Novel three-dimensional scanning system based on structured light scanning technology and photogrammetry technology

Abstract

The invention provides a novel three-dimensional scanning system based on a structured light scanning technology and a photogrammetry technology, and the system comprises a holding main body which comprises a rack, a front housing disposed at one side of the rack, a rear housing cover disposed at the other side of the rack, and a pedestal disposed at the bottom of the rack and the bottom of the rear housing cover. The defects that a scanner in the current market is single in function mode and scanning efficiency of a large workpiece in a large space is low are overcome, an ultra-large workpiece object can be rapidly scanned, the whole is not lost, local details and precision are taken into consideration, and the scanning efficiency of the ultra-large workpiece object is improved. And the scanning resolution can be flexibly adjusted in a single engineering project. Through the technology, all-dimensional, high-precision and high-efficiency three-dimensional scanning of an ultra-large object is achieved, and more valuable three-dimensional data support is provided for the intelligent manufacturing industry and the fields suitable for aerospace, automobiles, heavy industry machinery, molds, casting medium and large workpieces and the like.

Description

Technical Field

[0001] The present invention relates to the field of scanning photogrammetry technology, and in particular to a novel three-dimensional scanning system based on structured light scanning technology and photogrammetry technology. Background Art

[0002] Currently, there is a lack of scanners on the market that can scan large scenes and small artifacts within the large scenes. For example, in a large space, such as a room, a three-dimensional scan of the entire room and the small artifacts placed inside it must be performed in the same coordinate system. Existing 3D scanner technology can only perform step-by-step scanning, that is, first scanning the small artifacts, then scanning the large scene of the room, and finally manually synthesizing the overall 3D data. The data processing speed is slow, time-consuming, and extremely labor-intensive.

[0003] It is difficult to efficiently obtain point cloud data models for large workpieces and large spaces;

[0004] When scanning a workpiece, it is necessary to mark the workpiece with marking points, which is time-consuming and inefficient.

[0005] Poor adaptability, single mode, and inability to adjust the scanning plan according to the workpiece and scanning environment.

[0006] Therefore, it is necessary to design a new three-dimensional scanning system based on structured light scanning technology and photogrammetry technology to improve the above problems. Summary of the Invention

[0007] In response to the shortcomings of the existing technology, the purpose of the present invention is to provide a new three-dimensional scanning system based on structured light scanning technology and photogrammetry technology, which can quickly scan very large workpieces without losing the overall structure while taking into account local details and accuracy. It is mainly used in the intelligent manufacturing industry and is suitable for three-dimensional model measurement of medium and large workpieces in aerospace, automobiles, heavy machinery, molds, and castings.

[0008] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0009] A novel three-dimensional scanning system based on structured light scanning technology and photogrammetry technology includes: a holding subject;

[0010] a first camera, the first camera being mounted at a top middle position of the grip body;

[0011] a second camera mounted on the bottom of the grip body;

[0012] a first photogrammetric camera, the first photogrammetric camera being mounted on the top of the grip body and located on one side of the first camera;

[0013] a second photogrammetric camera, the second photogrammetric camera being mounted on the top of the grip body and located on the other side of the first camera;

[0014] A laser is installed in the middle of the holding body.

[0015] As a preferred solution of the present invention, the holding body includes a frame, a front shell arranged on one side of the frame, a rear shell cover arranged on the other side of the frame, and a base arranged at the bottom of the frame and the rear shell cover. The front shell, rear shell cover and base are fixedly connected to the frame by screws, and the base is fixedly connected to the rear shell cover by screws.

[0016] As a preferred solution of the present invention, a handshake seat is installed between the front shell and the rear shell cover, and the handshake seat is fixedly connected to the front shell and the rear shell cover by screws. The outer wall of the handshake seat is provided with an anti-slip texture.

[0017] As a preferred solution of the present invention, the first camera, the second camera, the first photogrammetric camera, the second photogrammetric camera and the laser are fixedly connected to the frame by screws.

[0018] As a preferred solution of the present invention, light source covers are installed on the rack at the first camera, the first photogrammetric camera and the second photogrammetric camera.

[0019] As a preferred solution of the present invention, the bottom of the front shell is fixedly connected to a front shell cover located at the second camera.

[0020] As an optimal solution of the present invention, the top of the front shell is also fixedly connected to a central control screen, the frame is also fixedly connected to a central control PCB board, the handshake seat is installed with buttons and a button PCB board, and the inside of the base is installed with a data power PCB board.

[0021] Compared with the prior art, the present invention has at least the following beneficial effects:

[0022] This invention addresses the current market shortcomings of scanners with limited functionality and low efficiency in scanning large workpieces and large spaces. It can rapidly scan very large workpieces without losing the overall image while also maintaining local detail and accuracy. Scanning resolution can be flexibly adjusted within individual projects. This technology enables comprehensive, high-precision, and efficient 3D scanning of very large objects, providing valuable 3D data support for the intelligent manufacturing industry, aerospace, automotive, heavy machinery, molds, and large-scale casting workpieces, among many other fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which are incorporated herein and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, further serve to explain the principles of the invention and to enable one skilled in the art to make and use the invention.

[0024] Figure 1 The overall structure of the present invention is shown in FIG. Figure 1 ;

[0025] Figure 2 The overall structure of the present invention is shown in FIG. Figure 2 ;

[0026] Figure 3 It is a schematic diagram of the split structure of the present invention.

[0027] [reference numerals]

[0028] 1. Frame; 2. Front shell; 3. Rear shell cover; 4. Handshake base; 5. Base; 6. First camera; 7. Second camera; 8. First photogrammetry camera; 9. Second photogrammetry camera; 10. Central control screen; 11. Button; 12. Laser; 13. Front shell cover; 14. Central control PCB; 15. Button PCB; 16. Data power PCB.

[0029] As shown in the figure, in order to clearly implement the structure of the embodiment of the present invention, specific structures and devices are marked in the figure, but this is only for illustrative purposes and is not intended to limit the present invention to the specific structure, device and environment. According to specific needs, ordinary technicians in this field can adjust or modify these devices and environments. DETAILED DESCRIPTION

[0030] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved more clearly, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0031] Example: Figures 1 to 3As shown, an embodiment of the present invention provides a novel three-dimensional scanning system based on structured light scanning technology and photogrammetry technology, including a gripping body, the gripping body including a frame 1, a front shell 2 arranged on one side of the frame 1, a rear shell cover 3 arranged on the other side of the frame 1, and a base 5 arranged at the bottom of the frame 1 and the rear shell cover 3. The front shell 2, the rear shell cover 3 and the base 5 are fixedly connected to the frame 1 by screws, and the base 5 is fixedly connected to the rear shell cover 3 by screws. A handshake seat 4 is installed between the front shell 2 and the rear shell cover 3, and the handshake seat 4 is fixedly connected to the front shell 2 and the rear shell cover 3 by screws. The outer wall of the grip base 4 is provided with an anti-slip texture. The entire grip body is a T-shaped structure, which can integrate multiple cameras on the grip body. The structure is small and compact, and space is cleverly reserved for installing the grip base 4 as a handle position. This design not only flattens the product, but also changes the center of gravity distribution of the product, effectively reducing the weight of the product. The design of the grip base 4 fully complies with the principles of ergonomics. The rounded shape and moderate size make it more comfortable to hold. At the same time, the anti-slip texture design maximizes comfort and functionality, making the product's holdability more prominent.

[0032] This new three-dimensional scanning system based on structured light scanning technology and photogrammetry technology also includes a first camera 6, a second camera 7, a first photogrammetry camera 8, a second photogrammetry camera 9 and a laser 12. The first camera 6 is installed in the middle position of the top of the holding body, the second camera 7 is installed at the bottom of the holding body, the first photogrammetry camera 8 is installed on the top of the holding body and is located on one side of the first camera 6, the second photogrammetry camera 9 is installed on the top of the holding body and is located on the other side of the first camera 6, and the laser 12 is installed in the middle position of the holding body. The first camera 6, the second camera 7, the first photogrammetry camera 8, the second photogrammetry camera 9 and the laser 12 are fixed to the frame 1 by screws. The first camera 6 and the second camera 7 are cleverly installed at the upper and lower positions of the frame 1 respectively to ensure an all-round shooting angle. The first photogrammetry camera 8 and the second photogrammetry camera 9 are fixed on the left and right sides of the frame 1 respectively to take pictures for photogrammetry. The coded light is projected on the surface of the workpiece to be measured by the laser 12, and the object features in each frame image of the camera are accurately identified by using the image processing algorithm.

[0033] In this embodiment, light source covers are installed on the frame 1 at the first camera 6, the first photogrammetric camera 8, and the second photogrammetric camera 9. A front shell cover 13 is fixedly connected to the bottom of the front shell 2 at the second camera 7. The light source cover and the front shell cover 13 adopt a unique octagonal design, which not only emphasizes the sense of range of the scanning circle, but also adds a sense of technology.

[0034] In this embodiment, a central control screen 10 is also fixedly connected to the top of the front shell 2, a central control PCB board 14 is also fixedly connected to the frame 1, a button 11 and a button PCB board 15 are installed on the handshake seat 4, and a data power PCB board 16 is installed inside the base 5. The button 11 is electrically connected to the button PCB board 15, and the button PCB board 15 and the data power PCB are electrically connected to the central control PCB board 14. The first camera 6, the second camera 7, the first photogrammetry camera 8, the second photogrammetry camera 9 and the laser 12 are electrically connected to the central control PCB board 14. The data power PCB board 16 provides power support for multiple cameras and lasers 12 and records and saves measurement data. The button 11 adopts a grid design, which makes the functional area division clearer and effectively reduces accidental touches and unclear recognition. The circle-shaped button in the middle and the start and pause marks are clearly prominent. From the perspective of practical use, users can easily understand the design and operate more conveniently.

[0035] The device meticulously integrates core components such as the chassis, lens, laser, and housing, resulting in a product that blends innovation with tradition. The design cleverly subverts the traditional "pin" ("P") structure, imbuing the product with unprecedented visual impact and functional layout. Through the subtle division of points, lines, and surfaces, we have constructed a form imbued with geometric beauty. Furthermore, the use of curved surfaces imparts soft lines to the product, creating a more visually harmonious aesthetic.

[0036] The 3D scanning system of this invention can simultaneously scan and measure a large space and small workpieces or small features within the space. The system includes the following working modes and workflows:

[0037] 1. Photogrammetry technology:

[0038] Through the 3D photogrammetry system, a high-resolution camera can be used to quickly acquire multiple 2D data of large spaces or large workpieces, and then calculate and generate 3D data of large spaces;

[0039] When the 3D photogrammetry system is working normally, the multi-line laser or infrared structured light technology is enabled at the same time to perform 3D scanning of a small part or small workpiece in a large space or a large workpiece with the handheld device;

[0040] Finally, a complete 3D scanning data of a large space will be obtained, which also includes local high-precision 3D scanning data of small workpieces or small features.

[0041] 2. Red (or blue) multi-line laser technology:

[0042] By sticking marker points on the surface of the object to be measured, combining red (or blue) multi-line laser and high-precision camera to capture the surface information of the object, and using advanced image processing algorithms, the point cloud data in ASC format can be accurately output.

[0043] 3. Infrared structured light technology:

[0044] The system projects coded light onto the surface of the workpiece being measured, uses image processing algorithms to accurately identify object features in each camera frame, performs real-time comparison, and automatically stitches the scanned data (without additional labeling). After scanning, it also outputs high-quality ASC point cloud data. By optimizing the laser emission and receiving modules, measurement accuracy and anti-interference performance are further improved.

[0045] 4. New 3D scanning system combining the above three technologies:

[0046] By combining the three technologies on the scanner, the scanner has multiple scanning modes. When facing large objects, red (or blue) multi-line laser technology and infrared structured light technology can be used to accurately scan local details to obtain high-precision data and fine features. When using the photogrammetry system to scan the entire object, the overall data can be quickly obtained. The data obtained not only includes local details but also ensures data integrity and high-efficiency scanning.

[0047] Working principle: The scanner system scans the surface of the workpiece by emitting laser. When the scanning system moves to scan the surface of the workpiece, the camera (sensor) collects the marker points and the surface information of the object, and uses the image algorithm to analyze the position of the marker points pasted on the surface of the object. Based on these real-time captured marker points, the surface information of the scanned object is collected, thereby completing the scanning and acquisition of point cloud data and outputting ASC point cloud data.

[0048] Working method: Connect the scanning system to the computer with a two-in-one (power supply and data transmission) transmission line. Scanning can be performed with or without marking points on different workpiece objects and scanning environments.

[0049] Using infrared structured light mode scanning, there is no need to attach markers to the object. Combined with a total station, a 360-degree full-scale scan can be performed directly around the object to obtain surface data and output ASC point cloud data.

[0050] When scanning with red (or blue) multi-line laser mode, it is necessary to attach marker points to the surface of the object, then perform a 360-degree full-scale scan of the object to obtain surface data and output ASC point cloud data.

[0051] Through data transmission, three-dimensional data is presented in real time on the scanning system screen and the computer screen in a 1:1 ratio.

[0052] This invention addresses the current market shortcomings of scanners with limited functionality and low efficiency in scanning large workpieces and large spaces. It can rapidly scan very large workpieces without losing the overall image while also maintaining local detail and accuracy. Scanning resolution can be flexibly adjusted within individual projects. This technology enables comprehensive, high-precision, and efficient 3D scanning of very large objects, providing valuable 3D data support for the intelligent manufacturing industry, aerospace, automotive, heavy machinery, molds, and large-scale casting workpieces, among many other fields.

[0053] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A new 3D scanning system based on structured light scanning technology and photogrammetry technology, characterized by: include: Holding the subject; A first camera (6), the first camera (6) being installed at a top middle position of the gripping body; A second camera (7), the second camera (7) being mounted on the bottom of the grip body; a first photogrammetric camera (8), the first photogrammetric camera (8) being mounted on the top of the holding body and located on one side of the first camera (6); a second photogrammetric camera (9), the second photogrammetric camera (9) being mounted on the top of the holding body and located on the other side of the first camera (6); A laser (12) is installed in the middle of the gripping body.

2. The novel three-dimensional scanning system based on structured light scanning technology and photogrammetry technology according to claim 1 is characterized in that: The holding body comprises a frame (1), a front shell (2) arranged on one side of the frame (1), a rear shell cover (3) arranged on the other side of the frame (1), and a base (5) arranged at the bottom of the frame (1) and the rear shell cover (3); the front shell (2), the rear shell cover (3) and the base (5) are fixedly connected to the frame (1) by screws, and the base (5) is fixedly connected to the rear shell cover (3) by screws.

3. The novel three-dimensional scanning system based on structured light scanning technology and photogrammetry technology according to claim 2 is characterized in that: A handshake seat (4) is installed between the front shell (2) and the rear shell cover (3); the handshake seat (4) is fixedly connected to the front shell (2) and the rear shell cover (3) by screws; and an anti-slip texture is provided on the outer wall of the handshake seat (4).

4. The novel three-dimensional scanning system based on structured light scanning technology and photogrammetry technology according to claim 3 is characterized in that: The first camera (6), the second camera (7), the first photogrammetry camera (8), the second photogrammetry camera (9) and the laser (12) are fixedly connected to the frame (1) by screws.

5. The novel three-dimensional scanning system based on structured light scanning technology and photogrammetry technology according to claim 4 is characterized in that: Light source covers are installed on the frame (1) at the first camera (6), the first photogrammetry camera (8), and the second photogrammetry camera (9).

6. The novel three-dimensional scanning system based on structured light scanning technology and photogrammetry technology according to claim 4 is characterized in that: The bottom of the front shell (2) is fixedly connected to a front shell cover (13) at the second camera (7).

7. The novel three-dimensional scanning system based on structured light scanning technology and photogrammetry technology according to claim 4 is characterized in that: The top of the front shell (2) is also fixedly connected to a central control screen (10), the frame (1) is also fixedly connected to a central control PCB board (14), the handshake seat (4) is installed with a button (11) and a button PCB board (15), and the base (5) is internally installed with a data power PCB board (16).

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