Spatial 3D modeling method based on high-frequency sound waves

Abstract

The invention relates to sound wave three-dimensional modeling, in particular to a spatial 3D modeling method based on high-frequency sound waves, which comprises the following steps: transmitting high-frequency sound waves to a space by using a sound wave transmitter, and receiving echo signals from an object in the space through a sound wave receiver; the received echo signals are preprocessed; calculating the three-dimensional coordinates of the reflection points in the space; performing three-dimensional modeling by using the three-dimensional coordinates of the reflection points in the space to construct a spatial three-dimensional model; rendering the spatial three-dimensional model; according to the technical scheme provided by the invention, the defect that precise space 3D modeling cannot be realized by using high-frequency sound waves in the prior art can be effectively overcome.

Description

Technical Field

[0001] The invention relates to sound wave three-dimensional modeling, and in particular to a spatial 3D modeling method based on high-frequency sound waves. Background Art

[0002] In the field of 3D modeling technology, traditional modeling methods usually rely on sensors such as optics, lasers or radars to capture spatial information. However, these modeling methods may be limited in certain scenarios. For example, in environments with insufficient light or obstructions, optical sensors may not be able to accurately capture target information; while laser and radar sensors may be affected by weather conditions (such as rain, snow, fog and haze), resulting in reduced modeling accuracy.

[0003] In order to overcome these limitations, spatial 3D modeling based on high-frequency sound waves has gradually attracted attention in recent years. High-frequency sound waves, especially ultrasound, can achieve high-precision spatial measurement and modeling in complex environments due to their good penetration and directionality.

[0004] The basic principle of spatial 3D modeling based on high-frequency sound waves is to use a sound wave transmitter to emit high-frequency sound waves into space. These sound waves will be reflected when encountering obstacles. The reflected sound waves will be captured by the sound wave receiver. By analyzing the propagation time, intensity and other parameters of the reflected sound waves, the three-dimensional information such as the position and shape of the obstacle can be calculated. In addition, the combined use of multiple sound wave transmitters and sound wave receivers can also achieve wider spatial coverage and higher modeling accuracy. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] In view of the above-mentioned shortcomings of the prior art, the present invention provides a spatial 3D modeling method based on high-frequency sound waves, which can effectively overcome the defect of the prior art that high-frequency sound waves cannot be used to achieve accurate spatial 3D modeling.

[0007] (II) Technical solution

[0008] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0009] A spatial 3D modeling method based on high-frequency sound waves comprises the following steps:

[0010] S1. Use a sound wave transmitter to transmit high-frequency sound waves into space, and receive echo signals from objects in space through a sound wave receiver;

[0011] S2, preprocessing the received echo signal;

[0012] S3, calculating the three-dimensional coordinates of the reflection point in space;

[0013] S4, performing three-dimensional modeling using the three-dimensional coordinates of the reflection points in the space to construct a three-dimensional model of the space;

[0014] S5, rendering the spatial three-dimensional model;

[0015] Among them, the sound wave receiver and the sound wave transmitter are integrated together.

[0016] Preferably, the received echo signal is preprocessed in S2, including:

[0017] S21, filtering the echo signal through a bandpass filter to remove noise that does not match the frequency range of the echo signal;

[0018] S22, using the Symlet wavelet function with good symmetry to perform wavelet decomposition on the filtered echo signal, and using a heuristic threshold to perform denoising;

[0019] S23, performing signal enhancement on the denoised echo signal by signal amplification to improve the amplitude and clarity of the echo signal;

[0020] S24, performing time domain analysis on the enhanced echo signal, observing the waveform, amplitude and phase of the echo signal to understand the basic characteristics of the echo signal;

[0021] S25. Perform frequency domain analysis on the enhanced echo signal to understand the components and distribution of the echo signal at different frequencies, so as to further understand the characteristics of the echo signal.

[0022] Preferably, calculating the three-dimensional coordinates of the reflection point in the space in S3 includes:

[0023] S31. Establish a three-dimensional coordinate system in space to describe the position of the reflection point;

[0024] S32, calculating the distance between the reflection point and the sound wave transmitter according to the propagation speed and time delay of the echo signal;

[0025] S33, calculating the three-dimensional coordinates of the reflection point based on the distance between the reflection point and the sound wave transmitter and the direction information of the reflection point;

[0026] S34, mapping the reflection point to a three-dimensional coordinate system based on the three-dimensional coordinates of the reflection point;

[0027] The three-dimensional coordinate system takes the sound wave transmitter as the origin.

[0028] Preferably, in S32, calculating the distance between the reflection point and the sound wave transmitter according to the propagation speed and time delay of the echo signal includes:

[0029] S321, determining the propagation speed of the echo signal in the medium in the space;

[0030] S322, measuring the time delay between the transmission and reception of the echo signal;

[0031] S323. Calculate the distance between the reflection point and the sound wave transmitter using the following formula:

[0032]

[0033] Among them, S i is the distance between the reflection point i and the sound wave transmitter, v is the propagation speed of the echo signal in the medium in space, t i is the time delay between the transmission and reception of the echo signal corresponding to the reflection point i.

[0034] Preferably, in S33, the three-dimensional coordinates of the reflection point are calculated by combining the distance between the reflection point and the sound wave transmitter and the direction information of the reflection point, including:

[0035] S331, determining the direction information of the reflection point;

[0036] S332. Combining the distance between the reflection point and the sound wave transmitter and the direction information of the reflection point, a trigonometric function is used to calculate the three-dimensional coordinates of the reflection point.

[0037] Preferably, determining the direction information of the reflection point in S331 includes:

[0038] S3311, analyzing the time difference, amplitude difference and phase difference of the echo signals corresponding to the reflection points received by different sound wave receivers;

[0039] S3312. Calculate direction information of the reflection point using beamforming according to differences in echo signals corresponding to the reflection points received by different sound wave receivers.

[0040] Preferably, in S4, three-dimensional modeling is performed using the three-dimensional coordinates of the reflection points in the space to construct a three-dimensional model of the space, including:

[0041] S41, preprocessing the three-dimensional coordinates of all reflection points in the three-dimensional coordinate system;

[0042] S42, selecting a suitable three-dimensional mesh construction algorithm according to the number and distribution of reflection points;

[0043] S43, using the selected three-dimensional mesh construction algorithm to generate a spatial three-dimensional model according to the three-dimensional coordinates of all reflection points in the three-dimensional coordinate system;

[0044] Among them, the three-dimensional mesh construction algorithms include the Delaunay triangulation algorithm and the Marching Cubes algorithm.

[0045] Preferably, in S41, the three-dimensional coordinates of all reflection points in the three-dimensional coordinate system are preprocessed, including:

[0046] The three-dimensional coordinates of all reflection points in the three-dimensional coordinate system are preprocessed including noise removal and data smoothing.

[0047] Preferably, after generating the spatial three-dimensional model according to the three-dimensional coordinates of all reflection points in the three-dimensional coordinate system using the selected three-dimensional grid construction algorithm in S43, the following steps are included:

[0048] S44, smoothing the spatial three-dimensional model to reduce the roughness and unevenness of the mesh surface;

[0049] S45. According to actual needs, the topological structure of the spatial three-dimensional model is preprocessed, including merging adjacent triangles and deleting redundant vertices, to improve the efficiency and readability of the model.

[0050] Preferably, rendering the spatial three-dimensional model in S5 includes:

[0051] S51. Adding texture to the spatial three-dimensional model using actually captured images or synthesized patterns to enhance the realism and readability of the model;

[0052] S52. Rendering the spatial three-dimensional model after adding texture by adjusting parameters including lighting, shadow and color to obtain better visual effects.

[0053] (III) Beneficial effects

[0054] Compared with the prior art, the spatial 3D modeling method based on high-frequency sound waves provided by the present invention has the following beneficial effects:

[0055] 1) Using an acoustic wave transmitter to transmit high-frequency acoustic waves into space, and receiving echo signals from objects in the space through an acoustic wave receiver, preprocessing the received echo signals, establishing a three-dimensional coordinate system in the space to describe the position of the reflection point, calculating the distance between the reflection point and the acoustic wave transmitter according to the propagation speed and time delay of the echo signal, and combining the distance between the reflection point and the acoustic wave transmitter, as well as the direction information of the reflection point, calculating the three-dimensional coordinates of the reflection point, and mapping the reflection point to the three-dimensional coordinate system based on the three-dimensional coordinates of the reflection point, so as to accurately obtain the three-dimensional coordinates of all reflection points in the space, and provide data support for the subsequent construction of a three-dimensional model of the space;

[0056] 2) Preprocess the three-dimensional coordinates of all reflection points in the three-dimensional coordinate system, select a suitable three-dimensional grid construction algorithm according to the number and distribution of reflection points, and use the selected three-dimensional grid construction algorithm to generate a spatial three-dimensional model according to the three-dimensional coordinates of all reflection points in the three-dimensional coordinate system, so that high-frequency sound waves can be used to achieve accurate spatial 3D modeling, and fully reflect the spatial three-dimensional information of objects in closed spaces (such as indoors) and semi-enclosed spaces (such as car cockpits). BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0058] Figure 1 It is a schematic diagram of the process of the present invention;

[0059] Figure 2 It is a schematic diagram of the process of calculating the three-dimensional coordinates of a reflection point in space in the present invention;

[0060] Figure 3 The figure is a schematic diagram of the process of constructing a spatial three-dimensional model and rendering the spatial three-dimensional model in the present invention. DETAILED DESCRIPTION

[0061] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution 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 part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] A spatial 3D modeling method based on high-frequency sound waves, such as Figure 1 As shown, S1, a sound wave transmitter is used to transmit high-frequency sound waves into space, and an echo signal from an object in the space is received through a sound wave receiver (wherein the sound wave receiver is integrated with the sound wave transmitter).

[0063] like Figure 1 As shown, S2, preprocessing the received echo signal, specifically including:

[0064] S21, filtering the echo signal through a bandpass filter to remove noise that does not match the frequency range of the echo signal;

[0065] S22, using the Symlet wavelet function with good symmetry to perform wavelet decomposition on the filtered echo signal, and using a heuristic threshold to perform denoising;

[0066] S23, performing signal enhancement on the denoised echo signal by signal amplification to improve the amplitude and clarity of the echo signal;

[0067] S24, performing time domain analysis on the enhanced echo signal, observing the waveform, amplitude and phase of the echo signal to understand the basic characteristics of the echo signal;

[0068] S25. Perform frequency domain analysis on the enhanced echo signal to understand the components and distribution of the echo signal at different frequencies, so as to further understand the characteristics of the echo signal.

[0069] like Figure 1 and Figure 2 As shown, S3, calculating the three-dimensional coordinates of the reflection point in the space, specifically including:

[0070] S31. Establish a three-dimensional coordinate system in space to describe the position of the reflection point;

[0071] S32, calculating the distance between the reflection point and the sound wave transmitter according to the propagation speed and time delay of the echo signal;

[0072] S33, calculating the three-dimensional coordinates of the reflection point based on the distance between the reflection point and the sound wave transmitter and the direction information of the reflection point;

[0073] S34, mapping the reflection point to a three-dimensional coordinate system based on the three-dimensional coordinates of the reflection point;

[0074] The three-dimensional coordinate system takes the sound wave transmitter as the origin.

[0075] 1) In S32, the distance between the reflection point and the acoustic wave transmitter is calculated according to the propagation speed and time delay of the echo signal, including:

[0076] S321, determining the propagation speed of the echo signal in the medium in the space;

[0077] S322, measuring the time delay between the transmission and reception of the echo signal;

[0078] S323. Calculate the distance between the reflection point and the sound wave transmitter using the following formula:

[0079]

[0080] Among them, S i is the distance between the reflection point i and the sound wave transmitter, v is the propagation speed of the echo signal in the medium in space, t iis the time delay between the transmission and reception of the echo signal corresponding to the reflection point i.

[0081] 2) In S33, the distance between the reflection point and the sound wave transmitter and the direction information of the reflection point are combined to calculate the three-dimensional coordinates of the reflection point, including:

[0082] S331, determining the direction information of the reflection point;

[0083] S332. Combining the distance between the reflection point and the sound wave transmitter and the direction information of the reflection point, a trigonometric function is used to calculate the three-dimensional coordinates of the reflection point.

[0084] Specifically, determining the direction information of the reflection point in S331 includes:

[0085] S3311, analyzing the time difference, amplitude difference and phase difference of the echo signals corresponding to the reflection points received by different sound wave receivers;

[0086] S3312. Calculate direction information of the reflection point using beamforming according to differences in echo signals corresponding to the reflection points received by different sound wave receivers.

[0087] The above technical solution uses an acoustic wave transmitter to transmit high-frequency acoustic waves into space, and receives echo signals from objects in the space through an acoustic wave receiver, pre-processes the received echo signals, and establishes a three-dimensional coordinate system in space to describe the position of the reflection point. According to the propagation speed and time delay of the echo signal, the distance between the reflection point and the acoustic wave transmitter is calculated, and the three-dimensional coordinates of the reflection point are calculated in combination with the distance between the reflection point and the acoustic wave transmitter, as well as the direction information of the reflection point. Based on the three-dimensional coordinates of the reflection point, the reflection point is mapped to the three-dimensional coordinate system, so that the three-dimensional coordinates of all reflection points in the space can be accurately obtained, providing data support for the subsequent construction of a three-dimensional spatial model.

[0088] like Figure 1 and Figure 3 As shown, S4, using the three-dimensional coordinates of the reflection point in the space to perform three-dimensional modeling, constructing a three-dimensional model of the space, specifically including:

[0089] S41, preprocessing the three-dimensional coordinates of all reflection points in the three-dimensional coordinate system;

[0090] S42, selecting a suitable three-dimensional mesh construction algorithm according to the number and distribution of reflection points;

[0091] S43, using the selected three-dimensional mesh construction algorithm to generate a spatial three-dimensional model according to the three-dimensional coordinates of all reflection points in the three-dimensional coordinate system;

[0092] Among them, the three-dimensional mesh construction algorithms include the Delaunay triangulation algorithm and the Marching Cubes algorithm.

[0093] 1) In S41, the three-dimensional coordinates of all reflection points in the three-dimensional coordinate system are preprocessed, including:

[0094] The three-dimensional coordinates of all reflection points in the three-dimensional coordinate system are preprocessed including noise removal and data smoothing.

[0095] 2) After S43 uses the selected three-dimensional mesh construction algorithm to generate a spatial three-dimensional model according to the three-dimensional coordinates of all reflection points in the three-dimensional coordinate system, it includes:

[0096] S44, smoothing the spatial three-dimensional model to reduce the roughness and unevenness of the mesh surface;

[0097] S45. According to actual needs, the topological structure of the spatial three-dimensional model is preprocessed, including merging adjacent triangles and deleting redundant vertices, to improve the efficiency and readability of the model.

[0098] like Figure 1 As shown, S5, rendering the spatial three-dimensional model, specifically includes:

[0099] S51. Adding texture to the spatial three-dimensional model using actually captured images or synthesized patterns to enhance the realism and readability of the model;

[0100] S52. Rendering the spatial three-dimensional model after adding texture by adjusting parameters including lighting, shadow and color to obtain better visual effects.

[0101] The above technical scheme pre-processes the three-dimensional coordinates of all reflection points in the three-dimensional coordinate system, selects a suitable three-dimensional grid construction algorithm according to the number and distribution of reflection points, and uses the selected three-dimensional grid construction algorithm to generate a spatial three-dimensional model according to the three-dimensional coordinates of all reflection points in the three-dimensional coordinate system, thereby being able to use high-frequency sound waves to achieve accurate spatial 3D modeling and fully reflect the spatial three-dimensional information of objects in closed spaces (such as indoors) and semi-enclosed spaces (such as car cockpits).

[0102] In addition, adding texture to the spatial three-dimensional model using actual captured images or synthesized patterns can enhance the realism and readability of the model; by adjusting parameters including lighting, shadows, and colors to render the spatial three-dimensional model with added texture, better visual effects can be obtained.

[0103] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A spatial 3D modeling method based on high-frequency sound waves, characterized in that: The following steps are involved: S1. Use a sound wave transmitter to transmit high-frequency sound waves into space, and receive echo signals from objects in space through a sound wave receiver; S2, preprocessing the received echo signal; S3, calculating the three-dimensional coordinates of the reflection point in space; S4, performing three-dimensional modeling using the three-dimensional coordinates of the reflection points in the space to construct a three-dimensional model of the space; S5, rendering the spatial three-dimensional model; Among them, the sound wave receiver and the sound wave transmitter are integrated together.

2. The spatial 3D modeling method based on high-frequency sound waves according to claim 1, characterized in that: In S2, the received echo signal is preprocessed, including: S21, filtering the echo signal through a bandpass filter to remove noise that does not match the frequency range of the echo signal; S22, using the Symlet wavelet function with good symmetry to perform wavelet decomposition on the filtered echo signal, and using a heuristic threshold to perform denoising; S23, performing signal enhancement on the denoised echo signal by signal amplification to improve the amplitude and clarity of the echo signal; S24, performing time domain analysis on the enhanced echo signal, observing the waveform, amplitude and phase of the echo signal to understand the basic characteristics of the echo signal; S25. Perform frequency domain analysis on the enhanced echo signal to understand the components and distribution of the echo signal at different frequencies, so as to further understand the characteristics of the echo signal.

3. The spatial 3D modeling method based on high-frequency sound waves according to claim 1, characterized in that: S3 calculates the three-dimensional coordinates of the reflection point in space, including: S31. Establish a three-dimensional coordinate system in space to describe the position of the reflection point; S32, calculating the distance between the reflection point and the sound wave transmitter according to the propagation speed and time delay of the echo signal; S33, calculating the three-dimensional coordinates of the reflection point based on the distance between the reflection point and the sound wave transmitter and the direction information of the reflection point; S34, mapping the reflection point to a three-dimensional coordinate system based on the three-dimensional coordinates of the reflection point; The three-dimensional coordinate system takes the sound wave transmitter as the origin.

4. The spatial 3D modeling method based on high-frequency sound waves according to claim 3 is characterized in that: In S32, the distance between the reflection point and the sound wave transmitter is calculated according to the propagation speed and time delay of the echo signal, including: S321, determining the propagation speed of the echo signal in the medium in the space; S322, measuring the time delay between the transmission and reception of the echo signal; S323. Calculate the distance between the reflection point and the sound wave transmitter using the following formula: Among them, S i is the distance between the reflection point i and the sound wave transmitter, v is the propagation speed of the echo signal in the medium in space, t i is the time delay between the transmission and reception of the echo signal corresponding to the reflection point i.

5. The spatial 3D modeling method based on high-frequency sound waves according to claim 3 is characterized in that: S33 combines the distance between the reflection point and the sound wave transmitter, as well as the direction information of the reflection point, to calculate the three-dimensional coordinates of the reflection point, including: S331, determining the direction information of the reflection point; S332. Combining the distance between the reflection point and the sound wave transmitter and the direction information of the reflection point, a trigonometric function is used to calculate the three-dimensional coordinates of the reflection point.

6. The spatial 3D modeling method based on high-frequency sound waves according to claim 5, characterized in that: Determining the direction information of the reflection point in S331 includes: S3311, analyzing the time difference, amplitude difference and phase difference of the echo signals corresponding to the reflection points received by different sound wave receivers; S3312. Calculate direction information of the reflection point using beamforming according to differences in echo signals corresponding to the reflection points received by different sound wave receivers.

7. The spatial 3D modeling method based on high-frequency sound waves according to claim 1, characterized in that: S4 uses the three-dimensional coordinates of the reflection points in the space to perform three-dimensional modeling and construct a three-dimensional model of the space, including: S41, preprocessing the three-dimensional coordinates of all reflection points in the three-dimensional coordinate system; S42, selecting a suitable three-dimensional mesh construction algorithm according to the number and distribution of reflection points; S43, using the selected three-dimensional mesh construction algorithm to generate a spatial three-dimensional model according to the three-dimensional coordinates of all reflection points in the three-dimensional coordinate system; Among them, the three-dimensional mesh construction algorithms include the Delaunay triangulation algorithm and the Marching Cubes algorithm.

8. The spatial 3D modeling method based on high-frequency sound waves according to claim 7, characterized in that: In S41, the three-dimensional coordinates of all reflection points in the three-dimensional coordinate system are preprocessed, including: The three-dimensional coordinates of all reflection points in the three-dimensional coordinate system are preprocessed including noise removal and data smoothing.

9. The spatial 3D modeling method based on high-frequency sound waves according to claim 7, characterized in that: In S43, after the selected three-dimensional mesh construction algorithm is used to generate a spatial three-dimensional model according to the three-dimensional coordinates of all reflection points in the three-dimensional coordinate system, the following steps are included: S44, smoothing the spatial three-dimensional model to reduce the roughness and unevenness of the mesh surface; S45. According to actual needs, the topological structure of the spatial three-dimensional model is preprocessed, including merging adjacent triangles and deleting redundant vertices, to improve the efficiency and readability of the model.

10. The spatial 3D modeling method based on high-frequency sound waves according to claim 1, characterized in that: S5 renders the spatial 3D model, including: S51. Adding texture to the spatial three-dimensional model using actually captured images or synthesized patterns to enhance the realism and readability of the model; S52. Rendering the spatial three-dimensional model after adding texture by adjusting parameters including lighting, shadow and color to obtain better visual effects.

Images