Three-dimensional reconstruction scanning device

Abstract

The utility model discloses a three-dimensional reconstruction scanning device, which is applied to the technical field of three-dimensional imaging and comprises a laser scanning measurement component, a linear array camera and an area-array camera which are respectively used for acquiring three-dimensional laser point cloud data, scanning and shooting two-dimensional image data and performing rearview orientation. The field of view is always kept at least partially overlapped during three-dimensional reconstruction scanning; the mobile processing platform is arranged at the front end and comprises a parameter regulation and control module and a front-end data processing and compression module; the three-dimensional reconstruction scanning control module is used for regulating and controlling operation parameters and states during three-dimensional reconstruction scanning, controlling the direction during three-dimensional reconstruction scanning based on a rearview orientation result, performing position information extraction on the three-dimensional laser point cloud data and the two-dimensional image data, and performing data fusion; and structured storage, compression and synthesis are carried out to obtain data packets with the same information and reduced data volume, and the data packets are uploaded to the upper computer. According to the method, the three-dimensional model reconstruction precision, efficiency and stability are effectively improved.

Description

Technical Field

[0001] This utility model relates to the field of three-dimensional imaging technology, and in particular to a three-dimensional reconstruction scanning device. Background Technology

[0002] In recent years, 3D reconstruction scanning technology has been widely used in various fields, such as: digitization of design models and prototypes in industrial design, reverse engineering of parts with complex geometric shapes, interactive virtual reality technology in multimedia and game applications, and non-contact 3D digitization of high-value items such as cultural relics and works of art.

[0003] Current 3D reconstruction scanning devices typically consist of a front-end 3D point cloud data acquisition module and a back-end 3D model reconstruction module. The reason for placing the 3D model reconstruction process at the back end is that the front-end equipment is insufficient to meet the computational power and storage space requirements of the large amount of data, tasks, and complex algorithms processed during 3D model reconstruction, making it impossible to guarantee efficiency and stability during the computational process. While placing the 3D model reconstruction process at the back end effectively solves the computational power and storage space requirements during 3D model reconstruction, it requires uploading a large amount of data from the front-end device, which also poses a significant challenge to the efficiency and stability of 3D model reconstruction. Furthermore, to further improve the accuracy of 3D model reconstruction, the fusion of 2D image data and 3D laser point cloud data has been proposed, further increasing the data upload volume of the front-end device.

[0004] Therefore, how to provide a 3D reconstruction scanning device that can improve the efficiency and stability reduction caused by the need for the front-end device to upload a large amount of data, and balance the accuracy of 3D model reconstruction with the amount of data used, that is, balance the contradiction between the accuracy and efficiency of 3D model reconstruction, and improve the accuracy and efficiency of 3D model reconstruction, is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] In view of this, the present invention proposes a three-dimensional reconstruction scanning device.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A three-dimensional reconstruction scanning device includes: a laser scanning measurement component, a line scan camera, an area scan camera, a mobile processing platform set at the front end, and a host computer;

[0008] The laser scanning and measurement component is used for the acquisition of three-dimensional laser point cloud data;

[0009] Line scan cameras are used to scan and capture two-dimensional image data;

[0010] Area array cameras are used for rear-view orientation;

[0011] The fields of view of the laser scanning measurement component, the linear array camera, and the area array camera always maintain at least partial overlap during 3D reconstruction scanning;

[0012] The mobile processing platform includes: a parameter adjustment and control module and a front-end data processing and compression module;

[0013] The parameter adjustment and control module is used to adjust the operating parameters and status of the laser scanning measurement component, the line scan camera, and the area scan camera during 3D reconstruction scanning, as well as to control the direction of 3D reconstruction scanning based on the back-view orientation results.

[0014] The front-end data processing and compression module is used to extract position information from 3D laser point cloud data and 2D image data, perform data fusion, and structure and compress the data to obtain a data packet with the same information but reduced data volume, which is then uploaded to the host computer.

[0015] The host computer includes a backend 3D reconstruction module, a 3D stitching module, a model generation module, and a model display module, which are used to reconstruct and display 3D models based on fused data.

[0016] Optionally, the laser scanning measurement component consists of a laser and a multi-faceted mirror, which includes a multi-faceted base with multiple mounting surfaces and multiple mirrors that are integrally formed with respect to the mounting surfaces.

[0017] Optionally, the laser scanning measurement component, the line scan camera, and the area scan camera are all mounted on a fixed rotating bracket and their relative positions are fixed. During the 3D reconstruction scanning, the fixed rotating bracket rotates the components to rotate around the same axis.

[0018] Optionally, the direction of the 3D reconstruction scan is controlled based on the back-view orientation results. Specifically, the rotation direction of the fixed rotating support is controlled based on the back-view orientation results to control the direction of the 3D reconstruction scan.

[0019] Optionally, the mobile processing platform is based on several electronic chips to perform corresponding functions. The electronic chips are composed of at least one or more combinations of CPU, GPU, ARM, FPGA, and DSP.

[0020] Optionally, the mobile processing platform also includes a wireless transmission module, implemented using a WiFi chip and a built-in antenna, which includes both wireless and wired transmission methods. The mobile processing platform transmits data to the host computer wirelessly and to the laser scanning measurement component, the line scan camera, and the area scan camera via wired transmission.

[0021] Optionally, the mobile processing platform also includes a status display module for real-time display of the operating parameters and status of the laser scanning measurement components, the line scan camera, and the area scan camera, as well as the back-view orientation results of the area scan camera, so as to adjust the operating parameters, status, and orientation during 3D reconstruction scanning.

[0022] Optionally, the status display module is also used to display temperature information, power supply information, and three-dimensional laser point cloud data acquisition information of the laser scanning measurement component, the line scan camera, and the area scan camera, as well as two-dimensional image data information of the line scan camera.

[0023] As can be seen from the above technical solution, compared with the prior art, this utility model proposes a three-dimensional reconstruction scanning device. This utility model sets up a mobile processing platform at the front end of the three-dimensional reconstruction scanning device. Using a front-end data processing and compression module, it extracts positional information from three-dimensional laser point cloud data and two-dimensional image data, performs data fusion, and structurally stores and compresses the data to obtain a data packet with identical information but reduced data volume. This packet is then uploaded to the host computer. This achieves preprocessing of the three-dimensional reconstruction scanning data in the three-dimensional reconstruction scanning device. This preprocessing part is not the complex algorithm part used in the back-end three-dimensional model reconstruction process, and does not place too much computational and storage burden on the front-end device. However, it can effectively reduce the amount of data to be uploaded to the host computer. This not only effectively improves the efficiency and stability reduction problems caused by the need for the front-end device to upload large amounts of data in existing three-dimensional reconstruction scanning devices, but also balances the trade-off between three-dimensional model reconstruction accuracy and efficiency, thereby improving both accuracy and efficiency. Meanwhile, this utility model features a fixed rotating bracket on which the laser scanning measurement component, the line array camera, and the area array camera are all mounted, with their relative positions fixed. During 3D reconstruction scanning, the rotation of the fixed rotating bracket drives the components to rotate around the same axis. The design of adjusting the operating parameters and status of the laser scanning measurement component, the line array camera, and the area array camera during 3D reconstruction scanning based on the parameter adjustment and control module, as well as the operation design of controlling the direction of 3D reconstruction scanning based on the back-view orientation results, greatly improves the convenience of front-end data acquisition for the 3D reconstruction scanning device and effectively enhances the user experience. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the device structure of this utility model. Detailed Implementation

[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0027] Example 1:

[0028] Embodiment 1 of this utility model discloses a three-dimensional reconstruction scanning device, such as Figure 1 As shown, it includes: a laser scanning measurement component, a line scan camera, an area scan camera, a mobile processing platform located at the front end, and a host computer.

[0029] The laser scanning measurement component is used for the acquisition of three-dimensional laser point cloud data.

[0030] The laser scanning measurement component consists of a laser and a multi-faceted mirror, which includes a multi-faceted base with multiple mounting surfaces and multiple mirrors that are integrally formed and correspond to the mounting surfaces.

[0031] Line scan cameras are used to scan and capture two-dimensional image data.

[0032] Area array cameras are used for rear-view orientation.

[0033] When performing 3D reconstruction scanning, the laser scanning measurement components, linear array cameras, and area array cameras maintain at least partial overlap in their fields of view.

[0034] The laser scanning measurement component, the line array camera, and the area array camera are all mounted on a fixed rotating bracket, and their relative positions are fixed. During the 3D reconstruction scanning, the fixed rotating bracket rotates the camera to rotate around the same axis.

[0035] The mobile processing platform includes a parameter adjustment and control module and a front-end data processing and compression module.

[0036] The mobile processing platform is based on several electronic chips to perform corresponding functions. The electronic chips are composed of at least one or more combinations of CPU, GPU, ARM, FPGA, and DSP.

[0037] The parameter adjustment and control module is used to adjust the operating parameters and status of the laser scanning measurement component, the line scan camera, and the area scan camera during 3D reconstruction scanning, as well as to control the direction of 3D reconstruction scanning based on the back-view orientation results.

[0038] The direction of 3D reconstruction scanning is controlled based on the back-view orientation results. Specifically, the rotation direction of the fixed rotating support is controlled based on the back-view orientation results to control the direction of 3D reconstruction scanning.

[0039] The front-end data processing and compression module is used to extract position information from 3D laser point cloud data and 2D image data, perform data fusion, and structure and compress the data to obtain a data packet with the same information but reduced data volume, which is then uploaded to the host computer.

[0040] The mobile processing platform also includes a wireless transmission module, which uses a WiFi chip and a built-in antenna to implement both wireless and wired transmission methods. The mobile processing platform transmits data to the host computer wirelessly and to the laser scanning measurement component, the line scan camera, and the area scan camera via wired transmission.

[0041] The mobile processing platform also includes a status display module, which is used to display the operating parameters and status of the laser scanning measurement components, the line scan camera and the area scan camera, as well as the back-view orientation results of the area scan camera in real time, so as to adjust the operating parameters, status and orientation during 3D reconstruction scanning.

[0042] The status display module is also used to display the temperature information, power supply information, and three-dimensional laser point cloud data acquisition information of the laser scanning measurement component, the line scan camera, and the area scan camera, as well as the two-dimensional image data information of the line scan camera.

[0043] The host computer includes a backend 3D reconstruction module, a 3D stitching module, a model generation module, and a model display module, which are used to reconstruct and display 3D models based on fused data.

[0044] The working principle of this utility model is as follows: The operator, based on a mobile processing platform, adjusts the operating parameters and status of the laser scanning measurement component, line scan camera, and area scan camera during 3D reconstruction scanning according to the parameter adjustment and control module. The operator also controls the direction of the 3D reconstruction scan based on the back-view orientation results of the area scan camera. The laser scanning measurement component, line scan camera, and area scan camera, according to the received parameter adjustment and status control commands, respectively acquire 3D laser point cloud data, scan and capture 2D image data, and perform back-view orientation. The front-end data processing and compression module extracts position information from the 3D laser point cloud data and 2D image data, performs data fusion, and structures and compresses the data to obtain a data package with identical information but reduced data volume, which is then uploaded to the host computer. The host computer, through the back-end stereo reconstruction module, stereo stitching module, model generation module, and model display module, reconstructs and displays the 3D model based on the fused data.

[0045] This invention discloses a three-dimensional reconstruction scanning device. By setting up a mobile processing platform at the front end of the three-dimensional reconstruction scanning device, the device utilizes a front-end data processing and compression module to extract positional information from three-dimensional laser point cloud data and two-dimensional image data, perform data fusion, and structurally store and compress the data to obtain a data packet with identical information but reduced data volume. This data packet is then uploaded to a host computer. This achieves preprocessing of the three-dimensional reconstruction scanning data at the front end of the three-dimensional reconstruction scanning device. This preprocessing part is not part of the complex algorithms used in the back-end three-dimensional model reconstruction process, and does not impose excessive computational and storage burden on the front-end device. However, it effectively reduces the amount of data to be uploaded to the host computer. This not only effectively improves the efficiency and stability reduction problems caused by the need for the front-end device to upload large amounts of data in existing three-dimensional reconstruction scanning devices, but also balances the trade-off between three-dimensional model reconstruction accuracy and efficiency, thereby improving both accuracy and efficiency. Meanwhile, this utility model features a fixed rotating bracket on which the laser scanning measurement component, the line array camera, and the area array camera are all mounted, with their relative positions fixed. During 3D reconstruction scanning, the rotation of the fixed rotating bracket drives the components to rotate around the same axis. The design of adjusting the operating parameters and status of the laser scanning measurement component, the line array camera, and the area array camera during 3D reconstruction scanning based on the parameter adjustment and control module, as well as the operation design of controlling the direction of 3D reconstruction scanning based on the back-view orientation results, greatly improves the convenience of front-end data acquisition for the 3D reconstruction scanning device and effectively enhances the user experience.

[0046] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0047] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A three-dimensional reconstruction scanning device, characterized in that, include: Laser scanning measurement components, line scan camera, area scan camera, mobile processing platform at the front end, and host computer; The laser scanning and measurement component is used for acquiring three-dimensional laser point cloud data; The line scan camera is used to scan and capture two-dimensional image data; The area array camera is used for rear-view orientation; The laser scanning measurement component, the linear array camera, and the area array camera maintain at least partial overlap in their fields of view during the three-dimensional reconstruction scan. The mobile processing platform includes: a parameter adjustment and control module and a front-end data processing and compression module; The parameter adjustment and control module is used to adjust the operating parameters and status of the laser scanning measurement component, the line array camera, and the area array camera when performing three-dimensional reconstruction scanning, and to control the direction of three-dimensional reconstruction scanning based on the back-view orientation results. The front-end data processing and compression module is used to extract position information from the three-dimensional laser point cloud data and two-dimensional image data, perform data fusion, and structurally store and compress the data to obtain a data packet with the same information but reduced data volume, which is then uploaded to the host computer. The host computer includes: a back-end 3D reconstruction module, a 3D stitching module, a model generation module, and a model display module, used for reconstructing and displaying 3D models based on fused processing data.

2. The three-dimensional reconstruction scanning device according to claim 1, characterized in that, The laser scanning measurement component consists of a laser and a multi-faceted mirror. The multi-faceted mirror includes a multi-faceted base with multiple mounting surfaces and multiple reflectors that are integrally formed with the mounting surfaces.

3. The three-dimensional reconstruction scanning device according to claim 1, characterized in that, The laser scanning measurement component, the linear array camera, and the area array camera are all mounted on a fixed rotating bracket and their relative positions are fixed. During the three-dimensional reconstruction scanning, the fixed rotating bracket rotates the components to rotate around the same axis.

4. The three-dimensional reconstruction scanning device according to claim 3, characterized in that, The direction of the three-dimensional reconstruction scan is controlled based on the rear-view orientation results. Specifically, the rotation direction of the fixed rotating support is controlled based on the rear-view orientation results to control the direction of the three-dimensional reconstruction scan.

5. A three-dimensional reconstruction scanning device according to claim 1, characterized in that, The mobile processing platform is based on several electronic chips to perform corresponding functions. The electronic chips are composed of at least one or more combinations of CPU, GPU, ARM, FPGA, and DSP.

6. The three-dimensional reconstruction scanning device according to claim 1, characterized in that, The mobile processing platform further includes a wireless transmission module, implemented using a WiFi chip and a built-in antenna, which includes both wireless and wired transmission methods. The mobile processing platform transmits data to the host computer wirelessly and to the laser scanning measurement component, the line scan camera, and the area scan camera via wired transmission.

7. A three-dimensional reconstruction scanning device according to claim 1, characterized in that, The mobile processing platform further includes a status display module, which is used to display in real time the operating parameters and status of the laser scanning measurement component, the line scan camera and the area scan camera, as well as the back-view orientation result of the area scan camera, so as to adjust the operating parameters, status and orientation during three-dimensional reconstruction scanning.

8. A three-dimensional reconstruction scanning device according to claim 7, characterized in that, The status display module is also used to display the temperature information, power supply information, three-dimensional laser point cloud data acquisition information of the laser scanning measurement component, the line scan camera, and the area scan camera, as well as the two-dimensional image data information of the line scan camera.

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