CN106871812A - A kind of 3-D scanning and reconstructing device and its application process - Google Patents
A kind of 3-D scanning and reconstructing device and its application process Download PDFInfo
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- CN106871812A CN106871812A CN201710072793.1A CN201710072793A CN106871812A CN 106871812 A CN106871812 A CN 106871812A CN 201710072793 A CN201710072793 A CN 201710072793A CN 106871812 A CN106871812 A CN 106871812A
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- 238000009434 installation Methods 0.000 claims abstract description 6
- 230000005540 biological transmission Effects 0.000 claims description 7
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- 238000005516 engineering process Methods 0.000 description 1
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- 238000011900 installation process Methods 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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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
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Abstract
The present invention proposes a kind of 3-D scanning and reconstructing device and its application process, the device includes at least one circular orbit, support, control module, the first drive module, the first motor, computing unit and at least one scanning element, the support is fixed on circular orbit, moved along circular orbit under the effect of the first motor, the scanning element is fixed on support, which is provided with 3-D scanning camera, electric lifting mechanism and rotating mechanism, it is possible to achieve 3-D scanning camera swinging up and down in the movement of vertical direction and in perpendicular.Scanning element modularization, integrated is realized that scan rebuilding device is convenient, fast, safely installed by the device；Installation number, regulation 3-D scanning camera lengthwise position and the shooting angle of scanning element can be determined according to the size of destination object and geometry, being accurately positioned for 3-D scanning camera is realized, the scope of application is expanded, the hole of reconstruction model is reduced.
Description
Technical field
The present invention relates to 3-D scanning and reconstruction technique field, more particularly to a kind of 3-D scanning and reconstructing device and its should
Use method.
Background technology
Traditional 3-D scanning mainly has two kinds of scan modes with reconstruction technique, and one kind is using fixed multiple three
Dimension scan camera shooting head (hereinafter referred to as " camera ") is fixed formula scanning, another for camera rotates around destination object
The mode of scanning.Because process of reconstruction needs to be merged the data of Multiple-Scan, so between needing to obtain multiple cameras
Position relationship, for ease of the fusion of scan data, using installing in static scanned object surrounding etc. more than fixed scanning
Multigroup camera high is scanned, and the method is difficult size and geometry according to scanning object after the position of camera is fixed
Shape carries out free regulation, and positioning precision is poor, and contour installation requirement increased difficulty to in-site installation.Additionally, this fixation
The camera of formula is generally that vertical target object is scanned, it is impossible to carry out the regulation of shooting angle, and building threedimensional model can produce
More hole.
At present, camera is mostly that single 3 D scan camera shooting head is fixed on into support around the scan mode that destination object rotates
On, support drives camera along track or projected route around target rotation sweep, and camera can be realized upper and lower by transmission mechanism
Or move horizontally.The height that the 3-D scanning of this mode generally requires to adjust camera carries out multi-turn scanning, required scanning
Time is long, easily occurs the phenomenons such as drain sweep or lap be excessive when height regulation is carried out, it is impossible to realize camera position
Accurate regulation.
And, easily there is collision and damages during being mounted directly in camera in both the above scan mode, directly
Have impact on the scanning effect and service life of camera.
The content of the invention
Present invention aim at there is provided a kind of 3-D scanning and reconstructing device, can according to destination object the characteristics of safety,
Regulation is quickly and easily installed, realizes being accurately positioned, and comprehensively, rapidly scanned and rebuild, widen the scope of application.
The invention provides a kind of 3-D scanning and reconstructing device, including at least one circular orbit, support, control mould
Block, the first drive module, the first motor, computing unit and at least one scanning element, the scanning element include housing, second
Drive module, electric lifting mechanism, guider and camera；Support is fixed on circular orbit, circular orbit it is any
At least one track is provided with tooth bar, and the gear with its bottom of support is meshed；First motor is stepper motor, its output
Axle is fixedly connected with the rotating shaft of gear, is rotated for drive gear, drives support orbital motion.
The scanning element is fixed on support, for the three-dimensional information scanning of destination object, the specific number of scanning element
Amount can be adjusted according to the size of destination object and geometry, preferably, the scanning element can be provided with, in,
Lower three groups；The case inside vertical direction of scanning element is provided with electric lifting mechanism and the guiding positioned at electric lifting mechanism both sides
Device, the electric lifting mechanism includes the second motor, screw mandrel and lifter plate, the rotary output axis of the second motor and the one of screw mandrel
End is fixedly connected, and screw mandrel is provided with the lifter plate of spiral connection, and the guider is set in parallel in screw mandrel both sides by two
Guide post group is into every guide post is provided with sliding block, and lifter plate is fixedly connected with a slide block.
The camera is fixed on lifter plate, and the second motor drive screw drives camera along guiding during rotating
Bar is moved up and down；Camera is connected by data wire or wireless transport module with computing unit, by scan data real-time Transmission
Three-dimensional reconstruction is carried out to computing unit.
The control module respectively with the first drive module and each scanning element installed on drive module phase
Connection, for controlling the motion of support and the lifting of each camera.
Based on above basic scheme, the present invention has also made following important optimization design：
Above-mentioned scanning element also includes that the 3rd motor being fixed on lifter plate driven by the second drive module and camera are consolidated
The electronic rotation mechanism of fixed pole composition；The lifter plate is by base with gripper shoe groups into overall is in T-shape structure, lifter plate bottom
The through hole and nut opened up by horizontal ledge in the middle of one end of seat are installed on screw mandrel, and both sides are fixed on sliding block, separately
One end is parallel to be provided with two sides supporting plate, and supporting plate middle part is provided with centre bore；3rd motor is fixed on supporting plate outside, its
Output shaft is connected through the centre bore with camera fix bar, drives camera to be swung up and down in perpendicular, and the described 3rd
Motor is stepper motor.
Further, for the ease of camera and each scanning element drive module respectively with computing unit and control
Module is connected, and through hole is equipped with each scanning element housing；The support is vertically provided with a bar hole, can also set
It is calculated as vertically opening up multiple bar holes or through hole, connecting line and computing unit for drawing scanning element housing back
It is connected with control module；Mounting hole is provided with the support both sides of the edge, for scanning constant unit；The support is along vertically
Direction is provided with scale, the positional information for reading camera.
Further, the connecting line that the data wire of camera and control module are drawn is built in drag chain and computing unit
It is connected.
Further, the electric lifting mechanism in scanning element may be configured as the mode of Timing Belt and is driven.
Further, control module is connected by the brush located at circular orbit outer ring with computing unit.
Further, pedestal upper end is provided with circular orbit, support in and radius identical coaxial with lower end circular orbit
Upper end is adapted with upper circular orbit, it also may be preferable for ground is designed as being respectively provided with pedestal upper end and upper circular orbit and mutually nibbles
The gear and tooth bar of conjunction, the synchronous axial system of upper lower gear is realized by control module, and to realize the easy motion of support, raising is taken the photograph
As the quality of scanning of head.
Present invention also offers a kind of 3-D scanning and the application process of reconstructing device, comprise the following steps：
（1）Destination object is placed at orbit centre；
（2）The quantity and installation site of scanning element needed for determining according to the size and shape of destination object；
（3）Image pickup mode is opened, the high and low position and shooting angle of camera in each scanning element is adjusted by computing unit,
And record；
（4）Start the first motor, support is driven along circular orbit uniform motion according to the speed of setting；
（5）Scan data real-time Transmission to computing unit, by three-dimensional reconstruction system realize three-dimensional stereo model real-time reconstruction,
Display in real time；
（6）Camera orbit about destination object rotates a circle, and completes 3-D scanning process；
（7）The complete three-dimensional stereo model of computing unit output destination object.
The invention provides a kind of 3-D scanning and reconstructing device and its application process, will be closed by the design of scanning element
The modularization of key functional part, is capable of achieving quickly and easily to install and fixes, and ensures safety of the camera in installation process,
The scanning element of varying number can be installed according to the size and shape of destination object simultaneously, can be used in the scanning of different objects,
Expand the scope of application of device, realize quick scanning and rebuild, by the position of computing unit precise control camera and
Shooting angle, reduces the hole of Three-dimension Reconstruction Model.
Brief description of the drawings
Fig. 1 is 3-D scanning and reconstructing device schematic diagram；
Fig. 2 is 3-D scanning and reconstructing device rearview；
Fig. 3 is scanning element schematic diagram；
Fig. 4 is the plan view of scanning element；
Fig. 5 is the schematic diagram of second embodiment of the invention；
Fig. 6 is the schematic diagram of third embodiment of the invention；
Fig. 7 is the schematic diagram of the fourth embodiment of the present invention.
Drawing reference numeral explanation：
1- circular orbits；2- tooth bars；3- supports；301- mounting holes；302- bar holes；Many through holes being intervally arranged of 303-；4-
Gear；5- control modules；The drive modules of 6- first；The motors of 7- first；8- connecting lines；9- scanning elements；901- housings；902-
Two drive modules；903- screw mandrels；The motors of 904- second；905- guide posts；906- lifter plates；907- bases；908- supporting plates；
909- sliding blocks；910- 3-D scanning cameras（Hereinafter referred to " camera "）；911- camera fix bars；The electricity of 912- the 3rd
Machine；913- through holes；10- computing units；11- columns；12- top covers；The upper circular orbits of 13-；14- second gears；15- the 3rd drives
Module.
Specific embodiment
The 3-D scanning for providing the present invention by the following examples is made further in detail with reconstructing device and its application process
Describe in detail bright, to be best understood from the protection domain of the invention, but the content of embodiment is not intended to limit the guarantor of the invention
Shield scope.Figure of description is simplified schematic diagram, and the basic structure relevant with the present invention is only illustrated in a schematic way.
3-D scanning provided by the present invention and reconstructing device, as depicted in figs. 1 and 2, including circular orbit 1, support 3,
Control module 5, the first drive module 6, the first motor 7, computing unit 10 and three scanning elements 9, support 3 are fixed on circular rails
On road 1, its bottom is provided with gear 4, is meshed with the tooth bar 2 on circular orbit 1；First motor 7 is fixed on support 3, is passed through
First drive module 6 is electrically connected to each other with control module 5, and its output shaft is fixedly connected with the rotating shaft of gear 4, for drive gear
4 rotate to drive the orbital motion of support 3.
As shown in Figure 3 and Figure 4, each scanning element 9 by housing 901, the second drive module 902, the second motor 904,
Screw mandrel 903, guide post 905, lifter plate 906, the 3rd motor 912 and camera 910 are constituted, and the inner side of housing 901 is along vertical side
To screw mandrel 903 is provided with, one end of screw mandrel 903 is fixedly connected with the output shaft of the second motor 904, and screw mandrel 903 is provided with spiral company
The lifter plate 906 for connecing, two guide posts 905 are set in parallel in the both sides of screw mandrel 903, and every guide post 905 is provided with sliding block
909, lifter plate 906 is fixedly connected with sliding block 909.Lifter plate 906 is made up of base 907 and supporting plate 908, and overall is in T-shape
Structure, one end of lifter plate base 907 is adapted by the opened up through hole of intermediate horizontal ledge point with screw mandrel 903, distance
The horizontal range of the madial wall of housing 901 is 0.5-10cm, and through hole lower section is connected by nut with screw mandrel 903, and screw mandrel 903 is another
End is provided with the two lateral bolster faggings 908 being parallel to each other, and the middle part of supporting plate 908 is provided with centre bore, and the 3rd motor 912 is fixed on support
The outside of plate 908, its output shaft is connected through the centre bore with camera fix bar 911.Control module 5 passes through the second drive module
902 are electrically connected to each other with the second motor 904 and the 3rd motor 912, are respectively used to adjust the position in vertical direction of camera 910
Put and shooting angle, realize the precise control of the position of camera 910 and shooting angle.It is all provided with each scanning element housing 901
There is through hole 913, the connecting line for drawing the second drive module 902 and camera 910.
As shown in Fig. 2 support 3 gives of the invention second being vertically provided with a bar hole 302, Fig. 5, Fig. 6
The design of embodiment and 3rd embodiment, multiple bar holes 302 or through hole being intervally arranged are opened up on vertically
303, the connecting line for drawing the back of scanning element housing 901 is connected with computing unit 10 and control module 5 respectively, the control
Molding block 5 can be also integrated in inside computing unit 10；Support 3 is provided with mounting hole 301 at both sides of the edge, for scanning constant unit
9；Support 3 is vertically provided with scale, the positional information for reading camera 910.
In one preferred embodiment of the invention, by the connecting line 8 of the data wire of camera 910 and control module 5
It is placed in drag chain and is connected between computing unit 10, support 3 takes alternate mode orbital motion clockwise, counterclockwise, with
The winding of anti-connecting line 8.
In presently preferred implementation method, annular electric brush type connection, shooting are provided with the outside of circular orbit 1
First 910 transmission that data are carried out by wireless transport module and computing unit 10, control module 5 passes through the fixed company of annular brush
Contact is connected with computing unit 10.
In order to ensure the steady of camera during support motion, to obtain accurate depth information, improve and rebuild mould
The precision of type, The present invention gives the 4th embodiment, as shown in fig. 7, being provided with what is supported by three root posts 11 above support
Top cover 12, the lower section of top cover 12 is provided with upper circular orbit 13 parallel to the ground, and the projection of its vertical direction overlaps with ground rail,
Pedestal upper end is provided with second gear 14 and is meshed with the tooth bar of upper circular orbit.Control module 5 is by the first drive module 6 and the
The gear of the control support upper and lower ends of three drive module 15 is rotated simultaneously.
3-D scanning provided by the present invention is as follows with the concrete application method of reconstructing device：
（1）Destination object is placed at orbit centre；
（2）The quantity and installation site of scanning element 9 needed for determining according to the size and shape of destination object, by scanning element 9
It is fixed on support 3 according to precalculated position, and the drive module in each scanning element 9 is single with calculating by control module 5
Unit 10 is connected, and each camera 910 is directly connected by wireless transport module or data wire with computing unit 10；
（3）Image pickup mode is opened, controls in each scanning element 9 motor two and motor three by computing unit 10 to adjust shooting
First 910 high and low position and shooting angle；
（4）First motor 7 is started by control module 5, support 3 is driven along the uniform motion of circular orbit 1 according to the speed of setting；
（5）Scan data real-time Transmission realizes the real-time weight of three-dimensional stereo model by three-dimensional reconstruction system to computing unit 10
Build, show in real time；
（6）The orbit about destination object of camera 910 rotates a circle, and completes 3-D scanning process；
（7）The complete three-dimensional stereo model of the output destination object of computing unit 10.
It is explained in detail above in association with the specific embodiment of the invention, but the invention is not restricted to embodiment of above, this
Other changes and improvements that field those of ordinary skill is made on the premise of present inventive concept and scope is not departed from both fall within
In the scope of protection of present invention.The protection domain of application claims is defined by claims and its equivalent.
Claims (10)
1. a kind of 3-D scanning and reconstructing device, including at least one circular orbit, support, control module, the first drive module,
First motor, computing unit, it is characterised in that also including at least one scanning element, the scanning element include housing, second
Drive module, electric lifting mechanism, guider and 3-D scanning camera；
The support is fixed on circular orbit, and any at least one track of circular orbit is provided with tooth bar, tooth bar be located at
The gear of frame bottom is meshed；
The output shaft of first motor is fixedly connected with the rotating shaft of the gear, and support edge is driven for drive gear rotation
Track motion；
The scanning element is fixed on support, for the three-dimensional information scanning of destination object；
The case inside vertical direction is provided with electric lifting mechanism and guider, and the electric lifting mechanism includes the second electricity
Machine, screw mandrel and lifter plate, the rotary output axis of the second motor are fixedly connected with one end of screw mandrel, and screw mandrel is provided with spiral connection
Lifter plate, the guider by two guide post groups for being set in parallel in screw mandrel both sides into, every guide post is provided with sliding block,
Lifter plate is fixedly connected with a slide block；
The 3-D scanning camera is fixed on lifter plate, and screw mandrel is rotated and drives 3-D scanning camera to be moved down along guide post
It is dynamic；3-D scanning camera is connected by data wire or wireless transport module with computing unit, by scan data real-time Transmission
Three-dimensional reconstruction is carried out to computing unit；
The control module is connected with the first drive module, the second drive module, is respectively used to control the motion and three of support
Tie up moving up and down for scan camera shooting head.
2. 3-D scanning according to claim 1 and reconstructing device, it is characterised in that：The scanning element is also included by the
The 3rd motor being fixed on lifter plate and the electronic rotation of 3-D scanning camera fix bar composition that two drive modules drive
Mechanism；
The lifter plate is by base with gripper shoe groups into overall is in T-shape structure, and base one end is installed on the screw mandrel and guiding
On the sliding block of bar, the other end is parallel to be provided with two sides supporting plate, and supporting plate middle part is provided with centre bore；
3rd motor is fixed on supporting plate outside, and its output shaft passes through the centre bore and 3-D scanning camera fix bar
Connection, the control module controls the 3rd motor to rotate by the second drive module, drives 3-D scanning camera putting down vertically
Swung up and down in face.
3. 3-D scanning according to claim 1 and reconstructing device, it is characterised in that：The housing is provided with through hole, is used for
Draw the data wire of 3-D scanning camera and the connecting line of the second drive module.
4. 3-D scanning according to claim 1 and reconstructing device, it is characterised in that：The support is vertically provided with
One or more bar holes, or multiple through hole, for draw the connecting line at scanning element housing back respectively with computing unit and
Control module is connected.
5. the 3-D scanning and reconstructing device according to claim 1 or 4, it is characterised in that：At the support both sides of the edge
Mounting hole is provided with, for scanning constant unit；The support is vertically provided with scale, for reading 3-D scanning camera
Positional information.
6. 3-D scanning according to claim 1 and reconstructing device, it is characterised in that：The data wire of 3-D scanning camera
The connecting line drawn with control module is built in drag chain and is connected with computing unit.
7. 3-D scanning according to claim 1 and reconstructing device, it is characterised in that：Electronic liter in the scanning element
Descending mechanism is Timing Belt.
8. 3-D scanning according to claim 1 and reconstructing device, it is characterised in that：The control module is by located at ring
The brush of shape track outer ring is connected with computing unit.
9. 3-D scanning according to claim 1 and reconstructing device, it is characterised in that：The pedestal upper end is provided with and lower end
Circular orbit is coaxial and radius identical on circular orbit, pedestal upper end is adapted with upper circular orbit, or in pedestal upper end and
Pitch wheel and tooth bar are respectively provided with upper circular orbit.
10. the application process of the 3-D scanning described in a kind of any one of claim 1 to 9 and reconstructing device, it is characterised in that bag
Include following steps：
（1）Destination object is placed at orbit centre；
（2）The quantity and installation site of scanning element needed for determining according to the size and shape of destination object；
（3）Open image pickup mode, by computing unit adjust in each scanning element the high and low position of 3-D scanning camera and
Shooting angle, and record；
（4）Start the first motor, support is driven along circular orbit uniform motion according to the speed of setting；
（5）Scan data real-time Transmission to computing unit, by three-dimensional reconstruction system realize three-dimensional stereo model real-time reconstruction,
Display in real time；
（6）3-D scanning camera rotates a circle along circular orbit around destination object, completes 3-D scanning process；
（7）The complete three-dimensional stereo model of computing unit output destination object.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710072793.1A CN106871812A (en) | 2017-02-10 | 2017-02-10 | A kind of 3-D scanning and reconstructing device and its application process |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710072793.1A CN106871812A (en) | 2017-02-10 | 2017-02-10 | A kind of 3-D scanning and reconstructing device and its application process |
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| CN108143421A (en) * | 2017-12-21 | 2018-06-12 | 西安蒜泥电子科技有限责任公司 | A kind of human body three-dimensional scans human body component detection device |
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| CN109000608A (en) * | 2018-07-18 | 2018-12-14 | 昆山睿力得软件技术有限公司 | A kind of novel cylindrical coil surface smoothness detection device |
| CN109521497A (en) * | 2018-10-29 | 2019-03-26 | 成都市克莱微波科技有限公司 | A kind of rifling tubbiness formula scanning device |
| CN111869971A (en) * | 2019-05-02 | 2020-11-03 | 八丰盟有限公司 | Human body 3D scanning device |
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| CN111473765A (en) * | 2020-05-26 | 2020-07-31 | 中国飞机强度研究所 | Non-contact type structure strain active measurement device and method |
| CN111896045B (en) * | 2020-06-29 | 2022-03-01 | 北京农业信息技术研究中心 | Device and method for three-dimensional directed perception and fine-grained automatic acquisition of greenhouse crops |
| CN111896045A (en) * | 2020-06-29 | 2020-11-06 | 北京农业信息技术研究中心 | Device and method for three-dimensional directed perception and fine-grained automatic acquisition of greenhouse crops |
| CN112233546A (en) * | 2020-10-27 | 2021-01-15 | 广西师范大学 | A concept demonstration device for traditional aesthetics |
| CN112730258A (en) * | 2021-02-03 | 2021-04-30 | 四川广目科技有限公司 | Workpiece thread appearance defect scanning system based on 3D laser scanning and scanning device thereof |
| CN113034673A (en) * | 2021-03-24 | 2021-06-25 | 怀化学院 | 3D point cloud modeling system and computer readable storage medium |
| CN113347404A (en) * | 2021-06-11 | 2021-09-03 | 西安工业大学 | Three-dimensional point cloud processing device and processing method thereof |
| CN113689758A (en) * | 2021-08-19 | 2021-11-23 | 重庆工商大学 | An artificial intelligence Internet electronic learning device |
| CN114543700A (en) * | 2022-01-27 | 2022-05-27 | 哈尔滨工程大学 | Augmented reality visualization three-dimensional scanning measuring robot with variable large range |
| CN114577139A (en) * | 2022-02-25 | 2022-06-03 | 日照钢铁控股集团有限公司 | Curvature detection device for production of special-shaped steel |
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