Indoor 3D data automatic collection equipment

Abstract

The invention discloses a piece of indoor 3D data automatic collection equipment, comprising a chassis, a host and power supply cabin, a bracket, a monitor, a machine head, a camera component, a laserradar component and an inertial measurement unit. The chassis is a walking mechanism. The host and power supply cabin is fixed on the chassis, has an open side, and is equipped with a data processingdevice inside. The bottom of the bracket penetrates the shell of the host and power supply cabin, and is fixed on the chassis. The monitor is fixed in the middle of the bracket. The machine head is fixed on the top of the bracket. The camera component is composed of a plurality of cameras fixed on the machine head, and is in communication connection with the data processing device. The laser radar component is composed of a plurality of laser radars fixed on the bracket and the machine head, and is in communication connection with the data processing device. The inertial measurement unit is fixed on the machine head, and is in communication connection with the data processing device. The beneficial effect is that the indoor 3D data automatic collection equipment can bypass obstacles and collect data in real time, and can obtain a complete 3D point cloud model by spatially locating the data obtained by different sensors under a unified coordinate system.

Description

technical field [0001] The invention relates to the technical field of three-dimensional measurement, in particular to an indoor three-dimensional data automatic acquisition device. Background technique [0002] There are two types of existing indoor three-dimensional data acquisition equipment, one is fixed-point acquisition equipment, and the other is mobile acquisition equipment. [0003] The fixed-point collection equipment needs to plan several data collection points indoors. After all the points are collected, according to the location of the points and the characteristics of the collected 3D space model, each independent data set is spliced ​​into an overall 3D model of the indoor building, and Other collected data (such as panoramas) are spatially positioned one by one in the 3D model. This kind of collection equipment has the following disadvantages: (1) manual handling of equipment is required between different collection points, and the workload is heavy; (2) in ...

AI Technical Summary

Problems solved by technology

This kind of collection equipment has the following disadvantages: (1) manual handling of equipment is required between different collection points, and the workload is heavy; (2) in order to ensure that adjacent independent data sets have overlapping areas, the interval between collection points is limited, once the interval is exceeded , it will cause the data sets cannot be spliced, and a complete indoor 3D model cannot be established, so the overall collection speed is slow; (3) Since the splicing system relies on the overlapping collection areas of different data sets to judge the spatial relationship of each data set, once the overlapping collection areas If the spatial structure of the spatial structure changes between two scans, for example, if the chair is moved, the stitching system will not be able to stitch adjacent data sets together due to the change in the spatial structure; (4) If during the scanning process, there are Moving objects, or people passing by, will cause the digital model to be inconsistent with the reality, and when the moving object happens to be in the coincident collection area, it will also cause a result that cannot be spliced

This kind of acquisition equipment has the following disadvantages: (1) the 3D model is only established through the point cloud, there is no other data, and the data obtained by different types of sensors are not spatially positioned in a unified coordinate system; (2) the point cloud model is somewhat The model established by the collection of the equipment, and most of them are monochromatic, even if artificially colored by the algorithm, the effect is still not good; (3) The point cloud model established by this equipment can only be used to describe the spatial structure, and cannot fully reflect the real indoor scene. Such as material, surface pattern, pattern, etc.

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