阅读说明：本技术 一种基于相机防碰撞的机器手三维自扫描装置及扫描方法 (A kind of mechanical hand three-dimensional self-scanning device and scan method based on camera anticollision ) 是由 杨海马 陈毅 张大伟 杨萍 梁旭东 刘瑾 李筠 袁宝龙 于 2019-10-11 设计创作，主要内容包括：本发明公开了一种基于相机防碰撞的机器手三维自扫描装置及扫描方法,其技术方案要点是：一种基于相机防碰撞的机器手三维自扫描装置,包括计算机、机器手、三维扫描仪、控制器、一维转台、三相机智能防碰撞模块,所述计算机电信号连接于所述控制器,所述控制器电信号连接于所述机器手、三维扫描仪、一维转台,所述一维转台转台供待扫描物放置,所述三维扫描仪信号连接于所述计算机；所述三相机智能防碰撞模块包括三个相机、连接于三个所述相机并固定相机相对于一维转台位置的支架、三个分别电信号连接于对应相机的相机控制器,所述相机控制器电信号连接于所述计算机,三个所述相机分别置于一维转台上方、侧方、前方。本发明实现自动扫描和进行路径规划,具有防碰撞功能,具有真正三维自动扫描能力的装置。(The invention discloses a kind of mechanical hand three-dimensional self-scanning devices and scan method based on camera anticollision, its key points of the technical solution are that: a kind of mechanical hand three-dimensional self-scanning device based on camera anticollision, including computer, mechanical hand, spatial digitizer, controller, one-dimensional turntable, three-phase machine Intelligent anti-collision module, the computer telecommunication number is connected to the controller, the controller electric signal is connected to the mechanical hand, spatial digitizer, one-dimensional turntable, the one-dimensional turntable turntable is placed for scanning object, the spatial digitizer signal is connected to the computer；The three-phase machine Intelligent anti-collision module include three cameras, be connected to three cameras and fixed camera relative to one-dimensional revolving table position bracket, three respectively electric signal be connected to the camera controller of corresponding camera, the camera controller electric signal is connected to the computer, and three cameras are respectively placed in one-dimensional turntable top, side, front.The present invention realizes automatically scanning and carries out path planning, has anti-collision, the device with true three-dimensional automatically scanning ability.)

1. a kind of mechanical hand three-dimensional self-scanning device based on camera anticollision, which is characterized in that including computer (1), machine Hand (3), spatial digitizer (4), controller (2), one-dimensional turntable (5), three cameras (6) Intelligent anti-collision module, the computer (1) electric signal is connected to the controller (2), and controller (2) electric signal is connected to the mechanical hand (3), 3-D scanning Instrument (4), one-dimensional turntable (5), one-dimensional turntable (5) turntable are placed for scanning object, spatial digitizer (4) the signal connection In the computer (1)；Three camera (6) the Intelligent anti-collision module includes three cameras (6), is connected to three cameras (6) and fixed camera (6) relative to one-dimensional turntable (5) position bracket, three respectively electric signal be connected to corresponding camera (6) Camera controller (7), camera controller (7) electric signal are connected to the computer (1), and three cameras (6) are respectively It is placed in one-dimensional turntable (5) top, side, front.

2. a kind of scan method of mechanical hand three-dimensional self-scanning device based on camera anticollision according to claim 1, It is characterized by: mechanical hand (3) freedom degree is six degree of freedom.

3. a kind of scan method of the mechanical hand three-dimensional self-scanning device based on camera anticollision as described in 1, which is characterized in that Include the following steps:

S1, controller (2) are preset with several control mechanical hand (3) moving line programs, form several standardized models；

S2, after object to be scanned is placed in one-dimensional turntable (5), control panel connect host computer, all be powered；

S3, it is taken pictures by three cameras (6) of camera controller (7) control to object to be scanned, and passes through camera controller (7) three camera (6) acquired images are sent to computer (1)；

After S4, computer (1) end software receive image, simple profile estimation and image procossing are carried out, rough object is formed Appearance data, while sending controller (2) control interface to, Auto-matching has been after controller (2) control interface receives data Modular master pattern；

S5, controller (2) control spatial digitizer (4) carry out automatically scanning according to master pattern；

S6, in step S5 spatial digitizer (4) operational process, camera controller (7) control three cameras (6) adopted in real time Collect image, and the image that camera (6) acquires in real time is sent to computer (1) by camera controller (7)；

After S7, computer (1) end software receive image, software calculates what three cameras (6) shooting image obtained by obstacle avoidance algorithm The real-time range of mechanical hand (3) and measurand, makes the judge of safe distance and risk distance；

S8, mechanical hand (3) or spatial digitizer (4) and object front and back to be scanned and upper are calculated when computer (1) end software When the distance of lower section is less than safe distance, stopping reset instruction being made to control panel, mechanical hand (3) and turntable stop working, machine Device hand (3) resets；And it is operated again from step S2；

S9, mechanical hand (3) or spatial digitizer (4) and object front and back to be scanned and upper are calculated when computer (1) end software When the distance of lower section is in safe distance, controller (2) controls mechanical hand (3) and runs by scheduled master pattern；

S10, scanning imagery is completed by one-dimensional turntable (5) and mechanical hand (3) Collaboration and by spatial digitizer (4), and It passes 3-D scanning imaging and is transmitted to computer (1).

4. a kind of scan method of mechanical hand three-dimensional self-scanning device based on camera anticollision according to claim 3, It is characterized by: in step s 8, after step S2 operation is repeated several times, mechanical hand (3) still has risk of collision, system circulation When malfunction route, and mechanical hand (3) operating path is planned according to nearest rule again, and to planning mechanical hand (3) operation Path is remembered, realizing route contexture by self learning functionality.

Technical field

The present invention relates to 3-D scanning field more particularly to a kind of mechanical hand three-dimensional self-scannings based on camera anticollision Device and scan method.

Background technique

3-D scanning technology is a kind of noncontact measurement for obtaining and analyzing the shape and profile of object in kind. Three-dimensional reconstruction can be carried out to object body to be scanned using 3-D scanning technology, to be created that the threedimensional model of actual object. The threedimensional model of reconstruction can be widely applied to industrial design, reverse-engineering, medical material, biological information, digital historical relic classical collection, trip The fields such as play creation.

When carrying out 3-D scanning in confined space or carrying out 3-D scanning to large-scale component in factory, people is relied in the past Work operation, it is time-consuming and laborious, it is inefficient.With the development of robot technology, started building certainly using mechanical hand clamping spatial digitizer Make, becomes the key for improving 3-D scanning skill modeling speed and modeling accuracy.Meanwhile during mechanical hand moving sweep, The collision for preventing mechanical hand Yu measurand and ambient enviroment is urgent problem during automatic scanning.

At present from document it is found that CN107121062A patent discloses a kind of robot three-dimensional scanning means and method, explain The function that mechanical hand clamping scanner carries out 3-D scanning is stated；CN205466149U discloses a kind of automatic 3-D scanning machine People combines robot, trolley, spatial digitizer 4；CN107144236A discloses a kind of robot automatic scanner And scan method, main is also the combination for illustrating mechanical hand and spatial digitizer, realizes 3-D scanning function.In above-mentioned document In, elaborate being applied in combination for mechanical hand and spatial digitizer.But there are no considerations to solve the problems, such as automatic blind sweep in a scan, And there are many limitations to scanned sample, need manually to plan scan path and intervene measurement result.

Therefore, we are it is necessary to improve such a structure, to overcome drawbacks described above.

Summary of the invention

The object of the present invention is to provide a kind of mechanical hand three-dimensional self-scanning device and scan method based on camera anticollision, Automatically scanning and progress path planning, have anti-collision, the device with true three-dimensional automatically scanning ability.

Above-mentioned technical purpose of the invention is that used following technical scheme is realized: a kind of machine based on camera anticollision Hand three-dimensional self-scanning device, including computer, mechanical hand, spatial digitizer, controller, one-dimensional turntable, three-phase machine Intelligent anti-touch Module is hit, the computer telecommunication number is connected to the controller, and the controller electric signal is connected to the mechanical hand, three-dimensional Scanner, one-dimensional turntable, the one-dimensional turntable turntable are placed for scanning object, and the spatial digitizer signal is connected to the meter Calculation machine；The three-phase machine Intelligent anti-collision module include three cameras, be connected to three cameras and fixed camera relative to The bracket of one-dimensional revolving table position, three respectively electric signal be connected to the camera controller of corresponding camera, the camera controller electricity Signal is connected to the computer, and three cameras are respectively placed in one-dimensional turntable top, side, front.

The further setting of the present invention are as follows: the mechanical hand freedom degree is six degree of freedom.

A kind of the further setting of the present invention are as follows: scanning side of the mechanical hand three-dimensional self-scanning device based on camera anticollision Method, which comprises the steps of:

S1, controller are preset with several control mechanical hand moving line programs, form several standardized models；

S2, after object to be scanned is placed in one-dimensional turntable, control panel connect host computer, all be powered；

S3, it is taken pictures by camera controller three cameras of control to object to be scanned, and will by camera controller Three camera acquired images are sent to computer；

After S4, computer terminal software receive image, simple profile estimation and image procossing are carried out, rough object is formed Appearance data, while sending controller control interface to, controller control interface receive after data Auto-matching modularization Master pattern；

S5, controller control spatial digitizer carry out automatically scanning according to master pattern；

S6, in step S5 spatial digitizer operational process, camera controller controls three cameras and carries out acquisition figure in real time Picture, and computer is sent to by the image that camera controller acquires camera in real time；

After S7, computer terminal software receive image, software calculates the machine that three image shot by camera obtain by obstacle avoidance algorithm The real-time range of device hand and measurand makes the judge of safe distance and risk distance；

S8, mechanical hand or spatial digitizer and object front and back to be scanned and upper and lower are calculated when computer terminal software When distance is less than safe distance, stopping reset instruction being made to control panel, mechanical hand and turntable stop working, and mechanical hand resets； And it is operated again from step S2；

S9, mechanical hand or spatial digitizer and object front and back to be scanned and upper and lower are calculated when computer terminal software When distance is in safe distance, controller controls mechanical hand and runs by scheduled master pattern；

S10, scanning imagery is completed by one-dimensional turntable and mechanical hand Collaboration and by spatial digitizer, and passes three-dimensional Scanning imagery is transmitted to computer.

The further setting of the present invention are as follows: in step s 8, after step S2 operation is repeated several times, mechanical hand is still touched It hits danger, when system circulation malfunction route, and mechanical hand operating path is planned according to nearest rule again, and to planning machine Device hand operating path is remembered, realizing route contexture by self learning functionality.

In conclusion the invention has the following advantages:

Can before scanning the phase to measurand carry out profile delineate, transfer data to PC machine, then by processing software After reason, system modular path planning is realized；And the three-view diagram of shooting is real-time transmitted to PC machine during the scanning process, is cooperated Software function realizes intelligent touch-proof.

Automatically scanning may be implemented by the application and carry out path planning, there is anti-collision, there is true three-dimensional The device of automatically scanning ability can be widely applied in future digital factory.

The application has compact-sized, highly-safe, it can be achieved that the 3-D scanning process automated in practical applications.

Detailed description of the invention

Fig. 1 is the schematic diagram of embodiment 1；

Fig. 2 is the system block diagram of embodiment 2.

Corresponding component title represented by number in figure: 1, computer；2, controller；3, mechanical hand；4, spatial digitizer； 5, one-dimensional turntable；6, camera；7, camera controller.

Specific embodiment

In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below Diagram and specific embodiment are closed, the present invention is further explained.