Real-time analysis system for laser scanning three-dimensional visualization construction scene based on robot dog

Abstract

The invention belongs to the technical field of three-dimensional visualization, and particularly relates to a robot dog-based laser scanning three-dimensional visualization construction scene real-time analysis system, which comprises a data acquisition module used for carrying out omnibearing scanning on the environment of a to-be-constructed scene according to the cooperation of a robot dog and a laser scanner to obtain point cloud data; the data processing module is used for preprocessing the point cloud data acquired by the data acquisition module and then converting the point cloud data to a global coordinate system for splicing; and the three-dimensional reconstruction module is used for constructing a three-dimensional model by using the point cloud data. The robot dog is selected as a carrying platform, the system can go deep into various complex environments through the flexible movement capacity of the robot dog, the system can freely shuttle to conduct data collection no matter in a narrow indoor space or in a rugged outdoor terrain, the application scene is greatly expanded, and compared with traditional fixed or semi-fixed scanning equipment, the system has the advantages of being high in practicability and easy to popularize. And incomparable maneuverability advantages are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of three-dimensional visualization, and in particular to a real-time analysis system for building three-dimensional visualization scenes based on laser scanning of a robot dog. Background Art

[0002] The laser scanning 3D visualization construction scene real-time analysis system is a system that uses laser scanning technology to obtain 3D spatial information of objects or scenes, converts it into an intuitive 3D model through 3D visualization technology, and can perform real-time analysis of the constructed scene.

[0003] In the existing laser scanning 3D visualization scene construction real-time analysis system, the laser scanning device is usually in a fixed state. At this time, if the laser scan is performed on a complex environment, it is difficult to fully scan the environment, which has limitations. Therefore, a laser scanning 3D visualization scene construction real-time analysis system based on a robot dog is invented. Summary of the invention

[0004] To solve the above technical problems, according to one aspect of the present invention, the present invention provides the following technical solutions:

[0005] The robot dog-based laser scanning 3D visualization construction scene real-time analysis system includes:

[0006] The data acquisition module is used to perform an all-round scan of the environment of the scene to be constructed based on the cooperation between the robot dog and the laser scanner to obtain point cloud data;

[0007] The data processing module is used to pre-process the point cloud data collected by the data acquisition module, and then convert the point cloud data into a global coordinate system for splicing;

[0008] 3D reconstruction module, used to construct 3D models using point cloud data;

[0009] The visualization module is used to visualize the 3D model constructed by the 3D reconstruction module, so that users can observe the whole scene.

[0010] The scene analysis module is used to identify, track and calculate the volume of target objects in the scene;

[0011] The data acquisition module comprises:

[0012] A laser scanner to scan the environment where the scene is to be built;

[0013] A robot dog is used to carry the laser scanner so as to drive the laser scanner to move;

[0014] The control module is used to enable the robot dog to move autonomously in the environment of the scene to be constructed.

[0015] As a preferred solution of the robot dog-based laser scanning three-dimensional visualization construction scene real-time analysis system of the present invention, the control module includes:

[0016] A terrain acquisition module is used to obtain the terrain of the scene to be constructed;

[0017] A path planning module is used to plan the movement path of the robot dog according to the terrain acquired by the terrain acquisition module;

[0018] The environment acquisition module is used to acquire the surrounding environment when the robot dog moves according to the path planned by the path planning module.

[0019] As a preferred solution of the robot dog-based laser scanning three-dimensional visualization construction scene real-time analysis system of the present invention, the control module also includes:

[0020] The behavior decision module is used to make reasonable behavior decisions based on the environment acquired by the environment acquisition module and the path planned by the path planning module, taking into account the task objectives and the robot dog's own state;

[0021] The task management module is responsible for managing the various tasks of the robot dog, and reasonably allocates system resources according to task priorities and environmental changes, and schedules various modules to work together to ensure efficient execution of tasks.

[0022] As a preferred solution of the robot dog-based laser scanning three-dimensional visualization construction scene real-time analysis system of the present invention, the data processing module includes:

[0023] The data preprocessing module is used to perform denoising and filtering on the point cloud data acquired by the laser scanner to remove abnormal points caused by environmental interference and equipment errors and improve data quality;

[0024] The coordinate conversion and stitching module is used to convert the laser scanning data collected at different times and positions into a global coordinate system according to the motion posture data of the robot dog, and stitch them together to form complete scene point cloud data.

[0025] As a preferred solution of the robot dog-based laser scanning three-dimensional visualization construction scene real-time analysis system of the present invention, the visualization module includes:

[0026] Real-time visualization module: used to display the 3D reconstructed model in real time on the user interface in an intuitive way, making it easier for users to observe the overall scene;

[0027] The scene interaction module is used to provide a user interaction interface, allowing users to rotate, zoom, and translate the three-dimensional scene, making it convenient to observe scene details from different angles.

[0028] As a preferred solution of the robot dog-based laser scanning three-dimensional visualization construction scene real-time analysis system of the present invention, the visualization module also includes:

[0029] The visualization enhancement module is used to perform color mapping and lighting simulation on point cloud data to highlight different objects and features in the scene and improve the scene visualization effect.

[0030] As a preferred solution of the real-time analysis system for scene construction based on laser scanning three-dimensional visualization of robot dog described in the present invention, the scene analysis module includes:

[0031] The target recognition and tracking module is used to identify the target object in the scene and track its movement trajectory in real time;

[0032] The volume calculation and measurement module is used to measure and calculate the volume and area of ​​target objects in the scene.

[0033] As a preferred solution of the robot dog-based laser scanning three-dimensional visualization construction scene real-time analysis system of the present invention, wherein: the scene analysis module also includes:

[0034] The change detection module is used to compare the 3D scene data at different times to detect the changed areas in the scene and update them in real time;

[0035] Hazard Assessment Module: Evaluates potential hazards in the scene based on target recognition and spatial measurement results.

[0036] Compared with existing technologies:

[0037] 1. High mobility and adaptability: The robot dog is selected as the carrying platform. Its flexible movement ability enables the system to penetrate into various complex environments, whether it is a narrow indoor space or a rugged outdoor terrain. It can freely shuttle to collect data, which greatly expands the application scenarios. Compared with traditional fixed or semi-fixed scanning equipment, it has incomparable mobility advantages; in addition, through the control module set, the robot dog can drive the laser scanner to move autonomously in the scene to be constructed without human intervention, which improves convenience.

[0038] 2. Comprehensive and efficient data processing flow: The raw data is obtained from the laser scanner, and the data processing module performs denoising, coordinate conversion, stitching and 3D reconstruction, forming a complete and efficient data processing chain. Each link is closely linked to ensure the accuracy and completeness of the final 3D model, providing a solid foundation for subsequent visualization and analysis.

[0039] 3. Rich visualization and analysis functions: Visualization and scene analysis not only provide an intuitive display mode for users to observe the scene, but also integrate rich analysis functions such as target recognition and tracking, volume calculation and measurement, change detection, etc. These functions can meet the diverse needs of different fields, such as defect recognition in industrial inspection, parameter measurement in architectural surveying and mapping, and abnormal behavior monitoring in security monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a schematic diagram of the process of the present invention;

[0041] Figure 2 It is a schematic diagram of the control module flow of the present invention. DETAILED DESCRIPTION

[0042] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0043] The present invention provides a real-time analysis system for scene construction based on laser scanning 3D visualization of robot dogs. Figure 1-Figure 2 ;

[0044] It includes: a data acquisition module, which is used to perform an all-round scan of the environment to be constructed based on the cooperation of the robot dog and the laser scanner to obtain point cloud data; a data processing module, which is used to pre-process the point cloud data collected by the data acquisition module, and then convert the point cloud data to the global coordinate system for splicing; a 3D reconstruction module, which is used to construct a 3D model using the point cloud data; a visualization module, which is used to visualize the 3D model constructed by the 3D reconstruction module, so that users can observe the whole scene; a scene analysis module, which is used to identify, track and calculate the volume of target objects in the scene;

[0045] The data acquisition module includes: a laser scanner for scanning the environment of the scene to be constructed; a robot dog for carrying the laser scanner so as to drive the laser scanner to move; and a control module for enabling the robot dog to move autonomously in the environment of the scene to be constructed.

[0046] The control module includes: a terrain acquisition module, which is used to acquire the terrain of the scene to be constructed; a path planning module, which is used to plan the movement path of the robot dog according to the terrain acquired by the terrain acquisition module; an environment acquisition module, which is used to acquire the surrounding environment when the robot dog moves according to the path planned by the path planning module; a behavior decision module, which is used to make reasonable behavior decisions based on the environment acquired by the environment acquisition module and the path planned by the path planning module, taking into account the task objectives and the robot dog's own status; a task management module, which is responsible for managing various tasks of the robot dog, and reasonably allocating system resources according to task priorities and environmental changes, scheduling various modules to work together, and ensuring efficient execution of tasks.

[0047] The data processing module includes: a data preprocessing module, which is used to denoise and filter the point cloud data obtained by the laser scanner to remove abnormal points caused by environmental interference and equipment errors, and improve data quality; a coordinate conversion and splicing module, which is used to uniformly convert the laser scanning data collected at different times and positions into a global coordinate system according to the motion posture data of the robot dog, and splice them to form complete scene point cloud data.

[0048] The visualization module includes: a real-time visualization module: used to display the three-dimensional reconstructed model in real time on the user interface in an intuitive manner, so that users can observe the overall picture of the scene; a scene interaction module, used to provide a user interaction interface, allowing the user to rotate, zoom, and translate the three-dimensional scene, so as to observe the details of the scene from different angles; a visualization effect enhancement module, used to perform color mapping and lighting simulation processing on the point cloud data, so as to highlight different objects and features in the scene and improve the scene visualization effect.

[0049] The scene analysis module includes: a target recognition and tracking module, which is used to recognize the target object in the scene and track its movement trajectory in real time; a volume calculation and measurement module, which is used to measure and calculate the volume and area of ​​the target object in the scene; a change detection module, which is used to compare the three-dimensional scene data at different times to detect the changed area in the scene and update it in real time; a danger assessment module: based on the target recognition and spatial measurement results, the potential danger in the scene is assessed.

[0050] During specific use, the operations performed by those skilled in the art are as follows:

[0051] Step 1: Use the data acquisition module to perform a full-scale scan of the environment to be constructed based on the cooperation of the robot dog and the laser scanner to obtain point cloud data;

[0052] Step 2: The point cloud data acquired by the laser scanner is denoised and filtered through the data preprocessing module to remove abnormal points caused by environmental interference and equipment errors and improve data quality. After processing, the coordinate conversion and splicing module is used to convert the laser scanning data collected at different times and positions into a global coordinate system according to the motion posture data of the robot dog, and then splice them to form complete scene point cloud data;

[0053] Step 3: After the complete scene point cloud data is formed, the 3D model will be constructed using the point cloud data through the 3D reconstruction module;

[0054] Step 4: The real-time visualization module displays the 3D reconstructed model in real time on the user interface in an intuitive manner, so that users can observe the overall scene. After that, the scene interaction module provides a user interaction interface, allowing users to rotate, zoom, and translate the 3D scene, so as to observe the details of the scene from different angles. The visualization enhancement module performs color mapping and lighting simulation on the point cloud data to highlight different objects and features in the scene and improve the scene visualization effect.

[0055] Step 5: The target object in the scene is identified through the target recognition and tracking module, and its movement trajectory is tracked in real time. After that, the volume and area of ​​the target object in the scene are measured and calculated through the volume calculation and measurement module. Then, the three-dimensional scene data at different times are compared through the change detection module to detect the changed area in the scene and update it in real time. At the same time, the potential danger in the scene is evaluated through the danger assessment module according to the target recognition and spatial measurement results;

[0056] Among them, in the above process, the operation process of the robot dog is as follows:

[0057] The terrain of the scene to be constructed is obtained through the terrain acquisition module. After obtaining it, the path planning module will be used to plan the movement path of the robot dog according to the terrain obtained by the terrain acquisition module. After planning the path, the environment acquisition module will be used to obtain the surrounding environment when the robot dog moves according to the path planned by the path planning module. After that, the behavior decision module will make reasonable behavior decisions based on the environment obtained by the environment acquisition module and the path planned by the path planning module, taking into account the task objectives and the robot dog's own status. Among them, the task management module will be responsible for managing the various tasks of the robot dog, and according to the task priority and environmental changes, the system resources will be reasonably allocated, and the modules will be scheduled to work together to ensure efficient execution of the task.

[0058] Although the present invention has been described above with reference to the embodiments, various modifications may be made thereto and parts thereof may be replaced by equivalents without departing from the scope of the present invention. In particular, as long as there is no structural conflict, the various features in the embodiments disclosed in the present invention may be used in combination with each other in any manner, and the fact that these combinations are not exhaustively described in this specification is only for the sake of omitting space and saving resources. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A real-time scene analysis system based on the laser scanning 3D visualization of a robot dog, characterized by: include: The data acquisition module is used to perform an all-round scan of the environment of the scene to be constructed based on the cooperation between the robot dog and the laser scanner to obtain point cloud data; The data processing module is used to pre-process the point cloud data collected by the data acquisition module, and then convert the point cloud data into a global coordinate system for splicing; 3D reconstruction module, used to construct 3D models using point cloud data; The visualization module is used to visualize the 3D model constructed by the 3D reconstruction module, so that users can observe the whole scene. The scene analysis module is used to identify, track and calculate the volume of target objects in the scene; The data acquisition module comprises: A laser scanner to scan the environment where the scene is to be built; A robot dog is used to carry the laser scanner so as to drive the laser scanner to move; The control module is used to enable the robot dog to move autonomously in the environment of the scene to be constructed.

2. The real-time analysis system for three-dimensional visualization construction of scenes based on laser scanning of a robot dog according to claim 1 is characterized in that: The control module comprises: A terrain acquisition module is used to obtain the terrain of the scene to be constructed; A path planning module is used to plan the movement path of the robot dog according to the terrain acquired by the terrain acquisition module; The environment acquisition module is used to acquire the surrounding environment when the robot dog moves according to the path planned by the path planning module.

3. The real-time analysis system for three-dimensional visualization construction of scenes based on laser scanning of a robot dog according to claim 2 is characterized in that: The control module also includes: The behavior decision module is used to make reasonable behavior decisions based on the environment acquired by the environment acquisition module and the path planned by the path planning module, taking into account the task objectives and the robot dog's own state; The task management module is responsible for managing the various tasks of the robot dog, and reasonably allocates system resources according to task priorities and environmental changes, and schedules various modules to work together to ensure efficient execution of tasks.

4. The real-time analysis system for three-dimensional visualization construction of scenes based on laser scanning of a robot dog according to claim 1 is characterized in that: The data processing module comprises: The data preprocessing module is used to perform denoising and filtering on the point cloud data acquired by the laser scanner to remove abnormal points caused by environmental interference and equipment errors and improve data quality; The coordinate conversion and stitching module is used to convert the laser scanning data collected at different times and positions into a global coordinate system according to the motion posture data of the robot dog, and stitch them together to form complete scene point cloud data.

5. The real-time analysis system for three-dimensional visualization construction of scenes based on laser scanning of a robot dog according to claim 1 is characterized in that: The visualization module comprises: Real-time visualization module: used to display the 3D reconstructed model in real time on the user interface in an intuitive way, making it easier for users to observe the overall scene; The scene interaction module is used to provide a user interaction interface, allowing users to rotate, zoom, and translate the three-dimensional scene, making it convenient to observe scene details from different angles.

6. The real-time analysis system for three-dimensional visualization construction of scenes based on laser scanning of a robot dog according to claim 5 is characterized in that: The visualization module also includes: The visualization enhancement module is used to perform color mapping and lighting simulation on point cloud data to highlight different objects and features in the scene and improve the scene visualization effect.

7. The real-time analysis system for three-dimensional visualization construction of scenes based on laser scanning of a robot dog according to claim 1 is characterized in that: The scene analysis module includes: The target recognition and tracking module is used to identify the target object in the scene and track its movement trajectory in real time; The volume calculation and measurement module is used to measure and calculate the volume and area of ​​target objects in the scene.

8. The real-time analysis system for three-dimensional visualization construction of scenes based on laser scanning of a robot dog according to claim 7 is characterized in that: The scene analysis module also includes: The change detection module is used to compare the 3D scene data at different times to detect the changed areas in the scene and update them in real time; Hazard Assessment Module: Evaluates potential hazards in the scene based on target recognition and spatial measurement results.

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