Four-line four-eye three-dimensional laser scanner and scanning method

Abstract

The invention provides a four-line four-eye three-dimensional laser scanner, which comprises a shell, four groups of industrial camera lens modules, four groups of laser modules, an image acquisition control system and an upper computer, wherein a bottom plate is arranged in the shell, the four groups of industrial camera lens modules are uniformly distributed along the edge of the bottom plate at an interval of 90 degrees pairwise, the four groups of laser modules are circumferentially distributed in the middle of the bottom plate at equal intervals, the industrial camera lens modules and the laser modules are in one-to-one correspondence, each industrial camera lens module comprises an industrial camera and a lens, the lens is installed on the industrial camera, each laser module comprises a laser device, the image acquisition control system comprises a controller, the controller is connected with the industrial camera, the controller controls the industrial camera to collect image data scanned by the laser, and the controller is electrically connected with the upper computer. The invention further provides a scanning method of the four-line four-eye three-dimensional laser scanner.

Description

technical field [0001] The invention relates to the fields of machine vision and three-dimensional vision reconstruction measurement, in particular to a four-line four-eye three-dimensional laser scanner and a scanning method. Background technique [0002] Line laser scanning is a non-contact active and fast acquisition of three-dimensional dense point cloud technology on the surface of objects. Compared with traditional detection methods, the method of using line laser scanning to extract object surface information has the advantages of large data volume, fast measurement speed and high precision. Outstanding features, especially suitable for some high-precision or dangerous workplaces, and the system is stable, can work without interruption for a long time, and is easy to realize intelligent control. [0003] At present, China has made some progress in visual measurement, but most of the scanning equipment is a single-line monocular scanning system, which still has many sh...

AI Technical Summary

Problems solved by technology

However, there are also certain limitations: 1) The above-mentioned single-line laser scanning requires multiple repeated scans for objects with complex surfaces (objects with four corners or complex polyhedrons), and the measurement range is small. Objects with curved surfaces or partially blocked areas will have scanning blind spots, resulting in the loss of some point cloud contour data; 2) The single-line monocular has poor adaptability to the scene, and the system measurement stability is poor, so it cannot be used in complex working environments medium, e.g. edge profile measurement of large parts

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