.

Further, the filter and fill light structure further includes a mount for mounting the filter device and the highlight fill generator, the mount includes an annular connection for fixed connection with the front end of the camera lens and a ring connection An annular groove in front of the portion, the filter device is mounted in the annular groove, and the highlight fill light generator is located behind the mount.

Still further, the filter and fill light structure further includes a lens cover, the lens cover is located in front of the filter device, and the lens cover is provided with a through hole corresponding to the filter device, The lens housing and the scanner housing are softly connected by a soft connection structure.

Still further, the filter device is a filter.

Further, the high-brightness fill light generator is an annular aluminum substrate with a bright LED lamp bead, and the high-brightness LED lamp bead is provided with two or more, two or more high-brightness LED lamp beads along the camera lens. The outer ring is evenly distributed at equal angles.

Further, a light-passing hole corresponding to the high-brightness LED lamp bead is distributed on the mounting seat and the lens cover.

Further, the mounting seat is a T-shaped flange structure, the T-shaped flange structure includes an annular end surface, the annular end surface is provided with the annular groove, and the rear end of the annular end surface is provided with the ring shape a connecting portion, the annular end surface is coaxially disposed with the annular groove and the annular connecting portion, and the annular connecting portion is provided with an external thread that cooperates with an internal thread on the camera lens, and the annular end surface The rear end is further provided with a stud for fixing the highlight fill light generator, the stud being located outside the outer ring of the camera lens.

The beneficial effects of the present invention are mainly manifested in: the invention adopts a filter device and a highlighting supplement The structure of the light generator mounted on the front end of the lens is ensured by the effective field of view of the lens during the use of the scanner, and does not change with the force of the scanner housing. Secondly, the lens filter and the fill light are guaranteed. The optical axis of the shaft and the lens are always collinear, and the structure of the present invention effectively prevents the lens and the scanner housing from interfering with each other in a practical process; the lens filtering and filling structure is softly connected to the scanner housing The structure is connected to improve the deformation of the lens filter and the fill light structure caused by external stress in the traditional structure; thus, the hand-held three-dimensional scanner is greatly improved in accuracy and stability, so that the handheld three-dimensional scanner Can be applied in more fields.

DRAWINGS

Figure 1 is a schematic view of the structure of the present invention.

Figure 2 is a schematic exploded view of the present invention.

3 is a schematic diagram showing the relationship between the effective field of view of the camera lens and the size of the light-passing aperture in the obscuring object and the distance between the shielding object and the lens; wherein (a) is a schematic diagram of the distance between the shielding object and the front end surface of the camera lens is d1, and (b) is the shielding. The distance between the object and the front end face of the camera lens is d2.

4 is a schematic structural view of a filter and fill light structure of a conventional hand-held laser three-dimensional scanner.

Figure 5 is an exploded view of the filter and fill light structure of a conventional hand-held laser three-dimensional scanner.

Figure 6 is a schematic illustration of the optical path of the prior art lens filter and fill light structure when the lens and the scanner housing are offset.

Figure 7 is a schematic illustration of the optical path of the present invention when the lens and the scanner housing are offset.

detailed description

The invention is further described below in conjunction with the drawings.

Referring to FIGS. 1-7, a filter and fill light structure of a handheld laser three-dimensional scanner includes a filter device 03 for selecting a specific band of light in front of a camera lens and a highlight fill light for illuminating a mark point. The filter device 03 is located at the front end of the camera lens 01 and is fixedly mounted on the camera lens 01. The highlight fill light generator 05 is fixedly mounted on the outer ring of the camera lens 01 and annularly distributed on the filter. The periphery of the device 03; the filter device 03 has the same optical band as the highlight fill generator 05.

Further, the filter and fill light structure further includes a mount 02 for mounting the filter device 03 and the highlight fill generator 05, and the mount 02 includes a ring connection for fixed connection with the front end of the camera lens. And an annular groove in front of the annular connecting portion, the filter device 03 is mounted in the annular groove, and the highlight fill light generator 05 is located behind the mount 02.

Further, the filter and fill light structure further includes a lens housing 04, the lens housing 04 is located in front of the filter device 03, and the lens housing 04 is provided with a corresponding filter device 03. The through hole, the lens housing 04 and the scanner housing 06 are softly connected by a soft connection structure 07.

Still further, the filter device 03 is a filter.

Further, the highlight fill light generator 05 is an annular aluminum substrate with a bright LED bead, and the high-bright LED bead is provided with two or more, two or more high-bright LED bead along the camera lens. The outer ring of 01 is evenly distributed at equal angles.

Further, a light-passing hole corresponding to the high-brightness LED lamp bead is distributed on the mounting seat 02 and the lens housing 04.

Further, the mounting seat 02 is a T-shaped flange structure, the T-shaped flange structure includes an annular end surface, the annular end surface is provided with the annular groove, and the rear end of the annular end surface is provided with the An annular connecting portion, the annular end surface is coaxially disposed with the annular groove and the annular connecting portion, and the annular connecting portion is provided with an external thread that cooperates with an internal thread on the camera lens 01, the ring The rear end of the end face is further provided with a stud for fixing the highlight fill light generator 05, the stud being located outside the outer ring of the camera lens 01.

In this embodiment, the light-emitting holes of the high-brightness LED lamp bead on the annular aluminum substrate with the bright LED lamp bead are evenly distributed around the edge of the filter.

Referring to FIGS. 1 and 2, the mount 02, the filter device 03, the lens housing 04, and the highlight fill light generator 05 are all mounted on the camera lens 01 to form a filter and fill light structure of the lens, and the components pass through the lens housing. 04 is not hard-wired with the scanner housing 06, but is softly connected by the soft connection structure member 07 for dustproofing; the filter device 03 is used to select the optical component of the desired wavelength band, which is used in the embodiment. Is a filter; the highlight fill light generator 05 is an annular aluminum substrate uniformly distributing a plurality of high-brightness LED lamp beads at an equal angle of the outer circumference of the camera lens 01 for illuminating the scanned object during scanning Surface; the filter and the highlight fill generator have the same optical band; the mount 02 mainly functions as a fixed filter device 03 and a highlight fill generator 05, and the mount 02 uses a T-flange The structure, the annular connecting portion is fixed by an external thread and an internal thread on the camera lens 01, the annular groove is used for fixing the filter, and the stud on the rear end of the annular end surface is used for fixing the highlight fill light generator 05, The invention of the highlight fill light generator 05 with high brightness LED Annular bead aluminum plate structure fixed to the rear end of the seat 02 is mounted on the outer ring of the camera lens 01, the periphery of the through mounting aperture 02 to the seat bright LED lamp uniform distribution of the annular plate corresponds to the aluminum.

As shown in FIG. 2, the filter in this embodiment is substantially adhered to the front end surface of the camera lens 01, so that the effective field of view of the lens can be effectively preserved, and the light astigmatism direction of each bright LED lamp bead in the structure is A direction that is consistent with the optical axis of the camera lens; in the embodiment, the lens filter and the light-filling structure are connected to the scanner housing 06 by the soft connection structure 07, and the dustproof effect can be effectively achieved by using this scheme. It is also possible to prevent external force on the scanner housing 06 from being transmitted to the lens filter and fill light assembly.

As shown in Fig. 3, it is a schematic diagram of the relationship between the effective field of view of the camera lens and the size of the clear aperture in the obscuration and the distance between the obstruction and the distance between the lenses. When the aperture aperture L of the camera lens is fixed, the effective angle of the camera lens The size of the range is determined by the distance of the obstruction from the front end face of the lens; as shown in (a) of Figure 3, when the distance between the obstruction and the front end face of the camera lens is d1, the effective field of view of the camera lens is a1, as shown in Fig. 3. As shown in (b), when the distance between the obstruction and the front end of the camera lens is d2, the effective field of view of the camera lens is a2, which can be obtained by d1>d2, a1<a2, so that the aperture is fixed. In order to get a larger effective field of view, the distance between the obstruction and the front end of the camera lens can only be minimized.

As shown in FIG. 4 and FIG. 5, the existing lens filter and fill light structure existing in the market includes a lens 08, a filter device 09, a highlight fill light generator 10 and a scanner housing 11, wherein The filter device 09 and the highlight fill light generator 10 are fixed on the scanner housing 11 to form a lens filter and fill light structure component, and the component and the lens 08 are independent of each other, in order to prevent the lens front end from interfering with the component during the installation process, A certain mounting gap needs to be maintained between the front end of the lens and the component, which directly causes the field of view of the lens 08 to be smaller than the field of view of the camera lens 01 in the structure of the present invention.

Figure 6 and Figure 7 show the optical path of the two lens filter and fill light structures when the lens and the scanner housing are offset. Figure 6 shows the existing lens filter and fill light structure in the lens and scanner housing. 11 is a schematic diagram of the optical path when the offset occurs. Since the lens 08 and the lens filter and the fill light structure are independent of each other, when the scanner housing 11 is subjected to an external force or the internal components are subjected to their own gravity, there is a certain angle between them. The light astigmatism direction of the highlight fill light generator 10 is offset from the optical axis of the lens 08, causing an off-angle when entering the lens after the parallel light path passes through the filter device, and the filter device 09 is generally used for normal incidence, oblique At the time of incidence, the polarization-dependent loss of the filter device 09 increases, the peak and bandwidth of the filter device 09 shift toward the short-wave direction, and the light intensity distribution appears to broaden and expand, and the filter device 09 is then shifted in the center band, resulting in projection onto the surface of the object. The effective band of the reflective point of the laser and the complementary light source is blocked, but the other bands of light will interfere with the scanning through the filter, thus affecting the scanning accuracy. Another disadvantage of this type of structure is that when the size of the front end of the lens 08 is insufficient, the lens 08 interferes with the components to affect the detection accuracy. FIG. 7 is a schematic diagram of the optical path of the lens filter and the fill light structure of the present invention when the camera lens 01 and the scanner housing 06 are offset. When the scanner housing 06 is subjected to an external force to cause a mutual offset, the camera lens 01 is used. In combination with the lens filter and the fill light structure, the light astigmatism direction of the highlight fill light generator 05 is always consistent with the optical axis of the camera lens 01, so the parallel light path enters the camera lens 01 after passing through the filter device 03. Still maintaining a parallel optical path, the energy remains substantially unchanged; since the lens filter and fill light structure and the scanner housing 06 are connected by a soft connection, when the scanner housing 06 is subjected to an external force, no force is transmitted to the lens assembly, ensuring The detection accuracy of the device.

In summary, the present invention is lightweight and effectively solves the current hand-held laser three-dimensional Scanner lens filter and fill light structure are subject to the problem of offset in the center band caused by external force, so it has high industrial utilization value. The above embodiments are merely illustrative of the principles of the invention and its advantages, and are not intended to limit the invention.

Claims

A filter and fill light structure of a handheld laser three-dimensional scanner, comprising: a filter device for selecting a specific band of light in front of the camera lens; and a highlight fill light generator for illuminating the mark point, wherein: The filter device is located at a front end of the camera lens and is fixedly mounted on the camera lens, and the highlight fill light generator is fixedly mounted on the outer ring of the camera lens and annularly distributed around the periphery of the filter device; the filter device and the filter device The highlight fill light generators have the same optical band.
A filter and fill light structure for a handheld laser three-dimensional scanner according to claim 1, wherein said filter and fill light structure further comprises a filter device and a highlight fill generator. a mounting seat, the mounting base includes an annular connecting portion fixedly coupled to the front end of the camera lens, and an annular groove in front of the annular connecting portion, the filter device being mounted in the annular groove, the highlighting The light generator is located behind the mount.
A filter and fill light structure for a handheld laser three-dimensional scanner according to claim 2, wherein said filter and fill light structure further comprises a lens housing, said lens housing being located at said filter device In front, the lens housing is provided with a through hole corresponding to the filter device, and the lens housing is softly connected to the scanner housing through a soft connection structure.
The filter and fill light structure of a hand-held laser three-dimensional scanner according to any one of claims 1 to 3, wherein the filter device is a filter.
A filter and fill light structure for a handheld laser three-dimensional scanner according to claim 3, wherein said highlight fill generator is an annular aluminum substrate with a bright LED bead, said high Bright LED bead with more than two, more than two high-bright LED bead Evenly distributed along the outer circumference of the camera lens.
The filter and fill light structure of a hand-held laser three-dimensional scanner according to claim 5, wherein the mounting seat and the lens cover are respectively disposed with the high-brightness LED lamp bead Light hole.
The filter and fill light structure of a hand-held laser three-dimensional scanner according to claim 6, wherein the mount is a T-flange structure, and the T-flange structure includes an annular end surface, The annular end surface is provided with the annular groove, the rear end of the annular end surface is provided with the annular connecting portion, and the annular end surface is coaxially disposed with the annular groove and the annular connecting portion. The annular connecting portion is provided with an external thread that cooperates with an internal thread on the camera lens, and a rear end of the annular end surface is further provided with a stud for fixing the highlight fill light generator, the stud is located at the camera Outside the outer ring of the lens.