Three-dimensional scanning system

Abstract

The utility model provides a three-dimensional scanning system, relates to the image scanning technology field, and the three-dimensional scanning system comprises a pedestal, a mechanical arm, a connecting mechanism and a binocular scanning device, one end of the mechanical arm is movably connected with the pedestal, the pedestal is used for being fixed on a preset platform, and the other end of the mechanical arm is connected with the binocular scanning device. The binocular scanning equipment is detachably connected with the other end of the mechanical arm through a connecting mechanism; an attitude sensor is arranged on the mechanical arm and used for being in communication connection with preset data receiving equipment. According to the three-dimensional scanning system provided by the invention, the coverage area of three-dimensional scanning is enlarged, the three-dimensional scanning difficulty is reduced, and the scanning efficiency of three-dimensional scanning is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of image scanning, in particular to a three-dimensional scanning system. Background Art

[0002] 3D scanning systems, based on binocular stereo vision, are widely used in a wide range of fields, including 3D modeling, machine vision, virtual reality, and autonomous driving. Simulating the human eye's visual function, the system uses two cameras to simultaneously capture images of the same scene from different angles. Computer algorithms then process these images to calculate the depth and 3D structure of objects in the scene. The core of 3D scanning systems lies in their ability to provide precise stereoscopic perception, which is crucial for many modern technologies.

[0003] At present, a monocular camera is carried on a robotic arm, and specific positioning markers are used to create reference points on the surface of an object. Images from different perspectives are captured through multiple cameras. After image preprocessing, camera calibration, feature matching and triangulation, the two-dimensional image information is converted into three-dimensional space coordinates. Then, through three-dimensional reconstruction and data fusion technology, an accurate three-dimensional model of the object surface is constructed.

[0004] However, existing methods require a sufficient number of positioning points to be distributed on or near the surface of the object to be scanned, which can lead to a loss of integrity in the surface scan data and place certain restrictions on the degrees of freedom of the scanning system. Three-dimensional scanning based on positioning robotic arms typically uses a single-objective scanning principle. Limited by the fact that a monocular camera can only extract two-dimensional information and cannot achieve three-dimensional point matching in space, this system is usually paired with a single-line laser. Single-line lasers have a small coverage area and low scanning efficiency, which greatly increases time costs. Utility Model Content

[0005] The purpose of this application is to provide a three-dimensional scanning system. The three-dimensional scanning system in this application expands the coverage area of ​​three-dimensional scanning, reduces the difficulty of three-dimensional scanning, improves the scanning efficiency of three-dimensional scanning, and reduces time cost.

[0006] An embodiment of the present application provides a three-dimensional scanning system, which includes: a base, a robotic arm, a connecting mechanism, and a binocular scanning device. One end of the robotic arm is movably connected to the base, and the base is used to be fixed on a preset platform. The binocular scanning device is detachably connected to the other end of the robotic arm through the connecting mechanism; a posture sensor is provided on the robotic arm for communicating with a preset data receiving device.

[0007] Optionally, the three-dimensional scanning system further includes: a turntable fixedly disposed on the base, the turntable being rotatably connected to one end of the robotic arm.

[0008] Optionally, the robotic arm includes: a first joint arm, a second joint arm, and a movable portion, wherein one end of the first joint arm is one end of the robotic arm, configured to be movably connected to the base, the other end of the first joint arm and one end of the second joint arm are respectively movably connected to the movable portion, and the other end of the second joint arm is the other end of the robotic arm, configured to be detachably connected to the binocular scanning device through the connecting mechanism;

[0009] The first articulated arm and the second articulated arm are respectively provided with a posture sensor.

[0010] Optionally, the movable portion is a movable bearing, and the other end of the first articulated arm and one end of the second articulated arm are respectively movably connected to the rotating shaft of the movable bearing.

[0011] Optionally, the three-dimensional scanning system further includes: an image processing module provided on the articulated arm, the image processing module being connected to the binocular scanning device via wired communication, and the image processing module being used to be connected to the preset data receiving device via communication.

[0012] Optionally, the three-dimensional scanning system also includes: a wireless communication module arranged on the articulated arm, the wireless communication module is connected to the posture sensor and the binocular scanning device via wired communication, the wireless communication module is connected to the graphics processing module via wired communication, and the wireless communication module is used to wirelessly connect to the preset data receiving device.

[0013] Optionally, the image processing module and the posture sensor are respectively used for connecting to the preset data receiving device via wired communication.

[0014] Optionally, the binocular scanning device includes: a device body, and a light source module, a scanning processing module and a binocular camera module arranged on the device body, and the scanning processing module is connected to the light source module and the binocular camera module respectively.

[0015] Optionally, the device body includes: a connecting skeleton, through which the two camera modules in the binocular camera module are rigidly connected;

[0016] The light emitting surface of the light source module faces the preset light outlet on the connecting frame.

[0017] Optionally, a plurality of fill lights are evenly arranged around the lens module on each camera module in the binocular camera module, and the plurality of fill lights are all connected to the scanning processing module.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] This application provides a three-dimensional scanning system, comprising a base, a robotic arm, a connecting mechanism, and a binocular scanning device. One end of the robotic arm is movably connected to the base, which is fixed to a preset platform. The binocular scanning device is detachably connected to the other end of the robotic arm via the connecting mechanism. The robotic arm is provided with a posture sensor for communicating with a preset data receiving device. The three-dimensional scanning system provided in this application uses the binocular scanning device to achieve three-dimensional scanning of objects without the need for positioning points, thereby expanding the coverage area of ​​the three-dimensional scanning, reducing the difficulty of three-dimensional scanning, improving the scanning efficiency of three-dimensional scanning, and reducing time costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 A schematic structural diagram of a three-dimensional scanning system provided in an embodiment of the present application;

[0022] Figure 2 A schematic structural diagram of a second three-dimensional scanning system provided in an embodiment of the application;

[0023] Figure 3 A schematic structural diagram of a third three-dimensional scanning system provided in an embodiment of the application;

[0024] Figure 4 A schematic structural diagram of a fourth three-dimensional scanning system provided in an embodiment of the application;

[0025] Figure 5 A schematic diagram of the structure of a binocular scanning device in a three-dimensional scanning system provided in an embodiment of the present application;

[0026] Figure 6 A schematic structural diagram of a binocular scanning device in a second three-dimensional scanning system provided in an embodiment of the present application;

[0027] Figure 7 This is a schematic structural diagram of a binocular scanning device in a third three-dimensional scanning system provided in an embodiment of the present application.

[0028] Reference numerals:

[0029] 100-base; 200-robotic arm; 300-connecting mechanism; 400-binocular scanning device; 500-turntable; 600-image processing module; 700-wireless communication module; 201-first articulated arm; 202-second articulated arm; 203-moving part; S-gesture sensor; 401-device body; 402-light source module; 403-scanning processing module; 404-binocular camera module; 4011-connecting skeleton; 4041-camera module; 4042-fill light. DETAILED DESCRIPTION

[0030] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0031] The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but rather merely represents selected embodiments of the present invention.

[0032] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative work shall fall within the scope of protection of the present invention.

[0033] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating positions or relationships, are based on the positions or relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0034] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0035] Current 3D scanning systems use binocular positioning principles, acquiring and fusing surface data by identifying positioning points. This positioning principle requires a sufficient number of positioning points to be distributed on or near the surface of the object to be scanned. This can lead to a loss of integrity in the surface scan data and impose certain restrictions on the scanning system's degrees of freedom. 3D scanning systems based on positioning robotic arms typically use a monocular scanning principle. This limitation is due to the monocular camera's ability to only extract two-dimensional information and inability to achieve spatial three-dimensional point matching. Therefore, these systems are typically paired with a single-line laser. Single-line lasers have a small coverage area and low scanning efficiency, significantly increasing time costs. Positioning robotic arms are limited by their length and the amount of space they can scan. They typically scan smaller objects and have a simpler structure. To this end, the present application provides a 3D scanning system comprising a base, a robotic arm, a connecting mechanism, and a binocular scanning device. One end of the robotic arm is movably connected to the base, which is used to secure it to a preset platform. The binocular scanning device is detachably connected to the other end of the robotic arm via a connecting mechanism. The robotic arm is equipped with a posture sensor for communicating with a preset data receiving device. The three-dimensional scanning system in this application scans objects through a binocular scanning device, and can scan objects without setting positioning marks, thereby improving the scanning efficiency of objects.

[0036] Figure 1 A schematic diagram of the structure of a three-dimensional scanning system provided in an embodiment of the present application is shown in FIG. Figure 1 As shown, the three-dimensional scanning system includes: a base 100, a robotic arm 200, a connecting mechanism 300 and a binocular scanning device 400. One end of the robotic arm 200 is movably connected to the base 100, and the base 100 is used to be fixed on a preset platform. The binocular scanning device 400 is detachably connected to the other end of the robotic arm 200 through the connecting mechanism 300; a posture sensor S is provided on the robotic arm 200 for communicating with a preset data receiving device (not shown in the figure).

[0037] Among them, the posture sensor S is used to determine the position of the robotic arm 200. The number of posture sensors S is determined according to the number of articulated arms and movable parts in the robotic arm 200. This application does not limit the number of articulated arms and movable parts in the robotic arm, and the specific number is determined according to actual conditions. By controlling the robotic arm 200, the binocular scanning device 400 is controlled, thereby achieving three-dimensional scanning of the object. The binocular scanning device 400 can be a binocular structured light scanner, a binocular laser scanner, a binocular three-dimensional camera or other binocular scanning device, and this embodiment of the application does not limit this. The preset data receiving device can be a personal computer, a server, a mobile device, etc., and this embodiment of the application does not limit this. The connecting mechanism 300 can be a clamping structure. One end of the clamping structure is connected to the robotic arm 200 and the other end is connected to the binocular scanning device 400.

[0038] This application provides a three-dimensional scanning system, comprising a base, a robotic arm, a connecting mechanism, and a binocular scanning device. One end of the robotic arm is movably connected to the base, which is fixed to a preset platform. The binocular scanning device is detachably connected to the other end of the robotic arm via the connecting mechanism. The robotic arm is provided with a posture sensor for communicating with a preset data receiving device. The three-dimensional scanning system provided in this application uses the binocular scanning device to achieve three-dimensional scanning of objects without the need for positioning points, thereby expanding the coverage area of ​​the three-dimensional scanning, reducing the difficulty of three-dimensional scanning, improving the scanning efficiency of three-dimensional scanning, and reducing time costs.

[0039] As follows, continue to combine the attached Figure 1 For illustration, the three-dimensional scanning system further includes: a turntable 500 fixedly disposed on the base 100 , and the turntable 500 is rotatably connected to one end of the robotic arm 200 .

[0040] In an embodiment of the present application, a turntable is set up, the turntable is set on the base, the turntable is movably connected to the base, and the turntable is rotatably connected to one end of the robotic arm. The direction of the robotic arm can be changed by adjusting the direction of the turntable, thereby achieving flexible control of the robotic arm and expanding the scanning range of the three-dimensional scanning system.

[0041] Continue to combine Figure 1 For illustration, the robotic arm 200 includes: a first articulated arm 201, a second articulated arm 202, and a movable portion 202. One end of the first articulated arm 201 is one end of the robotic arm 200 and is used to be movably connected to the base 100. The other end of the first articulated arm 201 and one end of the second articulated arm 202 are respectively movably connected to the movable portion 202. The other end of the second articulated arm 202 is the other end of the robotic arm 200 and is used to be detachably connected to the binocular scanning device 400 through the connecting mechanism 300.

[0042] A posture sensor S is provided on each of the first articulated arm 201 and the second articulated arm 202 .

[0043] Among them, this application is explained by taking the first articulated arm 201 and the second articulated arm 202 as an example. In the specific use process, the number of articulated arms can be more, and the corresponding movable parts are one less than the number of articulated arms. This application does not limit the number of articulated arms and movable parts. The movable part 202 is used to support the first articulated arm 201 and the second articulated arm 202, so that the first articulated arm 201 and the second articulated arm 202 can rotate stably. The movable part 202 can guide the first articulated arm 201 and the second articulated arm 202 to move along a specific path to ensure the accuracy of the movement of the robot arm 200. The movable part 202 can maintain the desired position of the first articulated arm 201 and the second articulated arm 202, reducing the error between the first articulated arm 201 and the second articulated arm 202. A posture sensor S is respectively provided on the first articulated arm 201 and the second articulated arm 202, which can simultaneously detect the posture of the first articulated arm 201 and the second articulated arm 202, so that the posture of the obtained robot arm 200 is more accurate.

[0044] In an embodiment of the present application, the robotic arm includes: a first articulated arm, a second articulated arm, and a movable portion. One end of the first articulated arm is one end of the robotic arm, which is used to be movably connected to the base, the other end of the first articulated arm and one end of the second articulated arm are respectively movably connected to the movable portion, and the other end of the second articulated arm is the other end of the robotic arm, which is used to be detachably connected to the binocular scanning device through a connecting mechanism; a posture sensor is respectively provided on the first articulated arm and the second articulated arm. The present application movably connects the first articulated arm to the base, and the base can control the flexible rotation of the robotic arm. The other end of the first articulated arm and one end of the second articulated arm are respectively movably connected to the movable portion to ensure the consistency of the movement of the first articulated arm and the second articulated arm, reduce the error of the first articulated arm and the second articulated arm, and the other end of the second articulated arm is the other end of the robotic arm, which is used to be detachably connected to the binocular scanning device through a connecting mechanism, thereby ensuring the consistency of the movement of the binocular scanning device and the robotic arm and improving the accuracy of the three-dimensional scanning system.

[0045] The following combination Figure 1 To illustrate the three-dimensional scanning system, the movable portion 202 is a movable bearing, and the other end of the first articulated arm 201 and one end of the second articulated arm 202 are movably connected to the rotating shaft of the movable bearing respectively.

[0046] In an embodiment of the present application, when the movable part is a movable bearing, the first articulated arm and the second articulated arm are connected through the movable bearing, so that the first articulated arm and the second articulated arm can rotate stably, ensuring the consistency of the first articulated arm and the second closing movement, and improving the accuracy of the three-dimensional scanning system.

[0047] Based on the above embodiment, this application also provides a structural diagram of a second three-dimensional scanning system. Figure 2The schematic diagram of the structure of the second three-dimensional scanning system provided in the embodiment of the application is as follows: Figure 1 On the basis of, the three-dimensional scanning system also includes: an image processing module 600 arranged on the articulated arm 200, the image processing module 600 is connected to the binocular scanning device 400 by wired communication, and the image processing module 600 is used to communicate with a preset data receiving device.

[0048] The image processing module 600 adapts the image processing algorithm, triggers the synchronization module, and implements high-speed data transmission. The image processing module 600 is used to process the images scanned by the binocular scanning device 400, such as image enhancement, image conversion, image segmentation, feature extraction, and other image processing, which is not limited in this embodiment of the present application. The image processing module 600 can also be located within the binocular scanning device 400, depending on the actual situation, which is not limited in this embodiment of the present application.

[0049] In an embodiment of the present application, by setting up an image processing module to process the image scanned by the binocular scanning device, the image can be processed quickly, the image processing speed can be improved, and human errors can be reduced by performing tasks with high precision.

[0050] Based on the above embodiment, this application also provides a structural diagram of a third three-dimensional scanning system. Figure 3 A schematic diagram of the structure of the third three-dimensional scanning system provided in the application embodiment is shown as follows: Figure 3 As shown in the above Figure 2 On the basis of, the three-dimensional scanning system also includes: a wireless communication module 700 set on the articulated arm 200, the wireless communication module 700 is connected to the posture sensor S and the binocular scanning device 400 by wired communication, the wireless communication module 700 is connected to the graphics processing module 600 by wired communication, and the wireless communication module 700 is used for wireless communication connection to a preset data receiving device.

[0051] The wireless communication module 700 may be a Bluetooth module, a Wi-Fi module, a near-field communication module, or the like, and this embodiment of the present application does not impose any restrictions thereto. The wireless communication module 700 is connected to the posture sensor S via a wired communication to determine the position of the robotic arm 200, and is connected to the binocular scanning device 400 via a wired communication to obtain an image of an object scanned by the binocular scanning device 400. The specific connection of the wireless communication module 700 via a wired communication to the graphics processing module 600 is that, when the graphics processing module 600 is disposed within the binocular scanning device 400, the graphics processing module 600 is connected to the wireless communication module 700 via a Universal Serial Bus (USB) interface.

[0052] In an embodiment of the present application, the three-dimensional scanning system also includes a wireless communication module arranged on the articulated arm, the wireless communication module is connected to the posture sensor and the binocular scanning device by wired communication, the wireless communication module is connected to the graphics processing module by wired communication, and the wireless communication module is used to wirelessly connect to a preset data receiving device, which can realize the rapid transmission of the posture data of the robotic arm obtained by the three-dimensional scanning system and the image of the object scanned by the binocular scanning device, thereby improving the processing speed of the three-dimensional scanning system.

[0053] Based on the above embodiment, this application also provides a structural diagram of a fourth three-dimensional scanning system. Figure 4 A schematic diagram of the structure of the fourth three-dimensional scanning system provided in the embodiment of the application is shown as follows: Figure 4 As shown in the above Figure 2 On the basis of the 3D scanning system, the image processing module 600 and the posture sensor S are respectively used for wired communication connection with a preset data receiving device. Wherein, the preset data receiving device is set outside the 3D scanning system.

[0054] In an embodiment of the present application, the image processing module and the posture sensor are connected to a preset data receiving device by wired communication, and the posture data of the robotic arm obtained by the three-dimensional scanning system and the object image scanned by the binocular scanning device are transmitted to the data receiving device by wired communication to ensure the accuracy of the data, thereby improving the accuracy of the scanning of the three-dimensional scanning system.

[0055] Based on the above embodiments, the present application also provides a structure of a binocular scanning device in a three-dimensional scanning system. Figure 5 A schematic diagram of the structure of a binocular scanning device in a three-dimensional scanning system provided in an embodiment of the present application is shown as follows: Figure 5 As shown, the binocular scanning device 400 includes: a device body 401 and a light source module 402, a scanning processing module 403 and a binocular camera module 404 arranged on the device body. The scanning processing module 403 is connected to the light source module 402 and the binocular camera module 404 respectively.

[0056] The device body 401 is detachably connected to the other end of the robotic arm. The light source module 402 can be at least one set of lasers. During a 3D scanning system scan, the light source module 402 illuminates the surface of the object being scanned, providing light for the object. The scanning processing module 403 is used to control the opening and closing of the light source module 402 and the scanning processing module 403. The binocular camera module 404 is used to scan the surface of the object being scanned.

[0057] In an embodiment of the present application, a binocular scanning device includes a device body, a light source module, a scanning processing module, and a binocular camera module disposed on the device body. The scanning processing module is connected to the light source module and the binocular camera module, respectively. The scanning processing module controls the opening and closing of the light source module and the binocular camera module. The light source module provides light to the surface of the object to be scanned, and the binocular camera module scans the surface of the object to be scanned, thereby ensuring the accuracy of the image scanned by the binocular scanning device.

[0058] Based on the above embodiment, the present application also provides a structure of a second binocular scanning device in a three-dimensional scanning system. Figure 6 This is a schematic diagram of the structure of a binocular scanning device in a second three-dimensional scanning system provided in an embodiment of the present application, as shown in FIG. Figure 6 As shown in the above Figure 5 On the basis of, the device body 401 includes: a connecting skeleton 4011, and two camera modules 4041 in the binocular camera module 404 are rigidly connected through the connecting skeleton 4011;

[0059] The light emitting surface of the light source module 402 faces the preset light outlet on the connecting frame 4011 .

[0060] In an embodiment of the present application, a connecting skeleton is provided and the two camera modules in the binocular camera module are rigidly connected through the connecting skeleton, so that the relative position and angle between the two camera modules can be kept unchanged during long-term use, thereby eliminating the image synchronization problem caused by camera movement, and ensuring the accuracy of the binocular scanning device scanning. The light-emitting surface of the light source module faces the preset light outlet on the connecting skeleton, ensuring that the position of the light source module is the same from the two camera modules, reducing the uneven brightness in the image and thus improving the accuracy of the image.

[0061] Based on the above embodiments, the present application also provides a third structure of a binocular scanning device in a three-dimensional scanning system. Figure 7 A schematic diagram of the structure of a binocular scanning device in a third three-dimensional scanning system provided in an embodiment of the present application is shown as follows: Figure 7 As shown in the above Figure 5 On this basis, a plurality of fill lights 4042 are evenly arranged around the lens module on each camera module 4041 in the binocular camera module 404 , and the plurality of fill lights 4042 are all connected to the scanning processing module 403 .

[0062] The scanning processing module 403 controls the plurality of fill lights 4042 to be turned on when the binocular scanning device 400 is scanning, and to be turned off when the binocular scanning device 400 does not need to scan.

[0063] In the embodiment of the present application, multiple fill lights are evenly distributed around the lens module on each camera module in the binocular camera module. Each of the fill lights is connected to the scanning and processing module. This can reduce or eliminate shadows and uneven lighting in the image, reduce glare caused by strong reflections, and make the image clearer.

[0064] The following is an explanation of the specific use of the 3D scanning system provided by this application. When using the 3D scanning system for scanning, the scanner turns on the laser to illuminate the surface of the object to be scanned, extracts 3D point cloud information through the 3D system, and obtains the position relationship matrix of the robotic arm in real time. , get the global coordinate system transformation matrix of the current position point cloud , * , * + , transform the 3D point cloud into the global coordinate system through the current matrix for fusion.

[0065] in, is the position transformation matrix of the binocular scanning device relative to the 3D scanning system, is the relative position transformation matrix between the binocular scanning device and the robotic arm, is the position transformation matrix of the robotic arm relative to the 3D scanning system, is the angle matrix of the binocular scanning device relative to the 3D scanning system, is the transformation matrix of the relative angle between the binocular scanning device and the robotic arm, is the angle matrix of the machine relative to the 3D scanning system, The position matrix of the binocular scanning device relative to the angular matrix of the 3D scanning system, is the position matrix of the robotic arm relative to the 3D scanning system, is the position matrix of the robotic arm relative to the 3D scanning system.

[0066] Optionally, the binocular scanning device can be used independently from other devices in the 3D scanning system. Remove the binocular scanning device from the 3D scanning system, switch to the point-sticking mode, and obtain a 3D image using the positioning mark. Record the positioning robot position matrix of the switching position , record the position relationship matrix of the binocular scanning device in the positioning punctuation coordinate system After the switch is completed, scan and locate the positioning mark and record the positioning matrix of the scanner system mark point , the global coordinate system matrix in the point-sticking mode is , transform the 3D point cloud into the global coordinate system through the current matrix for fusion.

[0067] Optionally, place the binocular scanning device back into the 3D scanning system and switch from the point-sticking mode to the 3D scanning mode. There is no need to recalibrate the relative position relationship between the scanner system and the positioning robot arm. The transformation matrix is ​​calculated during the switch. And the position relationship matrix of the positioning robot arm , the relative position matrix between the scanner system and the positioning robot arm after re-fixing the scanner can be calculated

[0068] Obtain the relative position relationship between the binocular scanning device and the robotic arm through calibration matrix: , the translation vector .in, They are the angle transformation relationship between the binocular scanning device and the robotic arm in different directions, They are the position transformation relationships between the binocular scanning device and the robotic arm in different directions.

[0069] Calibrate with the calibration plate. During the calibration process, ensure that the relative position relationship between the fixed platform of the manipulator and the calibration position remains unchanged. Set N calibration positions. During the calibration process, trigger synchronization to simultaneously obtain the positioning manipulator pose matrix. and the scanner pose matrix , wherein the calibration plate is stationary relative to the base and can be set on the base or at other locations. It only needs to be ensured to be stationary relative to the base. The embodiments of the present application do not impose any restrictions on this.

[0070] Preset multiple matrix equations, calculate the coincidence of N points by rotating the scanner matrix and the robot positioning matrix at N angles, and select the best rotation matrix as the initial value from more than multiple matrix equations. The matrix equations can be preset by the software, and the number of matrix equations can be indivual.

[0071] The optimal rotation matrix is ​​calculated by the trust region method, that is, formula (1) as is the relative position transformation matrix between the binocular scanning device and the robotic arm.

[0072]

[0073] in, is the optimal rotation matrix, that is, the relative position transformation matrix between the binocular scanning device and the robotic arm . is the radius of the trust region. In this neighborhood, the calculation can obtain a rotation value with higher coincidence. By replacing the initial value matrix and continuing to use the trust region algorithm for iterative calculation, the coincidence of the sphere centers gradually converges to the extreme value. There are multiple matrix equations.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A three-dimensional scanning system, characterized in that: The three-dimensional scanning system includes: a base, a robotic arm, a connecting mechanism and a binocular scanning device. One end of the robotic arm is movably connected to the base, and the base is used to be fixed on a preset platform. The binocular scanning device is detachably connected to the other end of the robotic arm through the connecting mechanism; the robotic arm is provided with a posture sensor for communicating with a preset data receiving device.

2. The three-dimensional scanning system according to claim 1, characterized in that: The three-dimensional scanning system further includes a turntable fixedly arranged on the base, and the turntable is rotatably connected to one end of the mechanical arm.

3. The three-dimensional scanning system according to claim 1, characterized in that: The robotic arm includes: a first joint arm, a second joint arm, and a movable portion, wherein one end of the first joint arm is one end of the robotic arm and is used to be movably connected to the base, the other end of the first joint arm and one end of the second joint arm are respectively movably connected to the movable portion, and the other end of the second joint arm is the other end of the robotic arm and is used to be detachably connected to the binocular scanning device through the connecting mechanism; The first articulated arm and the second articulated arm are respectively provided with a posture sensor.

4. The three-dimensional scanning system according to claim 3, characterized in that: The movable portion is a movable bearing, and the other end of the first joint arm and one end of the second joint arm are movably connected to the rotating shaft of the movable bearing respectively.

5. The three-dimensional scanning system according to claim 1, characterized in that: The three-dimensional scanning system further includes: an image processing module provided on the joint arm of the robotic arm, the image processing module being connected to the binocular scanning device via wired communication, and the image processing module being used for communicating with the preset data receiving device.

6. The three-dimensional scanning system according to claim 5, characterized in that: The three-dimensional scanning system also includes: a wireless communication module arranged on the joint arm of the robotic arm, the wireless communication module is connected to the posture sensor and the binocular scanning device by wired communication, the wireless communication module is connected to the image processing module and the graphics processing module by wired communication, and the wireless communication module is used to wirelessly connect to the preset data receiving device.

7. The three-dimensional scanning system according to claim 5, characterized in that: The image processing module and the posture sensor are respectively used for connecting to the preset data receiving device via wired communication.

8. The three-dimensional scanning system according to claim 1, characterized in that: The binocular scanning device includes: a device body, a light source module, a scanning processing module and a binocular camera module arranged on the device body, and the scanning processing module is connected to the light source module and the binocular camera module respectively.

9. The three-dimensional scanning system according to claim 8, characterized in that: The device body comprises: a connecting skeleton, through which two camera modules in the binocular camera module are rigidly connected; The light emitting surface of the light source module faces the preset light outlet on the connecting frame.

10. The three-dimensional scanning system according to claim 8, characterized in that: A plurality of fill lights are evenly arranged around the lens module on each camera module in the binocular camera module, and the plurality of fill lights are all connected to the scanning processing module.

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