CN116203535A - Computer-aided optical scanning three-dimensional imaging system - Google Patents

Abstract

The invention discloses a computer-aided optical scanning three-dimensional imaging system, which relates to the technical field of optical scanning equipment, and comprises: a base; , the rotation is set on the base, and it has a concentric structure with the loading plate. The drive motor is installed on the base, and the output end of the drive motor is connected to the outer ring frame through the gear meshing action; the connecting shaft seat is fixed on the outer On the ring frame, the mechanical arm is rotated on the connecting shaft seat; the scanning deployment mechanism is installed at the end of the mechanical arm; the ambient light frame is distributed circumferentially around the base; the surface dimming treatment component is installed on the outer ring frame The side away from the connecting shaft seat; the computer control system is electrically connected with the mechanical arm, the scanning adjustment mechanism and the surface dimming processing components; the system structure is simpler, which is convenient for system maintenance and management, and data processing is easier.

Description

A computer-aided optical scanning three-dimensional imaging system

technical field

The invention belongs to the technical field of optical scanning equipment, in particular to a computer-aided optical scanning three-dimensional imaging system.

Background technique

The computer-aided optical scanning 3D imaging system integrates a variety of advanced technologies. In optical scanning, the laser beam or white beam is projected onto the surface of the object, and the technology of obtaining the geometric shape and color information of the object surface by detecting the reflected light is used. The technology of processing and analyzing images by computer can be used to obtain information such as the geometric shape and texture of the surface of objects, and is widely used in industrial design, cultural relic protection, medicine, biology, etc. Although the existing optical scanning 3D imaging system is very mature, it is still necessary to manually hold the scanner during scanning, which is very susceptible to the influence of light irradiation, resulting in distortion of the captured geometric shape and color information, while objects of certain shapes and colors It may cause difficulties in scanning results (reflective surfaces may reflect laser light, black surfaces may absorb laser light), and it is difficult to obtain accurate depth information, especially in complex scanning imaging, the amount of scanning data is huge, and data processing is difficult; therefore, this field The technicians provide a computer-aided optical scanning three-dimensional imaging system to solve the problems raised in the background art above.

Contents of the invention

In order to achieve the above object, the present invention provides the following technical solutions: a computer-aided optical scanning three-dimensional imaging system, which includes:

base;

The object tray is rotatably arranged in the middle of the base, and is used to horizontally place the scanned objects;

The outer ring frame is rotatably arranged on the base, and has a concentric structure with the loading tray. A driving motor is installed on the base, and the output end of the driving motor engages with the outer ring through gear meshing. The ring frame is connected to the transmission;

The connecting shaft seat is fixed on the outer ring frame, and a mechanical arm is rotatably installed on the connecting shaft seat;

The scanning deployment mechanism is installed at the end of the mechanical arm, and the scanning deployment mechanism uses a laser to emit a laser beam to a stationary scanning object, and the reflected laser beam is received by a spot detector;

Environmental lamp holders, distributed circumferentially on the periphery of the base;

The surface dimming treatment component is installed on the side of the outer ring frame away from the connecting shaft seat;

The computer control system is electrically connected with the mechanical arm, the scanning adjustment mechanism and the surface light adjustment processing component, and the computer control system is used to control the motion track and speed in scanning imaging, and collect scanning data for processing and analyze.

Further, as a preference, the scanning deployment mechanism includes:

The blending frame is rotatably arranged on the mechanical arm, and a guide rod is slidably arranged on the mechanical arm, and one end of the guide rod is connected with the blending frame;

A frame plate, fixed on one side of the deployment frame;

A side positioning frame is installed on the frame plate, and a side scanner is arranged on the side positioning frame to rotate in the horizontal direction;

The fine-tuning telescopic rod is arranged on the side positioning frame, and the telescopic end of the fine-tuning telescopic rod is connected with the side scanner; and

The upper scanner, mounted on the shelf above the side scanner.

Further, as a preference, the side positioning frames are two arranged on the left and right, and a sliding frame is fixed horizontally on the shelf plate, and the side positioning frames can all be slidably and adjustablely arranged on the sliding frame, and the side positioning frames The deflection angle range of the positioner on the opposite side of the scanner is -75° to 75°.

Further, preferably, the two side scanners cooperate with the upper scanner to perform preliminary scanning on the outline of the scanned object in the three-dimensional scanning imaging, and then in the three-dimensional precision scanning imaging, one of the side scanners is always perpendicular to the scanning object surface.

Further, as a preference, an adjustment seat is fixed on the upper scanner on the shelf, a plurality of telescopic guide rods are distributed on the adjustment seat, and one end of each telescopic guide rod is universally connected to the shaft plate , the upper scanner is fixed to the shaft plate.

Further, as a preference, the surface dimming treatment component includes:

The column frame is vertically fixed on the outer ring frame, the column frame is provided with a sliding seat for sliding adjustment, and the horizontal frame is provided with a horizontal sliding frame on the sliding seat;

The steering shaft is rotatably arranged on the horizontal frame, and one side of the steering shaft is rotatably provided with a shaft disk, and a bracket body is fixed on the shaft disk;

The inner tube is vertically arranged in the support body, and a fixed tube is vertically arranged in the inner tube;

The adjusting lamp is fixed under the fixed tube, the inner tube is provided with a reflective lampshade, and the adjusting lamp is arranged in the reflective lampshade;

astigmatism lights distributed circumferentially below the inner bobbin and at the periphery of the dimming light; and

The coating device is arranged in the inner tube.

Further, preferably, the coating device includes:

a mounting ring slidably disposed in the inner tube;

The ring-shaped air chamber is fixed in the inner tube, and a ring plug is slidably arranged in the ring-shaped air chamber. A plurality of connecting rods are connected under the ring plug, and one end of each connecting rod is connected with the installation ring. fixed;

An air pressure pipe, connected above the annular air pressure chamber;

The paint spray pipes are arranged in a plurality of circles, one end of each paint spray pipe is connected with the installation ring, the end of the inner tube is embedded with a roller for rotation, and the paint spray pipe one end of which slides through the roller; and

The inner material pipe is vertically arranged in the fixed pipe, and one end of the inner material pipe is connected with each of the paint nozzles.

Further, as a preference, the inner tube is arranged to rotate relative to the bracket body, and is driven to rotate by an external motor fixed on the bracket body, and the paint spray pipe is erected in the inner tube in an inclined manner.

Further, as a preference, the inner material pipe can pneumatically convey spray paint to the paint spray pipe.

Compared with prior art, the beneficial effect of the present invention is:

In the present invention, the scanning and deployment mechanism can perform multi-angle scanning and imaging on the scanning object through the mechanical arm, and realize the complete scanning work during the circumferential rotation around the loading plate, without blind angle of view;

In the present invention, the side scanner can cooperate with the upper scanner to perform high-precision scanning and form a complete image with high imaging accuracy. Compared with the multi-scanning probe optical scanning three-dimensional imaging device, the system structure is simpler, which is convenient for system maintenance and management , data processing is easier;

The surface dimming processing component also provided in the present invention can effectively re-adjust the color and illumination of a part of the scanned object that is difficult to image, so as to realize the integrity of the image.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the structural representation of outer gimbal in the present invention;

Fig. 3 is a structural schematic diagram of the scanning deployment mechanism in the present invention;

Fig. 4 is the structural representation of slide frame among the present invention;

Fig. 5 is a schematic structural diagram of a surface dimming processing component in the present invention;

Fig. 6 is the structural representation of mounting ring in the present invention;

In the figure: 1, the base; 11, the loading tray; 12, the connecting shaft seat; 13, the mechanical arm; 14, the outer ring frame; 15, the driving motor; Rod; 23, frame plate; 24, side positioning frame; 25, side scanner; 26, fine-tuning telescopic rod; 27, adjustment seat; 28, upper scanner; 29, shaft plate; 210, telescopic guide rod; Frame; 3. Surface dimming treatment component; 31. Column frame; 32. Horizontal frame; 33. Steering shaft; 34. Bracket body; 35. Inner tube; 36. Fixed tube; ; 4, installation ring; 41, annular air pressure chamber; 42, paint nozzle; 43, roller; 44, inner material pipe.

Detailed ways

Please refer to Fig. 1 ~ Fig. 6, in the embodiment of the present invention, a kind of computer aided optical scanning three-dimensional imaging system, it comprises:

base 1;

The loading tray 11 is rotatably arranged in the middle of the base 1, and is used for horizontally holding the scanning objects;

The outer ring frame 14 is rotatably arranged on the base 1, and has a concentric structure with the loading tray 11. A drive motor 15 is installed on the base 1, and the output end of the drive motor 15 is passed through a gear The meshing action is connected with the outer ring frame 14 for transmission;

A connecting shaft seat 12 is fixed on the outer ring frame 14, and a mechanical arm 13 is rotatably installed on the connecting shaft seat 12;

The scanning deployment mechanism 2 is installed at the end of the mechanical arm 13. The scanning deployment mechanism 2 uses a laser to emit a laser beam to a stationary scanning object, and receives the reflected laser beam by a light spot detector;

Environmental lamp holders (not shown in the figure), circumferentially distributed on the periphery of the base 1;

The surface dimming processing component 3 is installed on the side of the outer ring frame 14 away from the connecting shaft seat 12;

A computer control system (not shown in the figure), which is electrically connected to the mechanical arm 13, the scanning adjustment mechanism 2 and the surface light adjustment processing component 3, and the computer control system is used to control the motion trajectory in scanning imaging and speed, and collect the scanning data for processing and analysis. Among them, on the one hand, the scanning object can be controlled by the loading plate to rotate and display independently, so as to realize stable imaging; on the other hand, the outer ring frame 14 can control the circumferential displacement of the scanning deployment mechanism 2 In this way, high-precision imaging with uniform light is realized.

In this embodiment, the scanning deployment mechanism 2 includes:

The blending frame 21 is rotatably arranged on the mechanical arm 13, the mechanical arm 13 is slidably provided with a guide rod 22, and one end of the guide rod 22 is connected with the described blending frame 21;

A frame plate 23 is fixed on one side of the deployment frame 21;

A side positioning frame 24 is installed on the frame plate 23, and a side scanner 25 is arranged on the side positioning frame 24 to rotate in the horizontal direction;

The fine-tuning telescopic rod 26 is arranged on the side positioning frame 24, and the telescopic end of the fine-tuning telescopic rod 26 is connected with the side scanner 25; and

The upper scanner 28 is installed on the shelf 23 and located above the side scanner 25 .

As a preferred embodiment, the side positioning frames 24 are two left and right, and a sliding frame 211 is horizontally fixed on the frame plate 23, and the side positioning frames 24 can be slidably adjusted to be arranged on the sliding frame. On the frame 211, the deflection angle range of the side scanner 25 relative to the side positioning frame 24 is -75° to 75°, wherein, the scanning three-dimensional imaging system in the present invention is composed of three groups of detection heads (i.e. two side scanners and One upper scanner), compared with the multi-scanning probe optical scanning 3D imaging device, the system structure is simpler, which is convenient for system maintenance and management, and the amount of data is less compared to the multi-scanning probe optical scanning 3D imaging device, and the data Handling is easier.

In this embodiment, the two side scanners 25 cooperate with the upper scanner 28 to perform preliminary scanning on the outline of the scanned object in the three-dimensional scanning imaging, and then in the three-dimensional precision scanning imaging, one of the side scanners 25 is always vertical To the surface of the scanned object, that is to say, in the three-dimensional precision scanning, one of the side scanners is perpendicular to the surface of the scanned object (the other is set obliquely to form a scanning intersection), and the first scanning work is completed in the circumferential displacement (with Take the vertical setting of the side scanner on the left side as an example. At this time, the side scanner on the right side can be erected at an inclination, and achieve scanning visual intersection with the side scanner on the left side. The rotation of the outer ring frame makes the side scanner on the left side The scanner can realize the forward scanning of the scanned object, while the side scanner on the right side scans the relative right side), and the reverse adjustment of the two side scanners makes the scanner on the right side vertical On the surface of the scanned object, the second scanning work is completed in the opposite displacement, so that the two scanning data are overlapped and summarized (that is, the scanning data of the side scanner on the left and the scanning data of the side scanner on the right are based on the forward scanning imaging data. Data summary), and form a complete image, with high imaging accuracy and easier data processing.

In this embodiment, an adjustment base 27 is fixed on the shelf 23 at the upper scanner 28, and a plurality of telescopic guide rods 210 are distributed on the adjustment base 27, and one end of each telescopic guide rod 210 is universal Rotationally connected on the shaft plate 29, the upper scanner 28 is fixed to the shaft plate 29, so that the multi-angle adjustment of the upper scanner 28 can be realized to form a scanning complement.

In this embodiment, the surface dimming processing component 3 includes:

A column frame 31 is vertically fixed on the outer ring frame 14, a sliding seat is provided for sliding adjustment on the column frame 31, and a horizontal frame 32 is provided for horizontal sliding on the sliding seat;

The steering shaft 33 is rotatably arranged on the cross frame 32, and one side of the steering shaft 33 is rotatably provided with a shaft disk, and a bracket body 34 is fixed on the shaft disk;

The inner bobbin 35 is vertically arranged in the support body 34, and the inner bobbin 35 is vertically arranged with a fixed pipe 36;

An adjustment lamp 37 is fixed below the fixed tube 36, a reflector lampshade 38 is arranged on the inner tube 35, and the adjustment lamp 37 is arranged in the reflector lampshade 38;

astigmatism lights, circumferentially distributed below the inner tube 35 and located at the periphery of the adjustment light 37; and

The coating device is arranged in the inner tube 35, wherein the adjustment lamp 37 and the astigmatism lamp can perform multi-brightness adjustment work (common light sources include white light LED, laser light source, xenon lamp, etc.), and can be used for a certain scanning object During the filling of the missing data at the shape point, the scanning and adjusting mechanism 2 can focus on the corresponding position. At this time, the adjustment lamp 37 cooperates with the astigmatism lamp to perform surface dimming, so that the reflected light on the surface of the object is more uniform, and the unevenness of the reflected light is reduced. Uniform impact on imaging, thereby improving imaging quality and accuracy.

As a preferred embodiment, the coating device includes:

The mounting ring 4 is slidably arranged in the inner tube 35;

An annular air chamber 41 is fixed in the inner tube 35, and a ring plug is slidably arranged in the annular air chamber 41, and a plurality of connecting rods are connected under the ring plug, and one end of each connecting rod is connected to the The 4 phases of the above installation ring are fixed;

An air pressure pipe, connected above the annular air pressure chamber 41;

The paint spray pipe 42 is a plurality of circumferentially arranged ones, and one end of each paint spray pipe 42 is connected with the installation ring 4, and a roller 43 is embedded and rotated at the end of the inner tube 35, so that One end of the paint nozzle 42 is slipped and connected on the roller 43; and

The inner material pipe 44 is vertically arranged in the fixed pipe 36 , and one end of the inner material pipe 44 is connected with each of the paint nozzles 42 .

In this embodiment, the inner tube 35 is arranged to rotate with the bracket body 34, and is driven to rotate by an external motor fixed on the bracket body 34, and the paint nozzle 42 is erected in the inner In the bobbin 35, that is to say, for the data loss caused by the difficulty of scanning caused by the surface shape and color of the scanned object, the present invention can use a plurality of paint nozzles 42 to add spray paint to the surface of the scanned object so that it can be scanned smoothly. , Good reflective surface reflects light evenly, so as to obtain a clearer imaging effect.

In this embodiment, the inner material pipe 44 can air-pressure convey the inkjet paint (which can be glossy ink, ultraviolet curing paint, acrylic paint, etc.) High definition, highly reflective images.

Specifically, the scanned object is placed on the object tray, and the scanning allocation mechanism firstly scans the outline of the scanned object through the rotation of the object tray, and then the computer control system calculates and analyzes the scanning route and the control distance to the scanned object , and then in the three-dimensional precision scanning imaging, one of the side scanners is always perpendicular to the surface of the scanning object to realize the forward scanning and side scanning of the scanning object, and the side scanners are adjusted in reverse to complete the second time In the scanning work, the computer control system overlaps and summarizes the two scanning data, the imaging accuracy is high, and the data processing is more convenient. For the missing data at a certain point of the scanned object, the surface can be re-added with the surface dimming processing component. Spray paint, adjust light, etc., so as to obtain a clearer imaging effect.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, any person familiar with the technical field within the technical scope disclosed in the present invention, according to the technology of the present invention Any equivalent replacement or change of the scheme and its inventive concepts shall fall within the protection scope of the present invention.

Claims (9)

1. A computer-aided optical scanning three-dimensional imaging system, comprising:

a base (1);

the carrying disc (11) is rotatably arranged in the middle of the base (1) and is used for horizontally carrying and placing scanned objects;

the outer ring frame (14) is rotatably arranged on the base (1) and is in a concentric circle structure with the carrying disc (11), a driving motor (15) is arranged on the base (1), and the output end of the driving motor (15) is connected with the outer ring frame (14) for transmission through a gear meshing effect;

the connecting shaft seat (12) is fixed on the outer ring frame (14), and a mechanical arm (13) is rotatably arranged on the connecting shaft seat (12);

the scanning and blending mechanism (2) is arranged at the end part of the mechanical arm (13), and the scanning and blending mechanism (2) adopts a laser to emit laser beams to the stationary scanning object and receives the reflected laser beams by the optical point detector;

the environmental lamp holders are circumferentially distributed on the periphery of the base (1);

the surface light modulation processing assembly (3) is arranged on one side of the outer ring frame (14) far away from the connecting shaft seat (12);

and the computer control system is electrically connected with the mechanical arm (13), the scanning allocation mechanism (2) and the surface dimming processing component (3), and is used for controlling the movement track and speed in scanning imaging, collecting scanning data and processing and analyzing the scanning data.

2. A computer-aided optical scanning three-dimensional imaging system according to claim 1, characterized in that the scanning deployment mechanism (2) comprises:

the blending frame (21) is rotatably arranged on the mechanical arm (13), a guide rod (22) is slidably arranged on the mechanical arm (13), and one end of the guide rod (22) is connected with the blending frame (21);

a frame plate (23) fixed on one side of the blending frame (21);

a side positioning frame (24) mounted on the frame plate (23), wherein a side scanner (25) is rotatably arranged on the side positioning frame (24) along the horizontal direction;

the fine adjustment telescopic rod (26) is arranged on the side locating frame (24), and the telescopic end of the fine adjustment telescopic rod (26) is connected with the side scanner (25); and

an upper scanner (28) mounted on the chassis (23) above the side scanner (25).

3. A computer-assisted optical scanning three-dimensional imaging system according to claim 2, wherein the number of side positioning frames (24) is two, and the frame plates (23) are transversely fixed with sliding frames (211), the side positioning frames (24) are slidably and adjustably arranged on the sliding frames (211), and the deflection angles of the side positioning frames (24) opposite to the side scanner (25) are in the range of-75 ° to 75 °.

4. A computer-assisted optical scanning three-dimensional imaging system according to claim 3, characterized in that both side scanners (25) cooperate with an upper scanner (28) to preferentially scan the outline of the scanned object initially in three-dimensional scanning imaging, and then in three-dimensional precision scanning imaging, one of the side scanners (25) is always perpendicular to the scanned object surface.

5. A computer-assisted optical scanning three-dimensional imaging system according to claim 2, characterized in that an adjusting seat (27) is fixed on the frame plate (23) at the position of the upper scanner (28), a plurality of telescopic guide rods (210) are distributed on the adjusting seat (27), one end of each telescopic guide rod (210) is connected to a shaft plate (29) in a universal rotation manner, and the upper scanner (28) is fixed with the shaft plate (29).

6. A computer-aided optical scanning three-dimensional imaging system according to claim 1, characterized in that the surface dimming processing component (3) comprises:

the column frame (31) is vertically fixed on the outer ring frame (14), a sliding seat is arranged on the column frame (31) in a sliding adjustment mode, and a transverse frame (32) is arranged on the sliding seat in a horizontal sliding mode;

a steering shaft (33) rotatably arranged on the transverse frame (32), wherein one side of the steering shaft (33) is rotatably provided with a shaft disc, and a bracket body (34) is fixed on the shaft disc;

an inner tube (35) vertically arranged in the bracket body (34), wherein a fixed tube (36) is vertically arranged in the inner tube (35);

an adjusting lamp (37) fixed below the fixed tube (36), wherein a reflecting lampshade (38) is arranged on the inner tube (35), and the adjusting lamp (37) is arranged in the reflecting lampshade (38);

the floodlight is circumferentially distributed below the inner cylinder tube (35) and is positioned at the periphery of the adjusting lamp (37); and

and a coating device disposed in the inner tube (35).

7. A computer-aided optical scanning three-dimensional imaging system according to claim 6, wherein said coating means comprises:

a mounting ring (4) slidably disposed in the inner tube (35);

the annular air pressure bin (41) is fixed in the inner cylinder tube (35), an annular plug is arranged in the annular air pressure bin (41) in a sliding mode, a plurality of connecting rods are connected below the annular plug, and one end of each connecting rod is fixed with the mounting ring (4);

the air pressure pipe is connected above the annular air pressure bin (41);

the paint spraying pipes (42) are circumferentially arranged, one end of each paint spraying pipe (42) is connected with the mounting ring (4), a roller (43) is embedded and rotated at the end part of the inner cylinder pipe (35), and one end of each paint spraying pipe (42) is slidably connected on the roller (43) in a penetrating way; and

and the inner material pipe (44) is vertically arranged in the fixed pipe (36), and one end of the inner material pipe (44) is connected with each paint spray pipe (42).

8. A computer-aided optical scanning three-dimensional imaging system according to claim 7, characterized in that the inner tube (35) is rotatably arranged with the support body (34) and is driven to rotate by an external motor fixed on the support body (34), and the paint nozzle (42) is obliquely erected in the inner tube (35).

9. A computer-aided optical scanning three-dimensional imaging system according to claim 8, characterized in that the inner tube (44) is capable of pneumatically conveying paint spray from a paint nozzle (42).

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