CN112906127A - Vehicle modeling method, system, medium and equipment based on holder and scanner - Google Patents
Vehicle modeling method, system, medium and equipment based on holder and scanner Download PDFInfo
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- G06F30/10—Geometric CAD
- G06F30/15—Vehicle, aircraft or watercraft design
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G06T2207/10028—Range image; Depth image; 3D point clouds
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Abstract
The invention provides a vehicle modeling method, a system, a medium and equipment based on a cloud deck and a scanner, wherein a plurality of laser scanning devices constructed by rotating the cloud deck and the line laser scanner are uniformly distributed on two sides of a truck, so that each scanning device can acquire three-dimensional point cloud data of a target truck from different angles and positions, and further fuse point cloud data information obtained by the plurality of scanning devices to obtain complete truck point cloud data, and then the space positioning and modeling of the truck are completed by means of segmenting the fused point cloud data. The vehicle modeling method, the vehicle modeling system, the vehicle modeling medium and the vehicle modeling equipment based on the cradle head and the scanner not only can provide main size information of a truck vehicle, but also can accurately provide detailed size information of the truck such as front and rear side fences, and are high in vehicle model construction refinement degree and high in spatial positioning accuracy.
Description
Technical Field
The invention relates to the technical field of vehicle modeling, in particular to a vehicle modeling method, a vehicle modeling system, a vehicle modeling medium and vehicle modeling equipment based on a holder and a scanner.
Background
The robot is used for replacing manual carrying to achieve automatic loading and unloading of goods, the transfer efficiency of products of enterprises can be greatly improved, the safety accident rate can be reduced, especially accidents in the goods carrying process and damage to people caused by carrying field environments, such as the fact that carrying personnel are smashed by goods, dust in the field environments is too large, and the like, can be avoided, and therefore unmanned automatic loading and unloading of goods are widely popularized in various traditional industries. In addition to the application of robotics, the introduction of non-contact measurement techniques is also critical to achieve fully unmanned operation. If the automatic positioning and modeling of the vehicle carrying the goods is not possible, a dedicated person is required to guide the vehicle into the designated position before the goods are loaded or unloaded by the robot, and a geometrical model of the truck is obtained by means of manual measurement before a new vehicle is loaded or unloaded. The introduction of the non-contact measurement technology can realize the above process automatically, thereby really realizing the automation and the unmanned of the whole process of loading and unloading the goods by the robot and further improving the loading and unloading efficiency of the goods.
Since the measuring object is a large object such as a truck and the measuring field environment is complex, a non-contact measuring technology based on laser ranging is generally adopted, and the three-dimensional data of the whole vehicle is realized by the technology usually by other devices. At present, two common implementation methods are available, namely, 1) a linear laser range finder is arranged on a rotatable mechanical holder; 2) and installing the linear laser range finder on the linear guide rail. The advantage of the way of rotating the cloud terrace is that the whole apparatus is small, it is more convenient to install, carry, but because of the characteristic of this way oneself, make precision, density of the three-dimensional point cloud data obtained change with the change of the distance between cloud terrace and the measuring object, namely the distance between cloud terrace and the measuring part is farther, the more sparse the point cloud obtained. When the truck carrying the goods is a semi-trailer with a long distance (the length is usually more than 15 meters), the data of the part of the truck far away from the pan-tilt head obtained by the measuring method is very sparse and inaccurate, and the size information of some parts with smaller sizes (such as the height and the width of the front and rear side coamings) cannot be effectively measured due to the sparse data, which causes the collision of the robot with the truck in the later period during loading and unloading. The guide rail mode has the advantages that the consistency of the whole measuring data on the precision and the density can be ensured, but the linear guide rail is inconvenient to mount, and the long-distance linear guide rail is easy to deform and is not beneficial to long-term maintenance.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a vehicle modeling method, system, medium and apparatus based on a cradle head and a scanner, which are used to solve the problems of truck positioning and model building in the prior art.
To achieve the above and other related objects, the present invention provides a vehicle modeling method based on a pan-tilt and a scanner, wherein the pan-tilt is a rotating pan-tilt, the scanner is a line laser scanner, and the method comprises: acquiring a scanning system coordinate system corresponding to each laser scanning measuring device through the laser scanning measuring devices constructed by the line laser scanner and the rotating holder; scanning by the line laser scanner to obtain a point cloud digital model of a calibration object, and obtaining point cloud data of the calibration object by the laser scanning measuring device; matching the point cloud data of the calibration object with the point cloud digifax of the calibration object so as to obtain the relative position and orientation relation between the calibration object and each scanning system coordinate system and further obtain the position and orientation relation calibration between all the scanning system coordinate systems; after the vehicle enters the area to be measured, scanning to obtain vehicle point cloud data, further obtaining point cloud data of all parts of the vehicle and a vehicle coordinate system, calculating to obtain the size of each part of the vehicle, and finishing modeling.
In an embodiment of the present invention, the method further includes: and acquiring the distribution positions of the laser scanning measuring devices on the two sides of the lane according to the length of the vehicle, so that each laser scanning measuring device scans the vehicle from different positions and angles to acquire three-dimensional point cloud data of the ground of the lane, and fitting the three-dimensional point cloud data of the ground to acquire the position of the ground of the lane under each scanning system coordinate system.
In an embodiment of the present invention, the obtaining the point cloud data of the calibration object by the laser scanning measurement apparatus specifically includes: controlling each laser scanning and measuring device in the overlapping scanning area to scan the three-dimensional point cloud data of the calibration object, so that each laser scanning and measuring device obtains the three-dimensional point cloud data of the calibration object; and according to the position of the lane ground under each scanning system coordinate system, dividing the point cloud data obtained by each laser scanning measuring device in the overlapped scanning area to obtain the point cloud data only containing the calibration object.
In an embodiment of the present invention, the obtaining of the calibration of the pose relationship between the coordinate systems of all the scanning systems specifically includes: according to the relative position and pose relationship between the calibration object and each scanning system coordinate system, unifying each scanning system coordinate system in the overlapped scanning area to a point cloud digital-analog coordinate system of the calibration object, and accordingly determining the relative position and pose relationship of each scanning system coordinate system in the overlapped scanning area; and acquiring different placing positions of the calibration object until all the scanning system coordinate systems are unified under the point cloud digital-analog coordinate system of the calibration object, thereby completing the position and pose relationship calibration of all the scanning system coordinate systems.
In an embodiment of the invention, after the vehicle enters the area to be measured, the vehicle is scanned with the three-dimensional point cloud data, and the vehicle point cloud scanning data obtained by each laser scanning and measuring device is unified under one of the scanning system coordinate systems according to the pose relationship of the scanning system coordinate systems, so as to complete the fusion of the vehicle three-dimensional point cloud data and obtain the vehicle point cloud data.
In an embodiment of the present invention, the point cloud data of the vehicle is subjected to point cloud segmentation to obtain point cloud data of a carriage surface, a vehicle head surface and a vehicle side, the carriage surface is used as a reference surface, an intersection point of a front vehicle side and the carriage surface intersection line and an intersection point of a right vehicle side and the carriage surface intersection line is used as an origin point, the vehicle coordinate system is constructed, and the vehicle point cloud data is converted into the vehicle coordinate system.
In an embodiment of the invention, contour extraction is performed on the vehicle point cloud data based on the vehicle coordinate system to obtain the length and width of a carriage, the height of a vehicle side, and the height of a vehicle head surface from the ground, and the positions of the additional balustrade point cloud data distributed at the front end and the rear end of the vehicle side are determined according to the heights of the left and right vehicle sides and the positions of the front and rear vehicle sides in the vertical axis direction of the vehicle coordinate system, so that the segmentation of the front and rear additional balustrade point cloud data is realized, and the contour extraction is performed on the segmented point cloud data of the front and rear additional balustrades to obtain the height and width of the additional balustrade.
To achieve the above and other related objects, the present invention provides an electronic device as described above, including: the memory is used for storing a computer program, and the processor is used for loading and executing the computer program so as to enable the electronic equipment to execute the vehicle modeling method based on the holder and the scanner.
To achieve the above and other related objects, the present invention provides a vehicle modeling system based on a pan-tilt and a scanner as described above, wherein the scanner is a line laser scanner, and the system comprises:
the laser scanning measuring device comprises the rotating tripod head and the line laser scanner, wherein the rotating shaft of the rotating tripod head is vertical to the ground, and the line laser scanner is used for scanning in the deflection range of the rotating tripod head;
a calibration object comprising two cuboids with different sizes and fixedly connected with each other for obtaining the laser scanning measurement device
Relative pose relationships between the positions;
according to the electronic device, the electronic device is in communication connection with the laser scanning and measuring device, and is further used for controlling the rotating holder to deflect and controlling the line laser scanner to scan.
To achieve the above and other related objects, the present invention provides a computer-readable storage medium as described above, on which a computer program is stored, which when executed by a processor, implements the vehicle modeling method based on a pan-tilt and a scanner.
As described above, the vehicle modeling method, system, medium and apparatus based on the pan-tilt and scanner of the present invention provide a method for positioning and modeling a space of a truck based on line laser scanning and linear guide, which includes sampling three-dimensional data of a large truck from different directions and positions by means of cooperation of a plurality of rotating pan-tilts and the line laser scanner, fusing the three-dimensional point cloud data to obtain dense point cloud data of the truck in a unified coordinate system, and further segmenting the fused point cloud data to finally realize accurate positioning and fine modeling of the large truck, thereby greatly reducing the probability of collision accidents between the large truck and a robot due to inaccurate truck size information in the process of automatic loading and unloading of goods.
Drawings
FIG. 1 is a diagram illustrating the steps of a vehicle modeling method based on a holder and a scanner according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of pose alignment in an embodiment of the vehicle modeling method based on a pan-tilt-and-scanner of the present invention;
FIG. 3 is a schematic structural diagram of a vehicle modeling system based on a cradle head and a scanner according to an embodiment of the invention;
4a-4d are schematic diagrams illustrating a cloud of calibration objects in an embodiment of a vehicle modeling method based on a pan-tilt and a scanner of the present invention;
5a-5d are schematic views of a cloud of points of a vehicle obtained by the cradle head and scanner based vehicle modeling method of the present invention in one embodiment;
fig. 6 is a schematic view illustrating the established vehicle point cloud segmentation of the vehicle modeling method based on the pan-tilt and the scanner according to an embodiment of the present invention.
Description of the element reference numerals
S11-S14
21 line laser scanner
22 rotating head
23 support
30 vehicle modeling system based on cloud platform and scanner
31 laser scanning measuring device
32 calibration object
33 electronic device
51 vehicle head
52 compartment
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
Referring to fig. 1, in an embodiment of the present invention, a vehicle modeling method based on a cradle head and a scanner includes the following steps:
step S11, acquiring a scanning system coordinate system corresponding to each laser scanning measuring device through the laser scanning measuring devices constructed by the line laser scanner and the rotating holder;
specifically, as shown in fig. 2, the line laser scanner 21 is installed on the rotating platform 22 to form one laser scanning measurement device, and the laser scanning measurement devices are uniformly distributed on two sides of the lane according to the length of the vehicle and are placed through a support 23, so that each laser scanning measurement device scans the vehicle from different positions and angles to obtain three-dimensional point cloud data of the lane ground, and fits the three-dimensional point cloud data of the ground to obtain the position of the lane ground under each scanning system coordinate system.
Step S12, scanning by the line laser scanner to obtain a point cloud digital model of a calibration object, and obtaining point cloud data of the calibration object by the laser scanning measuring device;
specifically, the scanning of the calibration object by the line laser scanner is performed to obtain a complete three-dimensional point cloud digital model of the calibration object, and then the point cloud data of the calibration object is obtained by the laser scanning measurement device, which specifically includes: controlling each laser scanning measuring device in the overlapping scanning area to scan three-dimensional point cloud data of the calibration object, wherein at least two laser scanning measuring devices can scan the calibration object, so that each laser scanning measuring device can obtain the three-dimensional point cloud data of the calibration object; and dividing the point cloud data obtained by each laser scanning measuring device in the superposed scanning area according to the position of the lane ground under each scanning system coordinate system to obtain point cloud data only containing the calibration object, wherein the calibration object is used for unifying the coordinate systems of the three-dimensional point cloud data of each laser scanning measuring device, the calibration object needs to be placed at different positions of the lane before the vehicle is scanned for scanning all the laser scanning measuring devices, and after the coordinate systems are unified, all the laser scanning measuring devices scan to obtain comprehensive point cloud data after the vehicle enters the lane.
Step S13, matching the point cloud data of the calibration object with the point cloud digifax of the calibration object, so as to obtain the relative position and posture relationship between the calibration object and each scanning system coordinate system, and further obtain the position and posture relationship calibration between all the scanning system coordinate systems;
specifically, the point cloud data of the calibration object obtained by a certain laser scanning measuring device is matched with the point cloud digital model of the calibration object, so as to obtain the relative pose relationship between the calibration object and the scanning system coordinate system, and further obtain the relative pose relationship between the calibration object and each scanning system coordinate system in the coincident scanning area.
Further, according to the relative position and pose relationship between the calibration object and each scanning system coordinate system, unifying each scanning system coordinate system in the overlapped scanning area to a point cloud digital-analog coordinate system of the calibration object, and thus determining the relative position and pose relationship between each scanning system coordinate system in the overlapped scanning area; and acquiring different placing positions of the calibration object until all the scanning system coordinate systems are unified under the point cloud digital-analog coordinate system of the calibration object, thereby completing the position and pose relationship calibration of all the scanning system coordinate systems.
And step S14, after the vehicle enters the area to be measured, scanning to obtain vehicle point cloud data, further obtaining the point cloud data of each part of the vehicle and a vehicle coordinate system, calculating to obtain the size of each part of the vehicle, and finishing modeling.
Specifically, the vehicle enters an area to be measured, each laser scanning and measuring device is controlled to scan three-dimensional point cloud data of the vehicle, and vehicle point cloud scanning data obtained by each laser scanning and measuring device is scanned according to the position and posture relation of a scanning system coordinate system
N is the number of scanning systems, and is unified to one of the scanning system coordinate systems O1-X1Y1Z1Then, the fusion of the vehicle three-dimensional point cloud data in all the laser scanning measuring devices is completed to obtain a complete vehicle point cloud data
Go toAnd step one, performing point cloud segmentation on the vehicle point cloud data to obtain point cloud data of main parts of the truck, such as a carriage surface, a head surface and sides (front, rear, left and right), and constructing the vehicle coordinate system O by taking the carriage surface as a reference surface and an intersection point of a line of intersection of the front side and the carriage surface and a line of intersection of the right side and the carriage surface as an originc-XcYcZcAnd converting the vehicle point cloud data into the vehicle coordinate system.
Further, extracting the outline of the vehicle point cloud data based on the vehicle coordinate system to obtain the length and width of the carriage, the height of the car side and the height of the surface of the vehicle head from the ground, and obtaining the height of the front and the rear car sides in the vehicle coordinate system O according to the height of the left and the right car sides and the height of the front and the rear car sidesc-XcYcZcVertical axis YcAnd determining the positions of the point cloud data of the additional sideboard distributed at the front end and the rear end of the wagon side according to the directional positions, thereby realizing the segmentation of the point cloud data of the additional sideboard at the front end and the rear end, extracting the outlines of the segmented point cloud data of the additional sideboard at the front end and the rear end, obtaining the height and the width of the additional sideboard, and finishing the refined size modeling of the wagon.
Referring to fig. 3, in an embodiment, to achieve vehicle pose positioning and modeling, a vehicle modeling system 30 based on a pan-tilt and a scanner is provided in this embodiment, where the pan-tilt is a rotating pan-tilt, and the scanner is a line laser scanner, and the system includes:
a laser scanning measuring device 31 including the rotating head 22 and the line laser scanner 21, wherein a rotation axis of the rotating head 22 is perpendicular to the ground, and the line laser scanner 21 is used for scanning within a deflection range of the rotating head;
the calibration object 32 comprises two cuboids which are different in size and fixedly connected, and is used for obtaining the relative pose relation with the laser scanning measuring device;
in the electronic device 33, the electronic device 33 is in communication connection with the laser scanning measurement device 31, and is further configured to control the rotating pan/tilt head 22 to deflect and control the line laser scanner 21 to scan.
In an embodiment of the present invention, two "rotating pan/tilt/line laser scanners" are used to construct the laser scanning measuring devices 31 to obtain three-dimensional point cloud data of a truck, first, the calibration object 32 is placed in the overlapping scanning area of the two laser scanning measuring devices 31, the two scanning devices scan the calibration object at the same time, the scanning result of the calibration object by the left scanning device of the lane is shown in fig. 4a, the scanning result of the calibration object by the right scanning device of the lane is shown in fig. 4b, after matching the scanning result obtained by the laser scanning measuring device 31 and the point cloud digital model of the calibration object 32 to unify the coordinate systems of the left and right scanning devices, the result of the point cloud data obtained by the left and right scanning devices and fused into a coordinate system is shown as 4c, and the result of the point cloud obtained by removing the ground point cloud data is shown as 4 d.
After the pose relationship calibration of the left and right scanning devices is completed, the vehicle enters the lane, the laser scanning measuring devices on the two sides are controlled to simultaneously carry out three-dimensional point cloud scanning on the vehicle, wherein the vehicle point cloud scanning result of the scanning device on the left side of the lane is shown in fig. 5a and comprises a vehicle head 51 and a carriage 52, the vehicle point cloud scanning result of the scanning device on the right side of the lane is shown in fig. 5b, the two point cloud data are fused according to the calibrated pose relationship, the fused result is shown in fig. 5c, after the ground point cloud data are removed, the result only containing the vehicle point cloud is shown in fig. 5d, the vehicle fused point cloud data in fig. 5d are segmented, and the result is shown in fig. 6.
In one embodiment of the present invention, in order to verify the accuracy of the truck size information obtained by the method provided by the present invention, a comparison is made between the calculated truck model size and the manually measured size, and the results are shown in table 1.
TABLE 1 modeled dimension comparison
Specifically, the modeling size comparison result in table 1 shows that the vehicle modeling method based on the pan/tilt and scanner provided by the invention achieves good effect in the embodiment.
In conclusion, the invention obtains the space point cloud data of the external surface of the truck with consistent sampling density by means of the laser scanning measuring device consisting of the line laser scanner and the linear guide rail, and the point cloud processing algorithm provided by the invention can be used for rapidly realizing the segmentation of the point cloud data of the truck in the self coordinate system of the truck while establishing the relative position and posture relation between the self coordinate system of the truck and the measuring coordinate system, thereby accurately and stably realizing the positioning and size geometric model establishment of the truck in various complex environments.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. A vehicle modeling method based on a holder and a scanner is characterized in that the holder is a rotary holder, the scanner is a line laser scanner, and the method comprises the following steps:
acquiring a scanning system coordinate system corresponding to each laser scanning measuring device through the laser scanning measuring devices constructed by the line laser scanner and the rotating holder;
scanning by the line laser scanner to obtain a point cloud digital model of a calibration object, and obtaining point cloud data of the calibration object by the laser scanning measuring device;
matching the point cloud data of the calibration object with the point cloud digifax of the calibration object so as to obtain the relative position and orientation relation between the calibration object and each scanning system coordinate system and further obtain the position and orientation relation calibration between all the scanning system coordinate systems;
after the vehicle enters the area to be measured, scanning to obtain vehicle point cloud data, further obtaining point cloud data of all parts of the vehicle and a vehicle coordinate system, calculating to obtain the size of each part of the vehicle, and finishing modeling.
2. The cradle head and scanner based vehicle modeling method of claim 1, further comprising: and acquiring the distribution positions of the laser scanning measuring devices on the two sides of the lane according to the length of the vehicle, so that each laser scanning measuring device scans the vehicle from different positions and angles to acquire three-dimensional point cloud data of the ground of the lane, and fitting the three-dimensional point cloud data of the ground to acquire the position of the ground of the lane under each scanning system coordinate system.
3. The vehicle modeling method based on a pan-tilt-and-scanner of claim 1, wherein the obtaining of the point cloud data of the calibration object by the laser scanning measurement device specifically comprises:
controlling each laser scanning and measuring device in the overlapping scanning area to scan the three-dimensional point cloud data of the calibration object, so that each laser scanning and measuring device obtains the three-dimensional point cloud data of the calibration object;
and according to the position of the lane ground under each scanning system coordinate system, dividing the point cloud data obtained by each laser scanning measuring device in the overlapped scanning area to obtain the point cloud data only containing the calibration object.
4. The vehicle modeling method based on a pan-tilt and a scanner according to claim 1, wherein the obtaining of the calibration of the pose relationship between the coordinate systems of all the scanning systems specifically comprises:
according to the relative position and pose relationship between the calibration object and each scanning system coordinate system, unifying each scanning system coordinate system in the overlapped scanning area to a point cloud digital-analog coordinate system of the calibration object, and accordingly determining the relative position and pose relationship of each scanning system coordinate system in the overlapped scanning area;
and acquiring different placing positions of the calibration object until all the scanning system coordinate systems are unified under the point cloud digital-analog coordinate system of the calibration object, thereby completing the position and pose relationship calibration of all the scanning system coordinate systems.
5. The vehicle modeling method based on the pan-tilt-zoom and the scanner according to claim 1, characterized in that after the vehicle enters the area to be measured, the vehicle is scanned with three-dimensional point cloud data, and vehicle point cloud scanning data obtained by each laser scanning and measuring device is unified under one of the scanning system coordinate systems according to the pose relationship of the scanning system coordinate systems, so as to complete the fusion of the vehicle three-dimensional point cloud data and obtain the vehicle point cloud data.
6. The vehicle modeling method based on the pan-tilt-zoom and scanner of claim 1, wherein the vehicle point cloud data is subjected to point cloud segmentation to obtain point cloud data of a carriage surface, a vehicle head surface and a vehicle side, the vehicle coordinate system is constructed by taking the carriage surface as a reference plane and an intersection point of a front vehicle side intersection line with the carriage surface and a right vehicle side intersection line with the carriage surface as an origin, and the vehicle point cloud data is converted into the vehicle coordinate system.
7. The vehicle modeling method based on the pan-tilt-zoom and scanner of claim 6, wherein the vehicle point cloud data is subjected to contour extraction based on the vehicle coordinate system to obtain the length and width of a carriage, the height of a side wall and the height of the vehicle head surface from the ground, and the positions of the additional balustrade point cloud data distributed at the front end and the rear end of the side wall are determined according to the heights of the left side wall and the right side wall and the positions of the front side wall and the rear side wall in the vertical axis direction of the vehicle coordinate system, so that the segmentation of the front additional balustrade point cloud data and the segmentation of the point cloud data of the front additional balustrade and the point cloud data of the rear additional balustrade are realized, and the height and the width of the additional balustrade are obtained.
8. An electronic device, comprising: a processor and a memory, wherein,
the memory is used for storing a computer program;
the processor is configured to load and execute the computer program to cause the electronic device to execute the vehicle modeling method based on the pan-tilt-and-scanner according to any one of claims 1 to 7.
9. The utility model provides a vehicle modeling system based on cloud platform and scanner, its characterized in that, the cloud platform is rotatory cloud platform, the scanner is line laser scanner, the system includes:
the laser scanning measuring device comprises the rotating tripod head and the line laser scanner, wherein the rotating shaft of the rotating tripod head is vertical to the ground, and the line laser scanner is used for scanning in the deflection range of the rotating tripod head;
the calibration object comprises two cuboids which are different in size and fixedly connected, and is used for obtaining the relative pose relation between the calibration object and the laser scanning measuring device;
the electronic device of claim 8, wherein the electronic device is communicatively connected to the laser scanning measurement device, and further configured to control the rotating pan-tilt to deflect and the line laser scanner to scan.
10. A computer-readable storage medium, on which a computer program is stored, which program, when executed by a processor, implements a pan-tilt-and-scanner based vehicle modeling method according to any one of claims 1 to 7.
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| CN113911911A (en) * | 2021-09-30 | 2022-01-11 | 国能黄骅港务有限责任公司 | Portal crane and control method and device thereof |
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|---|---|---|---|---|
| CN113640821A (en) * | 2021-07-23 | 2021-11-12 | 鞍钢集团矿业有限公司 | Mine car loading amount measuring method based on single-line laser radar scanner scanning |
| CN113640821B (en) * | 2021-07-23 | 2024-01-12 | 鞍钢集团矿业有限公司 | Mine car loading capacity metering method based on single-line laser radar scanner scanning |
| CN113911911A (en) * | 2021-09-30 | 2022-01-11 | 国能黄骅港务有限责任公司 | Portal crane and control method and device thereof |
| CN114061446A (en) * | 2021-10-20 | 2022-02-18 | 成都利君环际智能装备科技有限公司 | Carriage size measuring system and method based on multiple three-dimensional scanning devices |
| CN114061446B (en) * | 2021-10-20 | 2024-03-12 | 成都利君环际智能装备科技有限公司 | Carriage size measurement system and method based on multiple three-dimensional scanning equipment |
| CN114295044A (en) * | 2021-10-29 | 2022-04-08 | 重庆忽米网络科技有限公司 | Automobile windshield detection method and system based on laser 3D technology |
| CN114200891B (en) * | 2021-12-10 | 2023-09-22 | 上海交通大学 | Model-free cylindrical casting inner cavity milling system and track planning method |
| CN114200891A (en) * | 2021-12-10 | 2022-03-18 | 上海交通大学 | Model-free cylindrical casting inner cavity milling system and track planning method |
| CN114898207A (en) * | 2022-04-13 | 2022-08-12 | 中冶赛迪信息技术(重庆)有限公司 | Vehicle self-adaptive identification method and system based on three-dimensional point cloud and image data |
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| CN116385516B (en) * | 2023-05-31 | 2023-09-05 | 广州市杜格科技有限公司 | Static vehicle contour detection method, system, device and storage medium |
| CN116385516A (en) * | 2023-05-31 | 2023-07-04 | 广州市杜格科技有限公司 | Static vehicle contour detection method, system, device and storage medium |
| CN116594024A (en) * | 2023-07-13 | 2023-08-15 | 安丘博阳机械制造有限公司 | Carriage measurement and positioning method and scanning system based on two-dimensional laser radar |
| CN116594024B (en) * | 2023-07-13 | 2023-10-20 | 安丘博阳机械制造有限公司 | Carriage measurement and positioning method and scanning system based on two-dimensional laser radar |
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