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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 cannot perform stable modeling operations in a water environment

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

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0036] This embodiment is used to provide a human body surface modeling method, such as figure 1 As shown, control such as image 3 The modeling device works, and the modeling method includes:

[0037] S1: Construct a static three-dimensional grid map corresponding to a given area; the given area includes a human body bathing area;

[0038] The purpose of S1 is to obtain the position information of static obstacles in a given area, and to eliminate the influence of static obstacles on the movement of the robot during the subsequent planning of the robot's motion path, 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 to move in a given area, and control the scanning module to perform SLAM three-dimensional laser scanning on the given area during the movement of the robot to obtain environmental scanning information, and obtain an environmental point cloud based on the environ...

Embodiment 2

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

[0083] The scanning module 1 is arranged on the robot, and both the scanning module 1 and the robot are in communication connection with the control module 2 , and the control module 2 is in communication connection with the monitoring terminal 3 .

[0084] The monitoring terminal 3 is used to determine the scanning path according to the pose of the human body, and transmit the scanning path to the control module 2 . The control module 2 is used to construct a static three-dimensional grid map corresponding to a given area, determine a motion path according to the scanning path and the static three-dimensional grid map, and control the robot to move along the motion path. The given area includ...

Embodiment 3

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

[0101] The construction unit M1 is used to construct a static three-dimensional grid map corresponding to a given area; the given area includes a human body bathing area;

[0102] A determining unit M2, configured to obtain a scanning path, and determine a motion path based on the scanning path and the static three-dimensional grid map;

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

[0104] The modeling unit M4 is configured to perform human body surface modelin...

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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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