Three-dimensional point cloud processing method and three-dimensional point cloud processing model training method and device

Abstract

The invention relates to the technical field of image processing, in particular to a three-dimensional point cloud processing method and a three-dimensional point cloud processing model training method and device.The three-dimensional point cloud processing method comprises the following steps that firstly, two pieces of point cloud data are selected from obtained three-dimensional point cloud data, and the selected point cloud data are input into a three-dimensional point cloud processing device; 2, calculating midpoint point cloud data of the two pieces of point cloud data in the step 1 through a three-dimensional point cloud processing device, and taking the point cloud data as a reference; 3, inputting the obtained other three-dimensional point cloud data into the three-dimensional point cloud processing device, and forming a three-dimensional graph; 4, at least one piece of three-dimensional point cloud data in the three-dimensional figure is randomly selected for data calibration, and invalid and wrong point cloud data are deleted; and 5, storing the calibrated three-dimensional point cloud data, and improving the recognition range and the successful recognition rate.

Description

Technical Field

[0001] The present invention relates to the technical field of image processing, and specifically to a three-dimensional point cloud processing method, a three-dimensional point cloud processing model training method, and a device therefor. Background Art

[0002] A three-dimensional point cloud refers to the three-dimensional point information in space obtained by scanning devices such as lidar and depth cameras, and generally includes three-dimensional position information, color information, intensity information, etc. Three-dimensional point cloud semantic segmentation refers to assigning specific semantic labels to each point in the point cloud, which is a key step in scene understanding and has wide applications in many fields such as robotics, augmented reality, and autonomous driving.

[0003] Moreover, with the widespread use of 3D sensors in the industrial community, there are more and more applications around three-dimensional point clouds. The data representation based on three-dimensional point clouds has become the core technology in the application of three-dimensional point clouds. Especially with the rise of deep learning, finding better three-dimensional point cloud feature representations plays a more important role in fields such as autonomous driving and robotics. Among them, the research on the rotational invariance of three-dimensional point clouds is of great significance in the representation of three-dimensional point cloud features. Typical applications are in robotic arm object grasping and autonomous driving object detection projects. If the angle of the object is unknown, it is impossible to obtain the best angle for processing the three-dimensional point cloud, which will bring difficulties to the processing. Summary of the Invention

[0004] The purpose of the present invention is to provide a three-dimensional point cloud processing method, a three-dimensional point cloud processing model training method, and a device therefor, so as to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solutions:

[0006] A three-dimensional point cloud processing method includes the following steps:

[0007] Step 1: Select two point cloud data from the obtained three-dimensional point cloud data, and input the selected point cloud data into a three-dimensional point cloud processing device;

[0008] Step 2: Calculate the midpoint cloud data of the two point cloud data in Step 1 through the three-dimensional point cloud processing device, and use this point cloud data as a benchmark;

[0009] Step 3: Input the remaining obtained three-dimensional point cloud data into the three-dimensional point cloud processing device and form a three-dimensional figure;

[0010] Step 4: Randomly select at least one three-dimensional point cloud data in the three-dimensional figure for data calibration, and delete invalid and incorrect point cloud data;

[0011] Step 5: Save the calibrated three-dimensional point cloud data.

[0012] A method for training a 3D point cloud processing model using the saved 3D point data, comprising the following steps:

[0013] Step 1: Input the 3D point cloud into an imaging device;

[0014] Step 2: Form a three-dimensional figure through the imaging device, and rotate the three-dimensional figure in the X, Y, and Z directions in sequence:

[0015] Step 3: Place the training device on a platform;

[0016] Step 4: Use the training device to recognize the three-dimensional figure.

[0017] A training device for recognizing the three-dimensional figure, comprising:

[0018] A base, on which multiple groups of extension plates are arranged;

[0019] A pitch adjustment component, arranged on the base, and the pitch adjustment component can recognize the three-dimensional figure;

[0020] A lifting component, arranged on the base and connected to the pitch adjustment component, and the lifting component can drive the pitch adjustment component to move in the vertical direction of space;

[0021] A follow-up component, connecting the lifting component and the extension plate, and the follow-up component can drive the extension plate to move towards the outside of the base when the pitch adjustment component moves to a predetermined height.

[0022] As a further solution of the present invention: the pitch adjustment component includes a vertical plate fixedly installed on the base, a sliding groove is arranged along the length direction of the vertical plate, a slider connected to the lifting component is slidably installed in the sliding groove, a connecting frame is fixedly connected to the slider, and a recognition device is rotatably installed at one end of the connecting frame away from the slider;

[0023] The pitch adjustment component further includes a micro motor fixedly installed on the connecting frame, and an output shaft of the micro motor is coaxially and fixedly connected to a rotating shaft of the recognition device.

[0024] As a further solution of the present invention: the lifting component includes a driving device fixedly installed on the base, a lead screw coaxial with the output shaft of the driving device is installed on the output shaft of the driving device, a threaded sleeve threadedly connected to the lead screw is arranged on the lead screw, the threaded sleeve is connected to the slider, and the threaded sleeve is connected to the follow-up component.

[0025] As a further solution of the present invention: the follow-up component includes:

[0026] Engaging structure, connected to the threaded sleeve, and the engaging structure can operate after the threaded sleeve rises to a predetermined height;

[0027] Sliding connection structure, connected to the engaging structure, and the sliding connection structure can rotate when the engaging structure operates;

[0028] Support structure, connecting the sliding connection structure and the extension plate, and the support structure can drive the extension plate to move towards the outside of the base.

[0029] As a further solution of the present invention: The engaging structure includes a gear rotatably connected to the threaded sleeve and a rack plate provided on the vertical plate, and the rack plate is adapted to the gear;

[0030] The engaging structure further includes a bevel gear set connecting the threaded sleeve and the gear, and the bevel gear set connects the sliding connection structure through a belt.

[0031] As a further solution of the present invention: The sliding connection structure is a transmission rod rotatably installed on the base, a follower sleeve is sleeved on the transmission rod, a limiting groove is provided on the inner wall of the follower sleeve, and a limiting block provided on the transmission rod is in sliding fit with the limiting groove;

[0032] The follower sleeve is rotatably connected to the threaded sleeve, and the follower sleeve is connected to the belt.

[0033] As a further solution of the present invention: The support structure includes a cross groove formed on the base, a guiding groove is provided on the inner wall of the cross groove, and a protrusion provided on the side wall of the extension plate can slide in the guiding groove;

[0034] The support structure further includes a plurality of connecting plates fixedly installed on the transmission rod and a triangular plate connected to the extension plate. A pulley is rotatably installed at one end of the connecting plate away from the transmission rod, and the pulley can roll in an inclined groove formed on the triangular plate.

[0035] Compared with the prior art, the beneficial effects of the present invention are:

[0036] Through the provided pitch adjustment component and lifting component, with the cooperation of the threaded sleeve and the lead screw, the recognition device can hover at any height. Moreover, the lead screw and the threaded sleeve are connected by threads, and the threaded connection has high precision and self-locking properties, enabling higher precision when controlling the height of the recognition device. After the driving device stops working, the recognition device can achieve autonomous hovering, avoiding the need for the driving device to bear the load to keep the recognition device hovering. After the recognition device reaches the predetermined height, the micro-motor can drive the recognition device to rotate to change the pitch angle of the recognition device, thereby increasing the recognition range of the recognition device;

[0037] Through the provided follower component, in the initial state, the extension plate is in a state of being retracted into the base, making the base occupy less space on the plane when the device is not in use or when the height of the threaded sleeve is relatively low. When the threaded sleeve rises to a certain height, the extension plate will move towards the outside of the base, increasing the support area of the base and ensuring the stability of the device. Moreover, as the threaded sleeve rises, the length of the extension plate moving towards the outside of the base will increase, that is, the movement length of the extension plate can be linked with the height of the threaded sleeve, achieving automatic matching and reducing the operation difficulty during use. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a schematic structural diagram of the training device.

[0039] Figure 2 It is Figure 1 the enlarged structural view of part A in

[0040] Figure 3 It is a schematic structural diagram of the training device from another angle.

[0041] Figure 4 It is a schematic structural diagram of the training device from yet another angle.

[0042] Figure 5 It is Figure 4 the enlarged structural view of part B in

[0043] Figure 6 It is an exploded view of the sliding connection structure in the training device.

[0044] Figure 7 It is an exploded view of the top support structure in the training device.

[0045] In the figure: 1, base; 2, driving device; 3, lead screw; 4, threaded sleeve; 5, gear; 6, rack plate; 7, bevel gear set; 8, belt; 9, follower sleeve; 10, limit groove; 11, transmission rod; 12, limit block; 13, vertical plate; 14, chute; 15, slider; 16, connecting plate; 17, pulley; 18, guiding groove; 19, protrusion; 20, extension plate; 21, inclined trough body; 22, connecting frame; 23, micro motor; 24, recognition device; 25, triangular plate. Detailed implementation manner

[0046] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0047] In addition, an element in the present invention is referred to as "fixed to" or "disposed on" another element, which can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only implementation manner.

[0048] In an embodiment of the present invention, a three-dimensional point cloud processing method includes the following steps:

[0049] Step 1: Select two pieces of point cloud data from the obtained three-dimensional point cloud data, and input the selected point cloud data into a three-dimensional point cloud processing device;

[0050] Step 2: Calculate the midpoint point cloud data of the two pieces of point cloud data in Step 1 through the three-dimensional point cloud processing device, and take this point cloud data as a benchmark;

[0051] Step 3: Input the remaining obtained three-dimensional point cloud data into the three-dimensional point cloud processing device and form a three-dimensional figure;

[0052] Step 4: Randomly select at least one piece of three-dimensional point cloud data in the three-dimensional figure for data calibration, and delete invalid and incorrect point cloud data;

[0053] Step 5: Save the calibrated three-dimensional point cloud data.

[0054] A method for training a three-dimensional point cloud processing model using the saved three-dimensional point data includes the following steps:

[0055] Step 1: Input the three-dimensional point cloud into the imaging device;

[0056] Step 2: Form a three-dimensional figure through the imaging device and make the three-dimensional figure rotate in the X, Y, and Z directions in sequence:

[0057] Step 3: Place the training device on the platform;

[0058] Step 4: Use the training device to identify the three-dimensional figure.

[0059] Please refer to Figures 1 to 7 , the training device includes: a base 1, a pitch adjustment component, a lifting component, and a follow-up component. With the cooperation of the threaded sleeve 4 and the lead screw 3, the recognition device 24 can hover at any height. The lead screw 3 and the threaded sleeve 4 are connected by threads, and the threaded connection has high precision and self-locking properties, making the height control of the recognition device 24 more accurate. After the driving device 2 stops working, the recognition device 24 can achieve autonomous hovering, avoiding the need for the driving device 2 to bear the load to make the recognition device 24 hover. After the recognition device 24 reaches the predetermined height, the micro motor 23 can drive the recognition device 24 to rotate to change the pitch angle of the recognition device 24, thereby increasing the recognition range of the recognition device 24. At the same time, in the initial state, the extension plate 20 is in a state of being retracted into the base 1, making the base 1 occupy less space on the plane when the device is not in use or the height of the threaded sleeve 4 is relatively low. When the threaded sleeve 4 rises to a certain height, the extension plate 20 will move towards the outside of the base 1, increasing the support area of the base 1 and ensuring the stability of the device. As the threaded sleeve 4 rises, the length of the extension plate 20 moving towards the outside of the base 1 will increase, that is, the movement length of the extension plate 20 can be linked with the height of the threaded sleeve 4, achieving automatic matching and reducing the operation difficulty during use.

[0060] Specifically as follows: Multiple groups of extension plates 20 are arranged on the base 1;

[0061] The pitch adjustment component is arranged on the base 1. The pitch adjustment component can identify the three-dimensional figure. The pitch adjustment component includes a vertical plate 13 fixedly installed on the base 1. A chute 14 is arranged along the length direction of the vertical plate 13. A slider 15 connected to the lifting component is slidably installed in the chute 14. A connecting frame 22 is fixedly connected to the slider 15. The recognition device 24 is rotatably installed at one end of the connecting frame 22 away from the slider 15;

[0062] The pitch adjustment component further includes a micro motor 23 fixedly installed on the connecting frame 22. The output shaft of the micro motor 23 is coaxially and fixedly connected to the rotating shaft of the recognition device 24;

[0063] The lifting assembly is arranged on the base 1 and connected to the pitching adjustment assembly, and the lifting assembly can drive the pitching adjustment assembly to move in the vertical direction of space;

[0064] The lifting assembly includes a driving device 2 fixedly installed on the base 1. A lead screw 3 coaxial with the output shaft of the driving device 2 is installed on the output shaft of the driving device 2. A threaded sleeve 4 threadedly connected to the lead screw 3 is arranged on the lead screw 3. The threaded sleeve 4 is connected to the slider 15, and the threaded sleeve 4 is connected to the follower assembly.

[0065] During use, control the driving device 2 to work. At this time, the output shaft of the driving device 2 will drive the connected lead screw 3 to rotate, and the threaded sleeve 4 arranged on the lead screw 3 and threadedly connected to it will move along the length direction of the lead screw 3. At the same time, under the guiding action of the chute 14 and the slider 15, it can prevent the threaded sleeve 4 from rotating with the lead screw 3, and the slider 15 follows the threaded sleeve 4 to move and can drive the connecting rod 22 to move along the length direction of the vertical plate 13. After the connecting rod 22 rises to a predetermined height, the micro motor 23 can be controlled to work to change the pitching angle of the recognition device 24 and improve the recognition range of the recognition device 24.

[0066] Through the above settings, with the cooperation of the threaded sleeve 4 and the lead screw 3, the recognition device 24 can hover at any height. And the lead screw 3 and the threaded sleeve 4 are threadedly connected, and the threaded connection has high precision and self-locking property, making the control of the height of the recognition device 24 more accurate. At the same time, after the driving device 2 stops working, the recognition device 24 can achieve autonomous hovering, avoiding the need for the driving device 2 to bear the load to make the recognition device 24 hover. And after the recognition device 24 reaches the predetermined height, the micro motor 23 can drive the recognition device 24 to rotate to change the pitching angle of the recognition device 24, thereby improving the recognition range of the recognition device 24.

[0067] Please refer to Figure 2 、 Figures 4 to 7 , the follower assembly connects the lifting assembly and the extension plate 20. The follower assembly can drive the extension plate 20 to move towards the outside of the base 1 after the pitching adjustment assembly moves to a predetermined height. The follower assembly includes: a meshing structure, a sliding connection structure, and a top support structure.

[0068] The meshing structure is connected to the threaded sleeve 4. The meshing structure can act after the threaded sleeve 4 rises to a predetermined height. The meshing structure includes a gear 5 rotatably connected to the threaded sleeve 4 and a rack plate 6 arranged on the vertical plate 13. The rack plate 6 is adapted to the gear 5;

[0069] The meshing structure further includes a bevel gear set 7 connecting the threaded sleeve 4 and the gear 5. The bevel gear set 7 is connected to the sliding connection structure through a belt 8. The bevel gear set 7 includes a first bevel gear rotatably connected to the threaded sleeve 4 and a second bevel gear. The first bevel gear meshes with the second bevel gear, and the first bevel gear is coaxially and fixedly connected to the gear 5. The second bevel gear is connected to the belt 8. Further, the circumferential diameter of the first bevel gear is smaller than that of the second bevel gear to reduce the rotation speed of the follower sleeve 9;

[0070] The sliding connection structure is connected to the meshing structure. The sliding connection structure can rotate when the meshing structure acts. The sliding connection structure is a transmission rod 11 rotatably installed on the base 1. A follower sleeve 9 is sleeved on the transmission rod 11. A limiting groove 10 is provided on the inner wall of the follower sleeve 9. A limiting block 12 provided on the transmission rod 11 is in sliding fit with the limiting groove 10;

[0071] The follower sleeve 9 is rotatably connected to the threaded sleeve 4, and the follower sleeve 9 is connected to the belt 8;

[0072] The top support structure connects the sliding connection structure and the extension plate 20. The top support structure can drive the extension plate 20 to move towards the outside of the base 1. The top support structure includes a cross groove formed on the base 1. A guiding groove 18 is provided on the inner wall of the cross groove. A protrusion 19 provided on the side wall of the extension plate 20 can slide in the guiding groove 18;

[0073] The top support structure further includes a plurality of connecting plates 16 fixedly installed on the transmission rod 11 and a triangular plate 25 connected to the extension plate 20. A pulley 17 is rotatably installed at one end of the connecting plate 16 away from the transmission rod 11. The pulley 17 can roll in an inclined groove body 21 formed on the triangular plate 25.

[0074] When the threaded sleeve 4 rises to a certain height, the heights of the connecting frame 22, the identification device 24, the micro-motor 23, etc. will also increase accordingly, causing the center of gravity of the entire device to move upward. During the upward movement of the threaded sleeve 4, the gear 5 will move upward with the threaded sleeve 4. After the threaded sleeve 4 rises to a predetermined height, the gear 5 will engage with the rack plate 6. At the same time, during the continuous upward movement of the gear 5, the gear 5 will rotate and drive the follower sleeve 9 to rotate through the bevel gear set 7 and the belt 8. The follower sleeve 9 can drive the transmission rod 11 to rotate through the cooperation of the limiting groove 10 and the limiting block 12. Among them, under the cooperation of the limiting groove 10 and the limiting block 12, the follower sleeve 9 can slide relative to the transmission rod 11 while the follower sleeve 9 can drive the transmission rod 11 to rotate. Moreover, the threaded sleeve 4 is rotatably connected to the follower sleeve 9, so that the follower sleeve 9 can move up and down synchronously with the threaded sleeve 4. When the transmission rod 11 rotates, it will also drive the connecting plate 16 to rotate and make the pulley 17 move in a circular motion. The pulley 17 is arranged in the inclined groove body 21, so that when the pulley 17 moves in a circular motion, it will cooperate with the inclined groove body 21 and drive the extension plate 20 to move towards the outside of the base 1. After the threaded sleeve 4 reaches the predetermined height, as the threaded sleeve 4 continues to rise, the support area of the base 1 is larger, improving the stability of the device and avoiding the risk of the device tipping over during the identification process.

[0075] Through the above settings, in the initial state, the extension plate 20 is in a state of being retracted into the base 1, so that the device occupies less space on the plane when not in use or when the height of the threaded sleeve 4 is relatively low. When the threaded sleeve 4 rises to a certain height, the extension plate 20 will move towards the outside of the base 1, increasing the support area of the base 1 and ensuring the stability of the device. Moreover, as the threaded sleeve 4 rises, the length of the extension plate 20 moving towards the outside of the base 1 will increase, that is, the movement length of the extension plate 20 can be linked with the height of the threaded sleeve 4, achieving automatic matching and reducing the operation difficulty during use.

[0076] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claimed rights.

[0077] In addition, it should be understood that although this specification is described in terms of embodiments, not every embodiment contains only one independent technical solution. This narrative manner of the specification is merely for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A three-dimensional point cloud processing method, characterized in that, It includes the following steps: Step 1: Select two pieces of point cloud data from the acquired three-dimensional point cloud data, and input the selected point cloud data into the three-dimensional point cloud processing device; Step 2: Calculate the midpoint point cloud data of the two pieces of point cloud data in Step 1 through the three-dimensional point cloud processing device, and use this point cloud data as a benchmark; Step 3: Input the remaining acquired three-dimensional point cloud data into the three-dimensional point cloud processing device and form a three-dimensional figure; Step 4: Randomly select at least one piece of three-dimensional point cloud data in the three-dimensional figure for data calibration, and delete invalid and incorrect point cloud data; Step 5: Save the calibrated three-dimensional point cloud data.

2. A method for training a 3D point cloud processing model using the 3D point data saved in step five of claim 1, characterized in that, It includes the following steps: Step 1: Input the three-dimensional point cloud into the imaging device; Step 2: Form a three-dimensional figure through the imaging device, and make the three-dimensional figure rotate successively in the X, Y, and Z directions: Step 3: Place the training device on the platform; Step 4: Use the training device to identify the three-dimensional figure.

3. A training device, characterized in that, For identifying the three-dimensional figure, it includes: A base (1), on which multiple groups of extension plates (20) are arranged; A pitching adjustment component, arranged on the base (1), and the pitching adjustment component can identify the three-dimensional figure; A lifting component, arranged on the base (1) and connected to the pitching adjustment component, and the lifting component can drive the pitching adjustment component to move in the vertical direction of space; A follow-up component, connecting the lifting component and the extension plate (20), and the follow-up component can drive the extension plate (20) to move towards the outside of the base (1) after the pitching adjustment component moves to a predetermined height.

4. A training device according to claim 3, characterized in that, The pitching adjustment component includes a vertical plate (13) fixedly installed on the base (1), a sliding groove (14) is arranged along the length direction of the vertical plate (13), a slider (15) connected to the lifting component is slidably installed in the sliding groove (14), a connecting frame (22) is fixedly connected to the slider (15), and an identification device (24) is rotatably installed at one end of the connecting frame (22) away from the slider (15); The pitching adjustment component further includes a micro motor (23) fixedly installed on the connecting frame (22), and the output shaft of the micro motor (23) is coaxially and fixedly connected to the rotating shaft of the identification device (24).

5. A training device according to claim 4, characterized in that, The lifting component includes a driving device (2) fixedly installed on the base (1), a lead screw (3) coaxial with the output shaft of the driving device (2) is installed on the output shaft of the driving device (2), a threaded sleeve (4) threadedly connected to the lead screw (3) is arranged on the lead screw (3), the threaded sleeve (4) is connected to the slider (15), and the threaded sleeve (4) is connected to the follow-up component.

6. The training device according to claim 5, wherein The follow-up component includes: A meshing structure, connected to the threaded sleeve (4), and the meshing structure can act after the threaded sleeve (4) rises to a predetermined height; A sliding connection structure, connected to the meshing structure, and the sliding connection structure can rotate when the meshing structure acts; A top support structure, connecting the sliding connection structure and the extension plate (20), and the top support structure can drive the extension plate (20) to move towards the outside of the base (1).

7. The training device according to claim 6, characterized in that The meshing structure includes a gear (5) rotatably connected to the threaded sleeve (4) and a rack plate (6) provided on the vertical plate (13), and the rack plate (6) is adapted to the gear (5); The meshing structure further includes a bevel gear set (7) connecting the threaded sleeve (4) and the gear (5), and the bevel gear set (7) is connected to the sliding connection structure through a belt (8).

8. A training device according to claim 7, wherein The sliding connection structure rotatably mounts a transmission rod (11) on the base (1), a follower sleeve (9) is sleeved on the transmission rod (11), a limiting groove (10) is provided on the inner wall of the follower sleeve (9), and a limiting block (12) provided on the transmission rod (11) is in sliding fit with the limiting groove (10); The follower sleeve (9) is rotatably connected to the threaded sleeve (4), and the follower sleeve (9) is connected to the belt (8).

9. The training device according to claim 8, wherein, The top support structure includes a cross groove formed on the base (1), a guiding groove (18) is provided on the inner wall of the cross groove, and a protrusion (19) provided on the side wall of the extension plate (20) can slide in the guiding groove (18); The top support structure further includes a plurality of connecting plates (16) fixedly installed on the transmission rod (11) and a triangular plate (25) connected to the extension plate (20), a pulley (17) is rotatably installed at one end of the connecting plate (16) away from the transmission rod (11), and the pulley (17) can roll in an inclined groove body (21) formed on the triangular plate (25).

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