CN105806254B - A kind of orbiting vane article 3-D scanning molding machine - Google Patents
A kind of orbiting vane article 3-D scanning molding machine Download PDFInfo
- Publication number
- CN105806254B CN105806254B CN201610242854.XA CN201610242854A CN105806254B CN 105806254 B CN105806254 B CN 105806254B CN 201610242854 A CN201610242854 A CN 201610242854A CN 105806254 B CN105806254 B CN 105806254B
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- optical axis
- unit
- supporting rod
- stepper motor
- axis
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Mechanical Optical Scanning Systems (AREA)
Abstract
The present invention relates to a kind of orbiting vane article 3-D scanning molding machine, which is arranged in a babinet, which includes：Laser sensor unit：Three laser sensors including slide unit and on slide unit, the laser sensor unit is for being scanned determinand；Gear unit：Including supporting rod subelement and drive link subelement, the gear unit is used to support the laser sensing unit and drives the movement of laser sensing unit；Stepper motor unit：It is installed on the top of the babinet one side, the rotation for controlling the transmission bar unit, to control the movement of the laser sensor unit；Control unit：Operation for controlling stepper motor unit.Compared with prior art, the present invention can carry out omnibearing stereo scanning to that can not move or easily damage the article for being not suitable for touching, and application orbiting vane scanning accuracy is high, is not easy to be disturbed.
Description
Technical field
The present invention relates to analysis and survey control technology fields, and in particular to a kind of orbiting vane article 3-D scanning molding
Device.
Background technology
Three-dimensional laser scanning technique is a new technology developed in recent years, is known as " having surveyed and drawn since GPS technology
The technological revolution again in field.The technology is as the effective means for obtaining spatial data, accurate, Contactless Measurement quick with it
The advantages such as amount play increasingly in various fields such as industrial production, production of film and TV, dress designing, archaeology historical relic, geotechnical engineerings
Important role.With the innovation of science and technology, the development of every field work new method has been pushed.For example, tradition archaeology row
Industry is often artificial when excavate record to be carried out, and is easy to damage cultural sight, is utilized novel laser scanning skill
Record and mapping operations to historical relic data can be rapidly completed in art, grasp the firsthand information.Three-dimensional laser scanner is pressed now
Different demarcation according to scanning platform is:Airborne (or spaceborne) laser scanning system, terrestrial laser scanning system, portable laser
Scanning system.
In existing three-dimensional laser scanning technique, it is mobile laser scanner to need the object or person that artificially mobile needs scan
It is scanned, wherein when using the type for artificially moving object to be scanned, if scanning object is frangible mutability object,
Physical damage or deformation are easily caused in moving process, and easily object is made to be subjected to displacement in artificial moving process, next
In scanning process, the image received will produce the deformation of image, and great quantities of spare work is also brought along in figure post-processing.
In the type using artificial motion scan, it is easier to the shortcomings of generating image mosaic difficulty and scanning distance not easy to control.
Invention content
It is high, suitable that it is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of scanning accuracies
Orbiting vane article 3-D scanning molding machine for that can not move or should not touch item scan.
The purpose of the present invention can be achieved through the following technical solutions：A kind of orbiting vane article 3-D scanning molding dress
It sets, which is arranged in a babinet, which includes：
Laser sensor unit：For being scanned to determinand, the laser sensor unit includes slide unit and peace
Three laser sensors on slide unit；
Gear unit：Include from the slide unit pass through be used to support slide unit supporting rod subelement and with support pole
Unit connects the optical axis subelement for driving supporting rod subelement to be moved along X-axis, Y-axis；
Stepper motor unit：It is connect the rotation for controlling the optical axis subelement with the optical axis subelement, to control
Make the movement of the supporting rod subelement；
Control unit：Operation and receiving for controlling stepper motor unit and pretreatment image.
The slide unit is arc-shaped, and described three laser sensors are installed on the lower surface of the slide unit, adjacent
Two laser sensors are on slide unit in 60 ° of installations.It is in 60 ° of mounting means two-by-two that three scanning laser sensors, which use, according to
Circumference angle theorem, with the change of type size, three pieces of laser sensor visible angles can reach 120 ° and regard under this angle
Wide angle, institute can reach 20% to 30% at the mutual overlapping part of image, be easier to look for weight when finally carrying out image mosaic
Chalaza, and more fine three-dimensionally shaped body can be showed.
The lead screw subelement includes the optical axis a along X axis Relative distribution, optical axis b and along Y-axis Relative distribution
Optical axis c, optical axis d.
The supporting rod subelement includes across the slide unit and along Y-axis supporting rod a arranged in parallel, supporting rod b
And along X axis arrangement supporting rod c, the supporting rod a and supporting rod b both ends by sliding block a respectively with the light
Axis a is connected with optical axis b, and the both ends of the supporting rod c are connect with the optical axis c and optical axis d respectively by sliding block b.
The sliding block a is connect with optical axis a, optical axis b by linear bearing, and the sliding block b and optical axis c, optical axis d pass through straight
Spool holds connection.
The stepper motor unit includes X-direction control stepper motor and Y direction controls stepper motor, described
X-direction control stepper motor is used to control the rotation of optical axis a and optical axis b, and Y direction control stepper motor is for controlling
The rotation of optical axis c and optical axis d processed.When stepper motor drives the small synchronous being mounted on each supporting rod with the synchronous belt on belt wheel
When movement, synchronous belt will drive supporting rod to rotate, and the rotation of supporting rod will drive the long span synchronous belt installed thereon to turn
Dynamic, the movement of long span synchronous belt will drive the slide unit on synchronous belt to be slided on central cross type optical axis track.
It is found through experiment that Y direction movement is the most frequent, it will greatly enhance whole table apparatus using two optical axises when fast moving scanning
Scanning stabilization.
The device further includes the loading-unit being located at below the babinet, and the loading-unit, which includes one, to be opened
The steering engine of the support board, the control support board opening and closing that close, hanger, the silk for lifting the hanger of the support support board
Bar e, the axis for being used to support the hanger and the lifting stepper motor for controlling lead screw e rotations, there are two the hangers,
The both sides opposite with support board connection respectively, the lead screw e and axis are connect with one of hanger respectively.
The control unit is ARM-Cortex3 microcontrollers, for controlling X-direction control stepper motor, Y direction
Control stepper motor, steering engine and the operation for lifting stepper motor, and will be in terms of scanning gained image is sent to by coordinate naming method
Calculation machine.
The operation principle of apparatus of the present invention is as follows：Article to be scanned is placed on support board, ARM-Cortex3 microcontroller controls
X-direction control stepper motor processed and Y direction control stepper motor operation, to control optical axis a, optical axis b, optical axis c and light
Axis d rotations, make sliding block be moved along above-mentioned optical axis, to drive slide unit to be moved along X-axis and Y-axis with laser sensor,
Realize the 3-D scanning of laser sensor.
When determinand volume is smaller, ARM-Cortex3 microcontrollers control lifting stepper motor operation, control lead screw e into
Row rotation reduces the distance between determinand and laser sensor to increase support board by hanger, and realization is more clear
3-D scanning.
When determinand can not move or be not suitable for touching, ARM-Cortex3 microcontrollers control steering engine operation, by support board
It opens, then the present apparatus is placed on above determinand, realize 3-D scanning.
There is the present invention liftable article carrying platform, scanning distance when can be controlled automatically when scanning small-size object to scan
It is finer at details, and the steady movement of article carrying platform not will produce picture problem on deformation.Below the article carrying platform of the present invention certainly
Dynamic trapdoor can be opened, and also have higher stability compared with than hand-held scanner when scanning irremovable object.Existing laser
Scanner mechanical realization complexity cost is high, and top of the present invention uses cross laser module movable frame, type framework tool
There are high accuracy and good stability, easy to maintain and manufacture to reduce production cost and maintenance cost.
Compared with prior art, beneficial effects of the present invention are embodied in following several respects：
(1) it can be scanned to that can not move or easily damage the article for being not suitable for touching, such as archaeology historical relic, biological bone
Bone, precision instrument, immovable mechanical equipment etc.；
(2) omnibearing stereo scanning can be carried out and application orbiting vane scanning accuracy is high, be not easy to be disturbed；
(3) manufacturing cost is cheap, not easy break-down, and easy to maintain.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the close-up schematic view of slide unit part in Fig. 1.
Wherein, 1 stepper motor is controlled for Y direction, 2 be ARM-Cortex3 microcontrollers, and 3 be stainless steel optical axis, and 4 be to hang
Frame, 5 be support board, and 6 be steering engine, and 7 be support column, and 8 be lead screw e, and 9 be left laser sensor, and 10 synchronize for X-direction sliding
Band, 11 control stepper motor for X-direction, and 12 be upper laser sensor, and 13 be slide unit, and 14 be right laser sensor, and 15 be Y-axis
Synchronous belt is slided in direction, and 16 be sliding block a, and 17 be lead screw a, and 18 be optical axis b, and 19 be optical axis c, and 20 be optical axis d, and 21 be supporting rod a,
22 be supporting rod b, and 23 be supporting rod c, and 24 be sliding block b, and 25 be lifting stepper motor.
Specific implementation mode
It elaborates below to the embodiment of the present invention, the present embodiment is carried out lower based on the technical solution of the present invention
Implement, gives detailed embodiment and specific operating process, but protection scope of the present invention is not limited to following implementation
Example.
Embodiment
A kind of orbiting vane article 3-D scanning molding machine, the device are arranged in a babinet, and concrete structure is such as
Shown in Fig. 1 and Fig. 2, which includes the laser sensor unit, gear unit and stepper motor unit being arranged above babinet,
These three units are supported by support column 7, which further includes the control unit being arranged below babinet and loading-unit.
Laser sensor unit：Slide unit 13 including an arc-shaped and three laser sensings on slide unit 13
Device, respectively left laser sensor 9, upper laser sensor 12 and right laser sensor 14, left laser sensor 9 and upper laser
Sensor 12 is distributed on slide unit 13 in 60 ° on slide unit 13 in 60 ° of distributions, upper laser sensor 12 and right laser sensor 14,
Left laser sensor 9 and right laser sensor 14 are used to treat on slide unit 13 in 120 ° of distributions, three laser sensor units
Object is surveyed to be scanned.
Gear unit：Include the optical axis a17 along X axis Relative distribution, optical axis b18 and the light along Y-axis Relative distribution
Respectively close to former and later two sides of babinet, optical axis c19 and optical axis d20 distinguish by axis c19, optical axis d20, optical axis a17 and optical axis b18
Close to the side of left and right two of babinet；
Gear unit further includes along Y-axis supporting rod a21 arranged in parallel, supporting rod b22 and along the supporting rod of X axis
The both ends of c23, supporting rod a21 and supporting rod b22 are connect by two sliding block a16 with optical axis a17 and optical axis b18 respectively, support
The both ends of bar c23 are connect with optical axis c19 and optical axis d20 respectively by two sliding block b24, supporting rod a21, supporting rod b22 and branch
Strut c23 both passes through slide unit 13, and being equipped with X-direction with 13 junction of slide unit on supporting rod a21, supporting rod b22 slides synchronous belt
Y direction is equipped with 13 junction of slide unit slide synchronous belt 15 on 10, supporting rod c23.
Stepper motor unit：It is installed on the top of babinet one side, including X-direction control stepper motor 11 and Y-axis side
To control stepper motor 1, X-direction control stepper motor 11 is used to control the rotation of optical axis a17 and optical axis b18, Y direction control
Stepper motor 1 processed is used to control the rotation of optical axis c19 and optical axis d20；
Control unit：The control unit is ARM-Cortex3 microcontrollers 2, for controlling all stepper motors and steering engine
Operating, and and will scanning gained image computer is sent to coordinate naming method.
Loading-unit：The steering engine 6 that is opened and closed including a support board 5 to be opened/closed, control support board 5, support support board 5
Hanger 4, the lead screw e8 for lifting hanger 4, the stainless steel shaft 3 for being used to support hanger 4 and for controlling lead screw e8 rotation
Stepper motor 25 is lifted, hanger 4 has left and right two, connect respectively with the right with the left side of support board 5, lead screw e8 and stainless steel shaft
3 connect with one of hanger respectively.
When scanning, article to be scanned is placed on support board 5, ARM-Cortex3 microcontrollers 2 control X-direction control step
Stepper motor 11 and Y direction control stepper motor 1 are run, and are turned to control optical axis a17, optical axis b18, optical axis c19 and optical axis d20
It is dynamic, so that sliding block a16 is moved along optical axis a17 and optical axis b18, sliding block b25 is moved along optical axis c19 and optical axis d20, to drive
Slide unit 13 is moved with laser sensor along X-axis and Y-axis, realizes the 3-D scanning of laser sensor.
When determinand volume is smaller, the control lifting stepper motor 25 of ARM-Cortex3 microcontrollers 2 is run, and controls lead screw
E8 is rotated, and to increase support board 5 by hanger 4, is reduced the distance between determinand and laser sensor, is realized more
Add clearly 3-D scanning.
When determinand can not move or be not suitable for touching, ARM-Cortex3 microcontrollers 2 control steering engine 6 and run, by loading
Plate 5 is opened, and then the present apparatus is placed on above determinand, realizes 3-D scanning.
Claims (6)
1. a kind of orbiting vane article 3-D scanning molding machine, which is arranged in a babinet, which is characterized in that the dress
Set including：
Laser sensor unit：For being scanned to determinand, the laser sensor unit includes slide unit and is mounted on
Three laser sensors on slide unit；
Gear unit：Include from the slide unit pass through be used to support slide unit supporting rod subelement and with supporting rod subelement
Connect the optical axis subelement for driving supporting rod subelement to be moved along X-axis, Y-axis；
Stepper motor unit：It is connect the rotation for controlling the optical axis subelement with the supporting rod subelement, to control
The movement of the laser sensor slide unit；
Control unit：Operation for controlling stepper motor unit；
Wherein, the optical axis subelement includes the optical axis a along X axis Relative distribution, optical axis b and along Y-axis Relative distribution
Optical axis c, optical axis d；
The supporting rod subelement include across the slide unit and along Y-axis supporting rod a arranged in parallel, supporting rod b and
Along X axis arrangement supporting rod c, the supporting rod a and supporting rod b both ends by sliding block a respectively with the optical axis a and
The both ends of optical axis b connections, the supporting rod c are connect with the optical axis c and optical axis d respectively by sliding block b.
2. a kind of orbiting vane article 3-D scanning molding machine according to claim 1, which is characterized in that the cunning
Platform is arc-shaped, and described three laser sensors are installed on the lower surface of the slide unit, and adjacent two laser sensors exist
In 60 ° of installations on slide unit.
3. a kind of orbiting vane article 3-D scanning molding machine according to claim 1, which is characterized in that the sliding block
A is connect with optical axis a, optical axis b by linear bearing, and the sliding block b is connect with optical axis c, optical axis d by linear bearing.
4. a kind of orbiting vane article 3-D scanning molding machine according to claim 1, which is characterized in that the step
Stepper motor unit includes X-direction control stepper motor and Y direction control stepper motor, and the X-direction controls stepping
Motor is used to control the rotation of optical axis a and optical axis b, and Y direction control stepper motor is for controlling optical axis c and optical axis d
Rotation.
5. a kind of orbiting vane article 3-D scanning molding machine according to claim 1, which is characterized in that the dress
It further includes the loading-unit being located at below the babinet to set, and the loading-unit includes a support board to be opened/closed, control
The steering engine of the support board opening and closing, the lead screw e for lifting the hanger, is used to support institute at the hanger of the support support board
State the axis of hanger and the lifting stepper motor for controlling lead screw e rotation, there are two the hangers, respectively with the loading
The opposite both sides connection of plate, the lead screw e and axis are connect with one of hanger using copper flange nut respectively.
6. a kind of orbiting vane article 3-D scanning molding machine according to claim 4 or 5, which is characterized in that described
Control unit be ARM-Cortex3 microcontrollers, for control X-direction control stepper motor, Y direction control stepping electricity
Machine, steering engine and the operation for lifting stepper motor, and scanning gained image is sent to computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610242854.XA CN105806254B (en) | 2016-04-19 | 2016-04-19 | A kind of orbiting vane article 3-D scanning molding machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610242854.XA CN105806254B (en) | 2016-04-19 | 2016-04-19 | A kind of orbiting vane article 3-D scanning molding machine |
Publications (2)
| Publication Number | Publication Date |
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| CN105806254A CN105806254A (en) | 2016-07-27 |
| CN105806254B true CN105806254B (en) | 2018-09-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610242854.XA Expired - Fee Related CN105806254B (en) | 2016-04-19 | 2016-04-19 | A kind of orbiting vane article 3-D scanning molding machine |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106197319B (en) * | 2016-09-07 | 2018-09-14 | 东北林业大学 | A kind of material surface three-dimensional scanner operating method based on intelligent sensing |
| CN106725498A (en) * | 2016-12-28 | 2017-05-31 | 尹志军 | 3D anthropometric scanning apparatus and system |
| CN106679588B (en) * | 2017-01-15 | 2019-09-24 | 东北林业大学 | A kind of live standing tree Laser Scanning based on 3 D laser scanning hoistable platform |
| CN108195314B (en) * | 2018-01-17 | 2019-11-05 | 杨佳苗 | Reflective striped three dimension profile measurement method based on more field stitchings |
| CN110567366B (en) * | 2019-08-12 | 2021-05-25 | 西安理工大学 | Non-contact laser measurement system and measurement method thereof |
| CN110926352A (en) * | 2019-12-12 | 2020-03-27 | 苏州市职业大学 | Non-contact measuring tool |
| CN113513979A (en) * | 2021-06-03 | 2021-10-19 | 农业农村部南京农业机械化研究所 | Grain volume scanning device, method and system based on three-dimensional point cloud |
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| CN105806254A (en) | 2016-07-27 |
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Granted publication date: 20180914 |