A three-dimensional modeling device based on point collection

Abstract

The present invention discloses a three-dimensional modeling device based on point acquisition, including a steering component, a camera component, a fill light component and an infrared sensing board. The steering component is a hollow cavity structure, and the steering component includes a drive motor, a first mounting plate and an active gear. The output end of the drive motor passes through the active gear and is connected and installed on one side of the active gear. A second mounting plate is installed inside the steering component, and a driven gear is rotatably installed on one side of the second mounting plate. A locking strip is installed inside the driven gear. The locking strip is a linear structure, and a locking block is provided on one side of the driven gear. The above scheme uses the Line2MeasureArg function to calculate a value using the vector inner product. When the angle changes from 0 to 360 degrees, the function value changes from 0 to 2, which can measure the angle. Specifically, when the angle is less than 180 degrees, it returns 1-(cosA)^2; when the angle is greater than 180 degrees, it returns 1+(cosA)^2. Other angles returned by the test function CalcArg are all P0X, and multi-angle observation and point selection are performed.

Description

Technical Field

[0001] The present invention relates to the technical field of three-dimensional modeling, and in particular to a three-dimensional modeling device based on point acquisition. Background Art

[0002] In the prior art, stereo cameras are usually used to photograph movable objects such as people and animals. Multiple sets of images can be obtained through photography to generate a three-dimensional model of the photographed moving object. However, since the multiple sets of images are in a static state, the traditional method of generating a three-dimensional model only generates the three-dimensional model by photographing the moving object multiple times or from multiple angles.

[0003] However, if the moving object is moving, a dynamic three-dimensional model cannot be generated. Therefore, the traditional three-dimensional model generation method is usually based on the three-dimensional model of the moving object in a static state, which cannot reflect the changes in the movement of the moving object during the movement. Therefore, a more flexible three-dimensional model generation method is needed, which can effectively generate a dynamic three-dimensional model of the moving object without affecting the normal movement of the moving object. The related technology suffers from instability in the shooting process caused by the camera shaking under moving conditions.

[0004] In addition, regarding human body recognition technology based on joint sensors, this technology requires the person being tested to wear special joint node sensors. In order to improve recognition accuracy, it is generally necessary to wear more than 20 sensors at the main joints of the human body. Then, two high-speed infrared cameras capture human body movement images from different angles. Based on the infrared reflection information of the joint node sensors, the computer can reconstruct a three-dimensional modeling mathematical model of the human body. The technical principle of this method is relatively simple, but the specific implementation is relatively complicated. It requires the construction of a special three-dimensional modeling photography laboratory and the purchase of corresponding human joint node sensor kits, and node sensors must be worn for each test. Therefore, this technology is not convenient to use and the system cost is quite expensive.

[0005] To this end, we propose a three-dimensional modeling device and modeling method based on point acquisition to solve the above problems. Summary of the Invention

[0006] The purpose of the present invention is to solve the problems raised in the above background and to propose a three-dimensional modeling device and modeling method based on point acquisition.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] A three-dimensional modeling device and method based on point acquisition includes a steering component, a camera component, a fill light component, and an infrared sensing board. The steering component is a hollow cavity structure and includes a drive motor, a first mounting plate, and a driving gear. The output end of the drive motor passes through the driving gear and is connected and mounted on one side of the driving gear. A second mounting plate is mounted inside the steering component, and a driven gear is rotatably mounted on one side of the second mounting plate.

[0009] A locking strip is installed inside the driven tooth, and the locking strip is a linear structure. A locking block is provided on one side of the driven tooth. An annular mounting plate is fixedly sleeved on the locking block and one side of the locking strip. A locking pin hole is provided on one side of the annular mounting plate. The camera assembly, fill light assembly and infrared sensing board are fixedly clamped on one side of the locking pin hole.

[0010] Preferably, the fill light component is communicatively connected to the infrared sensing board, the drive motor is a silent motor, the diameter of the active tooth is smaller than the diameter of the driven tooth and they are engaged in parallel, the locking block is in the shape of a triangular prism and is arranged on one side of the driven tooth, and one side of the annular mounting disk is provided with a mounting groove adapted to the locking block and the locking strip, and one side of the locking block, the locking strip and the annular mounting disk are in a magnetic pole state and the magnetic poles are opposite.

[0011] Preferably, an image acquisition system is provided inside the camera assembly. When the object to be photographed is an irregular shape with multiple angles, the ideal angle between the recognition angle and the photographed object is 45°, KI=5°. In actual circumstances, the angle between the illumination body, the recognition angle and the photographed object is 50°, DR≤5°±1° and KR=0.5°±1.

[0012] That is: DR = -LOG5KI = KR = 0.5 / (45; 50), and in actual calculations it should have a visual reflection density of at least 1 / 30 of ISO5. The calculation result can be obtained by using the vector inner product of the Line2MeasureArg function to obtain a value. When the angle varies from 0 to 360 degrees, the function value varies from 0 to 2, which can measure the angle. The specific meaning is that when the angle is less than 180 degrees, it returns 1-(cosA)^2, and when the angle is greater than 180 degrees, it returns 1+(cosA)^2. The other angles returned by the test function CalcArg are all P0X, and points are taken for multi-angle observation.

[0013] Preferably, the image acquisition system transmits and generates two-dimensional images through the DDA algorithm. The y calculated by the DDA algorithm is rounded to int(y+0.5). Under the premise of D, the interval of int(y+0.5) is (0, 1), and the decimal part d is a monotonically increasing sequence with k as the increment; and k>0, then d will inevitably have d≥1 after a certain number of increases. At this time, as long as d=d-1 is set, d will inevitably become a real number in the interval (0, 1) again.

[0014] Preferably, the two-dimensional image generation will generate data that is synchronously converted with the transmission of the speed-up transmission (6) and the network device. The speed-up transmission (6) performs overall programming data changes based on the baud rate factor, and performs proportional conversion through OnComm to improve the speed-up transmission. The data transmission speed is transmitted at 6000 / mins bytes. The network device runs at high speed, and the generated message processing is accelerated. The processing speed is converted year-on-year based on the baud rate factor. The bytes received are between 4-5. OnComm performs event or loop query, and the ReadFile and WriteFile of the target process are given to HOOK. The source code of the virtual serial port is the basis. When running this virtual serial port program, a virtual serial port (com10) is created, and the serial port number of that software is changed from com1 to com10, thereby increasing the transmission efficiency of the speed-up transmission.

[0015] Preferably, the network device performs an equal factor conversion on the processed data and outputs a two-dimensional image regression for data processing. The two-dimensional image regression determines the order of the model through the truncation of the object function during scanning and the D test criterion, adopts the synchronous estimation method to perform regression (AR) and (MA) parameter estimation, and models and analyzes the object during scanning.

[0016] Preferably, the two-dimensional image regression analyzes the data after modeling analysis and transmits it to three-dimensional parameter generation for generation. The three-dimensional parameter generation uses Visual C++ as the development platform, command group file (SCR file) as the interface file, and adopts programmatic modeling to realize the generation of three-dimensional parameters.

[0017] Preferably, the three-dimensional parameter generation transmits the generated parameter data to the dense configuration (10) for configuration, and the dense configuration (10) is matched and generated based on the point cloud. The dense configuration (10) generates XYZ and RGB coordinates for the photographed object. For the pixels of the photographed object, the two overlapping images can calculate the three-dimensional coordinates of the same-name points based on triangulation and perform PCL fusion.

[0018] Preferably, the PCL fusion sets a relatively small distance threshold for the data after dense configuration registration in order to eliminate redundant and repeated points. The threshold is referenced by the error distance of dense configuration registration, and the Euclidean distance between the dense configuration registered point cloud and the dense configuration is compared. When the distance between the dense configuration and the point cloud is less than the set threshold, the redundant points are deleted.

[0019] Preferably, the PCL fusion is completed by constructing a DEM to reorganize the data, the data after the DEM integration is mapped by texture mapping, and a complete model is built through three-dimensional modeling.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The above scheme uses the vector inner product to find a value through the Line2MeasureArg function. When the angle changes from 0 to 360 degrees, the function value changes from 0 to 2, which can measure the angle. Specifically, when the angle is less than 180 degrees, it returns 1-(cosA)^2; when the angle is greater than 180 degrees, it returns 1+(cosA)^2. The other test functions CalcArg return angles of P0X, which are used for multi-angle observation and point selection.

[0022] 2. The above solution, through OnComm to perform events or loop queries, will hook the ReadFile and WriteFile of the target process. Based on the source code of the virtual serial port, a virtual serial port (com10) is created when running this virtual serial port program, and the serial port number of that software is changed from com1 to com10, so as to increase the transmission efficiency of the speed transmission.

[0023] 3. The above scheme is to provide a mounting groove compatible with the locking block and locking strip on one side of the annular mounting plate. The locking block, locking strip and one side of the annular mounting plate are in a magnetic pole state with opposite magnetic poles, so that the camera component, fill light component and infrared sensor board are firmly adsorbed on one side of the locking pin hole to prevent shaking, thereby ensuring stability during the acquisition process. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A schematic diagram of a multi-point acquisition structure of a three-dimensional modeling device and modeling method based on point acquisition proposed by the present invention;

[0025] Figure 2 Schematic diagram of the locking stability structure of a three-dimensional modeling device and modeling method based on point acquisition proposed by the present invention

[0026] Figure 3 A schematic diagram of the process structure of a three-dimensional modeling device and modeling method based on point acquisition proposed by the present invention;

[0027] Figure 4 This is a schematic diagram of the angle imaging acquisition structure of a three-dimensional modeling device and modeling method based on point acquisition proposed by the present invention;

[0028] Figure 5 A schematic diagram of the algorithm variable structure of a three-dimensional modeling device and modeling method based on point acquisition proposed by the present invention;

[0029] Figure 6 This is a schematic diagram of the growth rate fluctuation structure of a three-dimensional modeling device and modeling method based on point acquisition proposed by the present invention.

[0030] Figure numerals: 1. Steering component; 2. Camera assembly; 3. Fill light assembly; 4. Infrared sensing board; 5. Two-dimensional image generation; 6. Speed-increasing transmission; 7. Network equipment; 8. Two-dimensional image regression; 9. Three-dimensional parameter generation; 10. Dense configuration; 11. PCL fusion; 12. DEM construction; 13. Texture mapping; 14. Three-dimensional model forming; 21. Image acquisition system; 101. Drive motor; 102. First mounting plate; 103. Driving gear; 104. Second mounting plate; 105. Driven gear; 106. Locking strip; 107. Locking block; 108. Annular mounting plate; 109. Locking pin hole. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0032] Reference Figure 1-2 A three-dimensional modeling device based on point acquisition includes a steering component 1, a camera component 2, a fill light component 3, and an infrared sensing board 4. The steering component 1 is a hollow cavity structure and includes a drive motor 101, a first mounting plate 102, and a driving gear 103. The output end of the drive motor 101 passes through the driving gear 103 and is connected to one side of the driving gear 103. A second mounting plate 104 is installed inside the steering component 1, and a driven gear 105 is rotatably installed on one side of the second mounting plate 104.

[0033] A locking strip 106 is installed inside the driven tooth 105. The locking strip 106 is a linear structure. A locking block 107 is provided on one side of the driven tooth 105. An annular mounting plate 108 is fixedly sleeved on the locking block 107 and one side of the locking strip 106. A locking pin hole 109 is provided on one side of the annular mounting plate 108. The camera assembly 2, the fill light assembly 3 and the infrared sensing board 4 are fixedly connected to one side of the locking pin hole 109.

[0034] The fill light component 3 and the infrared sensing board 4 are communicatively connected. When the infrared sensing board 4 detects an interruption, the infrared sensing board 4 transmits a signal to the fill light component 3 to turn on the fill light. The driving motor 101 is a silent motor. The diameter of the active tooth 103 is smaller than the diameter of the driven tooth 105 and is engaged in parallel, thereby driving the driven tooth to rotate 360 degrees. The locking block 107 is a triangular prism and is arranged on one side of the driven tooth 105. One side of the annular mounting plate 108 is provided with a mounting groove adapted to the locking block 107 and the locking strip 106. One side of the locking block 107, the locking strip 106 and the annular mounting plate 108 are in a magnetic pole state and the magnetic poles are opposite, so that the camera component 2, the fill light component 3 and the infrared sensing board 4 are firmly adsorbed on one side of the locking pin hole 109 to prevent shaking.

[0035] Reference Figure 3-4 As shown, when the multi-faceted angles of the photographed object are irregular, the ideal angle between the recognition angle and the photographed object is 45°, KI = 5°, and in actual situations the angles between the illumination body, the recognition angle, and the photographed object are 50°, DR ≤ 5° ± 1°, and KR = 0.5° ± 1;

[0036] That is: DR = -LOG5KI = KR = 0.5 / 45; 50, and in actual calculations it should have a visual reflection density of at least 1 / 30 of ISO5. The calculation result can be obtained by using the vector inner product of the Line2MeasureArg function to obtain a value. When the angle varies from 0 to 360 degrees, the function value varies from 0 to 2, which can measure the angle. The specific meaning is that when the angle is less than 180 degrees, it returns 1-(cosA)^2, and when the angle is greater than 180 degrees, it returns 1+(cosA)^2. The other angles returned by the test function CalcArg are all P0X, and points are taken for multi-angle observation.

[0037] Reference Figure 5 As shown, the image acquisition system 21 transmits and generates a two-dimensional image 5 through the DDA algorithm. The y calculated by the DDA algorithm needs to be rounded to inty+0.5. In the premise of D, the interval of inty+0.5 is 0 and 1, and the decimal part d is a monotonically increasing sequence with k as the increment; and k>0, then d will inevitably have d≥1 after a certain number of increments. At this time, as long as d=d-1 is set, d will inevitably become a real number in the interval 0 and 1 again. The formula is SJ=IV=H / sina;

[0038] The DDA algorithm uses the incremental idea and uses the slope-intercept equation to get:

[0039] yi=kxi+b

[0040] yi+1=kxi+1+b

[0041] We can get:

[0042] yi+1=kxi+1+b

[0043] yi+1=k(xi+1)+b

[0044] yi+1=kxi+k+b

[0045] yi+1=yi+k

[0046] When |k|<1, x=x+1y=y+k, y+0.5 can be calculated.

[0047] Reference Figure 6 As shown, the two-dimensional image generation 5 converts the generated data synchronously with the transmission speed-up transmission 6 and the network device 7. The speed-up transmission 6 changes the overall programming data based on the baud rate factor, and performs ratio conversion through OnComm to improve the speed-up transmission. The data transmission speed is transmitted at 6000 / mins bytes. The network device 7 operates at high speed, and the generated message processing is accelerated. The processing speed is converted year-on-year based on the baud rate factor. The bytes received are between 4-5.

[0048] The receiving baud rate and transmitting baud rate of most serial interface circuits can be set separately, but the receiving baud rate of the receiver must be the same as the transmitting baud rate of the sender. The character data (code) transmitted on the communication line is transmitted bit by bit, and one character consists of several bits. Therefore, the number of characters transmitted per second (character rate) and the baud rate are two different concepts. In serial communication, the transmission rate refers to the baud rate, not the character rate. The relationship between the two is: if in asynchronous serial communication, a character is transmitted, including 12 bits (including one start bit, 8 data bits, and 2 stop bits), and its transmission rate is 1200b / s, the number of characters that can be transmitted per second is 1200 / (1+8+1+2)=100.

[0049] OnComm performs event or loop query, and gives the ReadFile and WriteFile of the target process to HOOK. Based on the source code of the virtual serial port, a virtual serial port com10 is created when running this virtual serial port program, and the serial port number of that software is changed from com1 to com10, so as to increase the transmission efficiency of the speed transmission 6.

[0050] The network device 7 performs an equal factor conversion on the processed data and outputs it to the two-dimensional image regression 8 for data processing. The two-dimensional image regression 8 determines the order of the model through the truncation of the object function during scanning and the D test criterion, and uses the synchronous estimation method to estimate the regression (AR) and (MA) parameters, and models and analyzes the object during scanning.

[0051] The two-dimensional image regression 8 analyzes the data after modeling analysis and transmits it to the three-dimensional parameter generation 9 for generation. The three-dimensional parameter generation 9 uses Visual C++ as the development platform, the command group file (SCR file) as the interface file, and adopts programming modeling to realize the generation of three-dimensional parameters. The above is the existing technology and will not be elaborated.

[0052] The three-dimensional parameter generation 9 transmits the generated parameter data to the dense configuration 10 for configuration. The dense configuration 10 performs matching generation based on the point cloud. The dense configuration 10 generates XYZ and RGB coordinates for the photographed object. For the pixels of the photographed object, the two overlapping images can calculate the three-dimensional coordinates of the same-name points based on triangulation and perform PCL fusion 11.

[0053] PCL Fusion 11 sets a relatively small distance threshold for the data after dense configuration 10 registration in order to eliminate redundant and repeated points. The threshold is based on the error distance of dense configuration 10 registration. The Euclidean distance between the point cloud after dense configuration 10 registration and dense configuration 10 is compared. When the distance between dense configuration 10 and the point cloud is less than the set threshold, the redundant points are deleted.

[0054] After the fusion is completed by PCL fusion 11, the data is reorganized by constructing DEM 12. The data integrated by constructing DEM 12 is mapped by texture mapping 13, and a complete model is built through three-dimensional modeling 14. This technology is mature and will not be described in detail.

[0055] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A three-dimensional modeling device based on point acquisition, characterized in that: The invention comprises a steering component (1), a camera component (2), a fill light component (3) and an infrared sensing plate (4); the steering component (1) is a hollow cavity structure; the steering component (1) comprises a driving motor (101), a first mounting plate (102) and a driving tooth (103); the output end of the driving motor (101) passes through the driving tooth (103) and is connected and mounted on one side inside the driving tooth (103); a second mounting plate (104) is mounted inside the steering component (1); and a driven tooth (105) is rotatably mounted on one side of the second mounting plate (104); A locking strip (106) is installed inside the driven tooth (105), and the locking strip (106) is a linear structure. A locking block (107) is provided on one side of the driven tooth (105). An annular mounting plate (108) is fixedly sleeved on one side of the locking block (107) and the locking strip (106). A locking pin hole (109) is provided on one side of the annular mounting plate (108). The camera assembly (2), the fill light assembly (3) and the infrared sensing plate (4) are fixedly connected to one side of the locking pin hole (109). The fill light assembly (3) and the infrared sensing board (4) are communicatively connected, the driving motor (101) is a silent motor, the diameter of the active teeth (103) is smaller than the diameter of the driven teeth (105) and the teeth are meshed in parallel, the locking block (107) is in the shape of a triangular prism and is arranged on one side of the driven teeth (105), one side of the annular mounting plate (108) is provided with a mounting groove adapted to the locking block (107) and the locking strip (106), and one side of the locking block (107), the locking strip (106) and the annular mounting plate (108) are in a magnetic pole state and the magnetic poles are opposite.

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