Human body curved surface modeling method, modeling device and modeling system

A technology of surface modeling and modeling method, applied in control/adjustment system, two-dimensional position/channel control, vehicle position/route/height control, etc., can solve problems such as inability to stabilize modeling operations, and achieve human body surface The modeling process is stable, the human body model is good, and the quality is good

Active Publication Date: 2021-08-17
HEBEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] At present, the existing SLAM 3D laser scanning system c

Method used

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  • Human body curved surface modeling method, modeling device and modeling system
  • Human body curved surface modeling method, modeling device and modeling system
  • Human body curved surface modeling method, modeling device and modeling system

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0035] Example 1:

[0036] This example is used to provide a human surface modeling method, such as figure 1 The control is controlled image 3 The modeling device is operated, the modeling method comprising:

[0037] S1: Build a static three-dimensional grid map corresponding to a given area; the given area includes a human bath region;

[0038] The purpose of S1 is to obtain position information of static obstacles in a given area, and when the motor's motion path planning is subsequent, the effect of static obstacles on robot movement is removed, so that the robot will not be hindered by static obstacles. Specifically, such as figure 2 As shown, S1 can include:

[0039] S11: Control the robot in a given area, and control the scanning module during the movement of the robot during the movement of the robot, the SLAM three-dimensional laser scan is performed on the given area, obtain environmental scan information, and obtain the environment of the environment based on the environ...

Example Embodiment

[0081] Example 2:

[0082] This embodiment is used to provide a human surface modeling device, such as image 3 As shown, the modeling method as described in Example 1 is performed, and the modeling device includes a robot, a scan module 1, a control module 2, and a monitoring terminal 3.

[0083] The scanning module 1 is disposed on the robot, the scan module 1 and the robot are connected to the control module 2, and the control module 2 communicates with the monitoring terminal 3.

[0084] The monitoring terminal 3 is used to determine the scanning path according to the human position, and transmit the scan path to the control module 2. The control module 2 is configured to construct a static three-dimensional grid map corresponding to a given area, determine the motion path according to the scan path and the static three-dimensional grid map, and control the robot along the motion path. A given area includes a human bath region.

[0085] The scanning module 1 is used to perform ...

Example Embodiment

[0099] Example 3:

[0100] This example is used to provide a human surface modeling system, such as Figure 4 As shown, the modeling method as described in Example 1 is performed, and the modeling system comprises:

[0101] Construction unit M1 is used to construct a static three-dimensional grid map corresponding to a given area; the given area includes a human bath region;

[0102] The determination unit M2 is used to obtain the scan path, determine the motion path based on the scan path and the static three-dimensional grid map;

[0103] The acquisition unit M3 is configured to control the machine along the motion path, and control the scanning module during the movement of the robot to perform SLAM three-dimensional laser scan to the human body, to obtain human scan information, based on the human scan information to obtain human point cloud data;

[0104] The molding unit M4 is used to model the human surface modeling according to the human body point cloud data to obtain a hu...

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Abstract

The invention relates to a human body curved surface modeling method, device and system, and the method comprises the steps: constructing a static three-dimensional grid map corresponding to a given region, and obtaining a scanning path; and then determining a motion path based on the scanning path and the static three-dimensional grid map, controlling the robot to move along the motion path, controlling a scanning module to perform SLAM three-dimensional laser scanning on a human body in the motion process of the robot to obtain human body scanning information, and obtaining human body point cloud data based on the human body scanning information; finally, performing human body curved surface modeling according to the human body point cloud data to obtain a human body model. According to the method, the motion path of the robot can be determined in real time, the human body point cloud data acquisition process can be better completed, the influence of a water environment on human body point cloud data acquisition is reduced to a certain extent, human body point cloud data with better quality can be obtained, the human body curved surface modeling process based on the human body point cloud data is more stable, and the obtained human body model is better.

Description

technical field [0001] The invention relates to the technical field of human body curved surface modeling, in particular to a human body curved surface modeling method, a modeling device and a modeling system. Background technique [0002] Since the 1990s, with the rise of 3D laser scanning technology and its wide application in engineering, a large number of scholars have conducted in-depth research on the point cloud data processing process, resulting in the rapid development of point cloud processing technology. [0003] SLAM technology (Simultaneous Localization And Map-ping, real-time positioning and map construction) was proposed in the late 1980s and was first used in the field of robotics. The main problem to be solved is that mobile devices such as robots use their own sensors to perceive the surrounding environment. Position itself while mapping the environment. After 2010, SLAM technology has entered the cutting-edge development stage. At the same time, with the ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/024G05D1/0255G05D1/0257G05D1/0221G05D1/0276
Inventor 孙昊马添翼刘明和丁庆松徐悦轩
Owner HEBEI UNIV OF TECH
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