CN205664784U - Need not three -dimensional scanning system at object surface paste mark point - Google Patents
Need not three -dimensional scanning system at object surface paste mark point Download PDFInfo
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- CN205664784U CN205664784U CN201620549839.5U CN201620549839U CN205664784U CN 205664784 U CN205664784 U CN 205664784U CN 201620549839 U CN201620549839 U CN 201620549839U CN 205664784 U CN205664784 U CN 205664784U
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Abstract
The utility model discloses a need not three -dimensional scanning system at object surface paste mark point, include the three -dimensional scanning module and paste a plurality of code mark points on the scanning base plate, the three -dimensional scanning module includes that binocular vision chases sensing module, acceleration sensing module and gyroscope sensing module, the sensing module is bie chased with binocular vision to gyroscope sensing mould splits, acceleration sensing module is connected, binocular vision chases sensing module, acceleration sensing module and gyroscope sensing module and all fixes on the PCB circuit board, the PCB circuit board is fixed the casing of three -dimensional scanning module is inboard. The utility model provides a need not three -dimensional scanning system at object surface paste mark point, this system's during operation need not can not lead to the fact the destruction of data and the disappearance of texture waiting to scan object surface paste mark point, have simple structure, low cost, high efficiency, high accuracy, high -resolution characteristics.
Description
Technical field
This utility model belongs to technical field of mapping, is specifically related to a kind of without the three-dimensional at object exterior pasting index point
Scanning system.
Background technology
3 D scanning system is used for detecting and analyzing shape (geometric construction) and the outward appearance of object or environment in real world
Data (such as the character such as color, surface albedo), the data collected often are used for three-dimensional reconstruction and calculate, at virtual world
The mathematical model of middle establishment actual object, these models have a purposes the most widely, industrial design such as, Defect Detection, inverse
To engineering, robot guiding, landforms measurement, medical information, bio information, criminal identification, numeral historical relic classical collection, motion picture production,
Game creation material etc. its application all visible.
One 3 D scanning system is divided into following steps during gathering data:
(1) acquisition of monolithic three dimensional cloud data；
(2) splicing of two panels different angles three dimensional point cloud is obtained；
(3) repeat above procedure and realize the splicing of multi-disc three dimensional point cloud.
Traditional 3 D scanning system obtains and in splicing mainly by two kinds of technology roads in two panels (multi-disc) three-dimensional data
Line:
The first is at scanning object surface sticking sign point, obtains the two panels different angles coordinate with index point as base
Accurate three dimensional point cloud, then do the coordinate system conversion of two panels three dimensional point cloud to realize data splicing, in this process
Since it is desired that at object exterior pasting index point, the data of object exterior pasting landmark portion can be damaged and texture
Disappearance；
The second is to add an electronic turntable and motor control module below object to be scanned, first an angle
Shoot a piece of three dimensional point cloud, then turn an angle with PC control turntable, by amount of spin and the angle letter of turntable
Breath returns to host computer, then shoots the second width three dimensional point cloud, and finally data process when, algorithm is returned by turntable
The angle information sent back does the coordinate system conversion of two panels three dimensional point cloud, it is achieved the spelling of two panels (multi-disc) three dimensional point cloud
Connecing, although this mode need not at object exterior pasting index point, but the required precision to turntable and motor control is high,
Turret plant cost is high, and requires that the relative position between 3-D scanning module part and turntable is fixed, and scanning module can not
The most mobile, not so cannot change coordinate system, multi-disc cloud data cannot splice, and can cause in scanning process, the visual field and angle
Limited situation.
Utility model content
Not enough for prior art, this utility model provides a kind of without sweeping in the three-dimensional of object exterior pasting index point
Retouch system, without at scanning object surface sticking sign point during the work of this system, do not result in the destruction of data and texture
Disappearance, have simple in construction, with low cost, high efficiency, in high precision, high-resolution feature.
For realizing utility model purpose, this utility model by the following technical solutions:
A kind of without the 3 D scanning system at object exterior pasting index point, sweep with being pasted onto including 3-D scanning module
Retouching the some coded targets on substrate, described 3-D scanning module includes that binocular vision chases sensing module, acceleration sensing
Module and gyro sensors module, described gyro sensors module chases sensing module, acceleration sensing respectively with binocular vision
Module connects, and described binocular vision is chased sensing module, acceleration sensing module and gyro sensors module and is each attached to PCB line
On the plate of road, described PCB is fixed on the case inside of described 3-D scanning module.
By demarcating, binocular vision is chased sensing module, entered between acceleration sensing module and gyro sensors module
The binding of row-coordinate system and normalizing, form location information module, then the coded target on location information module and scanning substrate
Between set up contact, make location information module can accurately export the X of relative coding index point, Y, Z, pitching, acceleration side
To position information convertings such as, translations.
By demarcating, it is established that the world coordinate system relation between location information module and 3-D scanning module, will simultaneously
Two coordinate systems carry out normalizing, it is established that 3-D scanning module relative on scanning substrate between coded target coordinate system connection
System, can be accurately obtained the positions such as the X of 3-D scanning module relative coding index point, Y, Z, pitching, acceleration direction, translation and become
Change information.
When 3-D scanning module is from object different angles shooting object, each angle obtains and with 3-D scanning module is
The three dimensional point cloud at center, in conjunction with the 3-D scanning module obtained from location information module relative to the X of coded target, Y,
The position information convertings such as Z, pitching, acceleration direction, translation, can be carried out between several different three-dimensional datas with 3-D scanning mould
Three dimensional point cloud coordinate system normalizing centered by group and conversion, thus realize between the 3 d scan data of multi-angled shooting
Splicing.
Being preferably, described binocular vision is chased sensing module and is included optical lens, sensor and image acquisition analysis module,
Described optical lens, sensor are connected two-by-two with image acquisition analysis module, and optical lens is used for pursuing of goal is carried out imaging,
Image acquisition analysis module is used for realizing image acquisition and visual analysis, described binocular vision chase sensing module integrated level high,
Precision is high, speed fast, low cost, can complete tradition and chase the high-speed target that module cannot complete and chase task.
Being preferably, described acceleration sensing module includes that light shelter and light path, described light path comprise luminescence unit and right
The photosensitive unit answered, photosensitive unit, for detecting the circumstance of occlusion of light path and transmitting acceleration information, can customize not easily
Acceleration transducer with precision.
Being preferably, described gyro sensors module includes that metal rack, sensing element and pedestal, described sensing element are located at
In metal rack, described sensing element is fixed on described pedestal, and described pedestal includes base and the electrode being fixed on base
Bracing frame, described gyro sensors module for determine object to be scanned about X, Y or the rotary motion of Z axis, sensing element can
Using vibrating sensing mode, electrode holder can support and excite described sensing element, and sensing element is used for determining scanning object
Body swing offset in X, Y, Z axis.
Being preferably, described 3-D scanning module also includes image acquisition module, and described image acquisition module passes through metal working part
Being connected with PCB, described image acquisition module is also chased sensing module and is connected with binocular vision, and the information of acquisition is through analyzing
After transfer to acceleration sensing module and gyro sensors module to use, the main body of image acquisition module is camera module, is used for shining
Sheet shooting, the collection of coding pattern information.
Be preferably, described 3-D scanning module also include laser focus module, be used for focusing, control shooting position and away from
From, described laser focusing module is connected with PCB by metal working part.
Being preferably, described 3-D scanning module also includes micro projector module, and projectable goes out coding pattern, for vertically hung scroll
The control of data, described micro projector module is connected with PCB by metal working part.
Being preferably, described 3-D scanning module also includes being wirelessly transferred module, can realize being wirelessly transferred of data, described nothing
Line transmission module is connected with PCB.
Being preferably, described 3-D scanning module also includes that battery modules, described battery modules are fixed on 3-D scanning module
Case inside, battery modules as stand-by power supply, remains to when having a power failure suddenly keep 3-D scanning module to work on.
The beneficial effects of the utility model are:
1, without at object exterior pasting index point, solve in conventional three-dimensional scan mode and need at object exterior pasting
The problem of index point, will not destroy body surface three-dimensional data and texture information；
2, coded target carries number-changing function, can arbitrarily place, and has only at least one piece of coding mark during single scan
Will point, in binocular vision chases the sensing module ken, only needs at least two pieces of coded targets when 3-D scanning module moves
In binocular vision chases the sensing module ken, this 3 D scanning system Highgrade integration, flexible and convenient to use, Ke Yijin
Row is the most mobile and splices data in real time；
3, this 3 D scanning system have simple in construction, high integration, high-resolution, high efficiency, in high precision, speed fast,
The feature of low cost.
Accompanying drawing explanation
Fig. 1 is use state diagram of the present utility model；
Fig. 2 is external structure schematic diagram of the present utility model；
Fig. 3 is internal structure schematic diagram of the present utility model；
Fig. 4 is the structural representation that binocular vision of the present utility model chases sensing module；
Fig. 5 is the structural representation of acceleration sensing module of the present utility model；
Fig. 6 is the structural representation of gyro sensors module of the present utility model；
In the figures above: 1,3-D scanning module；2, scanning substrate；3, coded target；4, binocular vision chases sensing
Module；5, acceleration sensing module；6, gyro sensors module；7, PCB；8, housing；9, optical lens；10, sensing
Device；11, image acquisition analysis module；12, light path；13, photosensitive unit；14, metal rack；15, sensing element；16, pedestal；
17, electrode holder；18, object to be scanned；19, image acquisition module；20, laser focusing module；21, micro projector mould
Group；22, it is wirelessly transferred module；23, battery modules.
Detailed description of the invention
By detailed description of the invention, this utility model is further described below in conjunction with the accompanying drawings.
As shown in Figures 1 to 6, a kind of without the 3 D scanning system at object exterior pasting index point, sweep including three-dimensional
Retouching module 1 and the some coded targets 3 being pasted onto on scanning substrate 2, described 3-D scanning module 1 includes that binocular vision is chased
Sensing module 4, acceleration sensing module 5 and gyro sensors module 6, described gyro sensors module 6 respectively with binocular vision
Chase sensing module 4, acceleration sensing module 5 connects, and described binocular vision chases sensing module 4, acceleration sensing module 5 and
Gyro sensors module 6 is each attached in PCB 7, and described PCB 7 is fixed on the shell of described 3-D scanning module 1
Inside body 8, described binocular vision is chased sensing module 4 and is included optical lens 9, sensor 10 and image acquisition analysis module 11,
Described optical lens 9, sensor 10 are connected two-by-two with image acquisition analysis module 11, and optical lens 9 is for entering pursuing of goal
Row imaging, image acquisition analysis module 11 is used for realizing image acquisition and visual analysis, and described binocular vision chases sensing module 4
Integrated level is high, precision high, speed is fast, low cost, can complete tradition and chase the high-speed target that module cannot complete and chase task, institute
State acceleration sensing module 5 and include that light shelter and light path 12, described light path 12 comprise luminescence unit and corresponding photosensitive unit
13, photosensitive unit 13, for detecting the circumstance of occlusion of light path 12 and transmitting acceleration information, can customize different accuracy easily
Acceleration transducer, described gyro sensors module 6 includes metal rack 14, sensing element 15 and pedestal 16, described sensing
Element 15 is located in metal rack 14, and described sensing element 15 is fixed on described pedestal 16, described pedestal 16 include base and
The electrode holder 17 being fixed on base, described gyro sensors module 6 is used for determining that object to be scanned 18 is about X, Y or Z
The rotary motion of axle, sensing element 15 can use vibrating sensing mode, and electrode holder 17 can support and excite described sensing element
Part 15, sensing element 15 is for determining that the object to be scanned swing offset in X, Y, Z axis, described 3-D scanning module 1 also wrap
Including image acquisition module 19, described image acquisition module 19 is connected with PCB 7 by metal working part, described image acquisition mould
Group 19 is also chased sensing module 4 and is connected with binocular vision, and the information of acquisition transfers to acceleration sensing module 5 and gyro after analyzing
Instrument sensing module 6 uses, and the main body of image acquisition module 19 is camera module, for photograph taking, the adopting of coding pattern information
Collection, described 3-D scanning module 1 also includes laser focusing module 20, is used for focusing, and controls position and the distance of shooting, described sharp
Light focusing module 20 is connected with PCB 7 by metal working part, and described 3-D scanning module 1 also includes micro projector module
21, projectable goes out coding pattern, and for the control of vertically hung scroll data, described micro projector module 21 is by metal working part and PCB line
Road plate 7 connects, and described 3-D scanning module 1 also includes being wirelessly transferred module 22, can realize being wirelessly transferred of data, described wireless
Transmission module 22 is connected with PCB 7, and described 3-D scanning module 1 also includes battery modules 23, and described battery modules 23 is solid
Being scheduled on inside the housing 8 of 3-D scanning module 1, battery modules 23, as stand-by power supply, remains to when having a power failure suddenly keep three-dimensional
Scanning module 1 works on.
By demarcating, binocular vision is chased sensing module 4, between acceleration sensing module 5 and gyro sensors module 6
Carry out coordinate system binding and normalizing, form location information module, then the coding maker on location information module and scanning substrate 2
Set up contact between point 3, make location information module can accurately export the X of relative coding index point 3, Y, Z, pitching, acceleration
The degree position such as direction, translation information converting.
By demarcating, it is established that the world coordinate system relation between location information module and 3-D scanning module 1, will simultaneously
Two coordinate systems carry out normalizing, it is established that 3-D scanning module 1 is relative to coordinate between coded target 3 on scanning substrate 2
System's contact, can be accurately obtained the X of 3-D scanning module 1 relative coding index point 3, Y, Z, pitching, acceleration direction, translation etc.
Evolution information.
When 3-D scanning module 1 is from object different angles shooting object, each angle obtains with 3-D scanning module 1
Centered by three dimensional point cloud, in conjunction with from location information module obtain 3-D scanning module 1 relative to coded target 3
The position information convertings such as X, Y, Z, pitching, acceleration direction, translation, can carry out sweeping with three-dimensional between several different three-dimensional datas
Retouch the three dimensional point cloud coordinate system normalizing centered by module 1 and conversion, thus realize the 3 d scan data of multi-angled shooting
Between splicing.
The foregoing is only specific embodiment of the utility model, but architectural feature of the present utility model is not limited to
This, this utility model may be used on the product that is similar to, any those skilled in the art in field of the present utility model, institute
Change or the modification made all are contained among the scope of the claims of the present utility model.
Claims (9)
1. one kind without the 3 D scanning system at object exterior pasting index point, it is characterised in that: include 3-D scanning module
With the some coded targets being pasted onto on scanning substrate, described 3-D scanning module include binocular vision chase sensing module,
Acceleration sensing module and gyro sensors module, described gyro sensors module respectively chase with binocular vision sensing module,
Acceleration sensing module connects, and it is equal that described binocular vision chases sensing module, acceleration sensing module and gyro sensors module
Being fixed in PCB, described PCB is fixed on the case inside of described 3-D scanning module.
2. as claimed in claim 1 without the 3 D scanning system at object exterior pasting index point, it is characterised in that: described double
Visually feel that chasing sensing module includes optical lens, sensor and image acquisition analysis module, described optical lens, sensor and
Image acquisition analysis module is connected two-by-two.
3. as claimed in claim 1 without the 3 D scanning system at object exterior pasting index point, it is characterised in that add described in:
Velocity pick-up module includes that light shelter and light path, described light path comprise luminescence unit and corresponding photosensitive unit.
4., without the 3 D scanning system at object exterior pasting index point as described in claims 1 to 3 is arbitrary, its feature exists
In: described gyro sensors module includes that metal rack, sensing element and pedestal, described sensing element are located in metal rack,
Described sensing element is fixed on described pedestal, and described pedestal includes base and the electrode holder being fixed on base.
5. as claimed in claim 1 without the 3 D scanning system at object exterior pasting index point, it is characterised in that: described three
Dimension scanning module also includes image acquisition module, and described image acquisition module is connected with PCB by metal working part, described figure
As gather module also chase with binocular vision sensing module is connected, the information of acquisition through analyze after transfer to acceleration sensing module with
Gyro sensors module uses.
6. as claimed in claim 1 without the 3 D scanning system at object exterior pasting index point, it is characterised in that: described three
Dimension scanning module also includes that laser focusing module, described laser focusing module are connected with PCB by metal working part.
7. as claimed in claim 1 without the 3 D scanning system at object exterior pasting index point, it is characterised in that: described three
Dimension scanning module also includes micro projector module, and described micro projector module is connected with PCB by metal working part.
8. as claimed in claim 1 without the 3 D scanning system at object exterior pasting index point, it is characterised in that: described three
Dimension scanning module also includes being wirelessly transferred module, described in be wirelessly transferred module and be connected with PCB.
9. as claimed in claim 1 without the 3 D scanning system at object exterior pasting index point, it is characterised in that: described three
Dimension scanning module also includes that battery modules, described battery modules are fixed on the case inside of 3-D scanning module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620549839.5U CN205664784U (en) | 2016-06-08 | 2016-06-08 | Need not three -dimensional scanning system at object surface paste mark point |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620549839.5U CN205664784U (en) | 2016-06-08 | 2016-06-08 | Need not three -dimensional scanning system at object surface paste mark point |
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| Publication Number | Publication Date |
|---|---|
| CN205664784U true CN205664784U (en) | 2016-10-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201620549839.5U Expired - Fee Related CN205664784U (en) | 2016-06-08 | 2016-06-08 | Need not three -dimensional scanning system at object surface paste mark point |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107990841A (en) * | 2017-11-20 | 2018-05-04 | 中国科学院长春光学精密机械与物理研究所 | A kind of auxiliary device for three-dimensional scanning measurement |
| CN108507461A (en) * | 2017-02-27 | 2018-09-07 | 库尔塞尔公司 | 3D scanners with accelerometer |
| CN110192692A (en) * | 2019-07-02 | 2019-09-03 | 先临三维科技股份有限公司 | Three dimensional scanning platform, system and method |
| CN113379599A (en) * | 2019-04-12 | 2021-09-10 | 北京诺亦腾科技有限公司 | Object splicing control method |
-
2016
- 2016-06-08 CN CN201620549839.5U patent/CN205664784U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108507461A (en) * | 2017-02-27 | 2018-09-07 | 库尔塞尔公司 | 3D scanners with accelerometer |
| CN107990841A (en) * | 2017-11-20 | 2018-05-04 | 中国科学院长春光学精密机械与物理研究所 | A kind of auxiliary device for three-dimensional scanning measurement |
| CN113379599A (en) * | 2019-04-12 | 2021-09-10 | 北京诺亦腾科技有限公司 | Object splicing control method |
| CN110192692A (en) * | 2019-07-02 | 2019-09-03 | 先临三维科技股份有限公司 | Three dimensional scanning platform, system and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161026 Termination date: 20210608 |
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| CF01 | Termination of patent right due to non-payment of annual fee |