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A tracking three-dimensional scanning system

A three-dimensional scanning and tracking technology, which is applied in the field of three-dimensional scanners, can solve the problem of not being able to take into account the scanning area and scanning details, and achieve the effects of high measurement resolution, high tracking accuracy, and large tracking range

Active Publication Date: 2022-04-29
SCANTECH (HANGZHOU) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Based on this, the present invention provides a multi-measurement mode tracking three-dimensional scanning system, which solves the problem that the existing three-dimensional scanning device cannot take into account the scanning area and scanning details by means of tracking scanning

Method used

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  • A tracking three-dimensional scanning system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0048] Embodiment 1: Multi-band tracking

[0049] see figure 1 Embodiment 1 of the present invention provides a tracking three-dimensional scanning system, including: a tracker 1 , a three-dimensional sensor 2 , a band switching unit 3 , and a calculation processing unit 4 .

[0050] The tracker 1 includes at least one tracking camera 11 for capturing the pose of the 3D sensor 2 . The tracking camera 11 captures positioning features on the three-dimensional sensor 2 of at least two wavelength bands, and the positioning features may be self-luminous marking points or reflective marking points. When it is a self-luminous marking point, the marking point is at least two kinds of self-luminous marking points that can emit light of different wavebands; when it is a reflective marking point, the tracker 1 also includes at least two complementary lights corresponding to different wavebands Light device 12 (see figure 2 ). The supplementary light device 12 projects light sources ...

Embodiment 2

[0066] Embodiment 2: multi-band scanning

[0067] Based on the same inventive concept, Embodiment 2 of the present invention provides a tracking three-dimensional scanning system, including such figure 1 Shown is a tracker 1 , a three-dimensional sensor 2 , a band switching unit 3 , and a calculation processing unit 4 . The tracker 1 includes at least one tracking camera 11, which is used to capture the pose of the three-dimensional sensor 2; the tracker 1; the three-dimensional sensor 2 is used for three-dimensional scanning of the object to be scanned, to obtain the three-dimensional image of the object to be scanned under the coordinate system of the three-dimensional sensor 2 point cloud. The calculation processing unit 4 is used to splice the 3D point cloud scanned by the 3D sensor 2 into a unified coordinate system in real time for 3D reconstruction.

[0068] The difference from the tracking three-dimensional scanning system provided in the first embodiment is that the...

Embodiment 3

[0080] Embodiment 3: multi-band tracking + multi-band scanning

[0081] This embodiment combines the two technical solutions of the multi-band tracking in the first embodiment and the multi-band scanning in the second embodiment.

[0082] On the basis of Embodiment 1 and Embodiment 2, Embodiment 3 of the present invention provides a tracking three-dimensional scanning system, such as figure 1 As shown, it includes a tracker 1 , a three-dimensional sensor 2 , a band switching unit 3 , and a calculation processing unit 4 .

[0083] The tracker 1 includes at least one tracking camera 11 for capturing the pose of the 3D sensor 2 . The tracking camera 11 captures the positioning features on the three-dimensional sensor 2 of at least two wavebands. The positioning features can be self-luminous marking points or reflective marking points. When they are self-luminous marking points, the marking points are at least two types that can emit different The self-illuminating marking point o...

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Abstract

The invention discloses a tracking three-dimensional scanning system, which includes a tracker, a three-dimensional sensor, a light band switching unit, and a calculation processing unit; the tracker is used to capture the pose of the three-dimensional sensor; the tracker includes at least one tracking camera; Positioning features on a three-dimensional sensor that captures at least two bands of light; the three-dimensional sensor is used to perform three-dimensional scanning on the object to be scanned to obtain a three-dimensional point cloud of the object to be scanned in the coordinate system of the three-dimensional sensor; the light band switching unit is used to control tracking The switching of the light bands of the positioning features captured by the camera; the computing processing unit is used to splice the 3D point cloud scanned by the 3D sensor in real time in a unified coordinate system for 3D reconstruction. Utilizing the tracking three-dimensional scanning system provided by the present invention can better balance the scanning width and scanning precision, and has strong adaptability.

Description

technical field [0001] The invention relates to the technical field of three-dimensional scanners, in particular to a tracking three-dimensional scanning system. Background technique [0002] Optical 3D scanner is a device that uses optical imaging to obtain 3D information of the measured object. It is currently widely used in industrial product inspection, reverse setting, simulation, positioning and other fields. Tracking 3D scanning is one of the new 3D scanning technologies, which mainly uses 3D scanners and trackers to achieve 3D measurement of objects. Compared with the traditional spot-type 3D scanning or photographic 3D scanning, the tracking 3D scanning technology is more convenient to use, with better stability and a larger measurement range, which is convenient for users to realize easily and conveniently in workshops, outdoors and various complex environments. 3D measurement. [0003] Existing tracking-type 3D scanning devices mainly include laser trackers (suc...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B11/25
CPCG01B11/2518
Inventor 郑俊陈尚俭
Owner SCANTECH (HANGZHOU) CO LTD
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