3D (three-dimensional) imaging device and imaging method based on laser scanning

A technology of laser scanning and imaging devices, which is applied in measurement devices, 3D modeling, camera devices, etc., and can solve the problems of low point cloud accuracy and slow scanning speed.

Active Publication Date: 2017-12-15
李杰
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] The purpose of the present invention is to propose a 3D imaging device and imaging method based on laser scanning in order to solve the problems of slow scanning speed and low precision of the obtained point cloud in the prior art

Method used

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  • 3D (three-dimensional) imaging device and imaging method based on laser scanning

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specific Embodiment approach 1

[0038] Specific implementation mode one: as Figure 4 and Figure 5 As shown, a 3D imaging device based on laser scanning includes a laser 1, a camera 2, an auxiliary laser 3, a stepping motor 4, a motor controller 5 and a connecting rod 6;

[0039] A laser 1 is set on one side of the camera 2, and an auxiliary laser 3 is set on the other side. After the laser 1 emits laser light to the scanning object 7, the camera 2 photographs the scanning object 7 on the scanning platform;

[0040] The camera 2 is connected to the stepping motor 4 through the connecting rod 6, and the signal of the stepping motor 4 is connected to the motor controller 5; the motor controller 5 controls the stepping motor 4 to move the camera 2 through the connecting rod 6.

specific Embodiment approach 2

[0041] Specific embodiment two: a kind of 3D imaging method based on laser scanning comprises the following steps:

[0042] Step 1: Perform camera 2 calibration to obtain the calibrated camera 2 internal reference;

[0043] Step 2: According to the calibrated camera 2 internal reference obtained in step 1, perform calibration of the 3D imaging device based on laser scanning, and obtain the pose of the camera when collecting data each time;

[0044] Step 3: Calculate the scanned point cloud data according to the data calibrated in Step 1 and Step 2 and the pose of the camera each time the data is collected, and obtain the scanned model.

[0045] The ultimate purpose of the present invention is to generate point cloud data that can be used for other operations under the premise of satisfying the corresponding items.

[0046] The so-called point cloud data is the model data composed of 3D points. The model composed of all points is like a cloud. It is called point cloud data (th...

specific Embodiment approach 3

[0184] Embodiment 3: The difference between this embodiment and Embodiment 1 or 2 is that the camera 2 is calibrated in the step 1, and the specific process of obtaining the calibrated internal reference of the camera 2 is as follows:

[0185] Step 11: Determine the camera 2 calibration parameters; the camera calibration parameters include the number of calibration pictures, the number of horizontal corners and vertical corners of the calibration board chessboard;

[0186] Steps 1 and 2: Obtain images captured by camera 2;

[0187] Step 13: Find the corner points of the chessboard in the image (the so-called chessboard is a lot of black and white grids, and the calibration board is a flat board with a fixed-length side-length board drawn on it. The so-called corner points are the intersection points of the black and white grids , the four grids correspond to one corner point), and judge whether the requirements for the number of horizontal and vertical corner points are met; ...

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Abstract

The invention relates to a 3D (three-dimensional) imaging device and an imaging method based on laser scanning. The imaging device and the imaging method solve the problems of low detection efficiency and low accuracy rate in the prior art. The imaging device comprises a laser device (1), a camera (2), an auxiliary laser device (3), a stepping motor (4), a motor controller (5), a connecting rod (6) and a scanning object (7). The imaging method comprises the steps of 1, calibrating the camera (2) to obtain an internal parameter of the calibrated camera (2), 2, calibrating the 3D imaging device based on the laser scanning according to the internal parameter of the calibrated camera (2) obtained in Step 1 to obtain a pose of the camera during data acquisition each time, and 3, calculating scanned point cloud data according to calibrated data and the pose of the camera during the data acquisition each time in Step 1 and Step 2 to obtain a scanning model. The imaging device and the imaging method are used in the field of 3D scanning.

Description

technical field [0001] The invention relates to a 3D imaging device and an imaging method. Background technique [0002] In view of the increasingly high labor costs and the ever-improving product quality in the current society, various industries have set off a wave of intelligence, and the idea of ​​using robots to replace humans has been accepted by more and more industries, especially the manufacturing industry. [0003] In the process of product production, there are many cost-intensive tasks, such as a large amount of repetitive work, work in harsh environments, and high-precision work. These tasks have the disadvantages of poor efficiency and low precision when using manpower. The above problems can be solved by replacing manual labor with corresponding machinery, so now more and more machinery replaces manual labor for production and manufacturing. [0004] Machinery develops along with the development of production, and the mechanical structures used in some produc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C11/02G06T7/70G06T7/80G06T17/00
CPCG01C11/025G06T7/70G06T7/80G06T17/00
Inventor 王兴
Owner 李杰
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