WO2018070697A1

WO2018070697A1 - 3d scanner

Info

Publication number: WO2018070697A1
Application number: PCT/KR2017/010569
Authority: WO
Inventors: Min Ho Cho; Jae Hong Jeon
Original assignee: Pointlab Corporation
Priority date: 2016-10-11
Filing date: 2017-09-26
Publication date: 2018-04-19
Also published as: KR101777229B1

Abstract

The present invention relates to a 3D scanner capable of obtaining scan data from all directions while minimizing the number of 3D scanner sensors, and is characterized in that and comprises: a frame rotating unit supporting frame located in the upper end of a housing frame surrounding the periphery of a scan target object, horizontal with respect to the ground surface; a frame rotating unit comprising a motor and a power transmitting member to deliver the rotating force of the motor, mounted and fixed to the frame rotating unit supporting frame; a horizontal frame section horizontal with respect to the ground surface, coupled to the power delivering member; a vertical frame section formed by folding one side of the horizontal frame section; a rotating frame rotating around the scan target object as the power transmitting member rotates; a plurality of 3D scanner sensors mounted on the vertical frame section of the rotating frame so as to scan the scan target object; and a scan control unit for controlling the motor and the plurality of 3D scanner sensors so as to generate stereoscopic information on the scan target object.

Description

3D SCANNER

The present invention relates to a 3D scanner, more particularly, relates to a 3D scanner capable of obtaining scan data from all directions while minimizing the number of 3D scanner sensors.

Optical 3D scanning technology can be divided into a passive method and an active method depending on the sensing method thereof. When compared to the active method that captures images by scanning a specific pattern, the passive method that uses only a camera for capturing images has a slightly lower accuracy, but it is advantageous in that the equipment is simple and texture can be directly obtained from the input images. However, the passive method requires a separate post treatment work time after the scanning and an increased number of cameras to be used, and besides, it is difficult to distinguish the boundary between the object and the background. Therefore, the active method rather than the passive method is mainly used in the field of 3D scanning of human body which requires fast 3D data acquisition.

The active method is a method wherein a predefined pattern, a sound wave, or the like is projected to a target object, and then the planar shape of the image of the pattern or the reflected energy of the sound wave that has been projected thereto is measured so as to restore the 3D shape of the target object. Representative methods include a method of projecting a laser, a structured visible light, and the like onto a target object to measure the phase change according to the distance.

Meanwhile, there is an active 3D scanning method wherein a two dimensional infrared structured light comprising an infrared having a wavelength between 825 nm and 850 nm, which is safer in measuring human body, is projected onto the target object, and then the 3D distance information is calculated using an infrared camera. In such active 3D scanning method, an illuminator, an infrared camera, and a 3D scanner sensor integrated with a color imaging camera are mainly used.

In the illuminator of the 3D scanner sensor, a pattern comprising specific points at different locations is projected onto the target object, for example, human body, by using the time difference which is utilized in the active method. The result of the projection onto human body is not visible in the visible light region and is not captured by a regular color imaging camera, but is captured by an infrared camera capable of capturing the same wavelength region as that of the pattern of the illuminator, and is used in calculating the 3D distance and the location information. This method corrects the accuracy by changing the pattern comprising specific points several times within a short period of time during which an image is captured once by the camera. And the textures such as the colors of human body and the like are stored in the color imaging camera. A detailed 3D scan model with color information can be obtained by combining: the 3D distance and location information calculated by the illuminator and the infrared camera; and the texture information captured by the color imaging camera.

In order to obtain stereoscopic information of a human body using a 3D scanner sensor, while a person holding one scanner sensor is moving around a human body, which is a target to be scanned, it must be tightly, carefully and slowly scanned at all directions and altitudes of the human body so that the stereoscopic information of the human body which is required for 3D scan modeling of the complete human body can be obtained.

However, such 3D scan method for a human body requires an excessive time to obtain a 3D scan model. And not only an accurate 3D scan information cannot be obtained due to the shaking of the human body, but also there is a limitation in obtaining a vivid and precise 3D scan information.

As a technology to solve such problems, there is Korea Patent No. 10-1616176 that has been applied to Korea Intellectual Property Office and registered. The registered Korea Patent No. 10-1616176, as illustrated in Fig. 1, comprises: at least two pairs of supporting poles 1a to 1h forming a pair at symmetrical locations of a concentric circle with respect to the reference point 0 where a human body to be scanned is located, installed spaced apart from each other with a constant azimuth; a plurality of 3D scanner sensors h1 to h4, at least one each thereof installed in each of the supporting poles 1a to 1h respectively, obtaining partial stereoscopic information of the human body (at reference point) viewing from each of the installation points thereof; and a computer system sequentially controlling the scanning of the 3D scanner sensors h1 to h4 so as not to be interfered with the structured light (formed by infrared light), obtaining a complete stereoscopic information of the human body by using the partial stereoscopic information of the human body obtained by each of the 3D scanner sensors h1 to h4.

However, in the suggested registered patent, in order to obtain complete stereoscopic information of a human body, a plurality of 3D scanner sensors h1 to h4 must be installed in a plurality of supporting poles 1a to 1h spaced apart from each other with a constant azimuth, thereby consequently requiring a number of 3D scanner sensors. Therefore, it is disadvantageous in that the installation cost of the system increases, a longer time is required for calibration, and the calibration process becomes complicated as well. Besides, it is also inconvenient in that the calibration must be performed again every time the initial set position of the supporting poles is changed due to an external impact and the like.

[Leading Technical Literatures]

[Patent Literature]

[Patent Literature 1] Korea Registered Patent No. 10-1616176

Accordingly, an objective of the present invention is to provide a 3D scanner capable of obtaining scan data from all directions on the scan target object while minimizing the number of 3D scanner sensors.

Further, another objective of the present invention is to provide a 3D scanner for obtaining stereoscopic information on a scan target object without any missing area thereof so as to ensure the reliability of the products.

Yet another objective of the present invention is to provide a 3D scanner capable of simplifying the calibration process for the alignment of the installation locations of the 3D scanner sensors needed to obtain stereoscopic information on the scan target object.

Still another objective of the present invention is to provide a 3D scanner capable of minimizing wear, cracks, and degradation of the components constituting the frame rotating unit which rotates the frame wherein the 3D scanner sensors are installed.

Still yet another objective of the present invention is to provide a 3D scanner wherein a safety device is adopted to fundamentally eliminate the risk factors that may be applied to the scan target object due to the falling of the structural elements.

To solve above described problems, a 3D scanner according to an exemplary embodiment of the present invention is characterized in that and comprises:

a frame rotating unit supporting frame located in the upper end of a housing frame surrounding the periphery of a scan target object, horizontal with respect to the ground surface;

a frame rotating unit comprising a motor and a power transmitting member to deliver the rotating force of the motor mounted and fixed to the frame rotating unit supporting frame;

a horizontal frame section horizontal with respect to the ground surface, coupled to the power delivering member;

a vertical frame section formed by folding one side of the horizontal frame section;

a rotating frame rotating around the scan target object as the power transmitting member rotates;

a plurality of 3D scanner sensors mounted on the vertical frame section of the rotating frame so as to scan the scan target object; and

a scan control unit for controlling the motor and the plurality of 3D scanner sensors so as to generate stereoscopic information on the scan target object.

Further, another special feature of the above described 3D scanner is that a balance weight mounted on another side of the horizontal frame section is further included, and

yet another special feature is that the scan control unit controls the plurality of 3D scanner sensors so that stereoscopic information on the scan target object is obtained while the rotating frame is rotating around the scan target object.

The power transmitting member of the frame rotating unit of the 3D scanner according to the above described exemplary embodiment is characterized in that and comprises:

a reduction gear for decelerating the rotating force of the motor and changing the direction of the power;

a pinion gear for transmitting the power of the reduction gear to a center axis gear;

a center axis gear, engaged with the pinion gear, rotating the rotating frame which is coupled to the lower surface of the center axis gear;

a center axis gear shaft formed with a cable through-hole in the center portion (core), having a structure wherein its one end is protruded penetrating through the center hole of the center axis gear;

a gear shaft fixing bracket formed with a plurality of through-holes wherein the shafts of the pinion gear and the center axis gear are penetrating through, and wherein bearings for fixing the shaft are inserted into each of the through-holes respectively;

a tapered bearing formed with a cable through-hole;

a tapered bearing fixing holder wherein the tapered bearing is inserted;

a tapered bearing fixing holder fixing plate, formed with a cable through-hole and a through-hole for a reduction gear rotating shaft, for fixing the tapered bearing fixing holder onto the upper surface of the frame rotating unit supporting frame.

According to the above described problem solving means, a 3D scanner according to an exemplary embodiment of the present invention is advantageous in that accurate 3D shape data can be obtained by scanning the scan target object in all direction, more specifically, by taking images of even the blind spot of the human body while minimizing the number of 3D scanner sensors. And it is also advantageous in that the calibration process for correcting the camera position can be minimized by positioning a plurality of 3D scanner sensors on the same axis.

Also, the present invention can achieve an effect of enhancing the reliability and the durability of the products because the power transmitting members are mutually coupled so as to minimize wear, cracks, and degradation of the components constituting the frame rotating unit (corresponding to the power delivering member) which rotates the frame wherein the 3D scanner sensors are installed. And there is an advantage that the damages or the risk factors due to the falling of the structural elements constituting the power transmitting member are fundamentally eliminated by adopting a safety device together.

Fig. 1 is an exemplary layout of the 3D scanner sensors of the prior art.

Fig. 2 is an exemplary perspective view of an outline of　a 3D scanner according to an exemplary embodiment of the present invention.

Fig. 3 is an exemplary view illustrating the state of coupling between the frame rotating unit and the rotating frame in Fig. 2.

Fig. 4 is an exemplary view illustrating the assembled state of the frame rotating unit illustrated in Fig. 3.

Fig. 5 is an exemplary view illustrating a configuration of the frame rotating unit illustrated in Fig. 3.

Fig. 6 is a view showing a cable penetrating through a connecting bracket illustrated in Fig. 3.

Fig. 7 is an exemplary view illustrating disassembling and assembling of the frame rotating unit illustrated in Fig. 3.

Fig. 8 is an enlarged exemplary view of the center axis gear shaft illustrated in Fig. 7.

Fig. 9 is a view to explain the balance weight mounted on the one side of the horizontal frame section of the rotating frame according to an exemplary of the present invention.

Fig. 10 is an exemplary view of stereoscopic information of the scan target object (human body) obtained by scanning according to an exemplary of the present invention.

As specific structural or functional descriptions for the embodiments according to the concept of the invention disclosed herein are merely exemplified for the purpose of describing the embodiments according to the concept of the invention, the embodiments according to the concept of the invention may be embodied in various forms but are not limited to the embodiments described herein.

While the embodiments of the present invention are susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that there is no intent to limit the invention to the particular forms disclosed, but on the contrary, the invention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

In addition, in describing an exemplary embodiment of the present invention, if it is determined that a detailed description of a publicly known function or a configuration and the like may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted.

First, Fig. 2 is an exemplary perspective view of an outline of　a 3D scanner according to an exemplary embodiment of the present invention.

As illustrated in Fig. 2, a 3D scanner according to an exemplary embodiment of the present invention comprises:

a frame rotating unit supporting frame 110 located at the upper end of a housing frame 100 surrounding the periphery of a scan target object B (for example, human body), horizontal with respect to the ground surface;

a frame rotating unit 200 comprising a motor 205 and a power transmitting member to deliver the rotating force of the motor 205, mounted and fixed to the frame rotating unit supporting frame 110;

a horizontal frame section 120 horizontal with respect to the ground surface, coupled to the power delivering member;

a vertical frame section 130 formed by folding one side of the horizontal frame section 120;

a rotating frame A rotating around the scan target object B as the power transmitting member rotates;

a plurality of 3D scanner sensors 140 mounted on the vertical frame section 130 of the rotating frame A so as to scan the scan target object B; and

a scan control unit (not shown) for controlling the motor 205 and the plurality of 3D scanner sensors 140 so as to generate stereoscopic information on the scan target object B.

For reference, in Fig. 2, the housing frame 100 of the 3D scanner is illustrated to have the shape of a cube, however, this is merely an example, and the housing frame may be changed into a variety of shapes such as a cylindrical column, a hexagonal column, and the like. In addition, it is assumed that the 3D scanner sensor 140, as previously explained, a 3D scanner sensor comprising an infrared projector, an infrared camera, and a color imaging (RGB) camera.

The above described plurality of 3D scanner sensors 140 comprises 2 to 4 3D scanner sensors, and mounted vertically (up-down direction) in the vertical frame section 130 of the rotating frame A, and after mounting, they go through calibration process for correcting the errors associated with the mounting position of the scanner sensors 140 by a scan control unit which will be described later. Since this is a structure wherein a plurality of 3D scanner sensors 140 are mounted only on the same axis along the up-down direction, the scan control unit of the 3D scanner according to an exemplary embodiment of the present invention performs calibration process only in one direction therefore it is advantageous in that the number of calibrations can be reduced when compared to the other apparatuses or systems.

For reference, the calibration process for correcting the positions in accordance with the mounting positions of the plurality of 3D scanner sensors 140 is performed in a way that a specifically designed planar image is attached to a sample of scan target object, and the distance errors between the plurality of 3D scanner sensors 140 are corrected from the illuminator pattern, images, and the RGB images that are projected from each of the plurality of 3D scanner sensors 140,

Meanwhile, the scan control unit, which is not shown, comprises a memory wherein a control program data is stored for controlling the overall operation of the 3D scanner, and can control the motor 205 and the plurality of 3D scanner sensors 140 based on the control program data stored in the memory, and displays a complete stereoscopic information of the scan target object B by combining the partial stereoscopic information of the scan target object B obtained through the plurality of 3D scanner sensors 140.

More specifically, the scan control unit can control in a way that while controlling the rotating frame A to be rotated centered around the scan target object B, the plurality of 3D scanner sensors 140 can obtain stereoscopic information on the scan target object B in real time depending the number of camera shooting frames while rotating. And as another modifiable exemplary embodiment, the scan control unit also can drive and control the plurality of 3D scanner sensors 140 in a way that stereoscopic information on the scan target object B is obtained at a constant angle, for example, every 1.3° to 4°.

Since the number of rotations of the motor 205 and the gear ratio is known, the plurality of 3D scanner sensors 140 can be driven and controlled at every constant angle through the timing counter of the driving signal to be applied to the motor 205, and the plurality of 3D scanner sensors 140 can be driven and controlled at every constant time of timing counting (time required for rotating 1.3° to 4°) after sensing the reference position by positioning at least one hall sensor in the gear constituting the power transmitting member.

Such scan control unit may be provided in a 3D scanner and connected to the 3D scanner so that it may be implemented in a computer system that handles video signal processing.

Additionally, a balance weight 400 as shown in Fig. 9 is positioned in the other side of the horizontal frame section 120 of the rotating frame A so that the balance between the both ends of the rotating frame A is being maintained. This will be described later.

Hereinafter, the configuration of the rotating frame A and the frame rotating unit 200 that rotates the rotating frame A briefly illustrated in Fig. 2 will be described in detail with reference to the accompanying drawings as follows.

Fig. 3 is an exemplary view illustrating the state of coupling between the rotating frame A and the rotating frame 200 in Fig. 2; Fig. 4 is an exemplary view illustrating the assembled state of the frame rotating unit 200 illustrated in Fig. 3; Fig. 5 is an exemplary view illustrating a configuration of the frame rotating unit 200 illustrated in Fig. 3; Fig. 6 is a view showing a cable penetrating through a connecting bracket 300 illustrated in Fig. 3; Fig. 7 is an exemplary view illustrating disassembling and assembling of the frame rotating unit 200 illustrated in Fig. 3; Fig. 8 is an enlarged exemplary view of the center axis gear shaft 225 illustrated in Fig. 7; Fig. 9 is a view to explain the balance weight 400 mounted on the one side of the horizontal frame section 120 of the rotating frame A according to an exemplary of the present invention; and Fig. 10 is an exemplary view of stereoscopic information of the scan target object (human body) obtained by scanning according to an exemplary of the present invention, respectively.

Referring to Fig. 3, first, the frame rotating unit comprising a motor 205 and a plurality of

power transmitting members

210, 215, 220, and the like for transmitting the rotating force of the motor 205 is in parallel with the frame rotating unit supporting frame 110, and it is connected to the horizontal frame section 120, that is coupled to the power transmitting members, and the rotating frame A comprising the vertical frame section 130 formed by bending the one side of the horizontal frame section 120.

A plurality of reinforcing rods C for preventing the bending due to the angular momentum is installed in the region wherein the horizontal frame section 120 and the vertical frame section 130 are connected, and a frame connecting bracket D is used for connecting the two frames.

In the vertical frame section 130, a plurality of 3D scanner sensors 140 are mounted along the up-down direction, that is, along the vertical direction, and a mounting slot is formed not only in the vertical frame section 130 but also in the horizontal frame section 120 so that the scanner sensors can be mounted therein, and it is closed by a cover or a shutter and the like. In addition, a cable that is connected to the scanner sensors are accommodated together within the mounting slot formed inside the horizontal frame section 120 and the vertical frame section 130, thereby preventing the cable from being entangled in a peripheral mechanical object and the like even when the rotating frame A is rotating around the scan target object B.

The balance weight 400 is accommodated on the opposite side of the horizontal frame section 120 where the vertical frame section 130 is connected to. In the state when the rotating frame A is stopped, the center of mass becomes m1+m2 = m3+m4 with respect to the center axis of the frame rotating unit 200. However, when the rotating frame A is being rotated, since the inertial forces applied to the both ends are different since the shapes of m1 and m4 are different, every components with inertia momentum are subjected to damage such as bending, cracking, and deterioration, therefore the lifetime of components are shortened rapidly or changes occur in the initial calibration settings. In order to suppress or minimize the occurrence of such changes, in the exemplary embodiment of the present invention, the reinforcing rods C were concentrated on the area where rotational inertia momentum is most affected, and also the frame connecting bracket D adopted a rectangular shape so as to prevent deformation in the frame. Also, in order to prevent cracking, wear, and deterioration of the shaft of the rotating center axis and the gear due to the inertia momentum, the diameter and the length of the center axis gear shaft 225 were extended, and the rotational inertia momentums of the components such as the center axis gear 220, a shaft fixing bearing 265, and the tapered bearing 240 were distributed.

In addition, it is desirable to minimize the total mass (m1+m2+m3+m4) by making the lengths r1 and r2 same, wherein r1 is the length from the center axis of rotation of the rotating frame A to the vertical frame section 130 wherein the 3D scanner sensors are mounted, and r2 is the length from the center axis of rotation of the rotating frame A to the point where the balance weight 400 is located.

For reference, the lengths of the horizontal frame section 120 and the vertical frame section 130 can be changed considering the size of the scan target object. For example, in a case when a human body is a target object, it is desirable to determine the lengths of the horizontal frame section 120 and the vertical frame section 130 so that stereoscopic information from head to toe by calculating the scan region of the camera considering the height and the case when scanning the human body with arms spread.

Hereinafter, the configuration of the frame rotating unit 200 illustrated in Fig. 3 will be described in detail with reference to the accompanying drawings as follows.

First, as previously described, the frame rotation unit 200 comprises a motor 205 and a power transmitting member for transmitting the rotating force of the motor 205. And such frame rotating unit 200 is mounted on the frame rotating unit supporting frame 110 and fixed thereto as illustrated in Fig. 4.

The power transmitting member of the frame rotating unit 200, as illustrated in Figs. 4, 5, and 7, comprises: a bevel reduction gear 210 for reducing the rotating force, increasing the torque, and converting the direction of power delivery of the motor 205;

a pinion gear 215 for delivering the power of the reduction gear 210 to a center axis gear 220;

a center axis gear 220, engaged with the pinion gear 215, rotating the rotating frame, more specifically, the horizontal frame section 120 of the rotating frame, which is coupled to the lower surface of the main shaft gear 220;

a center axis gear shaft 225 formed with a cable through-hole 225-1 (Fig. 8) in the center portion (core), having a structure wherein its one end is protruded penetrating through the center hole of the center axis gear 220;

a gear shaft fixing bracket 260 formed with a plurality of through-holes wherein the shafts of the pinion gear 215 and the center axis gear 220 are penetrating through, and wherein a bearing 270 and a bearing 265 for fixing the shaft alignments (of the pinion gear and the center axis gear) are inserted into each of the through-holes respectively;

a tapered bearing 240 formed with a cable through-hole;

a tapered bearing fixing holder 245 wherein the tapered bearing 240 is inserted; and

a tapered bearing fixing holder fixing plate 250, formed with a cable through-hole and a through-hole for a reduction gear rotating shaft 275, for fixing the tapered bearing fixing holder 245 onto the upper surface of the frame rotating unit supporting frame 110.

For reference, the rotating center axis gear 220 and the horizontal frame section 120 of the rotating frame A cannot be directly connected. In order to prevent twisting or damage of the cable accommodated in the horizontal frame accommodating slot, a sufficient space must by ensured between the lower side of the center axis gear 220 and the horizontal frame section 120. For this, in the exemplary embodiment of the present invention, as illustrated in Figs. 4, 5, and 6, the lower surface of the center axis gear 220 and the horizontal frame section 120 are connected to each other using the connecting bracket 300 of a convex-concave shape, and as illustrated in Fig. 6, cable through-

holes

305 and 307 are formed along the vertical and horizontal direction respectively so that the cable accommodated in the accommodating slot of the horizontal frame section 120 is penetrating through the center axis gear shaft 225 and connected to the computer system located outside through the inner sides of the frame rotating unit supporting frame 110 and the vertical frame section 130, and cable withdrawing hole 500 in Fig. 2.

Hereinafter, the power transmitting process of the above described power transmitting member will be additionally described with reference to Fig. 5 as follows. When a rotating force of the motor 205 is generated by the scan control unit, the reduction gear 210 plays the role of converting the moving axis of the power x1 generated by the motor 205 by 90° into y1 using a bevel gear, reducing the number of rotation, for example, 60:1, and increasing the torque. The gear portion and the shaft of the pinion gear 215 are integrally fabricated and fixed with bolts to the center tap of the shaft of the reduction gear 210 through the slots inside the center of the lower end of the gear. Thus, the assembling process of the horizontal axis x1 and the vertical axis y1 for transmitting driving power is completed.

The diameter of the center axis gear 220 connected to the pinion gear 215 is increased more than two times than that of the pinion gear 215 and plays the role of increasing the reduction ratio and the torque. In this way, since the gear ratio of the reduction gear 210 is 1/60 and the gear ratio between the pinion gear 215 (r=40) and the center axis gear 220 (r=90) is 1/2.25 the overall reduction ratio becomes 1/135, so that the position and the speed of the entire rotating frame A can be precisely controlled even with a small torque of the motor.

Meanwhile, when coupling (fastening) the center axis gear shaft 225 and the center axis gear 220 together, as illustrated in Fig. 8, the center axis gear shaft 225 is pushed into the lower end of the center axis gear 220 so that the lower end surface 225-5 of the center axis gear shaft 225 is tightly in contact with the lower surface of the center axis gear 220, and then they are bolt-coupled through a plurality of bolt holes 225-6.

There is an insert plate 280 which is an element illustrated in Fig. 7 but not illustrated in Figs. 4 and 5. The insert plate 280 is provided to prevent the connecting bracket 300 from being hit by or interfered with the pinion gear 215 when the connecting bracket 300 that connects the center axis gear 220 and the horizontal frame section 120 is directly connected (fastened) to the lower end of the center axis gear 220, and the size of the insert plate 280 must be smaller than the inner diameter of the gear teeth of the center axis gear 220. That is, after being positioned on the connecting bracket 300, the insert plate 280 is fixed to the tap 222 of the center axis gear 220. It is desirable to distribute the rotational inertia momentums by maximally extending the length of the fixing locations of the bolts that couple the center axis gear 220 and the bracket of the rotating frame A.

As illustrated in Fig. 8, after inserting the center axis gear shaft 225 from the bottom of the center axis gear 220, a snap ring 225-3 (or a nut) is inserted into the lower side slot so that the assembling of the power transmitting members positioned on the rotating center axis y2 can be finished. For dual safety, another snap ring can be coupled to the slot 225-4 formed in the upper end of the center axis gear shaft 225 so that the rotating frame A can be prevented from falling.

Meanwhile, it is desirable to maintain the horizontal parallelism x2 between the pinion gear 215 and the center axis gear 220, because damage to the engaged gears may occur when the rotating center axis y2 is shaking due to the overloading of the rotational inertia momentums. To solve such problem, first, it is desirable to reduce the weight by integrally increasing the height of the center portion of the center axis gear 220 by the thickness of the gear, and maximize the area of contact with the shaft. In addition, the thickness of a gear shaft fixing bracket 260 is maximized and a pinion gear shaft fixing bearing 270 is inserted, and a center axis gear shaft fixing bearing 265 is inserted so that the friction with the shaft is eliminated by making the inner sides of the bearings rotate together when the shafts are rotating, and thus the parallelism between the two axes y1 and y2 in Fig. 5 was ensured.

It is desirable to design in a way that the diameter and height of the center axis gear shaft fixing bearing 265 are greater than the diameter and height of the bearing 270 engaged with shaft of the pinion gear 215 so as to handle more torque.

Finally, after fixing a tapered bearing fixing holder 245 is fixed to the upper side of the rotating center, the tapered bearing 240 is inserted. It is difficult to support the weight of the assembled power transmitting member when the regular ball bearings are used. However, the tapered bearing 240 of the 3D scanner according to the present invention will solve such a problem, and at the same time, plays the role of reducing the inertia momentums.

Hereinafter, the operation of the 3D scanner having the previously described configuration will be additionally described as follows.

The scan control unit drives the motor 205 in order to obtain stereoscopic information on the scan target object B. Due to such driving of the motor 205, as illustrated in Fig. 5, the driving force of the motor 205 is sequentially transmitted to the reduction gear 210, the pinion gear 215, and the center axis gear 220.

When the center axis gear 220 is rotated according to the driving force transmitted to the center axis gear 220, the connecting bracket 300 coupled to the center axis gear 220 and the horizontal frame section 120 of the rotating frame A connected to the connecting bracket 300 receive the driving force, thereby being rotated together with the center axis gear 220. Thereby, the vertical frame section 130 constituting the rotating frame A rotates around the scan target object B positioned inside the housing frame 100 illustrated in Fig. 2.

In this way, the rotating frame A is rotated around the scan target object B, the scan control unit drives and controls the plurality of 3D scanners sensors 140 simultaneously, during rotation, so as to obtain the partial stereoscopic information on the scan target object B (the amount of the partial stereoscopic information can be varied depending on the total scan time, shooting rate, resolution, and the like). If the system is provided with hall sensors and can detect the reference location of the center axis gear 220, after detecting the reference location, the plurality of 3D scanner sensors 140 are driven and controlled simultaneously at every constant time of timing counting (time required for rotating 1.3° to 4°) so as to obtain a partial stereoscopic information on the scan target object B, and the partial stereoscopic information on the scan target object B, obtained in real time during one rotation of the rotating frame A, is subjected to signal processing to form a complete stereoscopic information of a human body, and it is displayed on the display device as shown in Fig. 10.

Referring to Fig. 10, when a human body is scanned using a 3D scanner according to an exemplary embodiment of the present invention, it can be seen that a perfect human body modeling without any missing area is accomplished. In other words, the present invention utilizes only 2 to 4 3D scanner sensors, however, since the rotating frame wherein the 3D scanner sensors are attached can obtain scan information on a human body at every 1.3° to 4°, it becomes possible to obtain stereoscopic information without any missing area.

Therefore, the 3D scanner according to an exemplar embodiment of the present invention has an advantage that the scan data from all directions on the scan target object while minimizing the number of 3D scanner sensors, and also it is advantageous in that the calibration process for correcting the errors in the installation locations can be minimized by positioning a plurality of 3D scanner sensors on the same axis.

As described above, although it is described with reference to the illustrated exemplary embodiments of the present invention, these are merely exemplary embodiments and it will be apparent to any person of ordinary skill in the art that various modifications and equivalent other exemplary embodiments are possible from these. Accordingly, the true scope of protection of the present invention must be determined by the scope of the attached claims.

Claims

A 3D scanner characterized in that and comprising:

a frame rotating unit supporting frame located in the upper end of a housing frame surrounding the periphery of a scan target object, horizontal with respect to the ground surface;

a frame rotating unit comprising a motor and a power transmitting member to deliver the rotating force of the motor mounted and fixed to the frame rotating unit supporting frame;

a horizontal frame section horizontal with respect to the ground surface, coupled to the power delivering member;

a vertical frame section formed by folding one side of the horizontal frame section;

a rotating frame rotating around the scan target object as the power transmitting member rotates;

a plurality of 3D scanner sensors mounted on the vertical frame section of the rotating frame so as to scan the scan target object; and

a scan control unit for controlling the motor and the plurality of 3D scanner sensors so as to generate stereoscopic information on the scan target object, wherein

the power transmitting member comprising: a reduction gear for decelerating the rotating force of the motor and changing the direction of the power; a pinion gear for transmitting the power of the reduction gear to a center axis gear; a center axis gear, engaged with the pinion gear, rotating the rotating frame which is coupled to the lower surface of the center axis gear; a center axis gear shaft formed with a cable through-hole in the center portion (core), having a structure wherein its one end is protruded penetrating through the center hole of the center axis gear; a gear shaft fixing bracket formed with a plurality of through-holes wherein the shafts of the pinion gear and the center axis gear are penetrating through, and wherein bearings for fixing the shafts are inserted into each of the through-holes respectively; a tapered bearing formed with a cable through-hole; a tapered bearing fixing holder wherein the tapered bearing is inserted; a tapered bearing fixing holder fixing plate, formed with a cable through-hole and a through-hole for a reduction gear rotating shaft, for fixing the tapered bearing fixing holder onto the upper surface of the frame rotating unit supporting frame.
The 3D scanner according to claim 1,

further comprising a balance weight mounted on another side of the horizontal frame section.
The 3D scanner according to either claim 1 or claim 2, wherein the scan control unit controls the plurality of 3D scanner sensors so that stereoscopic information on the scan target object is obtained while the rotating frame is rotating around the scan target object.
The 3D scanner according to either claim 1 or claim 2, wherein the scan control unit controls the plurality of 3D scanner sensors in a way that partial stereoscopic information on the scan target object is obtained at every 1.3° to 4°.
The 3D scanner according to either claim 1 or claim 2, wherein the scan control unit is a control unit of a computer system that calibrates the location errors between the plurality of 3D scanner sensors from the errors between the scan patterns obtained by projecting the illuminator pattern on the scan target object only from one direction.
The 3D scanner according to claim 1,

further comprising a connecting bracket of a convex-concave shape for connecting the lower surface of the center axis gear and one surface of the horizontal frame section, wherein cable through-holes are respectively formed in the horizontal surface and the vertical surface of the connecting bracket of a convex-concave shape.
The 3D scanner according to claim 6,

further comprising an insert plate which is inserted between the connecting bracket and the bottom surface of the center axis gear.
The 3D scanner according to claim 1,

further comprising at least one snap ring or nut being coupled to at least one slot formed on the upper end of the center axis gear shaft.
The 3D scanner according to either claim 1 or claim 2, wherein the plurality of 3D sensors comprises 2 to 4 3D scanner sensors and mounted on the vertical frame section of the rotating frame along the vertical direction.