CN111968219A - Three-dimensional modeling apparatus and method - Google Patents
Three-dimensional modeling apparatus and method Download PDFInfo
- Publication number
- CN111968219A CN111968219A CN202010722444.1A CN202010722444A CN111968219A CN 111968219 A CN111968219 A CN 111968219A CN 202010722444 A CN202010722444 A CN 202010722444A CN 111968219 A CN111968219 A CN 111968219A
- Authority
- CN
- China
- Prior art keywords
- data
- dimensional modeling
- driving module
- side plate
- assembly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/25—Process efficiency
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Mathematical Physics (AREA)
- Mathematical Analysis (AREA)
- Pure & Applied Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Computational Mathematics (AREA)
- Electromagnetism (AREA)
- Software Systems (AREA)
- Mathematical Optimization (AREA)
- Data Mining & Analysis (AREA)
- Geometry (AREA)
- Algebra (AREA)
- Computer Graphics (AREA)
- Databases & Information Systems (AREA)
- General Engineering & Computer Science (AREA)
- Computing Systems (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses three-dimensional modeling equipment and a method, wherein a driving module and a first assembly are arranged, the first assembly comprises a first synchronizing wheel and a first shaft piece, the first synchronizing wheel is fixed on a first side plate through the first shaft piece, the driving module is connected with the first assembly to drive the first assembly to rotate, a distance meter is connected with the driving module and can be driven by the first assembly to rotate, the obtained data is utilized by a processing device to carry out three-dimensional modeling, the efficiency is improved without manual observation and measurement, meanwhile, the data is obtained through the distance meter, clear and effective data can be obtained through the rotating distance meter, the occurrence of an outdoor red storm phenomenon is avoided, and the structure is simple; the limiting device can send a signal to the driving module to stop the rotation of the distance measuring instrument when the first synchronous wheel rotates excessively, so that the distance measuring instrument is protected.
Description
Technical Field
The invention relates to the field of three-dimensional modeling, in particular to large-range three-dimensional modeling equipment and a method.
Background
With the development of scientific technology, the utilization of three-dimensional modeling technology is more and more extensive, for example, the three-dimensional modeling of outdoor large scenes is utilized. The outdoor large-scene three-dimensional measurement is a prerequisite condition for realizing automation and intellectualization of important technical equipment outdoors, such as: positioning a tunnel face in mine construction; detecting stockpiles of cement, coal, steel coils, ore and the like; detecting the loading state of the truck and automatically loading; the detection and positioning of the port container and other scenes are still at a lower automation level due to the limitation of a three-dimensional measurement technology.
Currently, such outdoor large-range three-dimensional measurement and positioning are mostly measured by means of manual observation of subjective feeling, tape measurement, two-dimensional vision and the like. The manual measurement mode is time-consuming and labor-consuming, low in efficiency and capable of seriously inhibiting the automatic development of related industries. The two-dimensional measurement mode is difficult to acquire scene depth information and realize irregular object measurement; the three-dimensional structure light scanning mode is limited in effective depth measurement, and has a 'red storm' phenomenon outdoors, so that the problems that clear image data is difficult to obtain, objects with large height changes are difficult to measure are caused, and the like.
Disclosure of Invention
In view of the above, in order to solve the above technical problems, the present invention provides a three-dimensional modeling apparatus and method.
The technical scheme adopted by the invention is as follows:
a three-dimensional modeling apparatus, comprising:
a main body including a first side plate and a second side plate;
the driving device comprises a driving module and a first assembly, the first assembly is fixed on the first side plate and comprises a first synchronous wheel and a first shaft, the first synchronous wheel is fixed on the first side plate through the first shaft, and the driving module is connected with the first assembly to drive the first assembly to rotate;
the range finder is connected with the driving module and positioned between the first side plate and the second side plate, one end of the range finder is fixedly connected with the first shaft piece, and the other end of the range finder is movably connected with the second side plate, so that the first shaft piece drives the range finder to rotate;
the limiting device is electrically connected with the driving module, fixed to the first side plate and located on one side, close to the first synchronous wheel, of the first side plate;
and the processing device and the driving module are used for carrying out three-dimensional modeling according to the data obtained by the driving module.
Furthermore, the limiting device comprises a light blocking sheet and a photoelectric switch, the first shaft penetrates through the light blocking sheet, the photoelectric switch is arranged on the light blocking sheet, the photoelectric switch, the light blocking sheet and the first synchronous wheel are located on the same side of the first side plate, and the photoelectric switch is connected with the driving module.
Further, drive module includes second subassembly, motor, next machine, driver and power module, the second subassembly with first synchronizing wheel swing joint and with the motor is connected, the driver with the motor and the next machine is connected, power module with the motor the driver the distancer and the next machine is connected, the next machine with the distancer and processing apparatus connects.
Further, the second subassembly includes second synchronizing wheel, second shaft spare and hold-in range, the second synchronizing wheel pass through the hold-in range with first synchronizing wheel is connected, the second shaft spare run through first curb plate and with the motor is connected.
Further, the main part still includes the installing support, the distancer install in the installing support, through the installing support with first curb plate with the second curb plate is connected, the installing support includes first center pin and second center pin, first center pin with the cooperation of first axle spare, the second center pin with the cooperation of second curb plate.
The invention also provides a three-dimensional modeling method which is realized by the three-dimensional modeling equipment and comprises the following steps:
the driving module drives the first assembly to drive the distance measuring instrument to rotate, wherein the distance measuring instrument acquires first scanning data in the rotating process;
receiving the first scanning data through the processing device, and carrying out three-dimensional modeling according to a pre-stored calibration result and the first scanning data;
the method for acquiring the pre-stored calibration result comprises the following steps: the driving module drives the first component to drive the distance measuring instrument to rotate, a plurality of second scanning data of an object are obtained through the distance measuring instrument in the rotating process, a plurality of angle data are synchronously obtained through the driving module, and the pre-stored calibration result is obtained according to the plurality of second scanning data and the angle data.
Further, the obtaining the pre-stored calibration result according to the plurality of second scanning data and the angle data includes the following steps:
obtaining a plurality of frames of first data, wherein each frame of the first data comprises the second scanning data and the angle data corresponding to the second scanning data;
and carrying out iterative solution according to the first data of each frame, the specification parameters of the object and a preset error through the processing device to obtain the pre-stored calibration result.
Further, the three-dimensional modeling according to the pre-stored calibration result and the first scanning data comprises the following steps:
and obtaining first point cloud data according to the first scanning data and the pre-stored calibration result, and performing three-dimensional modeling according to the first point cloud data.
Further, when the first synchronous wheel rotates beyond a preset rotation angle, the driving module receives a signal of the limiting device to stop driving the first assembly.
The invention also provides a method for carrying out work planning by applying the first point cloud data, which comprises the following steps:
performing down-sampling processing on the first point cloud data, and performing target segmentation identification processing on the down-sampling processing result to obtain second point cloud data;
calculating parameters of the second point cloud data, and carrying out work planning according to the parameters;
wherein the parameters include a principal direction, a minimum outer bounding box, and a centroid.
The invention has the beneficial effects that: by arranging the driving module and the first assembly, the first assembly comprises a first synchronizing wheel and a first shaft piece, the first synchronizing wheel is fixed on the first side plate through the first shaft piece, the driving module is connected with the first assembly to drive the first assembly to rotate, the distance meter is connected with the driving module and can be driven by the first assembly to rotate, the processing device is used for carrying out three-dimensional modeling by utilizing the obtained data, the efficiency is improved without manual observation and measurement, meanwhile, the distance meter is used for obtaining data, and the distance meter can be used for obtaining clear and effective data, so that the occurrence of an outdoor 'red storm' phenomenon is avoided, and the structure is simple; and the stop device who sets up can send signal to drive module in order to stop the rotation of distancer when first synchronizing wheel is rotatory excessive, plays the effect of protection distancer.
Drawings
FIG. 1 is a schematic perspective view of the apparatus of the present invention;
FIG. 2 is a schematic structural diagram of a driving device, a limiting device and a main body according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the driving device, the main body and the scanner according to the embodiment of the present invention;
FIG. 4 is a schematic flow chart illustrating steps of a three-dimensional modeling method according to an embodiment of the present invention;
FIG. 5 is a flow chart illustrating steps of another method according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first," "second," "third," and "fourth," etc. in the description and claims of this application and the accompanying drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
As shown in fig. 1, 2 and 3, the present embodiment provides a three-dimensional modeling apparatus including a main body 1, a driving device, a distance meter 2, a limiting device 3, and a processing device 4.
As shown in fig. 1, 2 and 3, in this embodiment, the main body 1 includes a first side plate 11, a second side plate 12, a main plate 13, a mounting bracket 14 and a mounting plate 15 located outside the side plates, and the main plate 13 is fixed between the first side plate 11 and the second side plate 12, and may be fixed to the first side plate 11 and/or the second side plate 12, or may be integrally formed with the first side plate 11 or the second side plate 12. The second side plate 12 has a first driven shaft 121; the mounting bracket 14 is used for mounting the distance measuring device 2 and is located below the main board 13, and a first central shaft (not shown) and a second central shaft (not shown) are respectively arranged at the left end and the right end of the mounting bracket 14, and the second central shaft is matched with the first driven shaft member 121, so that the second central shaft can freely rotate. Mainboard 13 is provided with limit structure 131 towards distancer 2 direction, optionally constitutes for two trapezoidal voussoirs, and limit structure sets up in distancer 2's rotation range, can carry on spacingly when stop device 3 became invalid in 2 rotatory excessive times of distancer.
In this embodiment, the driving device includes a driving module and a first component, and the driving module includes a second component, a motor a, a lower computer B, a driver C, and a power module (including a terminal D and a dc power supply E). The first assembly is disposed on the first side plate 11 and includes a first synchronizing wheel 51 and a first shaft member, the first shaft member includes a driving shaft member 52 and a second driven shaft member 53, and the second assembly includes a second synchronizing wheel 54, a second shaft member 55 and a synchronizing belt 56.
As shown in fig. 1, 2 and 3, in the present embodiment, the driving shaft 52 is disposed on the left side of the first side plate 11, the second driven shaft 53 is disposed on the right side of the first side plate 11, the driving shaft 52 penetrates through the first side plate 11 and is connected to the second driven shaft 53, the second driven shaft 53 and the first driven shaft 121 have the same structure and are symmetrically disposed, and the second driven shaft 53 is matched with the first central shaft; the first synchronizing wheel 51 is fixed to the first side plate 11 through a first shaft, the first synchronizing wheel 51 is connected with the second synchronizing wheel 54 through a synchronizing belt 56, and the second synchronizing wheel 54 penetrates through the first side plate 11 through a second shaft 55 to be fixedly connected with the motor a. Therefore, the second synchronizing wheel 54 is driven to rotate by the rotation of the motor a, and the first synchronizing wheel 51 is driven by the timing belt 56, so as to drive the second driven shaft 53 and the mounting bracket 14 to rotate, i.e. to realize the rotation of the distance measuring instrument 2, optionally in the up-and-down direction. In the embodiment, the motor a is decelerated through the synchronous belt 56, the first synchronous wheel 51 with a larger size and the second synchronous wheel 54 with a smaller size, so that the platform is ensured to rotate stably at a low speed (which is beneficial to acquiring angle data and the range finder 2 to acquire two-dimensional data); the synchronous belt 56 has high precision, has buffering and vibration damping effects, and is suitable for severe environments.
In this embodiment, the limiting device 3 includes a light blocking sheet and a photoelectric switch, the light blocking sheet 31 and the photoelectric switch 32 are fixedly disposed on the left side of the first side plate 11 and disposed near the first synchronizing wheel 51, the photoelectric switch 32 is electrically connected to the lower computer B, the first shaft penetrates through the light blocking sheet 31, so that the light blocking sheet 31 and the first shaft are coaxial, and the photoelectric switch 32 is disposed on the light blocking sheet 31. When the first synchronizing wheel 51 exceeds a preset rotation angle, photoelectric triggering is caused, and the motor A is locked, so that when the rotation exceeds the limit or the zero point of the motor A is lost, limit protection is provided, direct contact with a limit structure is avoided, and meanwhile, the function of starting up and checking the zero point can be realized.
As shown in fig. 1, 2 and 3, in this embodiment, the driver C is connected to the motor a and the lower computer B, the power module is connected to the motor a, the driver C, the distance meter 2 and the lower computer B, and the lower computer B is connected to the distance meter 2, the processing device 4, the driver C and the limiting device 3 for real-time communication, and has functions of controlling the rotation and positioning of the motor a, receiving and processing of photoelectric signals, setting of parameters of the distance meter 2, data acquisition, data output and the like. The power supply module further comprises a direct-current power supply E and a plurality of terminals D, and the terminals D are used for enabling the distance measuring instrument 2, the lower computer B, the driver C and the motor A to be connected with the corresponding terminals D according to actually required power supply voltage. In this embodiment, the motor a, the lower computer B, the driver C, and the terminal D are disposed on the main board 13, and the terminal D is connected to the dc power supply E through the cable 5.
Alternatively, motor a includes, but is not limited to, a servo motor a, a dc motor a, or a stepper motor a.
In this embodiment, the processing device 4 is configured to receive data transmitted by the lower computer B, perform data processing, implement three-dimensional modeling, send a motor a motion instruction, set a rotation speed and a start-stop rotation angle of the motor a, and the like, that is, the processing device 4 has core function modules such as device state monitoring, data processing of the range finder 2, calibration, three-dimensional modeling, and three-dimensional identification. Examples of data processing include: the two-dimensional data acquired by the distance meter 2 and the rotation angle data are integrated and calculated through a specific algorithm, three-dimensional point cloud data are generated based on single-layer two-dimensional data stacking, and three-dimensional modeling is finally achieved.
As shown in fig. 1, 2 and 3, in this embodiment, the distance measuring device 2 is disposed on the mounting bracket 14, one end of the distance measuring device 2 is fixedly connected to the first shaft via a first center shaft, and the other end of the distance measuring device 2 is movably connected to the first driven shaft 121 of the second side plate 12 via a second center shaft, so that the distance measuring device 2 can be driven to rotate when the first shaft moves. In this embodiment, the 2 communication interface of the distance meter is connected to the lower computer B through the data line L1 wrapped by the anti-bending tow chain F, and the communication mode includes, but is not limited to, USB, RS232, RS422, EtherNet, Wifi, and zigbee. Including but not limited to laser rangefinders 2 based on the time of flight (TOF) principle, laser rangefinders 2 based on the Frequency Modulated Continuous Wave (FMCW) principle, laser rangefinders 2 based on the triangular rangefinder principle. The distance measuring instrument 2 is used for achieving two-dimensional scanning to obtain X-direction data and Z-direction data, the lower computer B, the driver C and the motor A are driven by the control computing platform (namely the processing device 4), the main shaft drives the laser distance measuring instrument 2 to rotate, one frame of data collection triggering of the laser distance measuring instrument 2 is completed by utilizing coded pulses, and Y-direction data obtaining is achieved. Wherein the scanning plane of the distance meter 2 is perpendicular to the rotation direction of the distance meter 2. Alternatively, the laser range finder 2 has a laser wavelength of K, where K > is 300nm, where the main axis is referred to as the rotation center axis of the two-dimensional laser range finder 2.
Optionally, the two-dimensional laser range finder 2 and the servo system may be selected according to different requirements, for example, when the three-dimensional modeling device is used for three-dimensional modeling of an outdoor large scene, such as an application of an automatic excavator, the measured scene is a severe environment of outdoor and dust, the accuracy requirement is less than or equal to 15mm, the size of the working space is 8 × 3 meters, and the frequency of real-time three-dimensional modeling of the scene is 0.1Hz, and specifically, the two-dimensional laser range finder 2 and the servo system are selected as follows:
1) according to the measurement precision, an industrial two-dimensional laser range finder 2 with the precision of M, the measurement range interval within N and the measurement frequency of F is selected by considering factors such as scene volume, image processing speed, environmental conditions and the like; 0.01 mm < M <1000 mm; 0.01 meters < N <1000 meters, 0.01Hz < F <2,000,000 Hz; after the laser range finder 2 is arranged on the mounting bracket 14, appropriate counterweight is required according to a rotation center, and flutter is avoided in rotation, for example, a two-dimensional laser range finder 2 customized based on an N30105A type range finder 2 can be adopted, the working range is 0.1-20m, the measurement resolution/precision is 0.8mm/10mm, the single-frame frequency is 10-400 Hz, and the scanning angle is-80 degrees and can be adjusted, so that the scene measurement requirement is met.
2) According to the reflection capacity of the measured material and the working environment, the two-dimensional laser range finder 2 is selected within the range of the wavelength being more than or equal to K, wherein K > is 300 nm. The laser wavelength should avoid the wavelength of the environmental interference light as much as possible, and in order to avoid the influence of the outdoor light (300 nm-900 nm) in the above outdoor measurement scene, the laser range finder 2 with the wavelength larger than 900nm should be selected.
3) According to the weight of the two-dimensional laser range finder 2, the load conditions such as the weight of the mounting bracket 14 and the like, and the requirements of platform corner precision, acceleration and deceleration and the like, the servo motor A with the power of Q and the precision of H and a corresponding driver C are selected, and the embodiment comprises the following steps: 0.002kw < Q <50,000 kw; 0.11 arc seconds < H <1000 arc seconds;
calculating the power of the motor A:
wherein T is the required motor a output torque, J is the moment of inertia of the rangefinder 2, the mounting bracket 14, the counterweight, α is the rotational angular velocity, D is the first synchronizing diameter, D is the second synchronizing wheel 54 diameter; q is the power of the motor A, wherein n is the rotating speed of the motor A, K is the safety coefficient of the motor A, and eta is the reduction ratio which represents multiplication.
And (3) calculating the precision of the motor A:
wherein E is the calculation precision of the motor A, ξ is a transmission precision loss coefficient (0.92-1), eta is a reduction ratio, and theta is an included angle between the maximum position of the rotation of the distance meter 2 (in the rotation direction) and the vertical downward direction, which is calculated according to the size of a scene. Beta is the precision required by measurement (can be adjusted according to requirements), h is the height of the distance meter 2 from the lowest point of the scene, and tau is the precision loss coefficient (0.5-0.1) caused by the measurement algorithm. According to the above disclosure, the accuracy of the motor A needs to be greater than the calculation accuracy E when the motor A is selected.
As shown in fig. 4, this embodiment further provides a three-dimensional modeling method, which is implemented by the above three-dimensional modeling apparatus, and includes the following steps:
the driving module drives the first component to drive the distance measuring instrument to rotate, wherein the distance measuring instrument acquires first scanning data in the rotating process;
receiving the first scanning data through the processing device, and carrying out three-dimensional modeling according to a pre-stored calibration result and the first scanning data;
the method for acquiring the pre-stored calibration result comprises the following steps: the driving module drives the first component to drive the range finder to rotate, a plurality of second scanning data are acquired through the range finder in the rotating process, a plurality of angle data are synchronously acquired through the driving module, and a pre-stored calibration result is obtained according to the plurality of second scanning data and the angle data.
In this embodiment, after the three-dimensional modeling apparatus is installed, since the coordinate system of the apparatus (i.e. the global coordinate system of the apparatus, the three-dimensional modeling coordinate system) may be different from the coordinate system of the (two-dimensional laser) range finder 2, for example, the scanning plane of the range finder 2 is not perpendicular to the spindle due to an installation error during the installation process, calibration is required. In this embodiment, the coordinate system of the device includes X, Y, Z three directions, the X direction is parallel to the center of rotation of the rangefinder 2, the Y direction is the same as the direction of movement of the laser line during scanning by the rangefinder 2 and perpendicular to X, the Z axis is determined by X-Y via right-handed screw law, is related to the X axis direction and is generally set Z-axis down; the origin of the coordinate system is the origin of the coordinate system of the distance measuring instrument 2 when the rotation angle of the motor a is 0.
Specifically, in the present embodiment, calibration is performed by using an object with known specification parameters, where the specification parameters may include length, width, height, radius, diameter, and the like, and the object is not limited, and the present embodiment takes a cylinder as an example, and the calibration process includes a1-a 2:
a1, driving the first component to drive the distance measuring instrument 2 to rotate through the driving module, and acquiring a plurality of second scanning data of the cylinder through the distance measuring instrument 2 and synchronously acquiring a plurality of angle data (realized by sending out synchronous trigger signals) through the driving module in the rotating process to obtain a plurality of frames of first data; wherein each frame of first data comprises a second scan data and an angle data corresponding to the second scan data, optionally the rotation speed is set to a low rotation speed to ensure that sufficient valid data can be acquired, while the synchronization triggers the synchronized coordination and correspondence of the second scan data and the angle data obtained by the light range finder 2.
Optionally, data processing and storage is performed by the processing means 4. In the embodiment, a plurality of frames of first data are stored in a form of a three-dimensional matrix PointM [ i ] [ j ] [ k ], wherein i represents data acquired by triggering for the ith time in the process, namely 1 frame of data, PointM [ i ] [ j ] represents data of a jth point in the X direction triggered for the ith time, and PointM [ i ] [ j ] [0] represents an X value of the jth point in the X direction triggered for the ith time; the PointM [ i ] [ j ] [1] represents the Z value of the jth point in the ith trigger X direction; the angle data of the (servo) motor A is stored in a one-dimensional matrix RegM [ i ], and RegM [ i ] represents the angle data of the servo motor A during the ith trigger.
A2, assuming that a rotation matrix and a translation matrix of a two-dimensional laser range finder 2 coordinate system and a device coordinate system are R and T, and the two form a required calibration result, then the required calibration result needs to be solved for 6 unknown quantities including an Euler angle/roll angle roll (ψ), a pitch angle pitch (θ) and a yaw angle yaw (φ), and offset values refx, refy and refz, and the solving process is as follows:
filtering and arc line detection are carried out on each frame of first data, point cloud data containing cylindrical surface contents are detected and segmented, the servo motor A angle data of each frame are combined as a data source, iterative solution is carried out by taking the cylinder point cloud data and the known cylinder with the minimum error as constraints, and therefore system calibration is completed, and the basic formula is as follows:
wherein, Cb nIs a direction cosine matrix, C ', converted from Euler angles according to the strapdown inertial navigation principle'1、C′2、C′3Elements in a direction cosine matrix, RefT is a displacement vector, M is a coordinate transformation matrix, and sin is a sine trigonometric function; cos is a cosine trigonometric function; refx, refy, refz, ψ, θ, φ are the above unknowns, X, Y, Z are the spatial coordinates on the cylinder face; h is the height of the laser range finder 2 from the bottom plane, RegM [ i]The angle between the motor A and the laser ranging surface in the vertical downward state during the ith acquisition is the rotating angle of the motor A. X, Y, Z need to satisfy the standard cylindrical equation:
(x-x0)2+(y-y0)2+(z-z0)2-r2＝[l(x-x0)+m(y-y0)+n(z-z0)]2/(l2+m2+n2)
wherein (x)0,y0,z0) Is a point coordinate value on the axis of the cylinder, (l, m, n) is the vector of the axis direction of the cylinder, and r is the diameter of the cylinder. The constraint equation is:
f＝(x-x0)2+(y-y0)2+(z-z0)2-r2-[l(x-x0)+m(y-y0)+n(z-z0)]2/(l2+m2+n2)
where f is the error (i.e., the preset error).
And (5) carrying out iterative solution by taking the minimum error as constraint to obtain the unknown parameters, thus obtaining a calibration result, and storing the calibration result in the processing device 4 as a pre-stored calibration result.
And when the pre-stored calibration result is stored, the three-dimensional modeling equipment is used for obtaining the modeling of the three-dimensional modeling object.
Specifically, the method comprises the following steps of S1-S2:
s1, driving the first component to drive the distance measuring instrument 2 to rotate through the driving module, wherein the distance measuring instrument 2 obtains first scanning data in the rotating process;
specifically, the motor a rotates to drive the second synchronous wheel 54 to rotate, and the synchronous belt 56 drives the first synchronous wheel 51 to rotate, so as to drive the scanner on the mounting bracket 14 to rotate, optionally, the rotation speed is controllable, for example, the rotation speed of the motor a can be controlled to be low speed by the processing device 4, so as to ensure that more and effective first scanning data are obtained, where the first scanning data includes a plurality of frames of first data;
taking an outdoor large scene as an example, such as a scene in which an automatic excavator needs to work, erecting equipment at a position where the whole scene can be acquired, and starting real-time acquisition and modeling, wherein the scene may include objects such as ore piles, ores, gravels, large blocks, small blocks, sand-like materials, and the like, and the first scanning data acquired correspondingly at this time includes all the objects.
In this embodiment, when the first synchronizing wheel 51 rotates to exceed a preset rotation angle (set according to requirements), the driving module receives a signal of the limiting device 3 to stop driving the first component, i.e., lock the motor a, so that when the rotation exceeds the limit or the zero point of the motor a is lost, a limiting protection is provided, a direct contact limiting structure is avoided, and meanwhile, the function of starting up and checking the zero point can be realized.
And S2, processing the first scanning data through the processing device 4, and correcting the first scanning data by using a pre-stored calibration result to ensure conjugation of X, Y, Z three coordinate directions, so that single-layer two-dimensional data stacking three-dimensional scanning imaging is realized, and three-dimensional modeling is performed.
Specifically, each frame of first data is multiplied by a prestored calibration result to obtain three-dimensional first point cloud data formed by each frame of first data after conversion, and three-dimensional modeling is performed according to the first point cloud data, wherein the three-dimensional modeling method can be realized by using the existing processing method and is not repeated. For example, the three-dimensional modeled model includes models of all objects such as a heap, ore, sand, large blocks, small blocks, sand, and the like.
As shown in fig. 5, the present embodiment further provides a method for performing work planning, such as working path and process planning of an excavator, by using the first point cloud data, which specifically includes S3-S4:
s3, performing down-sampling processing on the first point cloud data, and performing target segmentation and identification processing on a down-sampling processing result to obtain second point cloud data;
specifically, a downsampling algorithm can be adopted to carry out filtering downsampling processing on the first point cloud data, the core of the downsampling processing is to decide the downsampling degree and filter outliers according to a point cloud normal vector and a density gradient, if the curvature and the density are large, edges and abrupt change positions are reserved as much as possible, and therefore the modeling precision is not influenced on the premise that the point cloud scale is reduced and the subsequent processing speed is improved; and then Point cloud data with normal vectors are used as input, and segmentation recognition processing of the target is realized on the basis of a Point-Net network to obtain second Point cloud data. For example, the second point cloud data includes a type of the object after the object is divided, for example, a type of the object such as a large block, a small block, a sand, a large block, a small block, and a sand.
And S4, calculating parameters of the second point cloud data (including but not limited to the main direction, the minimum outer bounding box and the centroid of the second point cloud data) to carry out work planning.
The main direction refers to a main characteristic direction of the target object, for example, the main direction of the cuboid is a long axis direction, and the main direction of the ellipsoid is a long axis direction; the minimum outer bounding box means that the target object is completely contained in the rectangular box, the volume of the rectangular box is minimum, and the posture of the target can be calculated by the method; for example, the ellipsoid has its smallest bounding box with a length, width and height that are consistent with the major and minor axes of the ellipsoid, regardless of its placement. The centroid refers to a mass center of the segmented point cloud (second point cloud data), and specifically is a mean value of the point cloud X, Y, Z.
Specifically, the method comprises the following steps: the principal direction calculation is calculated by adopting a Principal Component Analysis (PCA) method, and the second point cloud data matrix is assumed to be X ═ X, y, z, and X, y and z are column vectors respectively, and the method comprises the following steps:
1, decentralizing each row of x, y and z;
wherein, mu is the average value, m is the number of samples participating in the operation, x(i)For the ith row of data in one column, sigma is standard deviation, and the mu value of the three vectors of x, y and z is the centroid value (mu)x，μy，μz)
2. Calculating a sample covariance matrix:
wherein cov represents covariance, such as cov (x, y) is covariance of x and y columns, cov (x, x) is variance of x columns, cov (x, z) is covariance of x and z columns, cov (y, x) is covariance of y and x columns, cov (y, y) is variance of y columns, cov (y, z) is covariance of y and z columns, cov (z, x) is covariance of z and x columns, cov (z, z) is variance of z columns, and cov (z, y) is covariance of z and y columns.
3. Solving the characteristic value and the characteristic vector of the covariance matrix:
C＝UΣVT
wherein U is a left eigenvector matrix of the C matrix; sigma is a characteristic value matrix; v is the right eigenvector matrix of C and T represents the transpose of matrix V.
4. The direction vector corresponding to the maximum eigenvalue is the principal direction
The minimum outer bounding box calculation method comprises the following steps: 1) projecting the second point cloud data along the main direction to obtain a maximum projection surface; 2) the minimum outer-wrapping rectangle of the maximum projection plane is the size of the section of the minimum outer bounding box; 3) and calculating the distance between the edge of the second point cloud data and the closest and farthest points of the projection surface, namely the height of the minimum bounding box.
By the parameters, the positioning and attitude determination and material state identification of all materials (objects) can be completed.
Then according to the minimum outer of all objects in the three-dimensional model of the sceneThe surrounding box forms a collision early warning area, the space formed by the surrounding box and the area outside the boundary are collision danger areas, the operation action transition path is forbidden to enter or pass through the collision danger areas, and Slam technology (instant positioning and map construction) and A are used*The algorithm realizes heuristic optimal path search and safe, reliable, efficient and reasonable automatic transition path planning;
and then, by combining the parameters (the minimum bounding box, the main direction and the mass center of the target object in three-dimensional modeling) and (optionally, further combining transition path data and process action prior knowledge), the excavator is automatically excavated according to a scene model, and then the work planning, such as path selection, object pickup and other planning in the working process of the excavator, can be completed.
In summary, compared with the prior art, the invention has the following advantages:
1) the method has the advantages that single-layer two-dimensional data stacked three-dimensional scanning imaging is realized, the problems of outdoor 'red storm', limited depth of field measurement, huge structure and influenced precision caused by linear scanning are solved, the depth measurement range is increased to dozens of meters, and various problems caused by relative movement of scanning are avoided, so that the problem of outdoor large-scene three-dimensional modeling measurement is solved;
2) the problem of accurate measurement of outdoor large scenes is solved by a simplified structure, and the bottleneck of automatic measurement of outdoor large scenes is broken through;
3) the method can be applied to tunnel measurement and positioning of the drill jumbo, modeling of a raw ore blanking bin ore pile, measurement and positioning; detecting stockpiling; detecting the stacking of the containers in the port; the automatic loading device for the truck has the advantages that the loading state of the truck is detected, the working planning of the excavator is carried out, the working precision is improved, the working cost is reduced, the working efficiency is improved, the automation degree is increased, and the data support is provided for full-automatic operation.
In some alternative embodiments, the embodiments presented and described in the context of the steps of the present invention are provided by way of example in order to provide a more thorough understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and in which sub-operations described as part of larger operations are performed independently.
Furthermore, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise stated to the contrary, one or more of the functions and/or features may be integrated in a single physical device and/or software module, or one or more functions and/or features may be implemented in separate physical devices or software modules. It will also be appreciated that a detailed discussion of the actual implementation of each module is not necessary for an understanding of the present invention. Rather, the actual implementation of the various functional modules in the apparatus disclosed herein will be understood within the ordinary skill of an engineer, given the nature, function, and internal relationship of the modules. Accordingly, those skilled in the art can, using ordinary skill, practice the invention as set forth in the claims without undue experimentation. It is also to be understood that the specific concepts disclosed are merely illustrative of and not intended to limit the scope of the invention, which is defined by the appended claims and their full scope of equivalents.
Claims (10)
1. Three-dimensional modeling apparatus, comprising:
a main body including a first side plate and a second side plate;
the driving device comprises a driving module and a first assembly, the first assembly is fixed on the first side plate and comprises a first synchronous wheel and a first shaft, the first synchronous wheel is fixed on the first side plate through the first shaft, and the driving module is connected with the first assembly to drive the first assembly to rotate;
the range finder is connected with the driving module and positioned between the first side plate and the second side plate, one end of the range finder is fixedly connected with the first shaft piece, and the other end of the range finder is movably connected with the second side plate, so that the first shaft piece drives the range finder to rotate;
the limiting device is electrically connected with the driving module, fixed to the first side plate and located on one side, close to the first synchronous wheel, of the first side plate;
and the processing device is connected with the driving module and is used for carrying out three-dimensional modeling according to the data obtained by the driving module.
2. The three-dimensional modeling apparatus of claim 1, wherein: the limiting device comprises a light blocking sheet and a photoelectric switch, the first shaft penetrates through the light blocking sheet, the photoelectric switch is arranged on the light blocking sheet, the photoelectric switch, the light blocking sheet and the first synchronous wheel are located on the same side of the first side plate, and the photoelectric switch is connected with the driving module.
3. The three-dimensional modeling apparatus of claim 1, wherein: the drive module comprises a second assembly, a motor, a lower computer, a driver and a power module, wherein the second assembly is movably connected with the first synchronous wheel and connected with the motor, the driver is connected with the motor and the lower computer, the power module is connected with the motor, the driver, the distance meter and the lower computer, and the lower computer is connected with the distance meter and the processing device.
4. The three-dimensional modeling apparatus of claim 3, wherein: the second subassembly includes second synchronizing wheel, second shaft spare and hold-in range, the second synchronizing wheel passes through the hold-in range with first synchronizing wheel is connected, the second shaft spare runs through first curb plate and with the motor is connected.
5. The three-dimensional modeling apparatus of claim 1, wherein: the main part still includes the installing support, the distancer install in the installing support, through the installing support with first curb plate with the second curb plate is connected, the installing support includes first center pin and second center pin, first center pin with the cooperation of first axle spare, the second center pin with the cooperation of second curb plate.
6. A three-dimensional modeling method realized by the three-dimensional modeling apparatus according to any one of claims 1 to 5,
the method comprises the following steps:
the driving module drives the first assembly to drive the distance measuring instrument to rotate, wherein the distance measuring instrument acquires first scanning data in the rotating process;
receiving the first scanning data through the processing device, and carrying out three-dimensional modeling according to a pre-stored calibration result and the first scanning data;
the method for acquiring the pre-stored calibration result comprises the following steps: the driving module drives the first component to drive the distance measuring instrument to rotate, a plurality of second scanning data of an object are obtained through the distance measuring instrument in the rotating process, a plurality of angle data are synchronously obtained through the driving module, and the pre-stored calibration result is obtained according to the plurality of second scanning data and the angle data.
7. The three-dimensional modeling method of claim 6, wherein: the obtaining of the pre-stored calibration result according to the plurality of second scanning data and the angle data comprises the following steps:
obtaining a plurality of frames of first data, wherein each frame of the first data comprises the second scanning data and the angle data corresponding to the second scanning data;
and carrying out iterative solution according to the first data of each frame, the specification parameters of the object and a preset error through the processing device to obtain the pre-stored calibration result.
8. The three-dimensional modeling method of claim 7, wherein: the three-dimensional modeling is carried out according to the pre-stored calibration result and the first scanning data, and the method comprises the following steps:
and obtaining first point cloud data according to the first scanning data and the pre-stored calibration result, and performing three-dimensional modeling according to the first point cloud data.
9. The three-dimensional modeling method of claim 6, wherein: when the first synchronous wheel rotates to exceed a preset rotation angle, the driving module receives a signal of the limiting device to stop driving the first assembly.
10. A method, characterized by: work planning using the first point cloud data of claim 8, comprising the steps of:
performing down-sampling processing on the first point cloud data, and performing target segmentation identification processing on the down-sampling processing result to obtain second point cloud data;
calculating parameters of the second point cloud data, and carrying out work planning according to the parameters;
wherein the parameters include a principal direction, a minimum outer bounding box, and a centroid.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010722444.1A CN111968219B (en) | 2020-07-24 | 2020-07-24 | Three-dimensional modeling apparatus and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010722444.1A CN111968219B (en) | 2020-07-24 | 2020-07-24 | Three-dimensional modeling apparatus and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111968219A true CN111968219A (en) | 2020-11-20 |
| CN111968219B CN111968219B (en) | 2023-08-08 |
Family
ID=73362609
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010722444.1A Active CN111968219B (en) | 2020-07-24 | 2020-07-24 | Three-dimensional modeling apparatus and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111968219B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112946612A (en) * | 2021-03-29 | 2021-06-11 | 上海商汤临港智能科技有限公司 | External parameter calibration method and device, electronic equipment and storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090168045A1 (en) * | 2007-12-28 | 2009-07-02 | Industrial Technology Research Institute | Three-dimensional surround scanning device and method thereof |
| KR20140049361A (en) * | 2012-10-17 | 2014-04-25 | 한국과학기술원 | Multiple sensor system, and apparatus and method for three dimensional world modeling using the same |
| CN104881864A (en) * | 2015-04-14 | 2015-09-02 | 精迪测量技术（上海）有限公司 | Human body head three dimensional scanner and three-dimensional modeling method |
| CN105116922A (en) * | 2015-07-14 | 2015-12-02 | 华中科技大学 | Control system of three-dimensional laser scanning device |
| WO2018088610A1 (en) * | 2016-11-09 | 2018-05-17 | (주)안세기술 | 3d laser scanner system capable of real-time dynamic positioning of target object by using laser scanner |
| CN108510587A (en) * | 2018-02-11 | 2018-09-07 | 上海电力学院 | A kind of indoor and outdoor environmental modeling method and system based on 2D laser scannings |
| KR20200034869A (en) * | 2018-09-21 | 2020-04-01 | 포테닛 주식회사 | Real-Time Modeling System and Method for Geo-Spatial Information Using 3D Scanner of Excavator |
-
2020
- 2020-07-24 CN CN202010722444.1A patent/CN111968219B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090168045A1 (en) * | 2007-12-28 | 2009-07-02 | Industrial Technology Research Institute | Three-dimensional surround scanning device and method thereof |
| KR20140049361A (en) * | 2012-10-17 | 2014-04-25 | 한국과학기술원 | Multiple sensor system, and apparatus and method for three dimensional world modeling using the same |
| CN104881864A (en) * | 2015-04-14 | 2015-09-02 | 精迪测量技术（上海）有限公司 | Human body head three dimensional scanner and three-dimensional modeling method |
| CN105116922A (en) * | 2015-07-14 | 2015-12-02 | 华中科技大学 | Control system of three-dimensional laser scanning device |
| WO2018088610A1 (en) * | 2016-11-09 | 2018-05-17 | (주)안세기술 | 3d laser scanner system capable of real-time dynamic positioning of target object by using laser scanner |
| CN108510587A (en) * | 2018-02-11 | 2018-09-07 | 上海电力学院 | A kind of indoor and outdoor environmental modeling method and system based on 2D laser scannings |
| KR20200034869A (en) * | 2018-09-21 | 2020-04-01 | 포테닛 주식회사 | Real-Time Modeling System and Method for Geo-Spatial Information Using 3D Scanner of Excavator |
Non-Patent Citations (1)
| Title |
|---|
| 叶文权;廖炜婷;: "基于三维激光获取点云的三维模型构建", 智能计算机与应用, no. 03, pages 68 - 75 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112946612A (en) * | 2021-03-29 | 2021-06-11 | 上海商汤临港智能科技有限公司 | External parameter calibration method and device, electronic equipment and storage medium |
| CN112946612B (en) * | 2021-03-29 | 2024-05-17 | 上海商汤临港智能科技有限公司 | External parameter calibration method and device, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111968219B (en) | 2023-08-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11024055B2 (en) | Vehicle, vehicle positioning system, and vehicle positioning method | |
| CN109579847A (en) | Extraction method of key frame, device and smart machine in synchronous superposition | |
| CN106123908B (en) | Automobile navigation method and system | |
| CN110208795B (en) | High-precision low-speed small target detection and identification system and method for mobile platform | |
| Kim et al. | Developing accurate long-distance 6-DOF motion detection with one-dimensional laser sensors: Three-beam detection system | |
| US5986583A (en) | Vehicle navigator for calculating distance based on mean acceleration | |
| CN109658373A (en) | A kind of method for inspecting, equipment and computer readable storage medium | |
| CN101206262A (en) | System and method for automatically detecting shiploader article position two-dimension laser scanning radar | |
| CN103712622B (en) | The gyroscopic drift estimation compensation rotated based on Inertial Measurement Unit and device | |
| CN104808192A (en) | Three-dimensional laser scanning swing device and coordinate conversion method thereof | |
| WO2020159866A1 (en) | Object dimensioning system and method | |
| CN104006789B (en) | Spatial distributions angle measurement unit and measuring method | |
| CN108759822B (en) | Mobile robot 3D positioning system | |
| CN108051839A (en) | A kind of method of vehicle-mounted 3 D locating device and three-dimensional localization | |
| CN112455502B (en) | Train positioning method and device based on laser radar | |
| CN111968219B (en) | Three-dimensional modeling apparatus and method | |
| CN114879699A (en) | Autonomous navigation system and method for buried pipeline field inspection robot | |
| CN111578927B (en) | Explosion-proof mobile robot multi-sensing fusion navigation system and mobile robot | |
| CN101788264B (en) | Method for detecting position of chute tube by automatic bulk cargo ship loading detector | |
| CN101004452A (en) | Device and method for detecting 3D location of object in port handling automated job | |
| CN103455038A (en) | Electronic equipment and method for adjusting direction | |
| KR20140067397A (en) | System for producing 3d space information using lidar sensor | |
| CN115471570A (en) | Three-dimensional reconstruction method for underwater damage of marine equipment based on fusion of vision and IMU (inertial measurement unit) | |
| CN101788317B (en) | Method for detecting height of materials by bulk cargo automatic ship loading detector | |
| CN101788266B (en) | Method for detecting ship inclination angle (in transverse direction) by bulk cargo automatic ship loading detector |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |