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Indoor three-dimensional reconstruction information acquisition device and device camera position acquisition method

A technology of information acquisition and 3D reconstruction, applied in image acquisition, image analysis, 3D modeling, etc., to reduce parameter adjustment time, improve control efficiency, and improve positioning accuracy

Pending Publication Date: 2022-05-03
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that traditional information collection uses manual hand-held cameras to collect information, detect indoor environments with unknown dangerous situations, and cannot use manual methods to collect reconstruction information, and provides an indoor three-dimensional reconstruction information collection device And the device camera position acquisition method

Method used

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  • Indoor three-dimensional reconstruction information acquisition device and device camera position acquisition method
  • Indoor three-dimensional reconstruction information acquisition device and device camera position acquisition method
  • Indoor three-dimensional reconstruction information acquisition device and device camera position acquisition method

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specific Embodiment approach 1

[0021] Specific implementation mode one: combine Figure 1-Figure 2 The present embodiment is described. The indoor three-dimensional reconstruction information acquisition device provided in the present embodiment includes a trolley body 1, a mechanical arm base 2, a mechanical arm rotating platform 3, a lifting device drive motor 4, a lifting device 5, and a mechanical arm. Drive motor 6, manipulator 7, camera pitch motor 8, camera 9, rotating platform drive motor 10 and manipulator top platform 11;

[0022] The manipulator base 2 is fixedly installed on the trolley body 1, the shell of the rotating platform driving motor 10 is installed on the manipulator base 2, the manipulator rotating platform 3 is installed on the output shaft of the rotating platform driving motor 10, and the lifting device drives The motor 4 and the lifting device 5 are fixedly installed on the upper end surface of the mechanical arm rotating platform 3, the driving motor 4 of the lifting device is co...

specific Embodiment approach 2

[0023] Specific implementation mode two: combination Figure 1-Figure 2 This embodiment is described. In the indoor three-dimensional reconstruction information collection device provided in this embodiment, the housing of the manipulator drive motor 6 is fixedly installed on the upper end surface of the top platform 11 of the manipulator. The output shaft of the manipulator drive motor 6 is connected to the manipulator 7 The ends are fixedly connected, the end of the mechanical arm 7 is fixedly connected to the casing of the camera pitch motor 8, and the output shaft of the camera pitch motor 8 is fixedly connected to the camera 9. Other structural connections are the same as in the first embodiment.

specific Embodiment approach 3

[0024] Specific implementation mode three: combination Figure 1-Figure 2 To illustrate this embodiment, in the indoor 3D reconstruction information collection device provided in this embodiment, the lifting device 5 includes two sets of 'X'-shaped scissors connecting plates, each set of 'X'-shaped scissors connecting plates includes two 'X' Shaped scissors connecting plate and a plurality of connecting rods, each group of 'X' shaped scissors connecting plate is set opposite to each other. Set up vertically from top to bottom, the plates on each side of the bottom of the upper set of 'X'-shaped scissors and the plate on the top side of the corresponding set of 'X'-shaped scissors below are rotated through connecting rods Connection, one side plate at the top of the upper set of 'X'-shaped scissors is connected to the top platform 11 of the mechanical arm, and the other side of the upper set of 'X'-shaped scissors is connected to the top of the mechanical arm The platform 11 i...

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Abstract

The invention relates to an indoor three-dimensional reconstruction information acquisition device and a device camera position acquisition method, relates to a three-dimensional reconstruction information acquisition device and a device camera position acquisition method, and aims to solve the problems that information acquisition is carried out by manually holding a camera, an indoor environment with unknown dangerous conditions is detected, and the detection efficiency is low in the traditional information acquisition process. The small vehicle comprises a small vehicle body, a mechanical arm base, a mechanical arm rotating platform, a lifting device driving motor, a lifting device, a mechanical arm driving motor, a mechanical arm, a camera pitching motor, a camera, a rotating platform driving motor and a mechanical arm top platform. The first position of the mechanical arm base is determined; a first position conversion relation between the mechanical arm base and the mechanical arm tail end is determined; determining a second position of the tail end of the mechanical arm; a second position conversion relation between the tail end of the mechanical arm and the camera is obtained; and acquiring a third position of the camera. The invention belongs to the field of automation control.

Description

technical field [0001] The present invention relates to a three-dimensional reconstruction device, in particular to a three-dimensional reconstruction information collection device and a method for obtaining a position, a related technology of a mechanical arm, an indoor smart car, and related fields of automation control, belonging to the field of automation control. Background technique [0002] With the development of 3D reconstruction technology, the research on 3D reconstruction information collection has become a new research direction, and more and more practical scientific researches use indoor smart cars as carriers to collect information. Whether the reconstruction information can be fully collected directly affects the reconstruction effect, and determines whether the reconstruction model has the value of being used in the actual application scenario. [0003] The traditional information collection method is to use the manual hand-held camera method to collect inf...

Claims

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Application Information

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IPC IPC(8): F16M11/42F16M11/38F16M11/20F16M11/18F16M11/10G06T17/00G06T19/00G06T1/00G06T7/73G06T7/80
CPCF16M11/42F16M11/38F16M11/2035F16M11/10F16M11/18G06T17/00G06T19/00G06T1/0007G06T7/73G06T7/85F16M2200/061G06T2200/08
Inventor 李茂月闫亚男杨腾辉许圣博
Owner HARBIN UNIV OF SCI & TECH
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