Handheld three-dimensional structured light scanning device

Abstract

The invention discloses a handheld three-dimensional structured light scanning device which comprises a camera fixing frame, a structured light source fixing block, a sliding guide rail, a handle and a deep groove ball bearing, an imaging camera is installed on the camera fixing frame, a linear laser is installed on the structured light source fixing block, the sliding guide rail is sleeved with the structured light source fixing block, and the handle is installed on the sliding guide rail. The linear laser can freely slide on the semicircular sliding guide rail, so that the angle of the linear laser is adjusted. The sliding guide rail and the camera fixing frame are rotationally connected through a deep groove ball bearing and can rotate freely. And the sliding guide rail is fixedly connected with the deep groove ball bearing. Similarly, in order to fix the linear laser, the structured light source fixing block is fixedly connected with the linear laser; and at the tail end of the camera fixing frame, the handle is fixedly connected with the camera fixing frame.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical design, and in particular relates to a handheld three-dimensional structured light scanning device. Background Art

[0002] Structured light 3D measurement technology has the advantages of high precision, good real-time performance, and strong anti-interference ability, and has attracted widespread attention from academia and industry at home and abroad. Structured light 3D measurement is an active measurement technology, which can be divided into point structured light measurement, line structured light measurement, and surface structured light measurement according to the type of laser sensor. Among them, the line structured light measurement system is widely used, and its research content includes center fringe extraction, measurement system design and its industrial application. As for laser fringe extraction, it includes Steger method, directional template method, grayscale centroid method, deep learning method and its improved algorithm. In terms of measurement system design, currently the main use of mechanical arms is to realize the laser scanning function to complete the shape measurement of the object surface, such as engine blades, wing shape, body shape, etc. Due to the existence of mechanical arms, the weight and volume of this type of scanning device are relatively large. In terms of scanning methods, it mainly relies on fixed trajectory scanning methods with fixed light sources, including multi-source multi-eye rotation scanning methods, feature target coding identification methods, multi-frequency heterodyne phase separation methods, etc. Most of the above scanning methods are suitable for static target measurement in laboratory environments, and it is difficult to achieve real-time measurement of objects in field environments. They have disadvantages such as poor portability, low real-time performance, limited applicable scenarios, and complex structure. Taking the in-service inspection of aircraft engine blades as an example, due to restrictions on inspection costs, site environment, transportation tools, etc., it is difficult to achieve on-site disassembly of blades and laboratory inspection. Most of them are on-site inspections in a non-disassembled state. In summary, it can be seen that existing inspection devices and methods are difficult to meet the needs of on-site inspections. Summary of the invention

[0003] The purpose of the present invention is to solve the above problems and provide a handheld three-dimensional structured light scanning device which has reliable holding, good portability, simple structure and strong real-time performance.

[0004] In order to solve the above technical problems, the technical solution of the present invention is: a handheld three-dimensional structured light scanning device, including a camera fixing frame, a structured light source fixing block, a sliding guide rail, a handle and a deep groove ball bearing, the camera fixing frame is equipped with an imaging camera, the structured light source fixing block is equipped with a linear laser, the structured light source fixing block is sleeved on the sliding guide rail, and can slide freely on the semicircular sliding guide rail, so as to adjust the angle of the linear laser; the sliding guide rail and the camera fixing frame are rotatably connected through a deep groove ball bearing, and the two can rotate freely; the sliding guide rail is fixedly connected to the deep groove ball bearing; similarly, in order to fix the linear laser, the structured light source fixing block is fixedly connected to the linear laser; at the end of the camera fixing frame, the handle is fixedly connected to the camera fixing frame.

[0005] Preferably, the camera fixing bracket comprises a camera fixing block, a positioning boss, a bearing connecting boss and a handle connecting sleeve which are fixedly connected in sequence; a rectangular camera fixing square hole is provided on the camera fixing block; the positioning boss, the bearing connecting boss and the handle connecting sleeve are all rotating body structures with a ring-shaped cross-section; the positioning boss is used for axial positioning of the deep groove ball bearing, and the bearing connecting boss is used for interference fit connection of the deep groove ball bearing; the handle connecting sleeve is provided with a connecting threaded hole, and the connecting threaded hole is used for fixed connection with the handle.

[0006] Preferably, the imaging camera installed inside the camera fixing square hole is a CCD camera, the size of the camera fixing square hole is determined according to the size of the CCD camera, and all cables of the CCD camera are connected to the space inside the hollow shaft of the sleeve through the handle.

[0007] Preferably, the structured light source fixing block includes a fixed base and a fixed cylinder fixedly connected as one, the fixed base is a rectangular structure, a fixed base through hole and a fixed base positioning hole are provided on the fixed base, the cross-section of the fixed base through hole is rectangular, the fixed base positioning hole is a threaded hole, the fixed base positioning hole is connected with the fixed base through hole, and a positioning screw is passed through the fixed base positioning hole; the cross-section of the fixed cylinder is a circular ring structure, a fixed cylinder positioning hole is provided on the top of the fixed cylinder, the fixed cylinder positioning hole is connected with the inside of the fixed cylinder, and a positioning screw is passed through the fixed cylinder positioning hole.

[0008] Preferably, the sliding guide rail includes a sliding guide rod, a bearing connecting ring is provided in the middle of the sliding guide rod, a bearing fixing threaded hole is provided on the bearing connecting ring, and a bearing connecting hole is provided inside the bearing connecting ring; the sliding guide rod as a whole is a semicircular left-right symmetrical structure with a square cross-section, and an end fixing threaded hole is provided at the end of the sliding guide rod, and a retaining ring screw and a shaft end retaining ring are installed at the end of the sliding guide rod, and the retaining ring screw passes through the shaft end retaining ring and cooperates with the end fixing threaded hole to realize the sliding limiting function of the sliding guide rod.

[0009] Preferably, the bearing connecting hole is used to form an interference fit with the outer ring of the deep groove ball bearing, and a fixing screw is passed through the bearing fixing threaded hole to form a fixed constraint with the outer ring of the deep groove ball bearing, and the bearing fixing threaded holes are arranged symmetrically up and down.

[0010] Preferably, the handle includes a bearing fixing sleeve, a handle frame and an arm fixing frame fixed in sequence, the bearing fixing sleeve is a circular ring structure, and a bearing fixing plate is provided on the bearing fixing sleeve; the handle frame is a hollow handle frame structure, and the overall shape of the handle frame is a 6th-order non-uniform rational B-spline, wherein the front end of the handle frame is provided with 4 arc-shaped finger fixing grooves, and the rear end of the handle frame is designed with an anti-slip groove with a circular arc cross-section; the bottom of the handle frame is connected to the arm fixing frame; the arm fixing frame is a "T"-shaped structure, and 4 square holes of equal size are designed at the end, wherein the outermost two square holes are fixing belt connection holes, and the fixing belt connection holes are used to install a flexible fixing belt.

[0011] Preferably, the number of the bearing fixing plates is four and they are symmetrically distributed on the bearing fixing sleeve.

[0012] The beneficial effects of the present invention are:

[0013] 1. The handheld three-dimensional structured light scanning device provided by the present invention is designed for handheld three-dimensional scanning measurement. The handheld three-dimensional scanning device proposed by the present invention is intended to realize on-site measurement of complex surfaces in the field of industrial production.

[0014] 2. The handheld 3D scanning device proposed in the present invention has the following two characteristics. First, the laser clamping part adopts a semicircular, slidable and rotatable design concept, so that the laser has two degrees of freedom of rotation and sliding at the same time, which expands the imaging range and imaging quality. Second, a lightweight soft belt arm fixing bracket is designed, which has the advantages of reliable holding and accurate positioning.

[0015] 3. The present invention proposes a handheld three-dimensional structured light scanning device, which has the advantages of good portability, strong real-time performance, and simple structure. It can be widely used in in-service inspection of aircraft engine blades, wing shapes and other parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of a handheld three-dimensional structured light scanning device of the present invention;

[0017] Figure 2 It is a structural schematic diagram of the camera fixing bracket of the present invention;

[0018] Figure 3 It is a side structural schematic diagram of the camera fixing bracket of the present invention;

[0019] Figure 4 It is a schematic diagram of the structure of the structured light source fixing block of the present invention;

[0020] Figure 5 It is a structural schematic diagram of the sliding guide rail of the present invention;

[0021] Figure 6It is a structural schematic diagram of the handle of the present invention;

[0022] Figure 7 It is a schematic diagram of the lateral structure of the handle of the present invention.

[0023] Explanation of the reference numerals in the accompanying drawings: 1. camera fixing bracket; 2. structured light source fixing block; 3. sliding guide rail; 4. handle; 5. deep groove ball bearing; 11. camera fixing block; 12. positioning boss; 13. bearing connecting boss; 14. handle connecting sleeve; 15. connecting threaded hole; 21. fixed base; 22. fixed cylinder; 31. sliding guide rod; 32. bearing connecting ring; 33. bearing fixing threaded hole; 34. bearing connecting hole; 35. end fixing threaded hole; 36. retaining ring screw; 37. shaft end retaining ring; 41. bearing fixing sleeve; 42. handle frame; 43. arm fixing bracket; 44. bearing fixing plate; 45. finger fixing groove; 46. anti-skid groove; 47. fixing belt connecting hole; 110. camera fixing square hole; 211. fixed base through hole; 212. fixed base positioning hole; 221. fixed cylinder positioning hole. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0025] like Figures 1 to 7 As shown, the handheld three-dimensional structured light scanning device provided by the present invention includes a camera fixing frame 1, a structured light source fixing block 2, a sliding guide rail 3, a handle 4 and a deep groove ball bearing 5. An imaging camera is installed on the camera fixing frame 1, and a linear laser is installed on the structured light source fixing block 2. The structured light source fixing block 2 is sleeved on the sliding guide rail 3 and can slide freely on the semicircular sliding guide rail 3 to adjust the angle of the linear laser. The sliding guide rail 3 and the camera fixing frame 1 are rotatably connected through the deep groove ball bearing 5, and the two can rotate freely. The sliding guide rail 3 is fixedly connected to the deep groove ball bearing 5. Similarly, in order to fix the linear laser, the structured light source fixing block 2 is fixedly connected to the linear laser. At the end of the camera fixing frame 1, the handle 4 is fixedly connected to the camera fixing frame 1.

[0026] In this embodiment, the imaging camera and the linear laser are both existing mature technology equipment. The sliding guide rail 3 is connected to the deep groove ball bearing 5 by fixing screws to form a fixed connection, and the structured light source fixing block 2 is connected to the linear laser by fixing screws to form a fixed connection. The handle 4 is connected to the camera fixing frame 1 by fixing screws to form a fixed connection.

[0027] like Figure 2 and Figure 3As shown, the camera fixing frame 1 includes a camera fixing block 11, a positioning boss 12, a bearing connection boss 13 and a handle connection sleeve 14 which are fixedly connected in sequence. A rectangular camera fixing square hole 110 is provided on the camera fixing block 11. The positioning boss 12, the bearing connection boss 13 and the handle connection sleeve 14 are all rotating body structures with a ring-shaped cross section. The positioning boss 12 is used for axial positioning of the deep groove ball bearing 5, and the bearing connection boss 13 is used for interference fit connection of the deep groove ball bearing 5. The handle connection sleeve 14 is provided with a connection threaded hole 15, which is used for fixed connection with the handle 4.

[0028] The imaging camera installed inside the camera fixing square hole 110 is a CCD camera. The size of the camera fixing square hole 110 is determined according to the size of the CCD camera. All cables of the CCD camera are connected to the space inside the hollow shaft of the sleeve 14 through the handle.

[0029] In this embodiment, the deep groove ball bearing 5 is sleeved on the bearing connection boss 13 and positioned by the positioning boss 12. The number of the connection threaded holes 15 is two and they are symmetrically distributed up and down. The connection threaded holes 15 cooperate with the fixing screws provided on the handle 4.

[0030] like Figure 4 As shown, the structured light source fixing block 2 includes a fixing base 21 and a fixing cylinder 22 which are fixedly connected as one. The fixing base 21 is a rectangular parallelepiped structure. The fixing base 21 is provided with a fixing base through hole 211 and a fixing base positioning hole 212. The cross section of the fixing base through hole 211 is rectangular. The fixing base positioning hole 212 is a threaded hole. The fixing base positioning hole 212 is connected with the fixing base through hole 211. A positioning screw is inserted into the fixing base positioning hole 212. The cross section of the fixing cylinder 22 is a circular ring structure. The top of the fixing cylinder 22 is provided with a fixing cylinder positioning hole 221. The fixing cylinder positioning hole 221 is connected with the inside of the fixing cylinder 22. A positioning screw is inserted into the fixing cylinder positioning hole 221.

[0031] In this embodiment, there are two structured light source fixing blocks 2, both of which are connected to the sliding guide rail 3. The linear laser is mounted on the fixing cylinder 22. The fixing screws in the fixing cylinder positioning holes 221 fix the linear laser.

[0032] like Figure 5As shown, the sliding guide rail 3 includes a sliding guide rod 31, a bearing connection ring 32 is provided in the middle of the sliding guide rod 31, a bearing fixing threaded hole 33 is provided on the bearing connection ring 32, and a bearing connection hole 34 is provided inside the bearing connection ring 32. The sliding guide rod 31 is a semicircular left-right symmetrical structure as a whole, and the cross section is a square. The end of the sliding guide rod 31 is provided with an end fixing threaded hole 35, and the end of the sliding guide rod 31 is installed with a retaining ring screw 36 and a shaft end retaining ring 37. The retaining ring screw 36 passes through the shaft end retaining ring 37 and cooperates with the end fixing threaded hole 35 to realize the sliding limit function of the sliding guide rod 31.

[0033] The bearing connection hole 34 is used to form an interference fit with the outer ring of the deep groove ball bearing 5. A fixing screw is inserted into the bearing fixing threaded hole 33 to form a fixed constraint with the outer ring of the deep groove ball bearing 5. The bearing fixing threaded holes 33 are arranged symmetrically up and down.

[0034] When in use, the sliding guide rod 31 is passed through the fixed base through hole 211 and can move along the sliding guide rod 31. The positioning screw passed through the fixed base positioning hole 212 plays a positioning role. After the structured light source fixing block 2 moves to the set position, the positioning screw in the fixed base positioning hole 212 is rotated so that it abuts against the sliding guide rod 31 for positioning. When the structured light source fixing block 2 needs to be moved, its positioning screw can be loosened. The shaft end retaining ring 37 can limit the movement of the structured light source fixing block 2 to ensure that the structured light source fixing block 2 will not slide out of the sliding guide rod 31.

[0035] like Figure 6 and Figure 7 As shown, the handle 4 includes a bearing fixing sleeve 41, a handle frame 42 and an arm fixing frame 43 which are fixedly connected in sequence. The bearing fixing sleeve 41 is a circular ring structure, and a bearing fixing plate 44 is provided on the bearing fixing sleeve 41. The handle frame 42 is a hollow handle frame structure, which can reduce the weight. The overall shape of the handle frame 42 is a 6th-order non-uniform rational B-spline, wherein the front end of the handle frame 42 is provided with four arc-shaped finger fixing grooves 45, and the rear end of the handle frame 42 is designed with an anti-slip groove 46 with an arc cross-section. The bottom of the handle frame 42 is connected to the arm fixing frame 43. The arm fixing frame 43 is a "T"-shaped structure, and four equal-sized square holes are designed at the end, wherein the outermost two square holes are fixing belt connection holes 47, and the fixing belt connection holes 47 are used to install the flexible fixing belt. There are four bearing fixing plates 44 and they are symmetrically distributed on the bearing fixing sleeve 41. The arm is fixedly connected to the "arm fixing frame" through the flexible fixing belt.

[0036] During use of the present invention, the operator holds the handle 4 and fixes it with a flexible fixing belt, then scans with the linear laser on the structured light source fixing block 2, and takes pictures with the imaging camera on the camera fixing frame 1.

[0037] Those skilled in the art will appreciate that the embodiments described herein are intended to help readers understand the principles of the present invention, and should be understood that the protection scope of the present invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific variations and combinations that do not deviate from the essence of the present invention based on the technical revelations disclosed by the present invention, and these variations and combinations are still within the protection scope of the present invention.

Claims

1. A handheld three-dimensional structured light scanning device, characterized in that: The invention comprises a camera fixing frame (1), a structured light source fixing block (2), a sliding guide rail (3), a handle (4) and a deep groove ball bearing (5); an imaging camera is installed on the camera fixing frame (1); a linear laser is installed on the structured light source fixing block (2); the structured light source fixing block (2) is sleeved on the sliding guide rail (3) and can slide freely on the semicircular sliding guide rail (3), so as to adjust the angle of the linear laser; the sliding guide rail (3) and the camera fixing frame (1) are rotatably connected through the deep groove ball bearing (5), and the two can rotate freely; the sliding guide rail (3) and the deep groove ball bearing (5) are fixedly connected; similarly, in order to fix the linear laser, the structured light source fixing block (2) and the linear laser are fixedly connected; at the end of the camera fixing frame (1), the handle (4) is fixedly connected to the camera fixing frame (1).

2. The handheld three-dimensional structured light scanning device according to claim 1, characterized in that: The camera fixing frame (1) comprises a camera fixing block (11), a positioning boss (12), a bearing connecting boss (13) and a handle connecting sleeve (14) which are fixedly connected in sequence. A rectangular camera fixing square hole (110) is provided on the camera fixing block (11). The positioning boss (12), the bearing connecting boss (13) and the handle connecting sleeve (14) are all rotating body structures with a ring-shaped cross section. The positioning boss (12) is used for axial positioning of a deep groove ball bearing (5), and the bearing connecting boss (13) is used for interference fit connection of the deep groove ball bearing (5). The handle connecting sleeve (14) is provided with a connecting threaded hole (15), and the connecting threaded hole (15) is used for fixed connection with the handle (4).

3. The handheld three-dimensional structured light scanning device according to claim 1, characterized in that: The imaging camera installed inside the camera fixing square hole (110) is a CCD camera, the size of the camera fixing square hole (110) is determined according to the size of the CCD camera, and all cables of the CCD camera are connected to the space inside the hollow shaft of the sleeve (14) through the handle.

4. The handheld three-dimensional structured light scanning device according to claim 1, characterized in that: The structured light source fixing block (2) comprises a fixing base (21) and a fixing cylinder (22) which are fixedly connected as one body; the fixing base (21) is a rectangular parallelepiped structure; the fixing base (21) is provided with a fixing base through hole (211) and a fixing base positioning hole (212); the cross section of the fixing base through hole (211) is rectangular; the fixing base positioning hole (212) is a threaded hole; the fixing base positioning hole (212) is connected to the fixing base through hole (211); a positioning screw is inserted into the fixing base positioning hole (212); the cross section of the fixing cylinder (22) is a circular ring structure; a fixing cylinder positioning hole (221) is provided at the top of the fixing cylinder (22); the fixing cylinder positioning hole (221) is connected to the inside of the fixing cylinder (22); a positioning screw is inserted into the fixing cylinder positioning hole (221).

5. The handheld three-dimensional structured light scanning device according to claim 1, characterized in that: The sliding guide rail (3) comprises a sliding guide rod (31), a bearing connecting ring (32) is provided in the middle of the sliding guide rod (31), a bearing fixing threaded hole (33) is provided on the bearing connecting ring (32), and a bearing connecting hole (34) is provided inside the bearing connecting ring (32); the sliding guide rod (31) is a semicircular left-right symmetrical structure as a whole, and the cross section is square, and an end portion of the sliding guide rod (31) is provided with an end portion fixing threaded hole (35), and a retaining ring screw (36) and an axial end retaining ring (37) are installed at the end portion of the sliding guide rod (31), and the retaining ring screw (36) passes through the axial end retaining ring (37) and cooperates with the end portion fixing threaded hole (35) to realize the sliding limiting function of the sliding guide rod (31).

6. The handheld three-dimensional structured light scanning device according to claim 1, characterized in that: The bearing connection hole (34) is used to form an interference fit with the outer ring of the deep groove ball bearing (5); a fixing screw is inserted into the bearing fixing threaded hole (33) to form a fixed constraint with the outer ring of the deep groove ball bearing (5); and the bearing fixing threaded holes (33) are arranged symmetrically in the upper and lower parts.

7. The handheld three-dimensional structured light scanning device according to claim 1, characterized in that: The handle (4) comprises a bearing fixing sleeve (41), a handle frame (42) and an arm fixing frame (43) which are fixedly connected in sequence. The bearing fixing sleeve (41) is a circular ring structure, and a bearing fixing plate (44) is provided on the bearing fixing sleeve (41); the handle frame (42) is a hollow handle frame structure, and the overall shape of the handle frame (42) is a 6th-order non-uniform rational B-spline, wherein the front end of the handle frame (42) is provided with four arc-shaped finger fixing grooves (45), and the rear end of the handle frame (42) is designed with an anti-slip groove (46) with an arc cross section; the bottom of the handle frame (42) is connected to the arm fixing frame (43); the arm fixing frame (43) is a "T"-shaped structure, and four square holes of equal size are designed at the end, wherein the two outermost square holes are fixing belt connection holes (47), and the fixing belt connection holes (47) are used to install a flexible fixing belt.

8. The handheld three-dimensional structured light scanning device according to claim 1, characterized in that: The number of the bearing fixing plates (44) is four and they are symmetrically distributed on the bearing fixing sleeve (41).

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