Robot automatic scanner and scanning method thereof

A scanning method and automatic scanning technology, which is applied in the direction of instruments, measuring devices, optical devices, etc., can solve the problem of low model accuracy, achieve the effects of improving measurement accuracy, high-precision scanning, and solving dependencies

Pending Publication Date: 2017-09-08
RES INST OF XIAN JIAOTONG UNIV & SUZHOU
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

The production of 3D scanners does not rely on a single technology, and various scanning technologies have their advantages and disadvantages
However, in the case of solid surface structures with very complex structures, the problem of scanning holes still exists
Moreover, in order to avoid collision with the scanned object, the robot scanner uses long-distance scanning, so the accuracy of the scanned model is relatively low

Method used

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  • Robot automatic scanner and scanning method thereof
  • Robot automatic scanner and scanning method thereof
  • Robot automatic scanner and scanning method thereof

Examples

Experimental program
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Embodiment Construction

[0023] Such as figure 1 As shown, a robot automatic scanning device includes a six-axis robot arm, a MEMS scanning galvanometer laser three-dimensional measuring head, and a turntable. Such as figure 2 As shown, the MEMS scanning galvanometer laser three-dimensional measuring head is mainly composed of a projector, the A-mode binocular camera is the first camera and the third camera, and the B-mode binocular camera is composed of the second camera and the fourth camera. The scanning probe is placed At the end of the six-axis robotic arm. The B-mode binocular camera is used to measure the surface of the object with low precision, obtain all the point cloud data of the object and plan the measurement path for it. The A-mode binocular camera is used to measure the surface of the object with high precision along the planned measurement path.

[0024] Attached below figure 2 with image 3 The present invention is described in detail.

[0025] A method for automatically scan...

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Abstract

The present invention discloses a robot automatic scanner through combination of multi-scanning modes and a scanning method thereof. The device comprises a six-axis manipulator arm, an MEMS scanning galvanometer laser three-dimensional measuring head, and a rotary table; and the MEMS scanning galvanometer laser three-dimensional measuring head mainly comprises a remote scanning camera and a close-range scanning camera, and the scanning measuring head is installed at the tail end of the six-axis manipulator arm. The remote scanning camera is configured to perform rapid measurement of the surface of an object to obtain whole point cloud data of the object and perform scanning path planning of the point cloud data. The close-range scanning camera is configured to perform high-precision measurement of the surface of the object along the planned measurement path.

Description

technical field [0001] The invention belongs to the field of optical three-dimensional measurement, which combines a six-degree-of-freedom robot and a turntable into a seven-degree-of-freedom three-dimensional model reconstruction system, and in particular adopts a method combining fully automatic rapid measurement and high-precision measurement through path planning. Background technique [0002] 3D scanners are used to detect and analyze the shape (geometric structure) and appearance data (such as color, surface albedo, etc.) of objects or environments in the real world. The collected data is often used to perform 3D reconstruction calculations, creating digital models of actual objects in the virtual world. These models have a wide range of uses, such as industrial design, defect detection, reverse engineering, robot guidance, landform measurement, medical information, biological information, criminal identification, digital cultural relic collection, film production, gam...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/24
CPCG01B11/2433G01B11/005G01B11/2518G01B11/2545
Inventor 周翔孟强杨涛李玉勤
Owner RES INST OF XIAN JIAOTONG UNIV & SUZHOU
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