KR20170139402A - System for 3 dimensional scanning and target device for calibration of line type laser - Google Patents

Abstract

The present invention relates to a 3D scanning system and a target device to align a line laser for the same. According to the present invention, the 3D scanning system comprises: a base frame; a moving frame capable of moving along a moving path provided by the base frame; two or more line lasers installed to move along with the moving frame and to irradiate a line-shaped laser beam towards an object, thus forming a laser projection line on a surface of an object; two or more cameras installed to move along with the moving frame, and to film the laser projection line formed on the surface of the object; and a computing means which calculates coordinate data on the surface of the object in a three-directional space based on the image filmed by each camera and the filming position of each camera. The present invention is to provide a 3D scanning system and target device to align a line laser for the same capable of obtaining 3D scanning data of an object.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional scanning system,

The present invention relates to a three-dimensional scanning system and a target mechanism for line laser alignment therefor. More particularly, the present invention relates to a three-dimensional scanning system for aligning a laser scanning plane formed by a plurality of line- Dimensional scanning system configured to acquire three-dimensional scanning data of a target by photographing a laser beam projected by a camera moving together with a line laser, and a target mechanism for line laser alignment therefor.

A three-dimensional scanner is used to obtain geometric data for the surface of various objects, including people or objects. With the recent spread of 3D printers, the use of 3D scanners is becoming more widespread.

As an example of a conventional three-dimensional scanner, there has been proposed a method of projecting a structured light pattern onto a target object at a projector, photographing a surface of a target object projected with a camera, and analyzing the surface to obtain three-dimensional data .

This method is advantageous in that a relatively small data error occurs. However, in order to obtain data in a 360-degree direction relative to the surface of a target object, it is necessary to arrange a plurality of cameras and projectors, There is a problem in that the technical implementation is difficult and the manufacturing cost of the device is increased.

As another example of a conventional three-dimensional scanner, a line laser is projected onto a target while a target is placed on a turn table, the surface of the target object projected by the line laser is photographed by a single fixed camera while the turntable is rotated And a method of analyzing this to obtain three-dimensional data has been proposed.

Although this method has a merit of high accuracy, there is a limitation in that the use thereof as a small object is limited because there is a limitation on the size of the object that can be placed on the turntable.

Korean Registered Patent No. 10-1477185 (Registered on December 22, 2014)

SUMMARY OF THE INVENTION The present invention has been conceived in view of the above-mentioned problems, and it is an object of the present invention to provide a laser scanning apparatus and a laser scanning method, in which a laser scanning plane formed by a plurality of line- Dimensional scanning system configured to acquire three-dimensional scanning data of a target object by photographing a moving camera together with the target scanning optical system, and a target mechanism for line laser alignment therefor.

According to an aspect of the present invention, A movable frame movable along a movement path provided by the base frame; At least two line lasers provided so as to move together with the moving frame and to form a laser projection line on the surface of the object by projecting a laser beam in the form of a line toward the object; At least two cameras installed to move together with the moving frame and to photograph the laser projection line formed on the surface of the object; And computing means for calculating coordinate data of the object surface in the three-dimensional space based on the photographed image of each camera and the photographing position of each camera.

Preferably, the laser projection line formed on the surface of the object is located on one imaginary laser scanning plane.

Preferably, the base frame is provided with at least two or more than two horizontally extending spaces extending in the vertical direction and horizontally surrounding a space in which the object is located, the moving frame being installed in the base frame, And the line laser and the camera are installed on the moving frame.

Preferably, one line laser and at least one camera corresponding thereto are provided corresponding to one base frame.

Preferably, the line laser is characterized in that a line-shaped laser beam is projected in a horizontal direction toward a target object.

Preferably, the base frame is formed so as to have a shape horizontally surrounding a space in which the object is located, the moving frame is formed in a shape having a height in the vertical direction, And is movable along the forming direction.

Preferably, the base frame is formed in a circular shape on a bottom surface of a space in which the object is located, and the moving frame is formed to have a curved shape toward the center of the circular base frame.

Preferably, the line laser is installed in the moving frame so that at least two cameras corresponding to the respective line lasers have the same height in the vertical direction, .

Preferably, the line laser is configured to project a line-shaped laser beam in a vertical direction toward a target object.

Preferably, the camera is installed at a position having a predetermined clearance from the laser scanning plane.

Preferably, the moving frame is moved along the moving path by the driving means.

Preferably, the moving frame is controlled in moving speed by a driving means according to preset conditions.

Preferably, movement detecting means for detecting at least one of a position and a direction of the moving frame on the moving route is provided.

Preferably, the computing means calculates data regarding at least one of a position and a direction of each camera based on at least any one of a position and a direction of the moving frame sensed by the movement sensing means, The coordinate data in the world coordinate system of the laser projection line captured by each camera is calculated as coordinate data of the surface of the object based on the correspondence relationship between the camera coordinate system and the world coordinate system of the object.

Preferably, the present invention is characterized in that at least one of the position or direction of the moving frame on the moving route is calculated by the computing means by a camera tracking method based on the image photographed by the camera.

Preferably, the apparatus further includes an integral frame horizontally surrounding the space in which the object is located and installed on the movable frame, wherein the base frame extends in the vertical direction, and the movable frame is installed in the base frame , And is vertically movable along a vertical movement path provided by the base frame, and the line laser and the camera are installed on the integral frame.

Preferably, the line laser is configured to be adjustable in height and level through adjustment of at least three support points.

Preferably, the apparatus further includes a target support for supporting the bottom surface on which the target object is placed at a preset height.

According to another aspect of the present invention, there is provided a camera comprising: a bottom plate having a pattern formed thereon for camera calibration; And a point providing unit installed at at least three points along the circumference of the bottom plate, the point providing unit configured to provide an alignment point for line laser alignment at a preset height, wherein the target mechanism for line laser alignment of the three- .

In the present invention as described above, while the object is allowed to pass through the laser scanning plane formed by a plurality of line lasers moving around the object, the laser ray, which is formed by the surface of the object and the laser scanning plane, Dimensional scanning data of a target object in a short period of time can be precisely scanned even for a relatively large object.

Further, the present invention has an advantage in that it does not require an expensive and complicated synchronization technique because precise three-dimensional data can be obtained only by matching the moving speeds of the camera and the line laser.

1 is a schematic diagram of a three-dimensional scanning system according to an embodiment of the present invention,
FIG. 2 is a schematic diagram illustrating a moving state of a three-dimensional scanning system according to an embodiment of the present invention;
3 is a schematic diagram showing an example of a driving means of a three-dimensional scanning system according to an embodiment of the present invention,
FIG. 4 is a control perspective view of a three-dimensional scanning system according to an embodiment of the present invention;
5 is a schematic diagram of a three-dimensional scanning system according to another embodiment of the present invention.
6 is a schematic diagram of a three-dimensional scanning system according to another embodiment of the present invention,
7 is a schematic diagram of a three-dimensional scanning system according to another embodiment of the present invention,
FIG. 8 is a schematic diagram of a three-dimensional scanning system according to another embodiment of the present invention,
9 is a schematic diagram for explaining an alignment process of a line laser of a three-dimensional scanning system according to an embodiment of the present invention,
10 is a schematic view for explaining the alignment process of the line laser of the three-dimensional scanning system according to the embodiment of the present invention.
11 is a schematic view for explaining the alignment process of the line laser in the 3D scanning system according to the embodiment of the present invention,
12 is a schematic view for explaining the alignment process of the line laser of the three-dimensional scanning system according to the embodiment of the present invention,
13 is a schematic diagram of a three-dimensional scanning system according to another embodiment of the present invention.

The present invention may be embodied in many other forms without departing from its spirit or essential characteristics. Accordingly, the embodiments of the present invention are to be considered in all respects as merely illustrative and not restrictive.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises", "having", "having", and the like are intended to specify the presence of stated features, integers, steps, operations, components, Steps, operations, elements, components, or combinations of elements, numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like or corresponding elements are denoted by the same reference numerals, and a duplicate description thereof will be omitted. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a schematic diagram of a three-dimensional scanning system according to an embodiment of the present invention, FIG. 2 is a schematic diagram illustrating a moving state of a three-dimensional scanning system according to an embodiment of the present invention, FIG. Dimensional scanning system according to an embodiment of the present invention, and FIG. 4 is a view illustrating a control view of a three-dimensional scanning system according to an embodiment of the present invention.

The three-dimensional scanning system of the present embodiment includes a base frame 10 and a movable frame 20 movable along the movement path provided by the base frame 10.

The base frame 10 of this embodiment is provided with at least two or more such that it extends in the vertical direction and horizontally surrounds the space in which the object 2 is located. In this embodiment, a total of four vertical base frames 10 are provided at intervals of 90 degrees. The number of the base frames 10 is set to a range in which the object 2 can be scanned 360 degrees Can be changed in various ways. The base frame 10 of the present embodiment can be understood as a bar or a steel material of a metal material or a synthetic resin material which extends vertically and has rigidity. The base frame 10 includes a guide rail 11 for guiding the vertical movement of the movable frame 20, A support (not shown) for supporting the display device, and the like. The shape of the guide rails 11 can be variously modified.

The object 2 of the present embodiment can be a variety of objects to be scanned including a person or an object, and in particular, includes a large body having a large volume difficult to fit on a turntable or a whole body of a human body.

The moving frame 20 of the present embodiment is installed in the base frame 10 and is configured to be vertically movable along a vertical movement path provided by the base frame 10. [ For example, the vertical movement path may be the guide rail 11.

The moving frame 20 is moved along the moving path by the driving means 50. [

Various known mechanical or electrical driving means are applicable to the driving means (50).

For example, the driving means 50 may be configured by applying various known linear motion mechanisms. The linear motion mechanism is a driving mechanism that provides linear motion using the power of a driving source such as a motor, and examples thereof include a ball screw, a linear motor, and the like.

For example, in the case of applying a ball screw, a servo motor (not shown) is provided at the upper or lower end of each base frame 10, and the movable frame 20 Vertical movement and position control of the movable frame 20 can be achieved by a method in which a servo motor drives a ball screw (not shown) in the vertical direction.

As another example, when a linear motor is applied as shown in FIG. 3, an LM guide 54 in a vertical direction is provided to each base frame 10, and a linear motor 3) of the movable frame 20 is driven and controlled. Reference numeral 52 denotes a screw for moving the linear motor, and reference numeral 56 denotes a linear motor mounting bracket.

As another example, the driving unit 50 may be a hydraulic or pneumatic cylinder installed in a vertical direction so as to directly provide a vertical driving force to the moving frame 20, A drive means and a power transmission mechanism for ascending and descending are applicable. Since the configuration of the driving means 50 itself is not an essential part of the present invention, detailed description will be omitted.

The moving frame 20 can be controlled in moving speed by the driving means 50 under predetermined conditions. That is, the moving speed of the driving means 50 is set to be lower than that of the other moving sections in the moving section in which the coordinate data of the surface of the object is requested in more detail according to the characteristics of the scanning object, the scanning purpose, Can be increased and more detailed coordinate data can be obtained. For example, when the entire body of a human body is scanned in an upward vertical direction from the floor, a camera is taken at a normal moving speed from the floor to the average height of the body of the human body (for example, 140 cm) , It is possible to increase the number of image frames photographed per hour in the section (face region) where more precise scanning is required on the surface of the object. This height can be preset in the computing means 100 in consideration of the surface characteristics (e.g., complexity of the shape) and height of the scanning object.

In this embodiment, the movement sensing means 60 for sensing at least one of the position or the direction of the movable frame 20 on the movement route is provided.

Various known optical or electromagnetic sensing means capable of sensing the position on the movement path of the moving frame 20 are applicable to the movement sensing means 60. For example, a photoelectric sensor may be attached to the movable frame 20 to detect the position on the vertical path through optical sensing of the optical marking means (e.g., bar code, encoder pattern, etc.) provided on the bottom surface or the side surface of the base frame 10 (For example, Hall sensor, Magneto Resistor or the like) may be attached to the linear motor for driving the moving frame 20 to detect the position on the vertical path, or a known linear encoder sensor or the like may be applied . Various known movement detecting means may be applied. Since the configuration of the movement detecting means 60 itself is not an essential part of the present invention, detailed description will be omitted.

As another example, at least one of the position or direction of the moving frame 20 on the movement path may be calculated by the computing means 100 by a camera tracking method based on the image captured by the camera 40. [

For example, in the process of moving the moving frame 20, the camera 40 photographs the surface of the object 2 (including a region where the line laser is not projected) and extracts a plurality of feature points from the photographed image can do. When the computing unit 100 tracks the moving path of the minutiae in the image, the moving speed, the position and the direction of the camera 40 can be calculated based on the moving speed, the position and the direction of the minutiae. The feature point does not necessarily have to be recognized in the entire section of the movement path, and a plurality of feature points may be recognized sequentially or simultaneously along the movement path.

Since the camera 40 of the present embodiment moves the predetermined path at a predetermined speed, it is possible to inversely calculate the position and direction of the camera 40 by tracking the feature points in the image.

In this manner, the position or direction of the mobile frame 20 can be calculated by the software processing of the computing means 100 without installing the separate physical sensor type movement detecting means 60.

Since the camera tracking method using feature points in an image can be understood through a plurality of known data, a detailed description thereof will be omitted.

The line laser 30 is installed to move together with the moving frame 20.

In the case of the present embodiment, at least two line lasers 30 are provided in the moving frame 20. The number of the line lasers 30 can be variously changed within a range in which the object 2 can be scanned 360 degrees.

Each of the line lasers 30 emits a line-shaped laser toward the target object 2 to form a laser projection line 33 on the surface of the target object 2.

The laser projection line 33 formed on the surface of the object 2 is formed to be located on one virtual laser scanning plane 4. [ Reference numeral 31 denotes a plane formed by the projected light projected from each line laser 30, and these planes are gathered to form a virtual laser scanning plane 4.

Each of the line lasers 30 is configured to project a line-shaped laser toward the object 2 in the horizontal direction at the same height. For this purpose, the position and / or speed of the movable frame 20, in which the respective line lasers 30 are installed, are controlled so as to maintain the same height mutually during up-and-down elevation movement, Respectively.

Thereby, the laser scanning plane 4 is formed in the form of a horizontal plane, and the laser projection line 33 formed on the surface of the object 2 is also formed on this horizontal plane. Preferably, the laser projection line 33 of the present embodiment is formed so as to surround the object 2 at a predetermined height.

The camera (40) is installed to move together with the moving frame (20).

In the case of this embodiment, at least two cameras 40 are provided on the moving frame 20. The number of the cameras 40 can be variously changed within a range in which the object 2 can be scanned 360 degrees, and it is not necessarily the same as the number of the line lasers 30. It should be noted that the line laser 30 and the camera 40 do not necessarily have to be provided in pairs in one moving frame 20, provided that scanning is possible in a form of wrapping the object 2 by 360 degrees.

Each camera 40 photographs the laser projection line 33 formed on the surface of the object 2 and transmits the photographed image data to the computing means 100 to be described later. Reference numeral 42 denotes a camera view ray.

Preferably, the camera 40 is positioned and oriented such that the camera view ray 42 is directed toward the center side of the laser scanning plane 4, more preferably, The camera 40 is installed at a position having a predetermined clearance from the laser scanning plane 4. [

2, the camera 40 is installed at a slightly higher position in view of the moving path direction of the moving frame 20 than the laser scanning plane 4. If the camera 40 is installed at the same height (height without gap) as the laser scanning plane 4, the laser projection line 33 formed on the surface of the object 2 by the camera 40 Degeneracy (degeneracy) in which the image is not captured or the image is distorted may occur. In view of this, the camera 40 is installed at a position having a predetermined clearance from the laser scanning plane 4, in view of the moving path direction of the moving frame 20. In the case of Fig. 2, this gap is set along the vertical direction, and in the case of the embodiment of Fig. 7 which will be described later, this gap is set along the rotation direction.

Here, the predetermined gap is sufficient if the gap is such that degeneracy does not occur in the image of the laser projection line 33 photographed by the camera 40, and the range of the gap is limited to a specific value no. In this embodiment, the camera 40 is spaced from the height of the laser scanning plane 4 by a gap of several centimeters to several tens centimeters. Since the height of the laser scanning plane 4 can be the same height as the height of each line laser 30, the camera 40 is installed at a position having a predetermined gap from each line laser 30 It may be understood.

The line laser 30 and the camera 40 are installed in a structure in which one line laser 30 and at least one camera 40 corresponding thereto correspond to one base frame 10. [

The three-dimensional scanning system of the present embodiment includes computing means for calculating coordinate data of the surface of the object 2 in the three-dimensional space based on the photographed image of each camera 40 and the photographing position of each camera 40 (100). Such a computing means can be implemented by a PC or an embedded computer or the like on which a computer program for obtaining three-dimensional scanning data of an object is executed by the three-dimensional scanning of the present embodiment.

The computing means 100 may calculate at least any one of the position or direction of each camera 40 based on at least one of the position and the direction of the moving frame 20 sensed by the movement sensing means 60 . This data is used as a basis for calculating coordinate data on each camera coordinate system for the laser projection line 33 photographed by each camera 40. [

That is, since the movement position of each of the mobile frame 20 and the camera 40 is continuously sensed by the movement sensing means 60, the position of each camera 20 in the initial movement position (e.g., When the position and direction of the camera 40 are set in the computing means 100 in the initial camera calibration process, the coordinates (coordinates) on the camera coordinate system of the laser projection line 33 photographed in the vertical movement process of each camera 40 Data can be calculated.

The computing means 100 may calculate the position of the laser projection line 33 photographed by each camera 40 based on the correspondence relationship between the camera coordinate system and the world coordinate system of each camera 40 set in the initial camera calibration process. As coordinate data on the surface of the target object 2. The coordinate data in the world coordinate system of the target object 2 is calculated as coordinate data.

In this embodiment, coordinate data in the world coordinate system of the laser projection line 33 photographed by a total of four cameras 40 are respectively calculated and combined as one coordinate data to calculate one coordinate data set. Since this coordinate data set is calculated during the movement of the laser projection line 33 in the vertical direction, when the surface data of the calculated object 2 are combined, the entire coordinate data of the object surface in the three- .

Referring to FIG. 1, the world coordinate system can be understood as an absolute coordinate system indicated by WC, and the camera coordinate system is represented by a relative coordinate system set for each camera (in the case of FIG. 1, only the CC1 camera coordinates for the first camera are illustrated) Can be understood. The camera coordinate system can be set for each camera individually.

The process of converting the specific coordinate of the camera coordinate system into the coordinate data of the world coordinate system or the process of converting the coordinate in the reverse direction is widely known through a normal camera calibration method, and a detailed description thereof will be omitted.

The three-dimensional scanning system of the present embodiment configured as described above can perform the scanning operation as follows.

First, the first camera calibration is performed for each camera 40. [ The camera calibration may be performed using a conventional coordinate system conversion method (camera coordinate system - world coordinate system) using camera external parameters and internal parameters. Through the calibration, the correspondence between the camera coordinate system of each camera 40 and the world coordinate system Is set in the computing means (100).

In the present embodiment, since the camera 40 is vertically moved, the vertical movement position of the camera 40 is continuously sensed during the movement process, and when it is converted into the world coordinate system, (The Z-axis in FIG. 1) of the world coordinate system based on the position of the starting point (the start position).

The respective moving frames 20 move downward while maintaining the same speed as the same height from the initial movement position (for example, the starting position of the upper end of the base frame) by using the driving means 50. During the downward movement, the position of each of the moving frames 20 is continuously sensed through the movement sensing means 60. The driving of the driving means 50 and the sensing operation of the movement sensing means 60 can be controlled through the computing means 100. For example, when the frame rate of the camera 40 is 100 fps, it is possible to scan a human body of 180 cm in three seconds and a resolution of 0.6 cm in interval.

Each of the line lasers 30 emits a line-shaped laser beam horizontally at the same height toward the target object 2 to form a laser scanning plane 4, To be generated on the surface.

Each camera 40 photographs the laser projection line 33 formed on the surface of the object 2 and transmits the photographed image data to the computing means 100.

The computing means 100 calculates the world coordinate system of the laser projection line 33 photographed by each camera 40 based on the correspondence between the camera coordinate system and the world coordinate system of each camera 40 set in the camera calibration process, As the coordinate data on the surface of the target object 2.

On the other hand, when a hole is included in the coordinate data of the surface of the target object 2 calculated as described above, a known hole filling technique may be applied to calculate the entire surface data.

5 is a schematic diagram of a three-dimensional scanning system according to another embodiment of the present invention.

In the above-described embodiment, one camera 40 is installed on one moving frame 20. In order to obtain more accurate image data, two moving frames 20 are arranged on one moving frame 20 as shown in FIG. A camera 40 may be installed.

This may be viewed as a structure in which two cameras 40 each corresponding to one line laser 30 are arranged on the same moving frame 20 up and down.

Each camera 40 captures the laser projection line 33 formed on the surface of the target object 2 and transmits the photographed image data to the computing means 100. [

The computing means 100 calculates the coordinates in the world coordinate system of the laser projection line 33 photographed by each camera 40 based on the correspondence between the camera coordinate system and the world coordinate system of each camera 40 And the data is calculated as coordinate data on the surface of the target object 2.

6 is a schematic diagram of a three-dimensional scanning system according to another embodiment of the present invention.

In the above-described embodiment, each of the movable frames 20 provided on the base frame 10 is moved and controlled by the respective driving means 50. However, the vertical positions of the plurality of movable frames 20 may be It is also possible to integrally connect the moving frames 20 with each other using the integral frame 25 as shown in Fig.

This may be understood from a different viewpoint, in which each line laser 30 is not vertically moved or controlled separately, but is structured such that it is vertically moved or controlled by one integrated frame.

In this structure, the driving means 50 and / or the movement sensing means 60 need not be provided for each of the movable frames 20, but only one movable frame 20 Or may be installed in the integral frame 25.

8 is a schematic diagram of a three-dimensional scanning system according to another embodiment of the present invention. Fig. 8 is a modification of Fig. 6, and is a more preferable modified example when, for example, a person is subjected to full-body scanning.

8 includes an integral frame 125 horizontally surrounding a space in which a target object is located and installed on the moving frame 120. In the embodiment shown in FIG. The integral frame 125 may be formed in a rectangular shape, or may have a circular shape or other shapes. The integral frame 125 is preferably made of a lightweight aluminum alloy or synthetic resin having rigidity.

An engagement support beam 124 may further be provided to securely engage the integral frame 125 on the movable frame 120 and may be provided with a weight body 122 may be provided on the opposite side of the movable frame 120 of the integral frame 125.

The base frame 10 extends in a vertical direction and the moving frame 120 is installed on the base frame 10 and is vertically movable along a vertical movement path provided by the base frame 10. The driving means for moving the movable frame 120 can be constructed using a known driving means in the same or similar form as that of the embodiment of FIG. 3, so that redundant description will be omitted. Reference numeral 126 denotes a support for supporting the base frame 10.

The line laser 30 and the camera 40 are coupled to each other through the support 150 on the integral frame 125. A fine height adjusting means, which will be described later, may be provided below the line laser 30.

7 is a schematic diagram of a three-dimensional scanning system according to another embodiment of the present invention.

In the present embodiment, the base frame 1010 is formed so as to have a shape horizontally surrounding a space where the object 2 is located, and the moving frame 1020 is formed in a shape having a vertical height And is configured to be installed on the base frame 1010 and to be movable along the extending direction of the base frame 1010.

In the present embodiment, the base frame 1010 is formed in a circular shape on the bottom surface of the space in which the object 2 is located, and the moving frame 1020 extends toward the center side of the circular base frame 1010 And extends in the upward direction so as to have a curved shape.

At least two cameras 1040 corresponding to the respective line lasers 1030 are provided in the moving frame 1020 such that the line laser 1030 has at least two vertical heights And is installed in the movable frame 1020 so as to have the same vertical height. In this embodiment, two cameras 1040 are installed on the moving frame 1020 so that each of the cameras 1040 has the same height in the vertical direction.

The camera 1040 is installed to have a horizontal gap to the left and / or right of the line laser 1030 so as to be installed at a position having a predetermined gap from the laser scanning plane 4.

In this installed state, the line laser 1030 projects a line-shaped laser in the vertical direction toward the target object 2 to form a laser scanning plane 4 in the vertical direction.

Also in this embodiment, the moving frame 1020 is moved along the moving path by the driving means 1050, and is moved (moved) to detect at least one of the position and the direction of the moving frame 1020 And a sensing means 1060.

The driving means 1050 of the present embodiment is applicable to various known mechanical or electric driving means as in the above-described embodiment.

However, the driving means 1050 of the present embodiment is configured by applying a curved motion mechanism, not a linear motion mechanism.

For example, such a curved motion mechanism may be configured by applying a known platform for camera photographing, known as camera dolly. For example, a circular track (corresponding to the base frame of this embodiment) is provided in the form of wrapping the position of the 360-degree target object 2, and a camera dolly (corresponding to the moving frame of this embodiment) And driven by a rubber friction roller driven by a motor to move along a circular track. At this time, the position of the camera dolly can be detected by a barcode marker installed on the track. An example of a camera motion control system applying a curved track can be understood with reference to various known camera dolly-related data or constructions such as commercial products including PCT International Publication No. WO99992002871 (published on February 20, 1992).

In addition, a curved motion mechanism using a circular track has been disclosed in a number of known configurations including Korean Patent Publication No. 1997-0060924 (registered in 1997.08.12.), Korean Registered Patent No. 10-1516804 (registered on April 28, 2014) And the configuration of the curved motion mechanism itself is not an essential part of the present invention, so that detailed description will be omitted.

The movement detecting means 1060 of the present embodiment used in the curved motion mechanism may also include various known electromagnetic or optical detection sensors including the barcode markers applied to the camera dolly described above, Therefore, detailed description will be omitted.

In this embodiment, coordinate data in the world coordinate system of the laser projection line formed in the vertical direction photographed by a total of eight cameras 1040 are respectively calculated and combined as one coordinate data and calculated as one coordinate data set. Since this coordinate data set is calculated during the movement of the laser projection line along the 360-degree rotation direction, by combining the calculated surface data of the object, it is possible to calculate the total coordinate data of the object surface in the three- do.

The three-dimensional scanning system of the present embodiment configured as described above can perform the scanning operation as follows.

First, the initial camera calibration is performed for each camera 1040. In this embodiment, since the circular movement of the camera 1040 is performed, the circular movement position of the camera 1040 is continuously detected during the movement process, and when it is converted into the world coordinate system, Position) as a correction value in the world coordinate system. In this coordinate system conversion process, conversion or inverse conversion process to a cylindrical coordinate system or a spherical coordinate system may be further applied for convenience of conversion.

Using the driving means 1050, the moving frame 1020 moves on the horizontal plane along the circular trajectory from the movement initial position (e.g., S position in Fig. 7). The position of the movable frame 1020 is continuously sensed through the movement sensing means 1060 during the movement. The driving of the driving means 1050 and the sensing operation of the movement sensing means 1060 can be controlled through the computing means 100.

During the movement process, each line laser 1030 projects a line-shaped laser toward the object 2 in the vertical direction on the same vertical plane to form the laser scanning plane 4, and the laser projection line 33 is projected onto the object 2, To be generated on the surface.

Each camera 1040 photographs the laser projection line (corresponding to 33 in Fig. 2) formed on the surface of the target object 2, and transmits the photographed image data to the computing means 100. Fig.

The computing means 100 calculates the world coordinate system of the laser projection line 33 photographed by each camera 1040 based on the correspondence between the camera coordinate system and the world coordinate system of each camera 1040 set in the camera calibration process. As the coordinate data on the surface of the target object 2.

FIG. 9 is a schematic view for explaining an alignment process of a line laser in a three-dimensional scanning system according to an embodiment of the present invention. 11 is a schematic diagram for explaining an alignment process of a line laser of a three-dimensional scanning system according to an embodiment of the present invention. Dimensional scanning system according to an embodiment of the present invention.

In the three-dimensional scanning system of this embodiment, at least two line lasers project a line-shaped laser toward a target to form a laser projection line on the surface of the target. In particular, the laser beam is projected to be located on one imaginary laser scanning plane.

For example, in the case where the scanning direction is vertical as shown in Fig. 1 or 8, each of the line lasers of the three-dimensional scanning system must be aligned with each other to project the line lasers in the horizontal direction with the same laser beam height at the initial installation .

A target mechanism for line laser alignment may be used for alignment of such line lasers. The following description will be made with reference to the embodiment of Fig.

The target mechanism for line laser alignment according to the present embodiment includes a bottom plate 200 having a pattern formed thereon for camera calibration, at least three points along the periphery of the bottom plate 200, and alignment points 204a , 204b, and 204c are provided at preset heights. For example, the point dispensers 202a, 202b, 202c may be constructed of a vertically mounted, thin diameter rod, and the alignment points 204a, 204b, . Preferably, the point providing portions 202a, 202b, and 202c may be formed of a translucent synthetic resin material.

For example, in the case of aligning the line laser of the three-dimensional scanning system of Fig. 8, each line laser 30 moves to the lowest floor position for alignment (see Fig. 10). When the first line laser 30 is turned on in this state, a laser beam is projected toward the point providing portions 202a, 202b, and 202c to form laser projection lines on the surfaces of the point providing portions 202a, 202b, and 202c do.

The operator finely adjusts the height and the horizontal of the corresponding line laser 30 so that the position of the laser projection line formed on the surface of the point providing part 202a, 202b, 202c coincides with the alignment point 204a, 204b, 204c.

Thereafter, the height and the horizontal are finely adjusted in the same manner for the second, third, and fourth line lasers 30.

When all of these operations are completed, the position of the laser projection line formed on the surface of the point providing part 202a, 202b, 202c is shifted to the alignment point 204a, 204b, and 204c, respectively. So that each of the line lasers 30 is in an alignment state to form one virtual laser scanning plane. Fig. 10 illustrates a state in which four line lasers 30 emit light at the same time.

At this time, the camera 40 is installed on the integrated frame 125 at a position slightly higher than the line laser 30. [ If the installation height of each camera 40 and the installation position on the horizontal coordinate are predetermined, the camera calibration can be performed using the images of the patterns of the bottom plate 200 taken by the respective cameras 40. [

That is, by using the image of the bottom plate 200 captured by each camera 40 and the height and position coordinates of each camera 40, the camera coordinate system of each camera 40 and the world coordinate system The corresponding relationship can be calculated and set in the computing means 100 described above.

The height of each line laser 30 at this time is the same height as the alignment points 204a, 204b and 204c of the point providing portions 202a, 202b and 202c and the height of each camera 40 is set to a predetermined state And the installation positions on the horizontal coordinates of the respective line lasers 30 and the respective cameras 40 are in a predetermined state so that the mutual positional relationship between the respective line lasers 30 and the respective cameras 40 is also calculated And can be set.

Meanwhile, the line laser 30 is configured to be adjustable in height and level through adjustment of at least three supporting points so that the above-described alignment is possible.

For example, as shown in FIGS. 11 and 12, a support unit 150 on which the line laser 30 and the camera 40 are installed is provided with a fine adjustment adjustment plate 37, and at least three fine adjustment screws (38) are provided to adjust the support points of the respective line lasers (30) through the adjustment of the rotation of the fine adjustment screws (38). Reference numeral 37a denotes a screw hole for coupling the fine adjustment screw 38 to the adjustment plate 37. [ In addition, various known height and level adjusting mechanisms may be applied.

13 is a schematic diagram of a three-dimensional scanning system according to another embodiment of the present invention.

The three-dimensional scanning system of the present embodiment may further include a target support unit 200 for supporting a floor surface on which a target object is placed at a preset height.

It is preferable that the object supporting unit 200 is configured to have a bottom surface that is higher than the lowest position when the line laser 30 is moved so that scanning can be smoothly performed at the lowest point of the object.

The object supporting unit 200 may be configured in the form of a fixed bottom plate or may be configured to be adjustable in height by using a known driving means (e.g., hydraulic cylinder, motor, etc.).

Although the present invention has been described with reference to the preferred embodiments thereof with reference to the accompanying drawings, it will be apparent to those skilled in the art that many other obvious modifications can be made therein without departing from the scope of the invention. Accordingly, the scope of the present invention should be interpreted by the appended claims to cover many such variations.

2: object
4: Laser scanning plane
10: Base frame
20: Moving frame
30: line laser
33: laser ray
40: camera
50: driving means
60: movement detection means
100: computing means

Claims (19)

A base frame;
A movable frame movable along a movement path provided by the base frame;
At least two line lasers provided so as to move together with the moving frame and to form a laser projection line on the surface of the object by projecting a laser beam in the form of a line toward the object;
At least two cameras installed to move together with the moving frame and to photograph the laser projection line formed on the surface of the object; And
And computing means for calculating coordinate data of the surface of the object in the three-dimensional space based on the photographed images of the respective cameras and the photographing positions of the respective cameras.
The method according to claim 1,
Wherein the laser projection line formed on the surface of the object is located on one imaginary laser scanning plane.
The method according to claim 1,
Wherein the base frame includes at least two or more horizontally extending spaces formed in the vertical direction and in which the object is located,
Wherein the movable frame is installed in the base frame and is vertically movable along a vertical movement path provided by the base frame,
Wherein the line laser and the camera are installed on the moving frame.
The method of claim 3,
Wherein one line laser and at least one camera corresponding thereto are installed corresponding to one base frame.
The method of claim 3,
Wherein the line laser projects a line-shaped laser in a horizontal direction toward a target object.
The method according to claim 1,
Wherein the base frame is extended to have a shape horizontally surrounding a space in which the object is located,
Wherein the moving frame is formed in a shape having a vertical height and is installed on the base frame and is movable along an extending direction of the base frame.
The method according to claim 6,
Wherein the base frame is formed in a circular shape on a bottom surface of a space in which the object is located,
Wherein the moving frame is formed to have a curved shape toward the center side of the circular base frame.
The method according to claim 6,
Wherein the line laser is provided with at least two or more in the moving frame so as to have at least two vertical heights,
Wherein at least one camera corresponding to each of the line lasers is installed in the movable frame so as to have the same vertical height.
The method according to claim 6,
Wherein the line laser projects a line-shaped laser in a vertical direction toward a target object.
3. The method of claim 2,
Wherein the camera is installed at a position having a predetermined gap from the laser scanning plane.
The method according to claim 1,
Wherein the moving frame is moved along the moving path by the driving means.
12. The method of claim 11,
Wherein the moving frame is controlled in moving speed by a driving means according to a preset condition.
The method according to claim 1,
And a movement sensing unit for sensing at least one of a position and a direction of the mobile frame on the movement path.
14. The method of claim 13,
Wherein the computing means comprises:
Calculating data regarding at least one of a position and a direction of each camera based on at least one of a position and a direction of the moving frame sensed by the movement sensing means,
And calculates coordinate data in the world coordinate system of the laser projection line captured by each camera as coordinate data of the surface of the object based on the correspondence relationship between the camera coordinate system and the world coordinate system of each camera.
The method according to claim 1,
Wherein at least one of a position and a direction of the moving frame on the moving route is calculated by the computing means by a camera tracking method based on an image photographed by the camera.
The method according to claim 1,
And an integrated frame horizontally surrounding the space in which the object is located and installed on the moving frame,
Wherein the base frame extends in the vertical direction,
Wherein the movable frame is installed in the base frame and is vertically movable along a vertical movement path provided by the base frame,
Wherein the line laser and the camera are mounted on the integral frame.
The method according to claim 1,
Wherein the line laser is configured to be adjustable in height and level through adjustment of at least three support points.
The method according to claim 1,
And a target support for supporting the bottom surface on which the target object is placed at a preset height.
A patterned bottom plate for camera calibration; And
And a point providing unit installed at at least three points along the circumference of the bottom plate, the point providing unit configured to provide an alignment point for line laser alignment at a preset height.

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