KR102845316B1 - Two-Axis 3D Scanning System Which is Driven by Single Motor - Google Patents

Abstract

A 3D scanning device according to the present invention comprises a rotating shaft driven by a motor, a main body connected to the rotating shaft and provided with a guide path along which a camera module facing a subject is guided, a moving unit that rotates around the subject along a predetermined movement path, and a side unit connected to the moving unit and prohibiting downward movement of the camera module guided along the guide path at a plurality of movement restriction points. When the moving unit rotates by a predetermined angle, the movement prohibition of the camera module is released, and the camera module moves downward to the next movement restriction point.

Description

Two-Axis 3D Scanning System Driven by Single Motor

The present invention relates to a 3D scanning device, and more particularly, to a two-axis 3D scanning system driven by a single motor.

A 3D scanner (3-Dimensional Scanner) is a device used to collect information about an object's shape and dimensions through sensors and to convert the physical object into a digital form. It is used in industry, research, and development by creating 3D models of real-world objects on a computer. Research using 3D scanners is already actively underway in the field of mechanical engineering.

Depending on the scanning method of the 3D scanner, 3D scanners are classified into contact 3D scanners and non-contact 3D scanners.

Contact 3D scanners measure by placing a probe, also known as a probe, directly into contact with the object being measured. A representative non-destructive method is the Coordinate Measuring Machine (CMM). Because it obtains information through direct contact, it offers high precision and has been used in most manufacturing industries. However, because it requires contact with the surface of the object being scanned, it carries the disadvantage of potentially deforming or contaminating the object.

Non-contact 3D scanners, unlike contact scanners, offer the advantage of being able to measure objects without deforming or contaminating them. Non-contact methods include reflective methods, which utilize ultrasound, radio waves, and optical methods, and transmissive methods, which utilize radioactive materials like industrial CT scanners. Reflective 3D scanners, in particular, offer the advantages of being safer and more cost-effective than other methods.

[Prior Art Literature]

Verim, O. and Yumurtaci, M., “Application of reverse engineering approach on a damaged mechanical part”, International Advanced Researches and Engineering Journal, Vol. 4, No. 1, 2020, pp. 021-028

The present invention minimizes the parts used for scanning by using one motor and one camera, thereby minimizing the manufacturing cost and risk of damage mentioned above, and (r, θ, ) among θ and The purpose is to provide a device that can control the angle of a motor only by operating the motor.

A 3D scanning device according to the present invention comprises a rotating shaft driven by a motor, a main body connected to the rotating shaft and provided with a guide path along which a camera module facing a subject is guided, a moving unit that rotates around the subject along a predetermined movement path, and a side unit connected to the moving unit and prohibiting downward movement of the camera module guided along the guide path at a plurality of movement restriction points. When the moving unit rotates by a predetermined angle, the movement prohibition of the camera module is released, and the camera module moves downward to the next movement restriction point.

The above-described predetermined movement path may include a first portion that is an arc extending from a first point and a second point with a third point as the center, a second portion that extends from the second point to a fourth point such that the distance to the third point increases, and a third portion that connects the fourth point and the first point.

When the moving part moves along the second part, the side part can move in a direction in which the movement prohibition of the camera module is released at the movement restriction point.

The main body and the side portion may be connected by an elastic member, and when the moving portion moves along the second portion, the elastic member may be stretched so that the side portion may be pulled away from the main body.

As the moving part moves along the third section, the camera module can move downward to the next movement limit point.

The body may further include an auxiliary guidance path for directing the camera module toward the subject.

The side portion may include a plurality of catch plates that limit downward movement of the camera module at a plurality of movement limiting points.

On the side, an intermediate stop provided between the catch plates and a slope provided between the intermediate stop parts can be formed.

According to the 3D scanning device of the present invention, the camera is rotated by a constant unit angle (θ,) in a spherical coordinate system by the operation of a single motor (5). ) can be used to take pictures of subjects.

Figure 1 is a perspective view of a 3D scanning device according to the present invention.
Figure 2 is a partially exploded perspective view of a 3D scanning device according to the present invention.
Figure 3 is a partially exploded side view of a 3D scanning device according to the present invention.
Figure 4 is a side view of a part of a 3D scanning device according to the present invention.
Figure 5 is a drawing illustrating the operation process of a 3D scanning device according to the present invention.
Figure 6 is a drawing showing a path along which a moving part (30) of a 3D scanning device according to the present invention is guided.
Figure 7 is a drawing showing a spherical coordinate system.

Hereinafter, the present invention will be described in detail with reference to the attached drawings.

This specification describes only the minimum components necessary to explain the present invention, and does not mention components irrelevant to the essence of the present invention. Furthermore, the description should not be interpreted as exclusive, encompassing only the mentioned components, but rather as non-exclusive, encompassing other components not mentioned.

The expressions “first,” “second,” or similar used in this specification are used to distinguish between the same or similar components or to distinguish the names of components or steps constituting the present invention, and do not imply an order or plurality.

In this specification, “connection” is defined to include not only a direct connection between two components, but also a connection where an additional component is interposed between the two components.

The exemplary embodiments described herein provide a general understanding of the structure, function, fabrication, and use of the devices and methods disclosed herein. One or more such embodiments are illustrated in the accompanying drawings. Those skilled in the art will appreciate that the devices and methods specifically described herein and illustrated in the accompanying drawings are non-limiting and exemplary embodiments, and that the scope of the present invention is defined by the claims. Features illustrated and described in connection with one exemplary embodiment may be combined with features of other embodiments. Such modifications or variations are intended to fall within the scope of the present invention.

FIG. 1 is a perspective view of a 3D scanning device according to the present invention. As shown in FIG. 1, the 3D scanning device according to the present invention includes a frame (1), a rotation shaft (10) driven by a motor (5), a main body (20) connected to the rotation shaft (10), a side part (40) that moves together with the main body (20) when the motor (5) is operated, and a moving part (30) that is connected to the side part (40) and rotates around a subject along a predetermined movement path (100) by the operation of the motor (5). The movement path (100) may be provided in the form of a slot.

A moving path (100) may be provided on each of the upper and lower sides, and the moving part (30) may include an upper plate (31) and a lower plate (33) including a rod (32) connected to a side part (40) by a connecting part (35), and legs provided on the upper and lower sides of the rod (32) and inserted into the moving path (100) to guide along the moving path (100).

The 3D scanning device according to the present invention may be provided with a subject support unit (50) including a table (55) on which a subject can be placed.

Referring to FIGS. 2 to 4, the configuration of the main body (20), the moving part (30), and the side part (40) of the 3D scanning device according to the present invention will be described. FIG. 2 shows an exploded perspective view of the right part when viewed from the load (32) side of the moving part (30), and since the left part is symmetrical with the right part of FIG. 2, a description of the configuration of the left part is omitted.

The main body (20) is illustrated as being composed of a pair of members (20a, 20b), but may also be composed of a single body. A second main body part (20b) is connected to a rotation shaft (10), and the first main body part (20a) can be connected to the second main body part (20b) through a fastening member, such as a screw, passing through a connecting hole (23a).

The main body (20) is provided with a main guide path (25) of the camera module (200) and an auxiliary guide path (27) that directs the camera module (200) toward the subject. In addition, slots (22a, 22b, 22c) through which the engaging plates (45a, 45b, 45c) of the side portion (40) described later can slide may be provided.

The camera module (200) may include a movable part (210) that is fitted into the main body (20) and the side part (40) and moves along the main guide path (25).

The side portion (40) may be provided with a plurality of catch plates (45a, 45b, 45c) and a plurality of intermediate stop portions (47a, 47b) to prevent the camera module (200) guided along the main guide path (25), more specifically, the movable portion (210) of the camera module (200), from moving downward at a plurality of movement restriction points. The final stop portion (48) is a point where the movable portion (210) is placed in a section where the camera module (200) no longer moves downward and ends shooting of the subject. An inclined portion (49a, 49b) may be connected to the lower side of the intermediate stop portions (47a, 47b). The movable portion (210) can move downward along the inclined portions (49a, 49b), as described below.

For the sake of illustration and convenience, an embodiment is shown in which three catch plates and stops are provided, but the number of catch plates and stops may be set to a different number as needed.

The fixed member (43, 44) connects a pair of side portions (40) provided on both sides of the main body (20) to each other and is not coupled to the main body (20). In addition, a pair of side portions (40) provided on both sides of the main body (20) are connected to a load (32) by a connecting portion (35).

An elastic member (60) is provided between the side portion (40) and the main body (20) so that the side portion (40) can elastically move in the left and right directions when viewed from the side with respect to the main body (20). The elastic members may be provided on the upper and lower sides, respectively, and the number of the elastic members may be appropriately set as needed. The elastic member (60) may be, for example, a spring.

FIG. 6 illustrates a movement path (100) that guides the movement of a moving part (30) according to the present invention. For convenience of explanation and illustration, the upper plate (31) is represented as a circle positioned within the movement path (100) in FIG. 6 to indicate the trajectory along which the upper plate (31) moves along the movement path (100). Since the lower plate (33) moves along the same trajectory as the upper plate (31), the description is replaced with the movement path description of the upper plate (31).

The upper plate (31) moves along the movement path (100), and the moving part (30) moves according to the movement of the upper plate (31). More specifically, when the motor (5) operates, the rotation shaft (10) rotates, causing the main body (20) and the side part (40) to rotate, and the moving part (30) connected to the side part (40) by the connecting part (35) rotates. Since the upper plate (31) and the lower plate (33) of the moving part (30) are constrained to the movement path (100), the movement of the moving part (30) follows the movement path (100). In this specification, the movement of the upper plate (31) is described as the movement of the moving part (30).

The movement path (100) includes a first portion (110) which is an arc extending from a first point (101) to a second point (102) with a third point (103) as the center, a second portion (120) which extends from the second point (102) to a fourth point (104) such that the distance between the upper plate (31) and the third point (103) increases, and a third portion (130) which connects the fourth point (104) to the first point (101). The distance between the upper plate (31) and the third point (103) at the fourth point (104) can be maximized.

The angle (α) to the second point (102) may be, for example, 270 degrees, but this angle may be set differently depending on the design specifications.

When the moving part (30) moves along the first part (110), it moves along an arc with a constant radius, but when the moving part (30) moves along the second part (120), the distance between the upper plate (31) and the third point (103) increases, so when moving along the second part (120), the moving part (30) pulls the side part (40) toward the moving part (30). The side part (40) is connected to the main body (20) by an elastic member (60), and when the upper plate (31) moves along the second part (120), the side part (40) is pulled in a direction away from the main body (20).

When the upper plate (31) passes through the second part (120) and the third part (130), the elastic member (60) that was pulled while passing through the second part (120) returns to its original position, and the side part (40) returns toward the main body (20).

The operation of the 3D scanning device according to the present invention will be described with reference to FIG. 5.

When the motor (5) operates and the rotation axis (10) begins to rotate, the main body (20) and the side part (40) rotate around the subject. At this time, the moving part (30) moves along the first part (110) of the movement path (100). When the moving part (30) moves along the first part (110), the relative positions of the main body (20) and the side part (40) do not change, and the camera of the camera module (200) photographs the subject at a certain angle during the movement. A known method can be used to photograph the subject for 3D scanning.

After the moving part (30) moves along the first part (110) by a predetermined angle (α), when the upper plate (31) enters and moves along the second part (120), the distance between the upper plate (31) and the third point (103) increases, so that the moving part (30) pulls the side part (40) in the direction of arrow A of Fig. 5(a). At this time, an elastic member, for example, a spring (60) connecting the side part (40) and the main body (20) is extended. The camera of the camera module (200) can capture a subject at a predetermined angle even while the moving part (30) moves along the second part (120).

When the upper plate (31) reaches the end point of the second part (120), i.e., the fourth point (104), the side part (40) is pulled to the maximum, and the catch plate (45a) on which the movable part (210) of the camera module (200) is placed also moves to the maximum in the A direction to become the state shown in Fig. 5(b), and the movable part (210) moves downward, i.e., in the B direction. The movable part (210) moves in the B direction and temporarily stays at the middle stop (47a) as shown in Fig. 5(c).

The upper plate (31) that has reached the fourth point (104) returns to the first point (101) by the restoring force of the elastic member (60), and at this time, the side part (40) returns toward the main body (20), that is, in the direction C of Fig. 5(d). In this case, the movable part (210) placed on the intermediate stop part (47a) is pushed by the main body (20) in the opposite direction of the direction C (direction A of Fig. 5(a)), and the upper plate (31) returns to the first point (101), moves downward along the inclined part (49a), and is placed on the next catch plate (45b) so that downward movement is prohibited.

And the above process is repeated until the movable part (210) reaches the final stop part (48). When the movable part (210) is caught on each of the catch plates (45a, 45b, 45c) and the camera module (200) is stopped, the camera module (200) rotates around the subject and takes pictures, which means taking pictures by rotating 360 degrees around the subject at each angle (θ) that changes stepwise in the spherical coordinate system of FIG. 7 to obtain a 2D image. The 2D image taken by the 3D scanning device of the present invention can be configured into a 3D model by various known techniques for synthesizing a 3D model from a 2D image.

According to the 3D scanning device of the present invention, the camera is rotated by a constant unit angle (θ,) in a spherical coordinate system by the operation of a single motor (5). ) can be used to take pictures of subjects.

While the present invention has been described with reference to the attached drawings, the scope of the present invention is determined by the claims described below and should not be construed as being limited to the aforementioned embodiments and/or drawings. It should also be clearly understood that improvements, modifications, and variations apparent to those skilled in the art, as defined in the claims, are also included within the scope of the present invention.

5: Motor 10: Rotating shaft
20: Body 30: Moving part
40: Side part 60: Elastic member
100: Movement path 200: Camera module

Claims (8)

A rotating shaft driven by a motor,
A body connected to a rotation axis and provided with a guide path along which a camera module directed toward a subject is guided,
A moving part that rotates around the subject along a predetermined movement path,
A side portion connected to the moving part and configured to prohibit downward movement of the camera module guided along the guidance path at multiple movement restriction points,
When the moving part rotates by a certain angle, the movement prohibition of the camera module is released and the camera module moves downward to the next movement restriction point.
3D scanning device.
In claim 1,
The above-described predetermined movement path includes a first portion which is an arc extending from a first point and a second point with a third point as the center, a second portion which extends from the second point to a fourth point so that the distance to the third point increases, and a third portion which connects the fourth point and the first point.
3D scanning device.
In claim 2,
When the moving part moves along the second part, the side part moves in the direction where the movement prohibition of the camera module is released at the movement restriction point.
3D scanning device.
In claim 3,
The main body and side parts are connected by an elastic member,
When the moving part moves along the second part, the elastic member is stretched and the side part is pulled away from the main body.
3D scanning device.
In claim 3,
When the moving part moves along the third part, the camera module moves downward to the next movement limit point.
3D scanning device.
In claim 1,
The body further includes an auxiliary guidance path for directing the camera module toward the subject.
3D scanning device.
In claim 1,
The side section includes a plurality of catch plates that limit downward movement of the camera module at a plurality of movement limiting points.
3D scanning device.
In claim 7,
On the side, an intermediate stop provided between the catch plates and a slope provided between the intermediate stop parts are formed.
3D scanning device.