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Tracking type three-dimensional scanning system

A three-dimensional scanning and tracking technology, applied in the field of three-dimensional scanners, can solve the problem of not being able to take into account the scanning area and scanning details, and achieve the effects of high measurement resolution, high tracking accuracy, and large tracking range

Active Publication Date: 2020-09-04
SCANTECH (HANGZHOU) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Based on this, the present invention provides a multi-measurement mode tracking three-dimensional scanning system, which solves the problem that the existing three-dimensional scanning device cannot take into account the scanning area and scanning details by means of tracking scanning

Method used

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  • Tracking type three-dimensional scanning system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0048] Embodiment 1: Multi-band tracking

[0049] see figure 1 Embodiment 1 of the present invention provides a tracking three-dimensional scanning system, including: a tracker 1 , a three-dimensional sensor 2 , a band switching unit 3 , and a calculation processing unit 4 .

[0050] The tracker 1 includes at least one tracking camera 11 for capturing the pose of the 3D sensor 2 . The tracking camera 11 captures positioning features on the three-dimensional sensor 2 of at least two wavelength bands, and the positioning features may be self-luminous marking points or reflective marking points. When it is a self-luminous marking point, the marking point is at least two kinds of self-luminous marking points that can emit light of different wavebands; when it is a reflective marking point, the tracker 1 also includes at least two complementary lights corresponding to different wavebands Light device 12 (see figure 2 ). The supplementary light device 12 projects light sources ...

Embodiment 2

[0066] Embodiment 2: multi-band scanning

[0067] Based on the same inventive concept, Embodiment 2 of the present invention provides a tracking three-dimensional scanning system, including such figure 1 Shown is a tracker 1 , a three-dimensional sensor 2 , a band switching unit 3 , and a calculation processing unit 4 . The tracker 1 includes at least one tracking camera 11, which is used to capture the pose of the three-dimensional sensor 2; the tracker 1; the three-dimensional sensor 2 is used for three-dimensional scanning of the object to be scanned, to obtain the three-dimensional image of the object to be scanned under the coordinate system of the three-dimensional sensor 2 point cloud. The calculation processing unit 4 is used to splice the 3D point cloud scanned by the 3D sensor 2 into a unified coordinate system in real time for 3D reconstruction.

[0068] The difference from the tracking three-dimensional scanning system provided in the first embodiment is that the...

Embodiment 3

[0080] Embodiment 3: multi-band tracking + multi-band scanning

[0081] This embodiment combines the two technical solutions of the multi-band tracking in the first embodiment and the multi-band scanning in the second embodiment.

[0082] On the basis of Embodiment 1 and Embodiment 2, Embodiment 3 of the present invention provides a tracking three-dimensional scanning system, such as figure 1 As shown, it includes a tracker 1 , a three-dimensional sensor 2 , a band switching unit 3 , and a calculation processing unit 4 .

[0083] The tracker 1 includes at least one tracking camera 11 for capturing the pose of the 3D sensor 2 . The tracking camera 11 captures the positioning features on the three-dimensional sensor 2 of at least two wavebands. The positioning features can be self-luminous marking points or reflective marking points. When they are self-luminous marking points, the marking points are at least two types that can emit different The self-illuminating marking point o...

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Abstract

The invention discloses a tracking type three-dimensional scanning system which comprises a tracker, a three-dimensional sensor, a light wave band switching unit and a calculation processing unit. Thetracker is used for capturing the pose of the three-dimensional sensor; the tracker comprises at least one tracking camera; the tracking camera is used for capturing positioning features on the three-dimensional sensor of at least two waveband light rays; the three-dimensional sensor is used for carrying out three-dimensional scanning on a to-be-scanned object to obtain three-dimensional point cloud of the to-be-scanned object under a three-dimensional sensor coordinate system; the light wave band switching unit is used for controlling switching of light wave bands of the positioning featurescaptured by the tracking camera; and the calculation processing unit is used for splicing the three-dimensional point cloud scanned by the three-dimensional sensor in a unified coordinate system in real time for three-dimensional reconstruction. By utilizing the tracking type three-dimensional scanning system provided by the invention, the scanning breadth and the scanning precision can be well considered, and the adaptability is high.

Description

technical field [0001] The invention relates to the technical field of three-dimensional scanners, in particular to a tracking three-dimensional scanning system. Background technique [0002] Optical 3D scanner is a device that uses optical imaging to obtain 3D information of the measured object. It is currently widely used in industrial product inspection, reverse setting, simulation, positioning and other fields. Tracking 3D scanning is one of the new 3D scanning technologies, which mainly uses 3D scanners and trackers to achieve 3D measurement of objects. Compared with the traditional spot-type 3D scanning or photographic 3D scanning, the tracking 3D scanning technology is more convenient to use, with better stability and a larger measurement range, which is convenient for users to realize easily and conveniently in workshops, outdoors and various complex environments. 3D measurement. [0003] Existing tracking-type 3D scanning devices mainly include laser trackers (suc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/25
CPCG01B11/2518
Inventor 郑俊陈尚俭
Owner SCANTECH (HANGZHOU) CO LTD
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