Modeling method and modeling system

Abstract

The invention discloses a modeling method and a modeling system, and relates to the technical field of three-dimensional modeling. The modeling method is based on a multi-degree-of-freedom motion platform. The first movement mechanism, the second movement mechanism and the third movement mechanism of the multi-degree-of-freedom movement platform are controlled to be matched to drive the carrying table to move, so that the camera shooting equipment collects image information of a to-be-modeled target. The multi-degree-of-freedom motion platform can drive the camera equipment to move flexibly, the flexibility of the camera equipment is improved, and the multi-degree-of-freedom motion platform can adapt to diversified scanning paths so as to meet modeling requirements of more application scenes. In addition, the number of the camera devices used in the method is small, and therefore the modeling cost is low.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of three-dimensional modeling, in particular to a modeling method and a modeling system. BACKGROUND

[0002] The existing three-dimensional modeling technology usually scans the target to be modeled by using a multi-camera. The use of too many cameras will undoubtedly increase the modeling cost. Moreover, the multi-camera can only support a specific scanning path by being fixedly loaded at a certain angle, and the flexibility is still limited, which cannot meet the modeling needs of more application scenarios. SUMMARY

[0003] The present application provides a modeling method and a modeling system, which can improve the flexibility of the camera equipment, adapt to diversified scanning paths, meet the modeling needs of more application scenarios, and have a lower modeling cost.

[0004] The present application provides a modeling method, which is based on a multi-degree-of-freedom motion platform. The multi-degree-of-freedom motion platform includes a base, a first motion mechanism, a second motion mechanism, a third motion mechanism, and a stage. The first motion mechanism is in transmission connection with the base and the third motion mechanism, respectively. The second motion mechanism is in transmission connection with the stage and the third motion mechanism, respectively. The third motion mechanism is used to drive the relative rotation of the first motion mechanism and the second motion mechanism. The first motion mechanism, the second motion mechanism, and the third motion mechanism are used to cooperatively drive the stage to move. The stage is provided with a camera equipment. The modeling method includes the following steps: controlling the first motion mechanism, the second motion mechanism, and the third motion mechanism to cooperatively drive the stage to move, so that the camera equipment collects image information of the target to be modeled; and constructing a three-dimensional model of the target to be modeled based on the image information.

[0005] In an embodiment of the present application, the first motion mechanism includes a first mounting seat, a first driving assembly, and a first transmission assembly. The first mounting seat is connected with the third motion mechanism. The base and the first mounting seat are in transmission connection through the first driving assembly and the first transmission assembly. The first driving assembly is configured to drive the relative movement of the first mounting seat and the base through the first transmission assembly. The second motion mechanism includes a second mounting seat, a second driving assembly, and a second transmission assembly. The second mounting seat is connected with the third motion mechanism. The stage and the second mounting seat are in transmission connection through the second driving assembly and the second transmission assembly. The second driving assembly is configured to drive the relative movement of the second mounting seat and the stage through the second transmission assembly. The step of controlling the first motion mechanism, the second motion mechanism, and the third motion mechanism to cooperatively drive the stage to move includes the following steps: controlling the first driving assembly to drive the first mounting seat to move; and / or controlling the third motion mechanism to drive the relative rotation of the first mounting seat and the second mounting seat; and / or controlling the second driving assembly to drive the stage to move.

[0006] In an embodiment of the present application, the first driving assembly is arranged on the first mounting base, and the first driving assembly is drivingly connected to the base through the first transmission assembly; the step of controlling the first driving assembly to drive the first mounting base to move includes: controlling the first driving assembly to output an acting force to the base, so as to drive the first mounting base to move through a reaction force.

[0007] In an embodiment of the present application, the first driving assembly includes a first driving part and a second driving part arranged on opposite sides of the first mounting base, and the first transmission assembly includes a first crank, a first connecting rod, a second crank and a second connecting rod; the first crank is drivingly connected to an output end of the first driving part, and two ends of the first connecting rod are movably connected to the first crank and the base respectively; the second crank is drivingly connected to an output end of the second driving part, and two ends of the second connecting rod are movably connected to the second crank and the base respectively; the step of controlling the first driving assembly to output an acting force to the base, so as to drive the first mounting base to move through a reaction force includes: controlling the first driving part to drive the first crank, so that the first crank applies an acting force to the base through the first connecting rod, so as to drive the first mounting base to move through a reaction force; and / or controlling the second driving part to drive the second crank, so that the second crank applies an acting force to the base through the second connecting rod, so as to drive the first mounting base to move through a reaction force.

[0008] In an embodiment of the present application, the second driving assembly is arranged on the second mounting base, and the second driving assembly is drivingly connected to the stage through the second transmission assembly; the step of controlling the second driving assembly to drive the stage to move includes: controlling the second driving assembly to directly drive the stage to move through the second transmission assembly.

[0009] In an embodiment of the present application, the second driving assembly includes a third driving part and a fourth driving part arranged on opposite sides of the second mounting base, and the second transmission assembly includes a third crank, a third connecting rod, a fourth crank and a fourth connecting rod; the third crank is drivingly connected to an output end of the third driving part, and two ends of the third connecting rod are movably connected to the third crank and the stage respectively; the fourth crank is drivingly connected to an output end of the fourth driving part, and two ends of the fourth connecting rod are movably connected to the fourth crank and the stage respectively; the step of controlling the second driving assembly to directly drive the stage to move through the second transmission assembly includes: controlling the third driving part to drive the third crank, so that the third crank applies an acting force to the stage through the third connecting rod to drive the stage to move; and / or controlling the fourth driving part to drive the fourth crank, so that the fourth crank applies an acting force to the stage through the fourth connecting rod to drive the stage to move.

[0010] In an embodiment of the present application, the third motion mechanism comprises a third mounting base, a third driving assembly and a rotating table, the third mounting base is connected with the first mounting base, the third driving assembly is connected with the third mounting base and the rotating table respectively, the third driving assembly is configured to drive the rotating table to rotate, and the rotating table is drivingly connected with the second mounting base; the step of controlling the third motion mechanism to drive the first mounting base and the second mounting base to rotate relative to each other comprises: controlling the third driving assembly to drive the rotating table to rotate, so that the first mounting base and the second mounting base rotate relative to each other.

[0011] In an embodiment of the present application, the step of collecting image information of the target to be modeled by the imaging device comprises: determining a scanning path matching the target to be modeled; and controlling the first motion mechanism, the second motion mechanism and the third motion mechanism to drive the imaging device to move along the scanning path in cooperation, so as to collect the image information.

[0012] In an embodiment of the present application, the step of controlling the first motion mechanism, the second motion mechanism and the third motion mechanism to drive the imaging device to move along the scanning path in cooperation, so as to collect the image information comprises: controlling the first motion mechanism, the second motion mechanism and the third motion mechanism to drive the imaging device to move along the circumferential direction of the target to be modeled in cooperation, so as to collect multi-angle image information of the target to be modeled.

[0013] In an embodiment of the present application, the step of controlling the first motion mechanism, the second motion mechanism and the third motion mechanism to drive the imaging device to move along the scanning path in cooperation, so as to collect the image information comprises: controlling the first motion mechanism, the second motion mechanism and the third motion mechanism to drive the imaging device to move along the height direction of the target to be modeled in cooperation, so as to perform layered scanning on the target to be modeled, and further collect multi-angle image information of the target to be modeled.

[0014] In an embodiment of the present application, the step of controlling the first motion mechanism, the second motion mechanism and the third motion mechanism to drive the imaging device to move along the scanning path in cooperation, so as to collect the image information comprises: controlling the first motion mechanism, the second motion mechanism and the third motion mechanism to drive the imaging device to scan a local position of the target to be modeled, so as to collect the image information.

[0015] In an embodiment of the present application, the step of constructing the three-dimensional model of the target to be modeled based on the image information comprises: performing point cloud splicing on the collected image information based on the scanning path, to obtain a point cloud image; fusing the point cloud image into a global coordinate system, and using a three-dimensional modeling algorithm to construct the three-dimensional model of the target to be modeled.

[0016] In an embodiment of the present application, the imaging device is a depth camera.

[0017] Correspondingly, the application further provides a modeling system, comprising a controller, a multi-degree-of-freedom motion platform, and a camera device, wherein the controller is capable of executing the modeling method as set forth in the above embodiments.

[0018] The application has the following beneficial effects: Different from the prior art, the application provides a modeling method and a modeling system. The modeling method is based on a multi-degree-of-freedom motion platform. The first motion mechanism, the second motion mechanism, and the third motion mechanism of the multi-degree-of-freedom motion platform are controlled to drive the motion of the carrier, so that the camera device collects image information of the target to be modeled. The multi-degree-of-freedom motion platform can drive the camera device to move flexibly, improve the flexibility of the camera device, and adapt to diversified scanning paths to meet the modeling needs of more application scenarios. Moreover, the number of camera devices used in the application is small, and thus the modeling cost is low. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0020] Figure 1 is a structural schematic diagram of an embodiment of the multi-degree-of-freedom motion platform of the application;

[0021] Figure 2 is Figure 1 is an exploded structural schematic diagram of the multi-degree-of-freedom motion platform shown in

[0022] Figure 3 is a structural schematic diagram of an embodiment of the first motion mechanism of the application;

[0023] Figure 4 is a structural schematic diagram of an embodiment of the second motion mechanism of the application;

[0024] Figure 5 is a flow schematic diagram of a first embodiment of the modeling method of the application;

[0025] Figure 6 is a flow schematic diagram of a second embodiment of the modeling method of the application.

[0026] Explanation of reference signs:

[0027] 10 - multi-degree-of-freedom motion platform; 11 - base; 12 - first motion mechanism; 121 - first mounting seat; 1211 - mounting cavity; 122 - first driving assembly; 1221 - first driving part; 1222 - second driving part; 123 - first transmission assembly; 1231 - first crank; 1231a - first body part; 1231b - first extension part; 1231c - first connecting part; 1232 - first connecting rod; 1233 - second crank; 1233a - second body part; 1233b - second extension part; 1233c - second connecting part; 1234 - second connecting rod; 124 - first cross shaft; 1241 - first rotating shaft; 1242 - second rotating shaft; 13 - second motion mechanism; 131 - second mounting seat; 132 - second driving assembly; 1321 - third driving part; 1322 - fourth driving part; 133 - second transmission assembly; 1331 - third crank; 1331a - third body part; 1331b - third extension part; 1331c - third connecting part; 1332 - third connecting rod; 1333 - fourth crank; 1333a - fourth body part; 1333b - fourth extension part; 1333c - fourth connecting part; 1334 - fourth connecting rod; 134 - second cross shaft; 1341 - third rotating shaft; 1342 - fourth rotating shaft; 14 - third motion mechanism; 141 - third mounting seat; 142 - third driving assembly; 143 - turntable; 15 - load table. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be clearly and completely described in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application. In addition, it should be understood that the specific embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application. In the present application, unless otherwise specified and limited, the orientation words such as "upper", "lower", "left", "right" generally refer to the upper, lower, left and right of the device in the actual use or working state, and specifically refer to the direction of the drawing plane in the drawings.

[0029] In the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "stacked" and the like should be understood in a broad sense, for example, can be fixedly connected, can be detachably connected, or can be integrated; can be directly connected, or indirectly connected through an intermediate medium; can be the internal connection of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0030] The application provides a modeling method and a modeling system, which are described in detail below. It should be noted that the description order of the following embodiments is not used as a limitation on the preferred order of the embodiments of the application. Moreover, the description of each embodiment focuses on different aspects, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0031] Please refer to Figure 1 , Figure 1 is a structural schematic diagram of an embodiment of the multi-degree-of-freedom motion platform of the application.

[0032] In an embodiment, the multi-degree-of-freedom motion platform 10 includes a base 11, a first motion mechanism 12, a second motion mechanism 13, a third motion mechanism 14, and a carrier 15. The first motion mechanism 12 is in driving connection with the base 11 and the third motion mechanism 14, respectively. The second motion mechanism 13 is in driving connection with the carrier 15 and the third motion mechanism 14, respectively. The third motion mechanism 14 is used to drive the first motion mechanism 12 and the second motion mechanism 13 to rotate relatively. The first motion mechanism 12, the second motion mechanism 13, and the third motion mechanism 14 are used to drive the carrier 15 to move cooperatively. The carrier 15 is provided with a camera device. The first motion mechanism 12 drives the second motion mechanism 13 and the third motion mechanism 14 to move synchronously. The third motion mechanism 14 drives the first motion mechanism 12 and the second motion mechanism 13 to rotate relatively. The second motion mechanism 13 drives the carrier 15 to move, thereby realizing the multi-degree-of-freedom motion of the carrier 15, i.e., realizing the multi-degree-of-freedom cooperative control of the multi-degree-of-freedom motion platform 10. The multi-degree-of-freedom motion platform 10 can realize the multi-degree-of-freedom motion of the camera device, improve the motion flexibility of the camera device, and make the camera device adapt to diversified scanning paths to meet the modeling requirements of more application scenarios. Moreover, the number of camera devices used in the application is small, and thus the modeling cost is low.

[0033] It should be noted that the camera device in the embodiments of the application can be a depth camera, etc. Compared with the three-dimensional modeling scheme relying on a laser radar, the depth camera has the advantage of low cost. By driving the camera device to move through the multi-degree-of-freedom motion platform 10, the three-dimensional modeling scheme relying on the depth camera in the embodiments of the application can also ensure high modeling accuracy under a certain frame number.

[0034] Please refer to Figure 2 and Figure 3In an embodiment, the first motion mechanism 12 comprises a first mounting base 121, a first driving assembly 122, and a first transmission assembly 123. The first motion mechanism 12 comprises the first mounting base 121, the first driving assembly 122, and the first transmission assembly 123. The first mounting base 121 is connected with the third motion mechanism 14. The base 11 is drivingly connected with the first mounting base 121 through the first driving assembly 122 and the first transmission assembly 123. The first driving assembly 122 is configured to drive the first mounting base 121 and the base 11 to move relative to each other through the first transmission assembly 123.

[0035] Specifically, the first driving assembly 122 is configured to provide driving force. The first driving assembly 122 drives the first mounting base 121 to move through the first transmission assembly 123. The base 11 can be mounted on a workbench. Under the driving action of the first driving assembly 122, the first mounting base 121 can move relative to the base 11. The base 11 is a support base of the multi-degree-of-freedom motion platform 10. In an embodiment, the base 11 can be made of high-strength aluminum alloy or other materials to ensure that the base 11 has sufficient structural strength. The first mounting base 121, the first driving assembly 122, and the first transmission assembly 123 can be arranged above the base 11. The base 11 can be fixed to the mounting surface by bolts to ensure that the multi-degree-of-freedom motion platform 10 remains stable during movement.

[0036] Referring to Figure 2 , the third motion mechanism 14 comprises a third mounting base 141, a third driving assembly 142, and a turntable 143. The third mounting base 141 is connected with the first mounting base 121. The third driving assembly 142 is connected with the third mounting base 141 and the turntable 143, respectively. The third driving assembly 142 is configured to drive the turntable 143 to rotate. The turntable 143 is drivingly connected with the second mounting base 131.

[0037] Specifically, the third driving assembly 142 can be mounted on the third mounting base 141. The output end of the third driving assembly 142 is connected with the turntable 143. The third driving assembly 142 is configured to drive the turntable 143 to rotate to realize the rotation of the turntable 143 in one degree of freedom, thereby driving the second motion mechanism 13 to rotate synchronously. For example, the third driving assembly 142 drives the turntable 143 to rotate around a rotation axis perpendicular to the horizontal plane. The third mounting base 141 is connected with the first mounting base 121. The first mounting base 121 can drive the third mounting base 141 to move. Further, the third mounting base 141 can be detachably connected with the first mounting base 121 by bolts. The number of bolts is multiple. The multiple bolts can be arranged in a ring array to improve the stability of the connection between the third mounting base 141 and the first mounting base 121. The third driving assembly 142 can comprise a motor, for example, a rotary motor.

[0038] Of course, in other embodiments of the present application, the third driving assembly 142 can also be mounted to the first mounting base 121, which is not limited here.

[0039] In some embodiments, the third driving assembly 142 can include a power element such as a motor. The third driving assembly 142 can further include a reducer (not shown) or the like, which can improve the positioning accuracy and repeatability of the motor, thereby improving the motion accuracy and stability of the third motion mechanism 14.

[0040] Referring to Figure 2 and Figure 4 , the second motion mechanism 13 includes a second mounting base 131, a second driving assembly 132, and a second transmission assembly 133. The second mounting base 131 is connected to the third motion mechanism 14, and the stage 15 is drivingly connected to the second mounting base 131 through the second driving assembly 132 and the second transmission assembly 133, and the second driving assembly 132 is configured to drive the second mounting base 131 and the stage 15 to move relative to each other through the second transmission assembly 133.

[0041] Specifically, the second driving assembly 132 is configured to provide driving force, and the second driving assembly 132 drives the stage 15 to move through the second transmission assembly 133. The second mounting base 131 is connected to the turntable 143, which can drive the second mounting base 131 to move together. The second mounting base 131 can be detachably connected to the turntable 143 by a plurality of bolts, and the plurality of bolts can be arranged in a ring array to improve the stability of the connection between the second mounting base 131 and the turntable 143. The stage 15 can be used to carry a robot, and the multi-degree-of-freedom motion platform 10 can drive the robot to move in multiple degrees of freedom.

[0042] In some embodiments, referring to Figure 2 and Figure 3 , the first mounting base 121 can have a mounting cavity 1211, and part of the structure of the third motion mechanism 14 is mounted in the mounting cavity 1211, for example, at least part of the third driving assembly 142 is accommodated in the mounting cavity 1211. This greatly reduces the overall volume of the multi-degree-of-freedom motion platform 10, making the multi-degree-of-freedom motion platform 10 more compact and improving the space utilization. Of course, in some application scenarios where the space utilization requirement is not high, the first mounting base 121 can not be provided with the mounting cavity 1211.

[0043] In the embodiments of the present application, through the cooperation of the three movement mechanisms including the first driving assembly 122, the second driving assembly 132 and the third driving assembly 142, the composite movement of multiple degrees of freedom can be realized, thereby meeting the requirements of different application scenarios, and the first driving assembly 122, the third driving assembly 142 and the second driving assembly 132 are relatively independently arranged, which reduces the mutual interference between the first movement mechanism 12, the third movement mechanism 14 and the second movement mechanism 13, thereby improving the movement precision and stability.

[0044] Regarding the mounting position of the first driving assembly 122, in some embodiments, referring to Figure 2 and Figure 3 , the first driving assembly 122 is arranged on the first mounting seat 121, and the two ends of the first transmission assembly 123 are connected with the base 11 and the first driving assembly 122 respectively, that is, the first driving assembly 122 is in transmission connection with the base 11 through the first transmission assembly 123. The first driving assembly 122 is fixedly connected with the first mounting seat 121, when the first driving assembly 122 operates, the first driving assembly 122 drives the first mounting seat 121 and the first driving assembly 122 to move relative to the base 11 through the first transmission assembly 123, that is, the first driving assembly 122 drives the first transmission assembly 123 to move. The first transmission assembly 123 can transmit the driving force of the first driving assembly 122 to the base 11, and since the base 11 is fixed, the first mounting seat 121 and the first driving assembly 122 move relative to the base 11 under the action of the reaction force.

[0045] Of course, in other embodiments of the present application, the first driving assembly 122 can also be arranged on the base 11, and the two ends of the first transmission assembly 123 are connected with the first mounting seat 121 and the first driving assembly 122 respectively. The first driving assembly 122 is fixedly connected with the base 11, when the first driving assembly 122 operates, the first driving assembly 122 directly drives the first mounting seat 121 to move relative to the base 11 through the first transmission assembly 123, which is not limited herein.

[0046] Referring to Figure 2 and Figure 3 , the first driving assembly 122 includes a first driving part 1221 and a second driving part 1222 arranged on opposite sides of the first mounting seat 121, and the first transmission assembly 123 includes a first crank 1231, a first connecting rod 1232, a second crank 1233 and a second connecting rod 1234; the first crank 1231 is in transmission connection with the output end of the first driving part 1221, and the two ends of the first connecting rod 1232 are movably connected with the first crank 1231 and the base 11 respectively; the second crank 1233 is in transmission connection with the output end of the second driving part 1222, and the two ends of the second connecting rod 1234 are movably connected with the second crank 1233 and the base 11 respectively.

[0047] The first driving part 1221 and the second driving part 1222 can be motors or the like, for example, servo motors or the like. The first driving part 1221 and the second driving part 1222 are preferably motors of the same model. The first driving part 1221 and the second driving part 1222 are independent of each other, and the first driving part 1221 and the second driving part 1222 can each independently operate. When one of the first driving part 1221 and the second driving part 1222 operates, the first mounting seat 121 can swing left and right, when the first driving part 1221 and the second driving part 1222 operate simultaneously and synchronously, the first mounting seat 121 can swing up and down, when the first driving part 1221 and the second driving part 1222 operate simultaneously but asynchronously, the first mounting seat 121 can swing left and right and swing up and down simultaneously. Different operating states of the first driving part 1221 and the second driving part 1222 can realize rotation of the first mounting seat 121 in two degrees of freedom.

[0048] In some embodiments, the first driving assembly 122 can further include a reducer (not shown) or the like, which can improve the positioning accuracy and repeatability of the first driving part 1221 and the second driving part 1222, thereby improving the motion accuracy and stability of the first motion mechanism 12.

[0049] In an embodiment, the multi-degree-of-freedom motion platform 10 has a first direction Z, a second direction X and a third direction Y perpendicular to each other. The first motion mechanism 12, the second motion mechanism 13 and the third motion mechanism 14 are distributed along the first direction Z. The first direction Z can be understood as the height direction of the multi-degree-of-freedom motion platform 10. The first driving part 1221 and the second driving part 1222 of the first driving assembly 122 are arranged on opposite sides of the first mounting seat 121 in the second direction X.

[0050] Referring to Figure 2 and Figure 3 , the first crank 1231 and the second crank 1233 can be symmetrically distributed with a plane perpendicular to the second direction X as a symmetry plane, and the first connecting rod 1232 and the second connecting rod 1234 can also be symmetrically distributed with a plane perpendicular to the second direction X as a symmetry plane. In this way, the first motion mechanism 12 as a whole is a symmetrical structure, not only can the force acting on the first motion mechanism 12 during movement be evenly dispersed, effectively reducing the stress concentration phenomenon of local parts, and can reduce vibration, but also the symmetrical structure is easier to accurately adjust the movement state of the first motion mechanism 12 through algorithm and control system, and the symmetrical structure itself has better geometric stability, which can improve the rigidity and anti-deformation ability of the first motion mechanism 12.

[0051] The first connecting rod 1232 and the second connecting rod 1234 are located on the same side of the first mounting base 121 in the third direction Y, and the first mounting base 121 can move in two degrees of freedom. In addition, when the first driving part 1221 and the second driving part 1222 simultaneously drive the first crank 1231 and the second crank 1233 to rotate clockwise, or the first driving part 1221 and the second driving part 1222 simultaneously drive the first crank 1231 and the second crank 1233 to rotate counterclockwise, abnormal situations such as jamming can be avoided.

[0052] With reference to Figure 2 and Figure 3 When the first driving assembly 122 is arranged on the first mounting base 121, the first mounting base 121 preferably has a symmetrical structure. The first driving part 1221 and the second driving part 1222 are arranged on opposite sides of the first mounting base 121, i.e. the first driving part 1221 and the second driving part 1222 are arranged on both sides of the first mounting base 121 along the central axis of the first mounting base 121. The first crank 1231 is connected to the output end of the first driving part 1221, and the first driving part 1221 can drive the first crank 1231 to rotate. The two ends of the first connecting rod 1232 are respectively connected to the first crank 1231 and the base 11 in a movable manner, e.g. rotatable connection. The second crank 1233 is connected to the output end of the second driving part 1222, and the second driving part 1222 can drive the second crank 1233 to rotate. The two ends of the second connecting rod 1234 are respectively connected to the second crank 1233 and the base 11 in a movable manner, e.g. rotatable connection.

[0053] With reference to Figure 3 The first crank 1231 includes a first main body part 1231a, a first extension part 1231b and a first connecting part 1231c. The first main body part 1231a is connected to the first connecting part 1231c through the first extension part 1231b. The first main body part 1231a is connected to one end of the first driving part 1221 away from the first mounting base 121. The first extension part 1231b is located on the side of the first main body part 1231a close to the first mounting base 121. The first connecting part 1231c is connected to the end of the first extension part 1231b away from the first main body part 1231a, and the first connecting part 1231c is connected to the first connecting rod 1232. In this way, the size of the first movement mechanism 12 in the second direction X can be reduced, thereby reducing the size of the multi-degree-of-freedom movement platform 10 in the second direction X.

[0054] The second crank 1233 comprises a second main body part 1233a, a second extension part 1233b and a second connecting part 1233c, the second main body part 1233a is connected with the second connecting part 1233c through the second extension part 1233b, the second main body part 1233a is connected to the second driving part 1222 at a side away from the first mounting base 121, the second extension part 1233b is located at a side of the second main body part 1233a close to the first mounting base 121, the second connecting part 1233c is connected to an end of the second extension part 1233b away from the second main body part 1233a, and the second connecting part 1233c is connected with the second connecting rod 1234. In this way, the size of the first motion mechanism 12 in the second direction X can be reduced, and thus the size of the multi-degree-of-freedom motion platform 10 in the second direction X can be reduced.

[0055] With reference to Figure 2 and Figure 3 , the first motion mechanism 12 further comprises a first cross shaft 124, and the first mounting base 121 is movably connected with the base 11 through the first cross shaft 124. The first cross shaft 124 comprises a first rotating shaft 1241 and a second rotating shaft 1242, and the first rotating shaft 1241 is rotatably connected with the second rotating shaft 1242. The first rotating shaft 1241 and the second rotating shaft 1242 are intersected. Further, the first rotating shaft 1241 and the second rotating shaft 1242 are preferably perpendicular to each other. The first rotating shaft 1241 extends along the third direction Y, and the second rotating shaft 1242 extends along the second direction X. The first rotating shaft 1241 is rotatably arranged in the second rotating shaft 1242, so that the first mounting base 121 is movably connected with the base 11 through the first rotating shaft 1241 and the second rotating shaft 1242.

[0056] Regarding the installation position of the second driving assembly 132, in some embodiments, with reference to Figure 2 and Figure 4 , the second driving assembly 132 is arranged on the second mounting base 131, and the two ends of the second transmission assembly 133 are respectively connected with the second driving assembly 132 and the stage 15, that is, the second driving assembly 132 is drivingly connected with the stage 15 through the second transmission assembly 133. The second driving assembly 132 is fixedly connected with the second mounting base 131, and when the second driving assembly 132 operates, the second driving assembly 132 directly drives the stage 15 to move relative to the second mounting base 131 through the second transmission assembly 133.

[0057] Of course, in other embodiments of the present application, the second driving assembly 132 can also be arranged on the carrier 15, and the two ends of the second transmission assembly 133 are connected with the second mounting seat 131 and the second driving assembly 132 respectively. The second driving assembly 132 is fixedly connected with the carrier 15. When the second driving assembly 132 operates, the second driving assembly 132 applies a force to the second mounting seat 131 through the second transmission assembly 133, so as to drive the carrier 15 and the second driving assembly 132 to move relative to the second mounting seat 131 under the action of the reaction force of the force.

[0058] With reference to Figure 2 and Figure 4 The second driving assembly 132 includes a third driving part 1321 and a fourth driving part 1322 arranged on the opposite sides of the second mounting seat 131, and the second transmission assembly 133 includes a third crank 1331, a third connecting rod 1332, a fourth crank 1333, and a fourth connecting rod 1334. The third crank 1331 is in transmission connection with the output end of the third driving part 1321, and the two ends of the third connecting rod 1332 are movably connected with the third crank 1331 and the carrier 15 respectively. The fourth crank 1333 is in transmission connection with the output end of the fourth driving part 1322, and the two ends of the fourth connecting rod 1334 are movably connected with the fourth crank 1333 and the carrier 15 respectively.

[0059] The third driving part 1321 and the fourth driving part 1322 can be motors, such as servo motors. The third driving part 1321 and the fourth driving part 1322 are preferably motors of the same model. The third driving part 1321 and the fourth driving part 1322 are independent of each other, and the third driving part 1321 and the fourth driving part 1322 can operate independently. When one of the third driving part 1321 and the fourth driving part 1322 operates, the carrier 15 can swing left and right. When the third driving part 1321 and the fourth driving part 1322 operate simultaneously and synchronously, the carrier 15 can swing up and down. When the third driving part 1321 and the fourth driving part 1322 operate simultaneously but asynchronously, the carrier 15 can swing left and right and swing up and down simultaneously. Different operating states of the third driving part 1321 and the fourth driving part 1322 can realize rotation of the carrier 15 in two degrees of freedom.

[0060] In some embodiments, the second driving assembly 132 can further include a reducer (not shown) or the like. The reducer can improve the positioning accuracy and repeatability of the third driving part 1321 and the fourth driving part 1322, thereby improving the movement accuracy and stability of the second movement mechanism 13.

[0061] With reference to Figure 2 and Figure 4, the third driving part 1321 and the fourth driving part 1322 of the second driving assembly 132 are arranged on opposite sides of the second mounting base 131 in the second direction X. The third crank 1331 and the fourth crank 1333 can be symmetrically distributed with a plane perpendicular to the second direction X as a symmetric plane, and the third connecting rod 1332 and the fourth connecting rod 1334 can also be symmetrically distributed with a plane perpendicular to the second direction X as a symmetric plane. In this way, the second motion mechanism 13 as a whole is a symmetrical structure, not only can the force borne by the second motion mechanism 13 during movement be evenly dispersed, effectively reducing the stress concentration phenomenon of the local part, and the vibration can be reduced, but also the symmetrical structure is more easily to be accurately adjusted by the algorithm and the control system. At the same time, the symmetrical structure itself has better geometric stability, which can improve the rigidity and anti-deformation ability of the second motion mechanism 13.

[0062] The third connecting rod 1332 and the fourth connecting rod 1334 are located on the same side of the second mounting base 131 in the third direction Y, and the motion of the platform 15 in two degrees of freedom can be realized. And when the third driving part 1321 and the fourth driving part 1322 simultaneously drive the third crank 1331 and the fourth crank 1333 to rotate clockwise, or the third driving part 1321 and the fourth driving part 1322 simultaneously drive the third crank 1331 and the fourth crank 1333 to rotate counterclockwise, abnormal situations such as jamming can be avoided.

[0063] Referring to Figure 2 and Figure 4 When the second driving assembly 132 is arranged on the second mounting base 131, the second mounting base 131 preferably has a symmetrical structure. The third driving part 1321 and the fourth driving part 1322 are arranged on the second mounting base 131 in opposite positions, and the third driving part 1321 and the fourth driving part 1322 are symmetrically arranged on both sides of the second mounting base 131 along the central axis of the second mounting base 131. The third crank 1331 is connected to the output end of the third driving part 1321, and the third driving part 1321 can drive the third crank 1331 to rotate. The two ends of the third connecting rod 1332 are respectively connected to the third crank 1331 and the platform 15 in a movable manner, for example, rotatable connection. The fourth crank 1333 is connected to the output end of the fourth driving part 1322, and the fourth driving part 1322 can drive the fourth crank 1333 to rotate. The two ends of the fourth connecting rod 1334 are respectively connected to the fourth crank 1333 and the platform 15 in a movable manner, for example, rotatable connection.

[0064] Referring to Figure 4The third crank 1331 comprises a third body part 1331a, a third extension part 1331b and a third connecting part 1331c. The third body part 1331a is connected with the third connecting part 1331c through the third extension part 1331b. The third body part 1331a is connected to the one end of the third driving part 1321 away from the second mounting base 131. The third extension part 1331b is located at the side of the third body part 1331a close to the second mounting base 131. The third connecting part 1331c is connected to the end of the third extension part 1331b away from the third body part 1331a. The third connecting part 1331c is connected with the third connecting rod 1332. In this way, the size of the third motion mechanism 14 in the second direction X can be reduced, and thus the size of the multi-DOF motion platform 10 in the second direction X can be reduced.

[0065] The fourth crank 1333 comprises a fourth body part 1333a, a fourth extension part 1333b and a fourth connecting part 1333c. The fourth body part 1333a is connected with the fourth connecting part 1333c through the fourth extension part 1333b. The fourth body part 1333a is connected to the one end of the fourth driving part 1322 away from the second mounting base 131. The fourth extension part 1333b is located at the side of the fourth body part 1333a close to the second mounting base 131. The fourth connecting part 1333c is connected to the end of the fourth extension part 1333b away from the fourth body part 1333a. The fourth connecting part 1333c is connected with the fourth connecting rod 1334. In this way, the size of the third motion mechanism 14 in the second direction X can be reduced, and thus the size of the multi-DOF motion platform 10 in the second direction X can be reduced.

[0066] Referring to Figure 2 and Figure 4 The second motion mechanism 13 further comprises a second cross shaft 134. The carrier 15 is movably connected with the second mounting base 131 through the second cross shaft 134. The second cross shaft 134 comprises a third rotating shaft 1341 and a fourth rotating shaft 1342. The third rotating shaft 1341 is rotatably connected with the fourth rotating shaft 1342. The third rotating shaft 1341 and the fourth rotating shaft 1342 are intersected. Further, the third rotating shaft 1341 and the fourth rotating shaft 1342 are preferably perpendicular to each other. The third rotating shaft 1341 extends along the third direction Y, and the fourth rotating shaft 1342 extends along the second direction X. The third rotating shaft 1341 is rotatably arranged in the fourth rotating shaft 1342, so that the carrier 15 is movably connected with the second mounting base 131 through the third rotating shaft 1341 and the fourth rotating shaft 1342.

[0067] It should be noted that in the embodiments of the present application, through the cooperative work of the first motion mechanism 12, the third motion mechanism 14 and the second motion mechanism 13, the multi-DOF motion platform 10 can realize the compound motion of at least five degrees of freedom.

[0068] Please refer toFigure 5 , Figure 5 is a flowchart of a first embodiment of the modeling method of the present application. The modeling method described in the embodiment is based on the multi-degree-of-freedom motion platform 10 described in the above embodiment, and thus will not be described here.

[0069] S101: Control the first motion mechanism, the second motion mechanism, and the third motion mechanism to drive the carrier to move, so that the image information of the target to be modeled is collected by the camera device.

[0070] In the embodiment, the image information of the target to be modeled is collected by the camera device, and subsequently, a three-dimensional model of the target to be modeled is constructed based on the image information. During the process of collecting the image information of the target to be modeled by the camera device, the camera device needs to move along a specific scanning path, or needs to move to one or more specific positions, in order to collect the image information of the target to be modeled. Therefore, in the embodiment, the multi-degree-of-freedom motion platform 10 described in the above embodiment is used to drive the camera device to move, specifically, the first motion mechanism 12, the second motion mechanism 13, and the third motion mechanism 14 are controlled to drive the carrier 15 to move, so that the image information of the target to be modeled is collected by the camera device.

[0071] S102: Construct a three-dimensional model of the target to be modeled based on the image information.

[0072] In the embodiment, the first motion mechanism 12, the second motion mechanism 13, and the third motion mechanism 14 are controlled to drive the carrier 15 to move, so that the image information of the target to be modeled is collected by the camera device, and then a three-dimensional model of the target to be modeled is constructed based on the image information.

[0073] In the above manner, in the embodiment, the first motion mechanism 12, the second motion mechanism 13, and the third motion mechanism 14 of the multi-degree-of-freedom motion platform 10 are controlled to drive the carrier 15 to move, so that the image information of the target to be modeled is collected by the camera device. The multi-degree-of-freedom motion platform 10 can drive the camera device to move flexibly, improve the flexibility of the camera device, and adapt to various scanning paths to meet the modeling needs of more application scenarios. Moreover, the number of camera devices used in the present application is small, and thus the modeling cost is low.

[0074] Please refer to Figure 6 , Figure 6 is a flowchart of a second embodiment of the modeling method of the present application.

[0075] S201: Determine a scanning path matching the target to be modeled.

[0076] In the embodiment, the target to be modeled can be a space, a scene, an object, etc. The scanning path is planned according to the type and shape of the target to be modeled, so as to determine a scanning path matching the target to be modeled. The scanning path can be a spiral scanning path, a layered scanning path, a local scanning path, etc. After the scanning path is determined, the camera device is driven to move along the determined scanning path by the multi-degree-of-freedom motion platform 10, so that the camera device collects image information of the target to be modeled.

[0077] S202: Control the first motion mechanism, the second motion mechanism, and the third motion mechanism to cooperate to drive the camera device to move along the scanning path, so as to collect image information.

[0078] In the embodiment, after the scanning path matching the target to be modeled is determined, the first motion mechanism 12, the second motion mechanism 13, and the third motion mechanism 14 are controlled to cooperate to drive the camera device to move along the scanning path, so as to collect image information. Specifically, the first motion mechanism 12, the second motion mechanism 13, and the third motion mechanism 14 are controlled to cooperate to drive the carrier 15 to move, and then the camera device is driven to move by the carrier 15. When the multi-degree-of-freedom motion platform 10 moves, the camera device collects multi-angle depth images at a set frame rate.

[0079] Specifically, the step of controlling the first motion mechanism 12, the second motion mechanism 13, and the third motion mechanism 14 to cooperate to drive the camera device to move along the scanning path to collect image information can include: controlling the first motion mechanism 12, the second motion mechanism 13, and the third motion mechanism 14 to cooperate to drive the camera device to move along the circumference of the target to be modeled, so as to collect multi-angle image information of the target to be modeled. For the spiral scanning path, the first motion mechanism 12, the second motion mechanism 13, and the third motion mechanism 14 are controlled to cooperate to drive the camera device to move along the circumference of the target to be modeled in a spiral manner. Of course, in other embodiments of the present application, the first motion mechanism 12, the second motion mechanism 13, and the third motion mechanism 14 can also drive the camera device to move along the circumference of the target to be modeled for less than a full circle, i.e., the angle corresponding to the movement path of the camera device is less than 360°, which is not limited herein.

[0080] Alternatively, for the layered scanning path, the step of controlling the first motion mechanism 12, the second motion mechanism 13, and the third motion mechanism 14 to cooperate to drive the camera device to move along the scanning path to collect image information includes: controlling the first motion mechanism 12, the second motion mechanism 13, and the third motion mechanism 14 to cooperate to drive the camera device to move along the height direction of the target to be modeled, so as to perform layered scanning on the target to be modeled, and then collect multi-angle image information of the target to be modeled.

[0081] Or, for the local scanning path, the step of controlling the first motion mechanism 12, the second motion mechanism 13 and the third motion mechanism 14 to drive the camera device to move along the scanning path to collect the image information comprises: controlling the first motion mechanism 12, the second motion mechanism 13 and the third motion mechanism 14 to drive the camera device to scan the local position of the target to be modeled to collect the image information.

[0082] It should be noted that, based on the multi-degree-of-freedom motion platform 10 described in the above embodiment, the step of controlling the first motion mechanism 12, the second motion mechanism 13 and the third motion mechanism 14 to drive the motion of the platform 15 comprises: controlling the first driving assembly 122 to drive the first mounting base 121 to move; and / or controlling the third motion mechanism 14 to drive the first mounting base 121 and the second mounting base 131 to rotate relative to each other; and / or controlling the second driving assembly 132 to drive the platform 15 to move.

[0083] Further, the step of controlling the first driving assembly 122 to drive the first mounting base 121 to move comprises: controlling the first driving assembly 122 to output an acting force to the base 11 to drive the first mounting base 121 to move through the reaction force. Further, the step of controlling the first driving assembly 122 to output an acting force to the base 11 to drive the first mounting base 121 to move through the reaction force comprises: controlling the first driving part 1221 to drive the first crank 1231, so that the first crank 1231 applies an acting force to the base 11 through the first connecting rod 1232 to drive the first mounting base 121 to move through the reaction force; and / or controlling the second driving part 1222 to drive the second crank 1233, so that the second crank 1233 applies an acting force to the base 11 through the second connecting rod 1234 to drive the first mounting base 121 to move through the reaction force.

[0084] Further, the step of controlling the second driving assembly 132 to drive the platform 15 to move comprises: controlling the second driving assembly 132 to directly drive the platform 15 to move through the second transmission assembly 133. Further, the step of controlling the second driving assembly 132 to directly drive the platform 15 to move through the second transmission assembly 133 comprises: controlling the third driving part 1321 to drive the third crank 1331, so that the third crank 1331 applies an acting force to the platform 15 through the third connecting rod 1332 to drive the platform 15 to move; and / or controlling the fourth driving part 1322 to drive the fourth crank 1333, so that the fourth crank 1333 applies an acting force to the platform 15 through the fourth connecting rod 1334 to drive the platform 15 to move.

[0085] Further, the step of controlling the third motion mechanism 14 to drive the first mounting seat 121 and the second mounting seat 131 to rotate relative to each other includes: controlling the third driving assembly 142 to drive the rotating table 143 to rotate, so that the first mounting seat 121 and the second mounting seat 131 rotate relative to each other.

[0086] S203: based on the scanning path, point cloud splicing is performed on the collected image information to obtain a point cloud image.

[0087] In this embodiment, after the image information is collected by the camera device, based on the scanning path (i.e., the motion pose of the multi-degree-of-freedom motion platform 10), point cloud splicing is performed on the collected image information to obtain a point cloud image. Based on the point cloud image, a three-dimensional modeling algorithm is used to construct a three-dimensional model of the target to be modeled.

[0088] S204: The point cloud image is fused into a global coordinate system, and a three-dimensional modeling algorithm is used to construct a three-dimensional model of the target to be modeled.

[0089] In this embodiment, after the point cloud image is obtained, the point cloud image is fused into a global coordinate system, and a three-dimensional modeling algorithm is used to construct a three-dimensional model of the target to be modeled. It can be understood that the point cloud image can be preprocessed before being fused into the global coordinate system.

[0090] In the above manner, the embodiment controls the first motion mechanism 12, the second motion mechanism 13, and the third motion mechanism 14 of the multi-degree-of-freedom motion platform 10 to drive the platform 15 to move, so that the camera device collects image information of the target to be modeled. The multi-degree-of-freedom motion platform 10 can drive the camera device to move flexibly, improve the flexibility of the camera device, and adapt to diversified scanning paths to meet the modeling needs of more application scenarios. Moreover, the number of camera devices used in the present application is small, for example, the platform 15 can carry one camera device, and thus the modeling cost is low.

[0091] The embodiment of the present application also provides a modeling system. The modeling system comprises a controller, a multi-degree-of-freedom motion platform 10, and a camera device. The controller can perform the modeling method as described in the above embodiments, and thus will not be described here.

[0092] The modeling method and the modeling system provided by the present application are described in detail above, and the principles and implementation manners of the present application are described by using specific examples. The above embodiment is only used to help understand the method and the core idea thereof; meanwhile, for those skilled in the art, the specific implementation manner and the application range can be changed according to the idea of the present application. In conclusion, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A modeling method, characterized in that, The modeling method is based on a multi-degree-of-freedom motion platform, which includes a base, a first motion mechanism, a second motion mechanism, a third motion mechanism, and a platform. The first motion mechanism is transmittedly connected to the base and the third motion mechanism, and the second motion mechanism is transmittedly connected to the platform and the third motion mechanism. The third motion mechanism is used to drive the first motion mechanism and the second motion mechanism to rotate relative to each other. The first motion mechanism, the second motion mechanism, and the third motion mechanism are used to cooperate in driving the platform to move. The platform is equipped with a camera device. The modeling method includes: The first motion mechanism, the second motion mechanism, and the third motion mechanism are controlled to cooperate in driving the platform to move, so that the camera device can acquire image information of the target to be modeled; Based on the image information, a three-dimensional model of the target to be modeled is constructed.

2. The modeling method according to claim 1, characterized in that, The first motion mechanism includes a first mounting base, a first drive assembly, and a first transmission assembly. The first mounting base is connected to the third motion mechanism. The base and the first mounting base are connected via the first drive assembly and the first transmission assembly. The first drive assembly is configured to drive the first mounting base and the base to move relative to each other via the first transmission assembly. The second motion mechanism includes a second mounting base, a second drive assembly, and a second transmission assembly. The second mounting base is connected to the third motion mechanism. The platform and the second mounting base are connected by transmission through the second drive assembly and the second transmission assembly. The second drive assembly is configured to drive the second mounting base and the platform to move relative to each other through the second transmission assembly. The step of controlling the first motion mechanism, the second motion mechanism, and the third motion mechanism to cooperate in driving the platform motion includes: Control the first drive component to drive the first mounting base to move; and / or The third motion mechanism is controlled to drive the first mounting base and the second mounting base to rotate relative to each other; and / or The second drive component is controlled to drive the platform to move.

3. The modeling method according to claim 2, characterized in that, The first drive component is disposed on the first mounting base, and the first drive component is connected to the base via the first transmission component; The steps of controlling the first drive component to drive the first mounting base to move include: The first drive component is controlled to output a force that acts on the base, so as to drive the first mounting base to move through the reaction force.

4. The modeling method according to claim 3, characterized in that, The first drive assembly includes a first drive portion and a second drive portion disposed on opposite sides of the first mounting base. The first transmission assembly includes a first crank, a first connecting rod, a second crank, and a second connecting rod. The first crank is drivenly connected to the output end of the first drive portion, and the two ends of the first connecting rod are movably connected to the first crank and the base, respectively. The second crank is drivenly connected to the output end of the second drive portion, and the two ends of the second connecting rod are movably connected to the second crank and the base, respectively. The step of controlling the output force of the first drive component to act on the base, so as to drive the first mounting base to move through the reaction force, includes: The first drive unit is controlled to drive the first crank, so that the first crank applies a force to the base through the first connecting rod, so as to drive the first mounting seat to move through the reaction force. and / or The second drive unit is controlled to drive the second crank, so that the second crank applies a force to the base through the second connecting rod, thereby driving the first mounting seat to move through the reaction force.

5. The modeling method according to claim 2, characterized in that, The second drive component is disposed on the second mounting base, and the second drive component is connected to the platform via the second transmission component; The steps of controlling the second drive component to drive the stage movement include: The second drive component is controlled to directly drive the platform movement through the second transmission component.

6. The modeling method according to claim 5, characterized in that, The second drive assembly includes a third drive unit and a fourth drive unit disposed on opposite sides of the second mounting base. The second transmission assembly includes a third crank, a third connecting rod, a fourth crank, and a fourth connecting rod. The third crank is drivenly connected to the output end of the third drive unit, and the two ends of the third connecting rod are movably connected to the third crank and the platform, respectively. The fourth crank is drivenly connected to the output end of the fourth drive unit, and the two ends of the fourth connecting rod are movably connected to the fourth crank and the platform, respectively. The steps of controlling the second drive assembly to directly drive the stage movement through the second transmission assembly include: The third drive unit is controlled to drive the third crank, so that the third crank applies a force to the platform through the third connecting rod to drive the platform to move; and / or The fourth drive unit is controlled to drive the fourth crank, so that the fourth crank applies a force to the platform through the fourth connecting rod to drive the platform to move.

7. The modeling method according to claim 2, characterized in that, The third motion mechanism includes a third mounting base, a third drive assembly, and a turntable. The third mounting base is connected to the first mounting base. The third drive assembly is connected to both the third mounting base and the turntable. The third drive assembly is used to drive the turntable to rotate. The turntable is connected to the second mounting base in a transmission connection. The steps of controlling the third motion mechanism to drive the first mounting base and the second mounting base to rotate relative to each other include: The third drive assembly is controlled to drive the turntable to rotate, so that the first mounting base and the second mounting base rotate relative to each other.

8. The modeling method according to any one of claims 1 to 7, characterized in that, The steps for the camera device to acquire image information of the target to be modeled include: Determine the scanning path that matches the target to be modeled; The first motion mechanism, the second motion mechanism, and the third motion mechanism are controlled to cooperate in driving the camera device to move along the scanning path in order to acquire the image information.

9. The modeling method according to claim 8, characterized in that, The step of controlling the first motion mechanism, the second motion mechanism, and the third motion mechanism to cooperate in driving the camera device to move along the scanning path to acquire the image information includes: The first motion mechanism, the second motion mechanism, and the third motion mechanism are controlled to cooperate in driving the camera device to move circumferentially along the target to be modeled, so as to acquire multi-angle image information of the target to be modeled.

10. The modeling method according to claim 8, characterized in that, The step of controlling the first motion mechanism, the second motion mechanism, and the third motion mechanism to cooperate in driving the camera device to move along the scanning path to acquire the image information includes: The first motion mechanism, the second motion mechanism, and the third motion mechanism are controlled to cooperate in driving the camera device to move along the height direction of the target to be modeled, so as to perform layered scanning of the target to be modeled and thereby collect multi-angle image information of the target to be modeled.

11. The modeling method according to claim 8, characterized in that, The step of controlling the first motion mechanism, the second motion mechanism, and the third motion mechanism to cooperate in driving the camera device to move along the scanning path to acquire the image information includes: The first motion mechanism, the second motion mechanism, and the third motion mechanism are controlled to cooperate in driving the camera device to scan a local position of the target to be modeled, so as to acquire the image information.

12. The modeling method according to claim 8, characterized in that, The step of constructing a 3D model of the target to be modeled based on the image information includes: Based on the scanning path, the collected image information is stitched together to obtain a point cloud image; The point cloud image is fused into the global coordinate system, and a 3D modeling algorithm is used to construct a 3D model of the target to be modeled.

13. The modeling method according to any one of claims 1 to 7, characterized in that, The camera device is a depth camera.

14. A modeling system, characterized in that, It includes a controller, a multi-degree-of-freedom motion platform, and a camera device, wherein the controller is capable of performing the modeling method as described in any one of claims 1 to 13.

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