Motion device for connection to an optical scanning system

Abstract

Motion device for integration into a mechanical reaction chain of an optical scanning system, wherein the mechanical reaction chain comprises at least one scan object, a controllable axis of motion and an optical scanner, and wherein the motion device and the controllable axis of motion are to be arranged between the scan object and the optical scanner, comprising: • a first support (1) for attaching the moving device in the mechanical reaction chain, • a second support (2) for attaching the motion device in the mechanical reaction chain, • a mechanical device connected to the first support (1) and the second support (2), wherein the mechanical device allows a relative movement between the supports (1, 2), and wherein the mechanical device is designed such that the scanner's perspective on the scanned object changes continuously during a scan pass.

Description

Technical field

[0001] The invention relates to a motion device for integration into a mechanical reaction chain of an optical scanning system, in particular for improving three-dimensional data acquisition by continuously changing the perspective between a scanner and a scanned object during the scanning process. The invention is especially intended for automated or semi-automated scanning processes in industrial applications. State of the art

[0002] Optical 3D scanning systems, consisting of cameras and light sources (e.g., lasers or structured light), are widely used in manufacturing, construction, archaeology, and digital media. 3D reconstruction is often based on assumptions of diffuse reflection. However, many real-world surfaces, especially reflective, microstructured materials, deviate from this assumption, leading to reconstruction errors (e.g., ghosting, artifacts, gaps).

[0003] Manual scanning processes can achieve higher data quality by varying perspectives. Automated systems, on the other hand, typically move along simple, linear paths, thus lacking perspective diversity. When stationary or in monotonous motion, systematic errors arise due to speckles, sensor noise, and insufficient angular diversity.

[0004] Although some approaches exist (e.g. sensor vibration, multi-wavelength illumination, software compensation), these are technically complex, difficult to retrofit, or only effective to a limited extent. Object of the invention

[0005] The object of the invention is to improve the quality of optical 3D data acquisition, in particular by increasing the variety of perspectives during stationary or uniform movements in automated scanning processes, without having to extensively modify existing robot systems. Solution to the task

[0006] This problem is solved by a motion device according to claims 1-12. The motion device can be integrated between the scanner and the scanned object and generates a continuous relative movement that results in a changing perspective. The device also allows targeted motorized relative movement even when other axes of motion are stationary and fulfills specific dynamic conditions to minimize reconstruction errors or outliers.

[0007] The wobbling (3) and pivoting (4) movements are intentionally asynchronous. This avoids a systematic sequence of movements, so that a different axial deflection occurs with each wobble revolution. Description of the drawing - Fig. 1: Moving device with arrows indicating the direction of movement. - Fig. 2: Movement device in section

Claims

[1] Motion device for integration into a mechanical reaction chain of an optical scanning system, wherein the mechanical reaction chain comprises at least one scan object, a controllable axis of motion and an optical scanner, and wherein the motion device and the controllable axis of motion are to be arranged between the scan object and the optical scanner, comprising: • a first support (1) for attaching the moving device in the mechanical reaction chain, • a second support (2) for attaching the motion device in the mechanical reaction chain, • a mechanical device connected to the first support (1) and the second support (2), wherein the mechanical device allows a relative movement between the supports (1, 2), and wherein the mechanical device is designed such that the scanner's perspective on the scanned object changes continuously during a scan pass. [2] Motion device according to claim 1, characterized by , that even when all controllable axes of movement are at a standstill, a relative movement occurs between the scanner and the scanned object. [3] Motion device according to one of the preceding claims, characterized by that the rate of perspective change is not constant during at least one scan pass. [4] Motion device according to one of the preceding claims, characterized by that the relative motion exhibits a non-zero acceleration. [5] Motion device according to one of the preceding claims, characterized by that the movement is passively triggered by external forces as a result of the movement of other elements in the mechanical reaction chain. [6] Motion device according to any one of claims 1 to 5, characterized by that the device includes a drive unit which actively generates the relative motion. [7] Motion device according to one of the preceding claims, characterized by , that the relative motion includes at least two axes of motion whose velocities cannot be described by a linear function relative to each other. [8] Motion device according to claim 7, characterized by that the relative motion is periodic. [9] Motion device according to any one of claims 1 to 8, characterized by , that the mechanical device has a rotatable platform or turntable (5) which is moved counter-cyclically by a motor (6) with 2 different gear outputs. [10] Motion device for optically detecting a surface area of ​​a scan object by means of an optical scanner, wherein the scan object and the scanner are part of a mechanical reaction chain comprising a controllable axis of motion and a motion device according to one of the preceding claims, characterized by , that: • the scanned object is moved relative to the scanner, • during at least one scan pass, the relative movement is such that the scanner's perspective on the scanned object changes continuously, • the relative velocity does not disappear and • at least in phases, there is a non-zero acceleration. [11] Motion device according to claim 10, characterized by , that the relative movement between two consecutive image acquisitions corresponds to at least half the structure width of a contrast gradient. [12] Motion device according to one of claims 10+11, characterized by , that in the case of line contrasts, a relative movement perpendicular to the projection is preferentially observed.

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