Passenger car luggage compartment volume measurement method, device and system based on three-dimensional scanning

Abstract

The present application provides a method, device and system for measuring the volume of a luggage compartment of a passenger car based on three-dimensional scanning, wherein the method includes the following steps: obtaining point cloud data of the luggage compartment through three-dimensional scanning; performing a filling operation on the opening position of the luggage compartment to obtain watertight data with the holes filled; calculating the volume of the maximum bounding box of the watertight data with the holes filled, and dividing the maximum bounding box into a plurality of small bounding boxes of preset volumes, wherein the small bounding boxes are divided into an external blank bounding box, a bounding box containing a point cloud and an internal bounding box of the point cloud; and calculating the volume of the luggage compartment according to the volume of the maximum bounding box and the number of external blank bounding boxes. The present application obtains point cloud data of the luggage compartment through three-dimensional scanning, and then performs a filling operation on the opening position of the luggage compartment to obtain watertight data with the holes filled, and can automatically calculate the volume of the luggage compartment, greatly improving the efficiency of detection, and effectively improving the accuracy of the measurement of the volume of the luggage compartment of a passenger car.

Description

Technical Field

[0001] The present invention relates to the technical field of volume measurement, and in particular to a method, device and system for measuring the volume of a luggage compartment of a passenger car based on three-dimensional scanning. Background Art

[0002] The volume of the luggage compartment can measure a car's ability to carry items. For hatchbacks or SUVs, folding down the rear seats creates a larger storage space. Although the rear seats of some sedans can also be folded down, due to the body shape, it is impossible to obtain as large a rear space as a hatchback, so the data is only the volume of the luggage compartment. Some hardtop convertible vehicles, because their foldable roofs will occupy part of the luggage compartment space when folded, their luggage compartment volume is usually between two values. The luggage compartment volume measurement method based on the national standard mainly adopts the form of "building blocks", stacking blocks of various sizes and summarizing the volume of the blocks to achieve the purpose of measurement. It is time-consuming and labor-intensive, and the results measured by different people are often quite different. Summary of the invention

[0003] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and provide a method, device and system for measuring the luggage compartment volume of a passenger car based on three-dimensional scanning, so as to solve the technical problems in the prior art of measuring the luggage compartment volume in the form of "building blocks", which is time-consuming and labor-intensive and the results measured by different people are often quite different.

[0004] In order to achieve the above technical objectives, in a first aspect, the technical solution of the present invention provides a method for measuring the volume of a passenger car luggage compartment based on three-dimensional scanning, comprising the following steps:

[0005] Obtain point cloud data of the luggage compartment through 3D scanning;

[0006] Performing a filling operation on the opening position of the luggage compartment to obtain watertight data showing that the hole has been filled;

[0007] Calculate the volume of the maximum bounding box of the watertight data after the holes are filled, and divide the maximum bounding box into a plurality of small bounding boxes of preset volumes, wherein the small bounding boxes are divided into an external blank bounding box, a bounding box containing a point cloud, and a bounding box inside the point cloud;

[0008] The volume of the luggage compartment is calculated according to the volume of the maximum bounding box and the number of external blank bounding boxes.

[0009] Compared with the prior art, the beneficial effects of the present invention include:

[0010] The technical solution of the present invention provides a passenger car luggage compartment volume measurement method based on three-dimensional scanning, which obtains point cloud data of the luggage compartment through three-dimensional scanning, and then fills the opening position of the luggage compartment to obtain watertight data with the holes filled. The volume of the luggage compartment can be automatically calculated, which greatly improves the efficiency of detection, saves labor costs, and effectively improves the accuracy of passenger car luggage compartment volume measurement, and has very good promotion and utilization value.

[0011] According to some embodiments of the present invention, if the luggage compartment is in an open state, a non-transparent material barrier is placed between the luggage compartment and the rear seat, and then point cloud data of the luggage compartment is acquired through three-dimensional scanning.

[0012] According to some embodiments of the present invention, if the measurement data of the luggage compartment is to limit the height, the volume of the luggage compartment is calculated based on the volume of the largest bounding box within the limited height and the number of external blank bounding boxes.

[0013] According to some embodiments of the present invention, performing a filling operation on the opening position of the luggage compartment to obtain watertight data of a hole being filled includes the steps of:

[0014] Dividing the point cloud data into regular points and boundary points;

[0015] Calculate each of the boundary points and the boundary points adjacent to the boundary points to obtain three eigenvalues ​​and corresponding three eigenvectors;

[0016] The minimum eigenvalue is selected from the eigenvalues ​​calculated from all the boundary points, and the eigenvector corresponding to the minimum eigenvalue is the main direction of the boundary point at the opening. All the boundary points at the opening are projected toward the main direction to the plane where the centroid is located.

[0017] According to some embodiments of the present invention, dividing the point cloud data into regular points and boundary points comprises the steps of:

[0018] Construct a spatial KD tree of the point cloud data, and use the KD tree to find the neighboring points within a preset radius of each point in the point cloud data;

[0019] Count the number of adjacent points of all points, sort them according to the size of the number of adjacent points, take the median as the threshold, and define the points whose number of adjacent points is less than the median as boundary points, and define the points whose number of adjacent points is greater than or equal to the median as regular points.

[0020] According to some embodiments of the present invention, the preset radius range is twice the scanning data point interval.

[0021] According to some embodiments of the present invention, calculating each of the boundary points and the boundary points adjacent to the boundary points to obtain three eigenvalues ​​and corresponding three eigenvectors includes the steps of:

[0022] averaging the boundary points and the adjacent boundary points of the boundary points, and calculating the difference between the boundary points and the average value, and the difference between the adjacent boundary points and the average value, to obtain a decentralized point set;

[0023] The point set is calculated according to the covariance formula to obtain three eigenvalues ​​and corresponding three eigenvectors.

[0024] In a second aspect, the present invention provides a passenger car luggage compartment volume measurement device based on three-dimensional scanning, comprising:

[0025] A 3D scanning module, which obtains point cloud data of the luggage compartment through 3D scanning;

[0026] A hole filling module, used to fill the opening position of the luggage compartment to obtain watertight data of the hole being filled;

[0027] A bounding box module is used to calculate the volume of the maximum bounding box of the watertight data after the holes are filled, and divide the maximum bounding box into a plurality of small bounding boxes of preset volumes, wherein the small bounding boxes are divided into an external blank bounding box, a bounding box containing a point cloud, and a bounding box inside the point cloud;

[0028] The luggage compartment volume calculation module is used to calculate the volume of the luggage compartment according to the volume of the maximum bounding box and the number of external blank bounding boxes.

[0029] In a third aspect, the present invention provides a passenger car luggage compartment volume measurement system based on three-dimensional scanning, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the passenger car luggage compartment volume measurement method based on three-dimensional scanning as described in any one of the first aspects is implemented.

[0030] In a fourth aspect, the present invention provides a computer-readable storage medium storing computer-executable instructions for causing a computer to execute a passenger car luggage compartment volume measurement method based on three-dimensional scanning as described in any one of the first aspects.

[0031] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, wherein the abstract drawings are identical to one of the drawings in the specification:

[0033] Figure 1 A flow chart of a method for measuring the volume of a luggage compartment of a passenger vehicle based on three-dimensional scanning provided by one embodiment of the present invention;

[0034] Figure 2 A schematic diagram of scanning data with holes for a method for measuring the volume of a luggage compartment of a passenger vehicle based on three-dimensional scanning provided by another embodiment of the present invention;

[0035] Figure 3 A schematic diagram of holes inside uniform data of a method for measuring the volume of a luggage compartment of a passenger car based on three-dimensional scanning provided by another embodiment of the present invention;

[0036] Figure 4 A schematic diagram of data showing the completion of hole filling in a method for measuring the volume of a luggage compartment of a passenger vehicle based on three-dimensional scanning provided by another embodiment of the present invention;

[0037] Figure 5 A schematic diagram of a space bounding box with uniform divisions for a passenger car luggage compartment volume measurement method based on three-dimensional scanning provided by another embodiment of the present invention;

[0038] Figure 6 A schematic cross-sectional view of a bounding box of a method for measuring the volume of a luggage compartment of a passenger vehicle based on three-dimensional scanning provided in another embodiment of the present invention. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0040] It should be noted that, although the functional modules are divided in the system schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the system or the order in the flowchart. The terms "first", "second", etc. in the specification, claims and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0041] The present invention provides a method for measuring the volume of a passenger car luggage compartment based on three-dimensional scanning. The point cloud data of the luggage compartment is obtained by three-dimensional scanning, and then the opening position of the luggage compartment is filled to obtain watertight data with the holes filled. The volume of the luggage compartment can be automatically calculated, which greatly improves the efficiency of detection, saves labor costs, and effectively improves the accuracy of measuring the volume of the passenger car luggage compartment. The method has very good promotion and utilization value.

[0042] The embodiments of the present invention are further described below in conjunction with the accompanying drawings.

[0043] Reference Figures 1 to 6 , Figure 1 A flow chart of a method for measuring the volume of a luggage compartment of a passenger vehicle based on three-dimensional scanning provided by one embodiment of the present invention; Figure 2 A schematic diagram of scanning data with holes for a method for measuring the volume of a luggage compartment of a passenger vehicle based on three-dimensional scanning provided by another embodiment of the present invention; Figure 3 A schematic diagram of holes inside uniform data of a method for measuring the volume of a luggage compartment of a passenger car based on three-dimensional scanning provided by another embodiment of the present invention; Figure 4 A schematic diagram of data showing the completion of hole filling in a method for measuring the volume of a luggage compartment of a passenger vehicle based on three-dimensional scanning provided by another embodiment of the present invention; Figure 5 A schematic diagram of a space bounding box with uniform divisions for a passenger car luggage compartment volume measurement method based on three-dimensional scanning provided by another embodiment of the present invention; Figure 6 A schematic cross-sectional view of a bounding box of a method for measuring the volume of a luggage compartment of a passenger vehicle based on three-dimensional scanning provided in another embodiment of the present invention.

[0044] The method for measuring the volume of a passenger car luggage compartment based on three-dimensional scanning includes but is not limited to the following steps:

[0045] Step S110, obtaining point cloud data of the luggage compartment through three-dimensional scanning;

[0046] Step S120, performing a filling operation on the opening position of the luggage compartment to obtain watertight data of the hole being filled;

[0047] Step S130, calculating the volume of the maximum bounding box of the watertight data after the holes are filled, and dividing the maximum bounding box into a plurality of small bounding boxes of preset volumes, wherein the small bounding boxes are divided into an external blank bounding box, a bounding box containing a point cloud, and a bounding box inside the point cloud;

[0048] Step S140: Calculate the volume of the luggage compartment according to the volume of the largest bounding box and the number of external blank bounding boxes.

[0049] In one embodiment, a method for measuring the volume of a luggage compartment of a passenger car based on three-dimensional scanning includes the following steps: acquiring point cloud data of the luggage compartment through three-dimensional scanning; performing a filling operation on the opening position of the luggage compartment to obtain watertight data with the holes filled; calculating the volume of the maximum bounding box of the watertight data with the holes filled, and dividing the maximum bounding box into a plurality of small bounding boxes of preset volumes, the small bounding boxes being divided into an external blank bounding box, a bounding box containing a point cloud, and a bounding box inside the point cloud; and calculating the volume of the luggage compartment according to the volume of the maximum bounding box and the number of external blank bounding boxes.

[0050] The passenger car luggage compartment volume measurement method based on three-dimensional scanning provided in this embodiment obtains point cloud data of the luggage compartment through three-dimensional scanning, and then fills the opening position of the luggage compartment to obtain watertight data with the holes filled. The volume of the luggage compartment can be automatically calculated, which greatly improves the efficiency of detection, saves labor costs, and effectively improves the accuracy of passenger car luggage compartment volume measurement, and has very good practical value.

[0051] In one embodiment, first, point cloud data of the luggage compartment is obtained by a three-dimensional scanner; the scanned data is evenly distributed, but there is a large hole at the opening of the luggage compartment, which needs to be filled. Assuming that the point interval of the scanned data is λ, the details are as follows:

[0052] 1. Construct a spatial KD tree of the point cloud. For each point in the data, use the KD tree to quickly find its neighboring points within a radius of 2*λ. Store the neighboring points of each point in a two-dimensional array A[][]. The first dimension represents the nth point, and the second dimension represents the index of the m neighboring points of the nth point.

[0053] 2. Count the number of adjacent points of all points, sort them according to the number, take the median α as the threshold, and mark the points with the number of adjacent points less than α as boundary points.

[0054] 3. Put all the boundary points into the array sequence B[], sort them according to the three-dimensional space coordinates, start from the first point, and use array A to find the adjacent boundary points of each boundary point. Each time a point is found, it is removed from array B, and the set of found points is stored in the two-dimensional array C[][]. The first dimension represents the nth boundary point, and the second dimension represents the boundary points adjacent to the nth boundary point. Array C represents the n holes formed by the entire boundary point set.

[0055] 4. For array C, starting from the boundary point of the first hole, sum all its m adjacent boundary points to get the average value, then subtract the average value to get the decentralized point set ξ, and then combine the covariance formula: Three eigenvalues ​​(e1, e2, e3) and corresponding three eigenvectors (n1, n2, n3) can be obtained. The eigenvector corresponding to the minimum eigenvalue is the main direction of the hole boundary point. All the boundary points of the hole are projected toward the main direction to the plane where the centroid is located, so that the hole can be "spread out" flatly to prevent the overlap and intersection of the hole boundary points caused by complex three-dimensional space.

[0056] 5. For the projected points, a rectangular bounding box can be constructed, and linear interpolation can be performed directly at the interval of λ. The points outside the hole are eliminated to obtain the final interpolation point. The current point is projected, so the array C is needed to restore the true value of the outermost boundary point, and then iteratively perform weighted integration to finally obtain a smooth three-dimensional internal point. If there are still holes in the scanned data set, jump to step 4 until all holes are filled.

[0057] For "watertight" data with holes filled:

[0058] 1. Calculate its maximum bounding box, and then divide it into several small bounding boxes evenly according to specific sizes.

[0059] 2. For each layer of bounding boxes, they can be classified into three areas: external blank grids, grids containing point clouds, and grids inside point clouds. Since the holes in the data have been filled, the "grids inside point clouds" of each layer must be surrounded by "grids containing point clouds" without gaps. According to this feature, the bounding box of each layer is traversed from the outer layer to count the number of blank grids in the outer layer.

[0060] 3. Since the total volume of the maximum bounding box is easy to obtain, the volume of the object to be measured can be calculated by the following formula: b =v-∑v a , where V b Represents the volume of the object to be measured, V represents the total volume of the bounding box, and Va represents the volume of a single blank grid.

[0061] In one embodiment, a method for measuring the volume of a passenger car luggage compartment based on three-dimensional scanning includes the following steps: obtaining point cloud data of the luggage compartment through three-dimensional scanning; performing a filling operation on the opening position of the luggage compartment to obtain watertight data with the holes filled; calculating the volume of the maximum bounding box of the watertight data with the holes filled, and dividing the maximum bounding box into a plurality of small bounding boxes of preset volumes, wherein the small bounding boxes are divided into an external blank bounding box, a bounding box containing a point cloud, and an internal bounding box of the point cloud; and calculating the volume of the luggage compartment according to the volume of the maximum bounding box and the number of external blank bounding boxes. If the luggage compartment is open, a non-transparent material block is placed between the luggage compartment and the rear seat, and then the point cloud data of the luggage compartment is obtained through three-dimensional scanning. It is understandable that some SUV vehicles do not have a closed setting between the luggage compartment and the rear seat, so that a non-transparent material block needs to be placed between the luggage compartment and the rear seat to facilitate the acquisition of the point cloud data of the luggage compartment through a three-dimensional scanner.

[0062] In one embodiment, a method for measuring the volume of a passenger car luggage compartment based on three-dimensional scanning includes the following steps: obtaining point cloud data of the luggage compartment through three-dimensional scanning; performing a filling operation on the opening position of the luggage compartment to obtain watertight data with the holes filled; calculating the volume of the maximum bounding box of the watertight data with the holes filled, and dividing the maximum bounding box into a plurality of small bounding boxes of preset volumes, wherein the small bounding boxes are divided into an external blank bounding box, a bounding box containing a point cloud, and an internal bounding box of the point cloud; and calculating the volume of the luggage compartment according to the volume of the maximum bounding box and the number of external blank bounding boxes. If the measurement data of the luggage compartment is to be limited in height, the volume of the luggage compartment is calculated according to the volume of the maximum bounding box within the limited height and the number of external blank bounding boxes.

[0063] In one embodiment, a method for measuring the volume of a luggage compartment of a passenger car based on three-dimensional scanning includes the following steps: obtaining point cloud data of a luggage compartment through three-dimensional scanning; performing a filling operation on the opening position of the luggage compartment to obtain watertight data with holes filled; calculating the volume of the maximum bounding box of the watertight data with holes filled, and dividing the maximum bounding box into a plurality of small bounding boxes of preset volumes, wherein the small bounding boxes are divided into an external blank bounding box, a bounding box containing a point cloud, and an internal bounding box of the point cloud; and calculating the volume of the luggage compartment according to the volume of the maximum bounding box and the number of external blank bounding boxes. Performing a filling operation on the opening position of the luggage compartment to obtain watertight data with holes filled includes the following steps: dividing the point cloud data into regular points and boundary points; calculating each boundary point and the adjacent boundary points of the boundary point to obtain three eigenvalues ​​and corresponding three eigenvectors; selecting the minimum eigenvalue from the eigenvalues ​​calculated for all boundary points, wherein the eigenvector corresponding to the minimum eigenvalue is the main direction of the boundary point at the opening, and projecting all boundary points at the opening toward the main direction to the plane where the centroid is located.

[0064] In one embodiment, a method for measuring the volume of a luggage compartment of a passenger car based on three-dimensional scanning includes the following steps: acquiring point cloud data of the luggage compartment through three-dimensional scanning; performing a filling operation on the opening position of the luggage compartment to obtain watertight data with the holes filled; calculating the volume of the maximum bounding box of the watertight data with the holes filled, and dividing the maximum bounding box into a plurality of small bounding boxes of preset volumes, the small bounding boxes being divided into an external blank bounding box, a bounding box containing a point cloud, and a bounding box inside the point cloud; and calculating the volume of the luggage compartment according to the volume of the maximum bounding box and the number of external blank bounding boxes.

[0065] Filling operation is performed on the opening position of the luggage compartment to obtain watertight data with the holes filled, including the steps of: dividing the point cloud data into regular points and boundary points; calculating each boundary point and the adjacent boundary points of the boundary point to obtain three eigenvalues ​​and corresponding three eigenvectors; selecting the minimum eigenvalue from the eigenvalues ​​calculated for all boundary points, the eigenvector corresponding to the minimum eigenvalue is the main direction of the boundary point at the opening, and projecting all boundary points at the opening toward the main direction to the plane where the centroid is located. Dividing the point cloud data into regular points and boundary points includes the steps of: constructing a spatial KD tree of the point cloud data, using the KD tree to find the adjacent points within a preset radius of each point in the point cloud data; counting the number of adjacent points of all points, sorting them according to the number of adjacent points, taking the median as the threshold, and the points with the number of adjacent points less than the median are boundary points, and the points with the number of adjacent points greater than or equal to the median are regular points.

[0066] In one embodiment, a method for measuring the volume of a luggage compartment of a passenger car based on three-dimensional scanning includes the following steps: acquiring point cloud data of the luggage compartment through three-dimensional scanning; performing a filling operation on the opening position of the luggage compartment to obtain watertight data with the holes filled; calculating the volume of the maximum bounding box of the watertight data with the holes filled, and dividing the maximum bounding box into a plurality of small bounding boxes of preset volumes, the small bounding boxes being divided into an external blank bounding box, a bounding box containing a point cloud, and a bounding box inside the point cloud; and calculating the volume of the luggage compartment according to the volume of the maximum bounding box and the number of external blank bounding boxes.

[0067] Filling operation is performed on the opening position of the luggage compartment to obtain watertight data with the holes filled, including the steps of: dividing the point cloud data into regular points and boundary points; calculating each boundary point and the adjacent boundary points of the boundary point to obtain three eigenvalues ​​and corresponding three eigenvectors; selecting the minimum eigenvalue from the eigenvalues ​​calculated for all boundary points, the eigenvector corresponding to the minimum eigenvalue is the main direction of the boundary point at the opening, and projecting all boundary points at the opening toward the main direction to the plane where the centroid is located. Dividing the point cloud data into regular points and boundary points includes the steps of: constructing a spatial KD tree of the point cloud data, using the KD tree to find the adjacent points within a preset radius range for each point in the point cloud data; counting the number of adjacent points of all points, sorting them according to the size of the number of adjacent points, taking the median as the threshold, and the points with the number of adjacent points less than the median are boundary points, and the points with the number of adjacent points greater than or equal to the median are regular points. The preset radius range is 2 times the interval of the scanning data points.

[0068] In one embodiment, a method for measuring the volume of a luggage compartment of a passenger car based on three-dimensional scanning includes the following steps: acquiring point cloud data of the luggage compartment through three-dimensional scanning; performing a filling operation on the opening position of the luggage compartment to obtain watertight data with the holes filled; calculating the volume of the maximum bounding box of the watertight data with the holes filled, and dividing the maximum bounding box into a plurality of small bounding boxes of preset volumes, the small bounding boxes being divided into an external blank bounding box, a bounding box containing a point cloud, and a bounding box inside the point cloud; and calculating the volume of the luggage compartment according to the volume of the maximum bounding box and the number of external blank bounding boxes.

[0069] Filling operation is performed on the opening position of the luggage compartment to obtain watertight data with the holes filled, including the steps of: dividing the point cloud data into regular points and boundary points; calculating each boundary point and the adjacent boundary points of the boundary point to obtain three eigenvalues ​​and corresponding three eigenvectors; selecting the minimum eigenvalue from the eigenvalues ​​calculated for all boundary points, the eigenvector corresponding to the minimum eigenvalue is the main direction of the boundary point at the opening, and projecting all boundary points at the opening toward the main direction to the plane where the centroid is located. Calculating each boundary point and the adjacent boundary points of the boundary point to obtain three eigenvalues ​​and corresponding three eigenvectors, including the steps of: averaging the boundary point and the adjacent boundary points of the boundary point, and calculating the difference between the boundary point and the average value, and the difference between the adjacent boundary point and the average value, to obtain a decentralized point set; calculating the point set according to the covariance formula to obtain three eigenvalues ​​and corresponding three eigenvectors.

[0070] The present invention also provides a passenger car luggage compartment volume measurement device based on three-dimensional scanning, comprising: a three-dimensional scanning module, which obtains point cloud data of the luggage compartment through three-dimensional scanning; a hole filling module, which is used to fill the opening position of the luggage compartment to obtain watertight data with the holes filled; a bounding box module, which is used to calculate the volume of the maximum bounding box of the watertight data with the holes filled, and divide the maximum bounding box into a plurality of small bounding boxes of preset volumes, the small bounding boxes being divided into an external blank bounding box, a bounding box containing a point cloud, and a bounding box inside the point cloud; a luggage compartment volume calculation module, which is used to calculate the volume of the luggage compartment according to the volume of the maximum bounding box and the number of external blank bounding boxes.

[0071] The present invention also provides a passenger car luggage compartment volume measurement system based on three-dimensional scanning, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the passenger car luggage compartment volume measurement method based on three-dimensional scanning as described above.

[0072] The processor and the memory may be connected via a bus or other means.

[0073] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0074] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0075] In addition, an embodiment of the present invention also provides a computer-readable storage medium, which stores computer-executable instructions, and the computer-executable instructions are executed by a processor or controller, for example, by a processor in the above-mentioned terminal embodiment, so that the above-mentioned processor can execute the passenger car luggage compartment volume measurement method based on three-dimensional scanning in the above-mentioned embodiment.

[0076] It will be appreciated by those skilled in the art that all or some of the steps and systems in the disclosed method above may be implemented as software, firmware, hardware and appropriate combinations thereof. Some physical components or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or may be implemented as hardware, or may be implemented as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that may be used to store desired information and may be accessed by a computer. Furthermore, it is well known to those skilled in the art that communication media typically embodies computer readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0077] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above-mentioned implementation mode. Technical personnel familiar with the field can also make various equivalent deformations or substitutions without violating the spirit of the present invention. These equivalent deformations or substitutions are all included in the scope defined by the claims of the present invention.

[0078] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A method for measuring the volume of a passenger car luggage compartment based on three-dimensional scanning, characterized in that: The following steps are involved: Obtain point cloud data of the luggage compartment through 3D scanning; Performing a filling operation on the opening position of the luggage compartment to obtain watertight data showing that the hole has been filled; Calculate the volume of the maximum bounding box of the watertight data after the holes are filled, and divide the maximum bounding box into a plurality of small bounding boxes of preset volumes, wherein the small bounding boxes are divided into an external blank bounding box, a bounding box containing a point cloud, and a bounding box inside the point cloud; Calculating the volume of the luggage compartment according to the volume of the maximum bounding box and the number of external blank bounding boxes; The volume of the luggage compartment is calculated using the following formula: ,in v b Indicates the volume of the object to be measured, v represents the total volume of the bounding box, v a Represents the volume of a single empty grid outside.

2. The method for measuring the volume of a passenger car luggage compartment based on three-dimensional scanning according to claim 1, characterized in that: If the luggage compartment is in an open state, a non-transparent material block is placed between the luggage compartment and the rear seat, and then point cloud data of the luggage compartment is acquired through three-dimensional scanning.

3. The method for measuring the volume of a passenger car luggage compartment based on three-dimensional scanning according to claim 1, characterized in that: If the measurement data of the luggage compartment is to limit the height, the volume of the luggage compartment is calculated according to the volume of the largest bounding box within the limited height and the number of external blank bounding boxes.

4. The method for measuring the volume of a passenger car luggage compartment based on three-dimensional scanning according to claim 1, characterized in that: Filling the opening position of the luggage compartment to obtain watertight data of the hole being filled includes the following steps: Dividing the point cloud data into regular points and boundary points; Calculate each of the boundary points and the boundary points adjacent to the boundary points to obtain three eigenvalues ​​and corresponding three eigenvectors; The minimum eigenvalue is selected from the eigenvalues ​​calculated from all the boundary points, and the eigenvector corresponding to the minimum eigenvalue is the main direction of the boundary point at the opening. All the boundary points at the opening are projected toward the main direction to the plane where the centroid is located.

5. The method for measuring the volume of a passenger car luggage compartment based on three-dimensional scanning according to claim 4, characterized in that: The point cloud data is divided into regular points and boundary points, including the steps of: Construct a spatial KD tree of the point cloud data, and use the KD tree to find the neighboring points within a preset radius of each point in the point cloud data; Count the number of adjacent points of all points, sort them according to the size of the number of adjacent points, take the median as the threshold, and define the points whose number of adjacent points is less than the median as boundary points, and define the points whose number of adjacent points is greater than or equal to the median as regular points.

6. The method for measuring the volume of a passenger car luggage compartment based on three-dimensional scanning according to claim 5, characterized in that: The preset radius range is twice the scanning data point interval.

7. The method for measuring the volume of a passenger car luggage compartment based on three-dimensional scanning according to claim 4, characterized in that: Calculating each of the boundary points and the adjacent boundary points of the boundary point to obtain three eigenvalues ​​and corresponding three eigenvectors includes the steps of: averaging the boundary points and the adjacent boundary points of the boundary points, and calculating the difference between the boundary points and the average value, and the difference between the adjacent boundary points and the average value, to obtain a decentralized point set; The point set is calculated according to the covariance formula to obtain three eigenvalues ​​and corresponding three eigenvectors.

8. A passenger car luggage compartment volume measurement device based on three-dimensional scanning, characterized in that: include: A 3D scanning module, which obtains point cloud data of the luggage compartment through 3D scanning; A hole filling module, used to fill the opening position of the luggage compartment to obtain watertight data of the hole being filled; A bounding box module is used to calculate the volume of the maximum bounding box of the watertight data after the holes are filled, and divide the maximum bounding box into a plurality of small bounding boxes of preset volumes, wherein the small bounding boxes are divided into an external blank bounding box, a bounding box containing a point cloud, and a bounding box inside the point cloud; A luggage compartment volume calculation module, used to calculate the volume of the luggage compartment according to the volume of the maximum bounding box and the number of external blank bounding boxes; The volume of the luggage compartment is calculated using the following formula: ,in v b Indicates the volume of the object to be measured, v represents the total volume of the bounding box, v a Represents the volume of a single empty grid outside.

9. A passenger car luggage compartment volume measurement system based on three-dimensional scanning, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the passenger car luggage compartment volume measurement method based on three-dimensional scanning as described in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a computer to execute the passenger car luggage compartment volume measurement method based on three-dimensional scanning as described in any one of claims 1 to 7.

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