Three-dimensional measuring device and three-dimensional modeling method for inside of wine bottle

Abstract

This invention discloses a three-dimensional measurement device and a three-dimensional modeling method for the interior of a wine jar, relating to the field of three-dimensional modeling technology. The three-dimensional measurement device includes a fixed cover, a motion mechanism, and a three-dimensional information acquisition mechanism. The fixed cover is fixed to the mouth of the wine jar. The motion mechanism is movably connected to the fixed cover. The three-dimensional information acquisition mechanism includes a conical laser, a first connecting column, and a first camera connected in sequence. The first camera is connected to the motion mechanism, and the conical laser is located away from the motion mechanism. The motion mechanism drives the conical laser and the first camera to move along the axial direction of the wine jar. The conical laser emits a conical laser beam to the inner wall of the wine jar, and the first camera acquires the laser image projected onto the inner wall of the wine jar. The technical solution provided by this invention reduces modeling costs while improving modeling efficiency.

Description

Technical Field

[0001] This invention relates to the field of 3D modeling technology, and in particular to a 3D measurement device and a 3D modeling method for the interior of a wine jar. Background Technology

[0002] In the aging process of baijiu base liquor, ceramic containers such as thousand-jin (500 kg) and ton-sized jars are widely used. Currently, the measurement of the liquor during the filling process mainly relies on flow meter estimation or weighbridge weighing. Neither of these methods can obtain the precise volume or mass of the liquor inside the jar, with a measurement error typically reaching around 5 kg, and they cannot monitor changes in the liquid level during storage. Recent advancements in liquid level monitoring technologies (such as infrared or millimeter-wave sensing) have made high-precision measurement possible. By measuring the liquid level height and combining it with a three-dimensional model of the jar's interior, the mass error can be controlled within 1‰. The core of this technology lies in accurately obtaining a three-dimensional model of the jar's internal cavity.

[0003] Currently, the technologies that can be used for 3D modeling of the inner wall of wine jars mainly include the following two categories:

[0004] Handheld 3D scanning equipment: Based on the principle of structured light 3D reconstruction, it can obtain high-precision 3D models. However, this method requires the scanned surface to have rich 3D features, while the inner walls of wine jars are mostly smooth curved surfaces, requiring a large number of positioning markers to be manually affixed before scanning. The actual operation includes affixing markers, scanning, and removing markers, with a single jar operation taking more than 30 minutes, resulting in high labor and time costs. Furthermore, affixing markers inside the wine jars also poses a risk of contaminating the wine.

[0005] LiDAR scanning equipment: This technology uses laser ranging to construct a 3D model by collecting spatial point cloud data. While it eliminates the need for marker points, the equipment used is primarily imported, resulting in high costs. Furthermore, this type of equipment is mainly designed for large-scale surveying and design. When performing close-range scanning within small, enclosed spaces, it suffers from insufficient accuracy and data distortion, and is particularly unsuitable for small-capacity containers such as heavy jars.

[0006] Therefore, existing 3D modeling technology for the inner wall of wine jars faces significant bottlenecks: handheld devices, while highly accurate, are inefficient and pose a risk of wine contamination; lidar devices are too expensive and do not perform well on small containers. Summary of the Invention

[0007] The main objective of this invention is to propose a three-dimensional measurement device and a three-dimensional modeling method for the interior of a wine jar, aiming to reduce modeling costs while improving modeling efficiency.

[0008] To achieve the above objectives, the present invention proposes a three-dimensional measuring device for the interior of a wine jar, the three-dimensional measuring device for the interior of the wine jar comprising:

[0009] A fixing cap, which is used to fix the wine jar at the mouth;

[0010] A motion mechanism, movably connected to the fixed cover; and

[0011] A three-dimensional information acquisition mechanism includes a conical laser, a first connecting column, and a first camera connected in sequence. The first camera is connected to the motion mechanism, and the conical laser is located away from the motion mechanism.

[0012] The motion mechanism is used to drive the conical laser and the first camera to move along the axial direction of the wine jar; the conical laser is used to emit a conical laser beam to the inner wall of the wine jar, and the first camera is used to capture the laser image projected onto the inner wall of the wine jar.

[0013] In one embodiment, the motion mechanism includes:

[0014] Mounting base, which is disposed on the fixed cover and located outside the wine jar;

[0015] A drive motor is mounted on the mounting base and located outside the wine jar;

[0016] A ball screw, one end of which is connected to the drive motor and extends into the wine jar;

[0017] The slide table is slidably connected to the ball screw; and

[0018] A connecting flange is provided, which is connected to the slide table, and the conical laser is mounted on the connecting flange.

[0019] In one embodiment, the three-dimensional measuring device inside the wine jar further includes a support assembly located inside the wine jar, the support assembly comprising:

[0020] Multiple support arms, one end of which is hinged to the fixed cover, and

[0021] A movable sleeve, with the other ends of multiple support arms hinged to the outer wall of the movable sleeve; the inner wall of the movable sleeve is provided with spring hooks, and the outer peripheral wall of the mounting base is provided with multiple slots, which are spaced apart along the axial direction of the mounting base; the spring hooks engage with one of the slots to lock the movable sleeve to the mounting base; each support arm is inclined relative to the mounting base.

[0022] In one embodiment, the three-dimensional information acquisition mechanism further includes a first data acquisition module and a storage control module. The first data acquisition module is connected to the first camera, and the storage control module is connected to the end of the first data acquisition module away from the first camera and is connected to the connecting flange. The storage control module is electrically connected to the first data acquisition module, the conical laser, and the first camera, and is used to acquire the image of the conical laser collected by the first data acquisition module and control the operation of the conical laser and the first camera.

[0023] In one embodiment, the three-dimensional information acquisition mechanism further includes a ring laser, a second connecting column, and a second camera connected in sequence. The ring laser is connected to the connecting flange, and the second camera is connected to the storage control module. The storage control module is electrically connected to the ring laser and the second camera and is used to control the operation of the ring laser and the second camera.

[0024] In one embodiment, the three-dimensional measuring device inside the wine jar further includes a mounting column and a setting module mounted on the mounting column. The mounting column is located on the mounting base and outside the wine jar. The setting module is electrically connected to the storage control module and is used to allow the user to set parameters and operate the device outside the wine jar.

[0025] In one embodiment, the three-dimensional information acquisition mechanism further includes a second data acquisition module, the two ends of which are respectively connected to the second camera and the storage control module, and the storage control module is electrically connected to the second data acquisition module for acquiring the image of the ring laser acquired by the data acquisition module.

[0026] In one embodiment, the field of view of the first camera is greater than the emission range of the cone laser; the field of view of the second camera is greater than the emission range of the ring laser.

[0027] This invention also proposes a method for three-dimensional modeling of the interior of a wine jar, the steps of which include:

[0028] S1: Perform system calibration on the first camera and conical laser, and the second camera and ring laser of the three-dimensional information acquisition module of the three-dimensional measurement equipment inside the wine jar, and establish a mapping relationship model between the laser pattern and the three-dimensional space.

[0029] S2: Fix the three-dimensional measuring device inside the wine jar to the mouth of the wine jar, control the three-dimensional information acquisition module to rise at a constant speed from the bottom of the jar, synchronously acquire the deformation pattern formed by the ring laser and cone laser projected on the inner wall of the wine jar, and record the height coordinates corresponding to each frame of the deformation pattern in real time.

[0030] S3: Based on the mapping relationship model, the deformation pattern of each height coordinate collected is solved into a three-dimensional contour line of the inner wall of the wine jar at that height position.

[0031] S4: Segment and merge all the three-dimensional contour lines with height coordinates to reconstruct a three-dimensional model of the inner wall of the wine jar from the bottom to the mouth.

[0032] In one embodiment, the system calibration in S1 specifically involves: establishing a mathematical mapping relationship between the two-dimensional laser deformation patterns captured by the first camera and the conical laser, and the two-dimensional spatial points on the inner wall of the wine jar, by determining the fixed relative position parameters of the first camera and the conical laser, and the fixed relative position parameters of the second camera and the ring laser.

[0033] The technical solution of this invention achieves the dual effects of reducing costs and improving efficiency in 3D modeling of the interior of wine jars through the collaborative design of a fixed lid, a motion mechanism, and an integrated conical laser and camera acquisition mechanism. First, the device uses a fixed lid adaptable to different jar openings and an automated motion mechanism, replacing the traditional manual operation of holding the equipment or using expensive industrial robots. This avoids customization costs and ensures accurate scanning trajectories through mechanical positioning, reducing equipment costs and operational complexity from the hardware source. Second, the conical laser covers the bottom area of ​​the jar in one go, combined with synchronous acquisition by the first camera, and the motion mechanism moves axially to complete the scanning of the entire inner wall. This integrates the traditional discrete measurement that requires multiple stations and multiple angles into a continuous acquisition process with a single uniform upward movement. It directly acquires contour data with precise height coordinates using the principle of active vision, avoiding the time consumption of pasting marker points and reducing the amount of subsequent registration calculations through the synchronization of data acquisition and positioning, thereby significantly improving modeling efficiency in the data acquisition and processing stages. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0035] Figure 1 A schematic diagram of the structure of the three-dimensional measuring device for the inside of a wine jar provided by the present invention;

[0036] Figure 2 A schematic diagram of the structure of the three-dimensional measuring device for the inside of a wine jar provided by the present invention before the measurement begins;

[0037] Figure 3A schematic diagram of the structure of the three-dimensional measuring device for the inside of a wine jar, provided by the present invention, during measurement inside the wine jar;

[0038] Figure 4 A schematic diagram of the structure of the three-dimensional measuring device for the inside of a wine jar provided by the present invention after installation and measurement inside the wine jar;

[0039] Figure 5 A flowchart illustrating the steps of the three-dimensional modeling method for the interior of a wine jar provided by this invention.

[0040] Explanation of icon numbers:

[0041] 10. Fixed cover; 20. Motion mechanism; 21. Mounting base; 22. Drive motor; 23. Ball screw; 24. Connecting flange; 30. Three-dimensional information acquisition mechanism; 31. Conical laser; 32. First connecting column; 33. First camera; 34. First data acquisition module; 35. Storage control module; 36. Ring laser; 37. Second connecting column; 38. Second camera; 39. Second data acquisition module; 40. Support assembly; 41. Support arm; 42. Movable sleeve; 50. Mounting column; 60. Setting module; 1. Wine jar.

[0042] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0044] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0045] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0046] In the baijiu (Chinese liquor) base storage process, 3D modeling of the inner wall of the jar is a fundamental step in achieving high-precision liquid level monitoring. However, existing handheld 3D scanning technology requires attaching positioning markers to the inner wall of the jar to obtain effective data. This operation not only prolongs the modeling cycle but also introduces the potential risk of liquor contamination. Meanwhile, lidar scanning technology, due to its high equipment cost and limited measurement accuracy in small, enclosed spaces, is unsuitable for modeling small-capacity containers such as heavy-duty jars. These issues result in inherent defects in the 3D modeling process in terms of operational efficiency, data reliability, and system economy, directly affecting the stable operation and measurement accuracy of the liquid level monitoring system.

[0047] For example, when modeling the inner walls of multiple jars in the base liquor storage workshop of a baijiu (Chinese liquor) production enterprise, operators use handheld structured light scanning equipment to work on the jars weighing several kilograms. Because the inner surface of the jars is smooth and lacks three-dimensional features, positioning markers must be attached to the inner wall to assist the scanning process. This operation involves manual intervention inside the jar, increasing the possibility of liquor exposure. During the scanning phase, due to the insufficient stability of the handheld equipment, the collected point cloud data often needs repeated correction, leading to prolonged modeling time. Furthermore, the marker removal step further increases the complexity of the operation, making the single-jar modeling process difficult to meet the needs of large-scale production.

[0048] If the above problems are not solved, the high cost and low efficiency of 3D modeling of the inner wall of the wine jar will continue to restrict the practical application of high-precision liquid level monitoring technology, making it impossible for the volume measurement of the wine to reach the accuracy level required by the process.

[0049] For this, please refer to Figures 1 to 4This application proposes a three-dimensional measurement device for the inside of a wine jar, comprising a fixed cover 10, a motion mechanism 20, and a three-dimensional information acquisition mechanism 30. The fixed cover 10 is fixed at the mouth of the wine jar 1. The motion mechanism 20 is movably connected to the fixed cover 10. The three-dimensional information acquisition mechanism 30 includes a conical laser 31, a first connecting column 32, and a first camera 33 connected in sequence. The first camera 33 is connected to the motion mechanism 20, and the conical laser 31 is located away from the motion mechanism 20. The motion mechanism 20 is used to drive the conical laser 31 and the first camera 33 to move along the axial direction of the wine jar 1. The conical laser 31 is used to emit a conical laser to the inner wall of the wine jar 1, and the first camera 33 is used to acquire the laser image projected onto the inner wall of the wine jar 1.

[0050] In this embodiment, the fixed cover 10 refers to a device used to fix the wine jar 1 at its mouth. In practical applications, it can be achieved by means of threaded connection, snap-fit ​​connection, or magnetic adsorption. For example, it can be achieved by engaging the internal thread with the external thread of the wine jar 1's mouth, or by using an elastic clamp to tighten the mouth of the jar. Its main purpose is to provide a stable installation reference. The motion mechanism 20 refers to a component movably connected to the fixed cover 10. It can be moved along the axial direction of the wine jar 1 by means of a manual push rod, pneumatic push rod, or electric push rod. For example, it can be achieved by driving a lead screw by rotating a handle, or by using a cylinder to push a slide. Its main purpose is to drive the three-dimensional information acquisition mechanism 30 to move. Further, the three-dimensional information acquisition mechanism 30 includes a conical laser 31, a first connecting column 32, and a first camera 33. Specifically, the conical laser 31 refers to a light source that emits a conical laser. It can be a semiconductor laser combined with a conical lens, or a polygonal prism used to diffuse the laser beam. For example, it can generate an annular light strip by rotating a prism. Its main purpose is to form a laser ring on the inner wall of the wine jar 1. The first connecting post 32 refers to the supporting component connecting the conical laser 31 and the first camera 33. It can be implemented using a rigid metal rod, a telescopic sleeve, or a flexible corrugated tube, such as a stainless steel straight rod, primarily to maintain relative positional stability. The first camera 33 refers to the device used to acquire images, such as an industrial camera, primarily to obtain distorted images projected by the laser. Thus, this application, by integrating the fixed cover 10, the motion mechanism 20, and the three-dimensional information acquisition mechanism 30, achieves automated, non-contact measurement of the inner wall of the wine jar 1, avoiding efficiency issues and contamination risks caused by manual operation, while overcoming the problem of insufficient accuracy in small containers in existing technologies.

[0051] The working principle of the three-dimensional measurement device inside the wine jar is based on the coordinated operation of the fixed cover 10, the motion mechanism 20, and the three-dimensional information acquisition mechanism 30. The fixed cover 10 is fixed at the mouth of the wine jar 1, forming a stable installation reference, ensuring the stability of the device during the measurement process and effectively avoiding measurement errors caused by external shaking. The motion mechanism 20 is movably connected to the fixed cover 10 and is used to drive the conical laser 31 and the first camera 33 to move continuously along the axis of the wine jar 1. The precise displacement control of the motion mechanism 20 enables the conical laser 31 and the first camera 33 to systematically scan the entire height range of the inner wall of the wine jar 1, completing the data acquisition process without manual intervention. The conical laser 31 emits a conical laser beam to the inner wall of the wine jar 1. Based on the circular beam characteristics of the conical laser, a uniform circular light is formed on the inner wall, providing a clear geometric reference for image analysis. The first camera 33 is connected to the motion mechanism 20 through the first connecting post 32 and acquires the deformed image of the laser beam projected onto the inner wall of the wine jar 1 in real time. Furthermore, based on the deformation characteristics of the laser image and the displacement information of the motion mechanism 20, a three-dimensional model of the inner wall of the wine jar 1 is reconstructed through image processing algorithms, thereby achieving accurate measurement of the internal shape of the wine jar 1.

[0052] As a preferred embodiment, the fixed cover 10 can be made of aluminum alloy to form a ring structure, and the motion mechanism 20 can be specifically implemented as a linear slide system driven by a servo motor.

[0053] Therefore, this technical solution effectively solves the problems of high cost, low efficiency, insufficient accuracy, and risk of contamination in the 3D modeling of the inner wall of the wine jar 1. Through automated non-contact measurement, the necessity of attaching positioning markers inside the wine jar 1 is completely eliminated, fundamentally preventing the risk of wine contamination. The motion mechanism 20 drives the 3D information acquisition mechanism 30 to perform systematic axial scanning, significantly improving measurement efficiency and avoiding the time-consuming problem caused by manual operation. The cooperation between the conical laser 31 and the first camera 33 optimizes the data acquisition process for the smooth inner wall characteristics of the wine jar 1, overcoming data distortion in a small, enclosed space and ensuring the accuracy of the 3D model reconstruction. Simultaneously, the use of domestically produced general-purpose components to replace imported lidar equipment significantly reduces modeling costs, achieving high-precision, high-efficiency, and economical 3D measurement of the interior of the wine jar 1.

[0054] Please see Figures 1 to 4 This application further proposes a motion mechanism 20 including a mounting base 21, a drive motor 22, a ball screw 23, a slide table, and a connecting flange 24. The mounting base 21 is located on the fixed cover 10 and outside the wine jar 1; the drive motor 22 is located on the mounting base 21 and outside the wine jar 1; one end of the ball screw 23 is connected to the drive motor 22 and extends into the wine jar 1; the slide table is slidably connected to the ball screw 23; the connecting flange 24 is connected to the slide table, and the conical laser 31 is mounted on the connecting flange 24.

[0055] In this embodiment, the mounting base 21 refers to the structural component used for support and fixation, which can be implemented using metal plates or a frame structure. Its purpose is to provide a stable mounting foundation for the motion mechanism 20 and avoid positional deviation caused by external vibration. The drive motor 22 refers to the actuator that provides rotational power, which can be implemented using a servo motor or a stepper motor. Its purpose is to output uniform and stable rotational power and reduce vibration transmission during operation. The ball screw 23 refers to the precision transmission element that converts rotational motion into linear displacement. It can be implemented using a ball screw pair. Its purpose is to avoid sliding friction and backlash error through a high-precision ball thread structure and achieve micron-level displacement control. The slide table refers to the bearing platform that moves along a linear track. It can be implemented using a linear slider or slide block structure. Its purpose is to ensure the straightness of the movement trajectory and reduce movement resistance. The connecting flange 24 refers to the interface component used for connection and positioning. It can be implemented using a standard flange structure. Its purpose is to securely install the conical laser 31 and ensure strict synchronization with the movement of the slide table.

[0056] Specifically, the solution of this application is fixed to the fixed cover 10 by the mounting base 21, and the fixed cover 10 and the mouth of the wine jar 1 form a rigid support base, thereby maintaining the reliability of the measurement benchmark; the drive motor 22 is directly mounted on the mounting base 21, and the stable characteristics of the mounting base 21 suppress vibration transmission and provide a stable power source for displacement conversion; the ball screw 23 is connected to the drive motor 22, which efficiently converts the rotational motion of the motor into linear displacement, avoiding the accuracy loss of ordinary screws; the slide table slides on the ball screw 23, and the precise guiding effect of the ball screw 23 achieves smooth axial movement, reduces motion resistance and ensures the straightness of the trajectory; the connecting flange 24 is connected to the slide table and carries the conical laser 31, eliminating the influence of the installation gap on the position measurement, so that the laser projection point accurately corresponds to the moving distance, and the whole forms a high-precision, low-vibration axial movement mechanism.

[0057] As a specific implementation method, the solution of this application is implemented as follows: the drive motor 22 is a stepper motor, the ball screw 23 adopts a ball screw pair structure, the slide is equipped with a linear guide rail assembly, the connecting flange 24 is fixed on the slide by bolts and rigidly connected to the conical laser 31, and the mounting base 21 is made of aluminum alloy plate and is firmly installed on the fixed cover 10.

[0058] Through the above technical solution, the stability of the motion mechanism 20 during its movement inside the wine jar 1 is significantly enhanced, the positioning accuracy is effectively improved, vibration and jamming are effectively suppressed, the continuity and accuracy of laser image acquisition are ensured, and the quality of the three-dimensional model reconstruction is guaranteed.

[0059] Please see Figures 1 to 4This application further proposes that the aforementioned three-dimensional measuring device inside the wine jar also includes a support component 40 located inside the wine jar 1. The support component 40 includes multiple support arms 41 and a movable sleeve 42. The other end of the multiple support arms 41 is hinged to the outer wall of the movable sleeve 42. The inner wall of the movable sleeve 42 is provided with a spring hook, and the outer peripheral wall of the mounting base 21 is provided with multiple slots. The multiple slots are arranged at intervals along the axial direction of the mounting base 21. The spring hook engages with a slot to lock the movable sleeve 42 to the mounting base 21. Each support arm 41 is inclined relative to the mounting base 21.

[0060] In this embodiment, the multiple support arms 41 refer to the auxiliary stabilizing structure distributed in the radial direction. They can be implemented by adjustable length connecting rods or fixed angle brackets. The purpose is to form a multi-point constraint network to enhance the overall resistance to deformation and optimize the dispersion path of lateral forces by tilting the angle.

[0061] Specifically, the solution of this application uses multiple support arms 41 that are hinged to the fixed cover 10 at one end and the outer wall of the movable sleeve 42 at the other end, and are arranged in a circumferentially spaced, inclined manner to form a stable triangular support system. This system evenly distributes the vibration and lateral inertial force generated by the motion mechanism 20 during operation to the fixed cover 10, thereby ensuring the stability of the trajectory of the cone laser 31 and the first camera 33 during axial movement and preventing the equipment from twisting or swaying in the narrow space of the wine jar 1.

[0062] As a preferred embodiment, the solution of this application is implemented as follows: multiple support arms 41 are made of aluminum alloy rods, one end of which is hinged to the fixed cover 10 by a pin, and the other end is connected to the movable sleeve 42 by a ball joint. Each support arm 41 is arranged radially and inclined around the mounting base 21 at even intervals to adapt to the inner cavity size of wine jars 1 of different specifications.

[0063] Through the above solution, this application effectively suppresses the shaking phenomenon during the movement of the equipment inside the wine jar 1, ensuring that the image projected by the laser onto the inner wall of the wine jar 1 is continuous and clear, thereby providing a reliable data foundation for three-dimensional information acquisition and significantly improving the accuracy and reliability of the three-dimensional model reconstruction of the inner wall of the wine jar 1.

[0064] The movable sleeve 42 refers to a sleeve structure that can move axially, which can be realized by a cylindrical component made of metal or engineering plastic, and is intended to provide a basis for height adjustment; the spring hook refers to an elastic locking mechanism, which can be realized by a snap-fit ​​structure made of spring steel, and is intended to achieve fast and reliable locking; the slot refers to a recessed structure provided on the mounting base 21, which can be realized by an annular or arc-shaped groove, and is intended to provide multiple height selection points to adapt to different curvature changes.

[0065] Specifically, the solution of this application achieves flexible adjustment of the support height by axially moving the movable sleeve 42 on the mounting base 21, combined with the snap-fit ​​mechanism of the spring hook and the slot. When the position of the movable sleeve 42 is adjusted, the spring hook snaps into the corresponding slot and fixes it, and at the same time the tilt angle of the support arm 41 changes accordingly, so that the support assembly 40 can dynamically adapt to the curved shape of the inner wall of the wine jar 1, thereby ensuring the stability of the equipment during the measurement process.

[0066] As a specific implementation method, the solution of this application is implemented as follows: the movable sleeve 42 is made of stainless steel, and its inner wall is provided with a spring steel hook; the outer peripheral wall of the mounting base 21 is machined with multiple annular grooves; the support arm 41 is connected to the outer wall of the movable sleeve 42 through a hinge structure. In actual operation, the operator can manually adjust the position of the movable sleeve 42 so that the spring hook engages with the target groove.

[0067] Through the above solution, this application can flexibly adjust the support height according to the size of the wine jar 1, effectively improving the adaptability and measurement stability of the equipment in wine jars 1 of different sizes.

[0068] Please see Figures 1 to 4 This application further proposes that the three-dimensional information acquisition mechanism 30 also includes a first data acquisition module 34 and a storage control module 35. The first data acquisition module 34 is connected to the first camera 33, and the storage control module 35 is connected to the end of the first data acquisition module 34 away from the first camera 33 and is connected to the connecting flange 24. The storage control module 35 is electrically connected to the first data acquisition module 34, the cone laser 31 and the first camera 33, and is used to acquire the image of the cone laser 31 collected by the first data acquisition module 34 and control the operation of the cone laser 31 and the first camera 33.

[0069] In this embodiment, the first data acquisition module 34 refers to the image signal processing unit, which can be implemented using a field-programmable gate array (FPGA), a digital signal processor (DSP), or a dedicated image processing chip. Its purpose is to capture and preprocess the raw image signal output by the first camera 33 in real time to prevent signal attenuation caused by excessively long transmission paths. The storage control module 35 can be understood as a central control unit, which can be implemented using a microcontroller (MCU), a programmable logic controller (PLC), or an embedded system. Its purpose is to uniformly schedule the operation sequence of the equipment and ensure precise synchronization between laser emission and image acquisition. The connection between the storage control module 35 and the connecting flange 24 can be a rigid fixed structure or a flexible vibration damping connection. Its purpose is to enable the control module to dynamically follow the displacement of the motion mechanism 20 and reduce the interference of mechanical vibration on data processing.

[0070] Furthermore, the three-dimensional information acquisition module also includes an encoder or displacement sensor mounted on the slide table, used to acquire the height position information recorded in real time during the ascent process. The height position information is also known as the height coordinates, and is transmitted to the storage control module 35 so that the storage control module 35 can use the height position information for subsequent calculation applications.

[0071] Specifically, the solution of this application directly transmits the laser image acquired by the first camera 33 to the first data acquisition module 34 for real-time data capture, avoiding signal loss during long-distance transmission; the storage control module 35 is arranged at the end away from the first camera 33 and fixed to the connecting flange 24, optimizing the internal space layout of the equipment and reducing the vibration impact when the motion mechanism 20 moves; at the same time, the storage control module 35 is electrically connected to each component to form a unified control network, and automatically adjusts the triggering sequence of laser emission and image acquisition according to the displacement information of the connecting flange 24. For example, it dynamically matches the laser parameters according to the curvature change of the inner wall of the wine jar 1, ensuring that high signal-to-noise ratio data is obtained in smooth curved surface measurement, thereby realizing complete acquisition of image data and precise synchronization of equipment operation.

[0072] As a preferred embodiment, the solution of this application is specifically implemented as follows: the first data acquisition module 34 is specifically a Xilinx Spartan-6 series FPGA chip, used to capture the CMOS image sensor signal output by the first camera 33 in real time; the storage control module 35 is specifically an STMicroelectronics STM32F4 series microcontroller, which is connected to the first data acquisition module 34 through a flexible flat cable and rigidly fixed to the connecting flange 24 with a vibration damping bracket; the conical laser 31 adopts a semiconductor laser diode, and its emission timing is precisely controlled by the storage control module 35 through a PWM signal to ensure strict synchronization with the image acquisition of the first camera 33.

[0073] Through the above solution, the integrity and real-time performance of image data acquisition in this application are guaranteed, and the equipment operation is precisely synchronized, effectively improving the accuracy and measurement efficiency of the three-dimensional modeling inside the wine jar 1.

[0074] Please see Figures 1 to 4 This application further proposes that the three-dimensional information acquisition mechanism 30 also includes a ring laser 36, a second connecting column 37 and a second camera 38 connected in sequence. The ring laser 36 is connected to the connecting flange 24, and the second camera 38 is connected to the storage control module 35. The storage control module 35 is electrically connected to the ring laser 36 and the second camera 38 and is used to control the operation of the ring laser 36 and the second camera 38.

[0075] In this embodiment, the ring laser 36 refers to a laser source that emits a ring beam. It can be implemented using a semiconductor laser in conjunction with ring optical elements, such as using a diffraction grating or a ring lens to convert a point laser into a ring beam. Its purpose is to provide continuous scanning capability in the circumferential direction of the inner wall of the wine jar 1 to compensate for the insufficient coverage of a single conical laser in the circumferential direction. The second connecting column 37 can be understood as a support structure connecting the ring laser 36 and the second camera 38. It can be implemented using a rigid metal rod or an engineering plastic bracket. Its purpose is to maintain the geometric stability of the beam projection path and ensure the accuracy of laser image acquisition. The second camera 38 is specifically an imaging device used to capture the ring laser image. For example, it can be a CMOS or CCD image sensor. Its purpose is to acquire the light stripe image formed by the ring laser on the inner wall of the wine jar 1 with high precision, providing basic data for three-dimensional reconstruction.

[0076] Specifically, the solution of this application uses a ring laser 36 to emit a ring beam onto the inner wall of the wine jar 1, while a second camera 38 simultaneously acquires the light stripe image. When the motion mechanism 20 drives the three-dimensional information acquisition mechanism 30 to move along the axial direction of the wine jar 1, the ring laser 36 performs circumferential scanning at different height coordinates, thereby covering the circumferential direction of the inner wall and avoiding local blind spots caused by fixed height coordinates. The storage control module 35 uniformly manages the timing of laser emission and image acquisition, ensuring that the working state of the ring laser 36 and the second camera 38 is dynamically matched with the conical laser system, realizing the collaborative acquisition of radial and circumferential feature data. This structural design enables the ring laser 36 to move synchronously with the connecting flange 24, ensuring the continuity of the scanning process and the integrity of the data, effectively solving the problem of data loss in a single scanning mode.

[0077] As a specific implementation method, the solution of this application is implemented as follows: the ring laser 36 adopts a standard semiconductor laser module in conjunction with a ring diffraction grating, the second connecting post 37 uses a lightweight aluminum alloy straight rod structure, the second camera 38 selects an industrial-grade CMOS image sensor, and establishes a stable connection with the storage control module 35 through a data cable. The ring laser 36 is fixed to the outer periphery of the connecting flange 24, and the second camera 38 is rigidly connected to the storage control module 35 through a bracket.

[0078] Through the above solution, this application effectively eliminates the scanning blind spot in the circumferential direction of the inner wall of the wine jar 1, ensuring complete coverage of the three-dimensional reconstruction data, thereby improving the accuracy and reliability of the three-dimensional model inside the wine jar 1.

[0079] Please see Figures 1 to 4This application further proposes that the three-dimensional information acquisition mechanism 30 also includes a second data acquisition module 39, the two ends of which are connected to the second camera 38 and the storage control module 35 respectively, and the storage control module 35 is electrically connected to the second data acquisition module 39 for acquiring the image of the ring laser 36 acquired by the data acquisition module.

[0080] In practical applications, the second data acquisition module 39 refers to an independent electronic component specifically used for image data preprocessing. It can be implemented using a field-programmable gate array (FPGA) or a dedicated image processing chip. The purpose is to separate the image acquisition function from the main control logic, ensuring the focus and integrity of data processing. The design of connecting the two ends of the second data acquisition module 39 to the second camera 38 and the storage control module 35 respectively can be understood as using a direct physical interface connection method, such as through shielded coaxial cables or differential signal lines. The purpose is to simplify the data transmission path and reduce signal attenuation and environmental noise interference in intermediate links. The arrangement of electrically connecting the storage control module 35 and the second data acquisition module 39 specifically refers to establishing a bidirectional electrical communication link. The purpose is to realize real-time monitoring of the image acquisition status, thereby dynamically adjusting the acquisition rhythm according to the changes in the inner wall curvature of the wine jar 1, and avoiding data loss or repeated acquisition.

[0081] Specifically, the solution in this application establishes an independent data channel between the second camera 38 and the storage control module 35 through the second data acquisition module 39. This allows the raw image signal output from the second camera 38 to be directly transmitted to the second data acquisition module 39 for preliminary processing. The processed data is then transmitted to the storage control module 35 via an electrical connection path. This structural design achieves physical isolation between the image data stream and the control command stream, avoiding signal conflicts that may occur when the storage control module 35 directly processes the raw image. Furthermore, the direct connection between the output of the second camera 38 and the input of the storage control module 35 significantly shortens the data transmission path. In the complex electromagnetic environment of the enclosed space inside the wine jar 1, this design effectively suppresses environmental noise interference, ensuring stable transmission and high-fidelity acquisition of the ring laser image data, thereby providing a continuous and reliable data source for 3D reconstruction.

[0082] As a specific implementation method, the solution of this application is implemented as follows: The second data acquisition module 39 is specifically implemented using a Xilinx Spartan-6 series FPGA chip. This chip establishes a physical connection with the second camera 38 through an LVDS high-speed interface and an electrical connection with the storage control module 35 through an I²C bus. In actual operation, when the ring laser 36 projects a laser outline onto the inner wall of the wine jar 1, the second camera 38 captures the image and transmits the data to the FPGA chip through the LVDS interface. After the FPGA chip performs real-time noise reduction and data compression processing, it sends the processing result to the storage control module 35 via the I²C bus. The storage control module 35 dynamically adjusts the acquisition trigger timing of the FPGA chip according to the surface curvature characteristics of the inner wall through electrical connection to ensure automatic optimization of data acquisition density in the surface transition area.

[0083] The above technical solution effectively solves the signal interference problem caused by the lengthy image data transmission path, significantly improves the stability and real-time performance of ring laser image acquisition, thereby ensuring the integrity and accuracy of key image data in the 3D modeling process and avoiding modeling errors caused by data transmission delays or distortions.

[0084] Please see Figures 1 to 4 Furthermore, this application proposes that the field of view of the first camera 33 is greater than the emission range of the cone laser 31; and the field of view of the second camera 38 is greater than the emission range of the ring laser 36.

[0085] In practical applications, the camera's field of view refers to the range of scene angles that the camera lens can capture. This can be achieved by using a combination of lenses with different focal lengths or an imaging module with an adjustable sensor size. The purpose is to adapt to the reflective characteristics of the curved inner wall of the wine jar 1 and ensure that the outline of the light spot or light band formed by the laser projection is completely captured. The laser emission range refers to the range of spatial angles covered by the laser output beam. This can be achieved by configuring optical beam expanders or adjusting the divergence angle of the laser diode. The purpose is to match the internal spatial constraints of the wine jar 1 and avoid the reduction of the effective measurement area due to laser diffusion.

[0086] Specifically, the solution in this application ensures that the continuous information of the light spot formed by the conical laser on the inner wall of the wine jar 1 from the center to the edge is completely recorded by covering the field of view of the first camera 33 with the emission range of the conical laser 31. Especially in the environment of a smooth curved inner wall, laser diffusion can easily cause the light spot to expand, and this design prevents edge data truncation. At the same time, the field of view of the second camera 38 covers the emission range of the ring laser 36, ensuring that the entire ring-shaped light band formed by the ring laser on the jar wall falls into the imaging area, solving the image distortion problem caused by laser reflection in a small space. In the closed structure of the wine jar 1, this matching mechanism works in conjunction with the axial movement of the motion mechanism 20, enabling the three-dimensional information acquisition mechanism 30 to continuously acquire laser images without missing parts during the movement, providing a continuous original data foundation for subsequent point cloud reconstruction.

[0087] As a specific embodiment, the solution of this application is implemented as follows: The first camera 33 is equipped with a replaceable lens system, which expands the field of view by installing a wide-angle adapter component; the second camera 38 adopts a lens module with an adjustable aperture, which dynamically optimizes the imaging area according to the emission characteristics of the ring laser. During the measurement process, when the conical laser 31 projects laser light onto the inner wall of the wine jar 1, the first camera 33 completely captures the light spot image; when the ring laser 36 is working, the second camera 38 ensures that the entire ring light band falls within the field of view, avoiding image cropping.

[0088] By using the above solution, this application effectively avoids the problem of missing edges in laser images, ensures the integrity and continuity of point cloud data required for three-dimensional reconstruction, and improves the construction accuracy of the three-dimensional model inside the wine jar 1, which is especially suitable for small wine jar containers with smooth inner walls.

[0089] In some of the embodiments described above in this application, a first camera 33 and a second camera 38 are proposed to acquire laser images to construct a three-dimensional model of the inner wall of the wine jar 1. However, in the process of implementation, due to the narrow internal space of the wine jar 1 and the smooth curved surface of the inner wall, the field of view of ordinary cameras is limited, and it is impossible to completely cover the entire laser pattern projected by the conical laser 31 and the ring laser 36 in a single shot, resulting in missing image data, decreased accuracy of three-dimensional reconstruction, and reduced measurement efficiency.

[0090] Please see Figures 1 to 4 In this regard, this application further proposes a three-dimensional measurement device for the inside of the wine jar, wherein the first camera 33 and the second camera 38 are both wide-angle cameras.

[0091] Wide-angle cameras refer to optical imaging devices with a field of view significantly larger than that of conventional imaging equipment. They can be achieved using fisheye lenses, ultra-wide-angle fixed-focus lenses, or variable-focal-length wide-angle lenses. Their purpose is to ensure complete capture of the laser projection area within a limited space by expanding the coverage of a single shot, thus avoiding image truncation problems caused by insufficient field of view.

[0092] Specifically, the solution in this application uses a wide-angle camera as the core component of the first camera 33 and the second camera 38, which works in conjunction with the axial movement function of the motion mechanism 20. When the motion mechanism 20 moves the conical laser 31 and the first camera 33 along the axial direction of the wine jar 1, the wide-angle camera's wide field of view allows it to capture the complete annular light spot formed by the conical laser 31 on the inner wall of the wine jar 1 in one go. Similarly, when the ring laser 36 is working, the second camera 38 can simultaneously cover the full range of light spots projected by the ring laser 36. This design avoids the need for repeated position adjustments required by ordinary cameras due to limited field of view, ensuring that the laser pattern is recorded without omission on the continuous curved surface of the inner wall of the wine jar 1, thereby providing a continuous and complete image data stream for 3D reconstruction.

[0093] Please see Figures 1 to 4 In this regard, this application further proposes that the three-dimensional measuring device inside the wine jar also includes a mounting column 50 and a setting module 60 mounted on the mounting column 50. The mounting column 50 is located on the mounting base 21 and outside the wine jar 1. The setting module 60 is electrically connected to the storage control module 35 and is used for users to set parameters and operate the device outside the wine jar 1.

[0094] The setting module 60 is electrically connected to the storage control module 35 located within the three-dimensional information acquisition mechanism 30. This electrical connection can be achieved by a cable (not shown in the figure) passing through the mounting column 50, the fixed cover 10, and the interior of the motion mechanism 20, to power the setting module 60 and enable signal transmission.

[0095] Specifically, the setting module 60 integrates simple buttons and a display screen, and communicates with the storage control module 35 through a built-in control circuit. Users can input scanning parameters, such as controlling the moving distance and uniform rising speed of the motion mechanism 20, from outside the wine jar 1 without needing to turn on or move the device. Simultaneously, the display screen can monitor the device status in real time, such as the current scanning height, progress, or device malfunction information, and directly control the start and termination of the scan.

[0096] This embodiment, by placing the setting module 60 externally above the mouth of the wine jar 1, brings significant benefits: First, it allows users to conveniently complete all operations outside the wine jar 1 before, during, and after scanning, without frequently opening and closing or moving the heavy main body of the equipment, greatly simplifying the operation process and improving ease of use and work efficiency; Second, this physical separation design effectively avoids accidental collision damage to the equipment or jar body that may be caused by operating in the narrow space inside the wine jar 1, and also allows the setting module 60 to use more complex and precise electronic components without having to demand miniaturization and sealing, thereby improving the overall reliability and functionality of the equipment.

[0097] In this regard, this application further proposes that both the first connecting post 32 and the second connecting post 37 are transparent connecting posts.

[0098] The transparency of the first connecting post 32 and the second connecting post 37 refers to their high light transmittance, which allows light to pass through the body without significant attenuation. They can be made of transparent materials such as optical glass, polymethyl methacrylate or polycarbonate. The purpose is to eliminate the physical obstruction of the connecting post to the laser path and the camera's field of view, and to ensure the integrity of light transmission.

[0099] Specifically, the solution of this application designs the first connecting post 32 and the second connecting post 37 as transparent materials, so that the laser beam emitted by the cone laser 31 can penetrate the body of the first connecting post 32 without obstruction and be completely projected onto the inner wall of the wine jar 1 to form a continuous ring pattern. At the same time, the first camera 33 can clearly capture the entire laser ring area. Similarly, the transparency of the second connecting post 37 ensures that the laser emitted by the ring laser 36 is uniformly diffused, so that the ring light spot covers the target area of ​​the inner wall without attenuation. The second camera 38 can acquire continuous and complete reflection images, thereby maintaining the original form of laser signal and image data in the three-dimensional information acquisition chain, which is especially suitable for the high-precision scanning requirements of the limited space inside the wine jar 1.

[0100] As a specific implementation, the first connecting post 32 and the second connecting post 37 can be made of polymethyl methacrylate material, which has good light transmittance and mechanical stability, and can meet the comprehensive requirements of the internal measurement environment of the wine jar 1 for structural strength and optical performance.

[0101] The above technical solution effectively avoids the obstruction and interference of the connecting column on the laser emission path and the camera field of view, ensuring the complete acquisition of laser images of the inner wall of the wine jar 1. Especially when scanning in the narrow space of a small-capacity container, it significantly improves the geometric accuracy and data integrity of the 3D model reconstruction.

[0102] Please see Figures 1 to 5 The present invention also proposes a method for three-dimensional modeling of the interior of a wine jar. The equipment used in this method is the aforementioned three-dimensional measuring device for the interior of a wine jar, and the specific structure of the three-dimensional measuring device for the interior of a wine jar is described in the above embodiment.

[0103] The steps of a method for three-dimensional modeling the interior of a wine jar include:

[0104] S1: Perform system calibration on the first camera 33 and cone laser 31, and the second camera 38 and ring laser 36 of the three-dimensional information acquisition module of the three-dimensional measurement equipment inside the wine jar, and establish a mapping relationship model between the laser pattern and the three-dimensional space.

[0105] S2: Fix the three-dimensional measuring device inside the wine jar to the mouth of the wine jar 1, control the three-dimensional information acquisition module to rise at a constant speed from the bottom of the jar, and simultaneously acquire the deformation pattern formed by the ring laser and cone laser projected on the inner wall of the wine jar 1, and record the height coordinates corresponding to each frame of deformation pattern in real time.

[0106] S3: Based on the mapping relationship model, the deformation pattern of each height coordinate collected is solved into a three-dimensional contour line of the inner wall of wine jar 1 on the cross section at that height;

[0107] S4: Segment and merge all the three-dimensional contour lines with height coordinates to reconstruct the three-dimensional model of the inner wall of the wine jar 1 from the bottom to the mouth of the jar.

[0108] This embodiment relates to a method for three-dimensional modeling of the interior of a wine jar. System calibration is defined as the process of calibrating the first camera 33 and the conical laser 31, and the second camera 38 and the ring laser 36, to establish a mapping model between the laser pattern and three-dimensional space. In practical applications, system calibration can be implemented based on a standard calibration board, such as using a checkerboard pattern for parameter calibration, or using a calibration object of known geometry for spatial relationship correction. The main purpose is to achieve a correspondence between the laser deformation pattern and points in three-dimensional space.

[0109] Furthermore, the simultaneous acquisition of deformation patterns is described as simultaneously capturing image data formed by ring laser and conical laser on the inner wall of the wine jar 1. Specifically, the image data can be acquired in real time by an image sensor, such as recording laser line images using a high-speed CCD camera, or extracting deformation features using a CMOS sensor combined with image enhancement technology, primarily to collect geometric information about the inner wall of the wine jar 1.

[0110] Therefore, based on the mapping relationship model, the deformation pattern of each height coordinate is solved as a three-dimensional contour line of the inner wall of wine jar 1 on the cross-section at that height position. In practical applications, the solution process can be implemented using the principle of triangulation, for example, calculating the spatial coordinates based on the offset of the laser line, or deriving the contour point set through geometric model inversion, mainly to generate data characterizing the cross-sectional shape of the inner wall of wine jar 1.

[0111] In one preferred embodiment, all three-dimensional contour lines with height coordinates are stitched and fused to reconstruct the three-dimensional model of the inner wall of the wine jar 1. Specifically, the stitching and fusion can be performed using point cloud registration algorithms, such as data alignment based on the iterative nearest point algorithm, or by generating a continuous surface through parametric surface fitting techniques, primarily to form a complete three-dimensional structure from the bottom to the mouth of the jar.

[0112] This application achieves the reconstruction of the internal three-dimensional model of wine jar 1 by integrating a dual-laser system calibration and a uniform speed scanning mechanism. The system calibration avoids the need for manually attaching markers to the inner wall of wine jar 1; the synchronous acquisition and uniform speed ascent mechanism maintain the continuity of the data acquisition process; and the calculation and stitching process is used to construct a three-dimensional representation of the inner wall of wine jar 1. This solves the problems of low efficiency, risk of wine contamination, high equipment cost, and insufficient scanning accuracy for small-capacity containers in the three-dimensional modeling of the inner wall of wine jar 1.

[0113] The system calibration process is performed to precisely calibrate the first camera 33 and the conical laser 31, as well as the second camera 38 and the ring laser 36, of the 3D information acquisition module, thereby establishing a mathematical mapping model between the laser pattern and 3D space. This mapping model allows the laser deformation pattern to be directly converted into 3D spatial data without relying on manual markers on the inner wall of the wine jar 1, fundamentally avoiding the risk of wine contamination and simplifying the operation process.

[0114] Furthermore, during the scanning execution phase, the three-dimensional measurement device inside the wine jar is fixed at the mouth of the wine jar 1. The three-dimensional information acquisition module rises at a constant speed from the bottom of the jar, simultaneously acquiring the deformation patterns formed by the ring laser and cone laser projected onto the inner wall of the wine jar 1, and recording the precise height coordinates corresponding to each frame of the deformation pattern in real time. For example, the first camera 33 can be a 1280×1024 pixel industrial-grade CMOS camera, and the cone laser 31 can be a semiconductor laser diode with a wavelength of 650 nanometers to ensure stable capture of the circular pattern in the bottom area of ​​the jar under low light conditions. At the same time, the second camera 38 works in conjunction with the ring laser 36 to accurately acquire the ring pattern reflecting the changes in the lateral contour of the jar. Thus, the synergistic effect of the ring laser and the cone laser comprehensively covers the geometric features of the inner wall of the wine jar 1, avoiding the data loss problem caused by insufficient features on smooth curved surfaces.

[0115] In the data processing stage, based on the calibrated mapping model, the deformation pattern of each height coordinate collected is calculated into a three-dimensional contour line of the inner wall of the wine jar 1 at that height position. Specifically, the pixels on the laser ring image are converted into a three-dimensional spatial point cloud according to the calibration parameters, and combined with the corresponding height coordinates to form a continuous cross-sectional contour.

[0116] Finally, all the three-dimensional contour lines with height coordinates are arranged in an orderly manner in three-dimensional space, and are spliced ​​and fused by a triangular meshing algorithm to reconstruct a continuous and complete three-dimensional curved surface model of the inner wall of the wine jar 1 from the bottom to the mouth of the jar.

[0117] This method effectively solves the problems of low efficiency, risk of wine contamination, high equipment cost, and insufficient scanning accuracy for small-capacity containers during the 3D modeling of the inner wall of the wine jar. Specifically, the system calibration eliminates the manual point-patch step, significantly improving operational efficiency and eliminating the risk of contamination; the uniform speed ascent mechanism ensures the stability of the scanning trajectory, overcoming the jitter of handheld devices and the near-range distortion defects of lidar, thus ensuring the modeling accuracy of small-capacity containers; the design of the dual-laser system enables comprehensive capture of the lateral contour and bottom area of ​​the jar, avoiding the problem of incomplete models caused by the single surface feature in traditional methods.

[0118] Please see Figures 1 to 5 This application further proposes that the system calibration in S1 is specifically as follows: by determining the fixed relative position parameters of the first camera 33 and the conical laser 31, and the fixed relative position parameters of the second camera 38 and the ring laser 36, a mathematical mapping relationship is established between the two-dimensional laser deformation pattern captured by the first camera 33 and the second camera 38 and the three-dimensional spatial points on the inner wall of the wine jar 1.

[0119] The fixed relative position parameters of the first camera 33 and the conical laser 31 refer to the set of parameters describing the spatial geometric relationship between the two. These parameters can be implemented using a rotation matrix and a translation vector. The purpose is to ensure that when the circular pattern projected by the conical laser is captured by the first camera 33 in the area at the bottom of the altar, the correspondence between the two-dimensional image points and the three-dimensional spatial points can be stably quantized.

[0120] The fixed relative position parameters of the second camera 38 and the ring laser 36 refer to the set of parameters describing the spatial geometric relationship between the two. They can be obtained by a visual calibration method based on a calibration plate. The purpose is to ensure that the deformation information of the ring laser pattern can be mapped to three-dimensional space without distortion.

[0121] Establishing a mathematical mapping relationship refers to incorporating the calibrated parameters into the mapping model, which can be achieved using linear transformations or polynomial fitting functions. Its purpose is to provide strict geometric constraints for the conversion of two-dimensional image information to three-dimensional point clouds.

[0122] Specifically, the solution in this application ensures that the two-dimensional laser deformation pattern can accurately correspond to the three-dimensional spatial points on the inner wall of the wine jar 1 during system calibration by precisely quantifying the fixed relative position parameters of the first camera 33 and the conical laser 31, and the second camera 38 and the ring laser 36. The precise determination of the fixed relative position parameters eliminates parameter drift caused by equipment installation deviations and motion jitter, enabling the stable capture and calculation of both the circular pattern at the bottom of the jar and the ring pattern on the lateral side of the jar body. Based on this, the established mathematical mapping relationship directly integrates the calibration parameters into the model, giving the conversion process from two-dimensional image information to three-dimensional point clouds geometric constraints. This effectively eliminates the cumulative errors caused by parameter ambiguity in traditional calibration methods, laying a high-precision data foundation for subsequent contour line stitching and fusion in height coordinates.

[0123] As a specific implementation method, the solution of this application is implemented as follows: the first camera 33 can be specifically an industrial-grade CMOS camera, the conical laser 31 can be specifically a semiconductor laser, the two are fixed by a rigid metal bracket, and the relative position parameters are calibrated by a checkerboard calibration plate; the second camera 38 and the ring laser 36 adopt a similar configuration, wherein the ring laser 36 is composed of a laser diode and a diffractive optical element to form a ring beam.

[0124] Through the above solution, this application solves the problem of inaccurate mapping relationship caused by inaccurate relative position parameters in system calibration, improves the accuracy of the three-dimensional model of the inner wall of the wine jar 1, and meets the requirements of high-precision liquid level monitoring for model accuracy.

[0125] Please see Figures 1 to 5 This application further proposes that the lifting and lowering motion of the cone laser 31, ring laser 36, first camera 33 and second camera 38 in the three-dimensional information acquisition module of S2 is controlled by the storage control module 35 of the three-dimensional information acquisition module, and the height coordinates are recorded in real time to ensure the accuracy and uniformity of the scanning trajectory.

[0126] Among them, the storage control module 35 refers to the core control unit integrated in the three-dimensional information acquisition module for coordinating motion and data management. It can be implemented using an embedded microcontroller or a programmable logic controller, and its purpose is to provide closed-loop control capability to maintain motion stability. The lifting motion control refers to the precise control of the overall lifting process of the cone laser 31, the ring laser 36, the first camera 33, and the second camera 38. It can be implemented using a closed-loop system of servo motors and position feedback sensors, and its purpose is to eliminate speed fluctuations in manual or open-loop control. Real-time recording of height coordinates refers to the synchronous capture of the height coordinate information of the device during the scanning process. It can be implemented using an encoder or a displacement sensor, and its purpose is to establish a precise binding relationship between image frames and spatial coordinates.

[0127] Specifically, the solution of this application receives feedback signals from displacement sensors or encoders in real time through storage control module 35, dynamically adjusts the output power of drive motor 22 to maintain a constant rising speed, and simultaneously synchronizes height coordinate data with image acquisition signals at the hardware level to ensure that each frame of deformation pattern strictly corresponds to the height coordinates at the acquisition time, thereby avoiding coordinate misalignment caused by speed fluctuations or recording delays, and providing a reliable spatial reference for subsequent three-dimensional contour line calculation.

[0128] As a specific implementation, the storage control module 35 of this application can be a microcontroller based on the ARM Cortex-M7 core, connected to the stepper motor driver and the magnetic scale encoder. During the scanning process, the microcontroller periodically reads the encoder data to calculate the real-time height, and dynamically adjusts the motor drive signal according to the preset speed curve to achieve uniform speed rise. At the same time, the height coordinates are associated with the timestamp of the image frame and stored.

[0129] Through the above technical solution, this application effectively ensures the accuracy and uniformity of the scanning trajectory and the real-time synchronization of the height coordinates, avoiding the problem of coordinate inaccuracy in the calculation of the three-dimensional contour line, thereby improving the accuracy and completeness of the reconstruction of the three-dimensional model of the inner wall of the wine jar 1.

[0130] Please see Figures 1 to 5 This application further proposes that the laser patterns synchronously acquired in S2 include annular patterns formed by ring lasers to reflect changes in the lateral contour of the jar body, and circular patterns formed by conical lasers to cover the bottom area of ​​the jar body.

[0131] Among them, the ring pattern formed by the ring laser refers to the deformed pattern projected by the ring laser 36 onto the inner wall of the wine jar 1. It can be achieved by using a laser diode in conjunction with a ring aperture assembly. The purpose is to accurately capture the lateral contour change characteristics of the curved surface of the side wall of the jar. The circular pattern formed by the conical laser refers to the projection pattern formed by the conical laser 31 in the bottom area of ​​the jar. It can be achieved by using a laser diode in conjunction with a conical lens assembly. The purpose is to ensure that the flat or concave areas of the bottom of the jar are completely covered, avoiding blind spots in data acquisition.

[0132] Specifically, the solution proposed in this application strictly distinguishes the functional roles of the annular laser pattern and the conical laser pattern during the synchronous acquisition phase. The annular laser pattern focuses on analyzing the geometric distortion caused by the curved surface deformation of the jar's sidewalls to reflect changes in the lateral contour, while the conical laser pattern specifically generates a uniform circular projection for the jar's bottom area. The two patterns complement each other at the data acquisition source. This clear division of functional roles ensures accurate adaptation of the laser pattern information to the geometric characteristics of different areas of the wine jar 1, providing a structured data foundation for subsequent three-dimensional contour line calculation based on height coordinates, thus systematically solving the problem of missing data in the jar's bottom area.

[0133] As a preferred embodiment, the solution of this application is implemented as follows: the ring laser 36 uses a combination of a visible light band laser diode and a ring aperture to generate a ring beam, and the cone laser 31 uses a combination of a laser diode of the same band and a cone lens to generate a cone beam; when the three-dimensional measuring device inside the wine jar is working, the beam projected by the ring laser 36 forms a continuously deforming ring pattern on the side wall of the jar, and the beam projected by the cone laser 31 forms a complete circular pattern in the bottom area of ​​the jar. Both are captured synchronously by the first camera 33 and the second camera 38 to ensure that the data acquisition of the bottom of the jar and the side wall of the jar is complete.

[0134] Through the above solution, this application effectively eliminates the modeling defects caused by insufficient data coverage in the bottom area of ​​the jar, ensures the integrity and continuity of the three-dimensional model of the inner wall of the wine jar 1, and thus significantly improves the accuracy and reliability of the three-dimensional modeling.

[0135] Please see Figures 1 to 5 This application further proposes that the three-dimensional contour line solution in S3 is to convert the pixels on each frame of the laser ring image into a three-dimensional spatial point cloud according to the calibration model, and combine them with the corresponding height coordinates to form a three-dimensional contour line representing the cross-sectional shape of the inner wall of the wine jar 1.

[0136] Among them, the pixels on the laser ring image refer to the discrete sampling points on the image sensor of the deformed pattern formed by the laser projection on the inner wall of the wine jar 1. Key pixels can be extracted using image processing algorithms such as edge detection or threshold segmentation. The calibration model refers to the mathematical model that establishes the mapping relationship between two-dimensional image coordinates and three-dimensional spatial coordinates. It can be implemented using a camera calibration model based on Zhang Zhengyou's calibration method or a laser plane calibration model. The height coordinates refer to the vertical position information recorded in real time by the three-dimensional information acquisition module during the ascent. It can be obtained through an encoder or displacement sensor. The three-dimensional contour line refers to the closed curve representing the cross-section of the inner wall of the wine jar 1 at a specific height position. It can be formed by fitting point cloud data algorithms such as least squares method or spline interpolation.

[0137] Specifically, the solution in this application accurately maps the pixels on the laser ring image into a three-dimensional point cloud based on a calibration model, and associates these point clouds with their corresponding height coordinates, thereby accurately locating the contour of each cross-section in three-dimensional space. The calibration model ensures accurate conversion from two-dimensional images to three-dimensional points, and the height coordinates provide a vertical position reference. The combination of the two allows for the avoidance of feature point extraction errors even on smooth surfaces lacking texture features, generating continuous and high-precision cross-sectional contours.

[0138] As a preferred embodiment, the solution of this application is implemented as follows: During the three-dimensional contour line calculation process, the laser ring image is captured by an industrial camera, and the pixels are extracted using the Canny edge detection algorithm; the calibration model is based on the pre-calibrated camera intrinsic parameters and laser plane parameters, and the pixels are converted into a three-dimensional point cloud using triangulation; the height coordinates are provided in real time by a linear encoder installed on the lifting mechanism; finally, the point cloud data is fitted into a circular contour line using the RANSAC algorithm.

[0139] Through the above solution, this application effectively solves the problem of inaccurate feature point extraction caused by the smooth surface of the inner wall of the wine jar 1, ensures the accurate generation of the three-dimensional contour line, and thus improves the overall accuracy of the three-dimensional model of the inner wall of the wine jar 1.

[0140] Please see Figures 1 to 5 This application further proposes that the splicing and fusion in S4 involves arranging all three-dimensional contour lines in an orderly manner according to their height coordinates in three-dimensional space, and generating a continuous and complete three-dimensional curved surface model of the inner wall of the wine jar 1 through triangular meshing or surface fitting algorithms.

[0141] The orderly arrangement of contour lines in three-dimensional space based on their height coordinates refers to the precise vertical alignment of the three-dimensional contour lines based on the real-time recorded height coordinate information. This can be achieved by using the height coordinate values ​​as the sorting key for ascending order, ensuring that the contour lines are strictly arranged in order along the height of the jar and avoiding misalignment caused by disordered height data. The triangulation algorithm can be understood as a calculation method that converts discrete contour line point clouds into triangular meshes. This can be achieved using Delaunay triangulation or Marching Cubes algorithms, aiming to fill the gaps between adjacent contour lines by constructing triangular patches to form a continuous surface. The surface fitting algorithm refers to the technique of fitting a smooth mathematical surface based on the contour line data. This can be achieved using B-spline surface fitting or least squares fitting, aiming to generate a defect-free continuous surface for the smooth characteristics of the inner wall of the wine jar 1.

[0142] Specifically, the solution of this application first utilizes the precise height coordinate information recorded in real time in S2 to strictly sort all three-dimensional contour lines in three-dimensional space according to their height coordinates, so that the contour lines are precisely aligned in the vertical direction of the jar body. Then, triangular meshing or surface fitting algorithms are applied to process the ordered contour lines. The triangular meshing algorithm connects the contour lines with adjacent height coordinates by constructing triangular patches to fill the gaps, while the surface fitting algorithm fits a smooth mathematical surface based on the contour line data. Both are optimized for the smoothness characteristics of the inner wall of the wine jar 1, thereby seamlessly integrating the discrete contour lines into a continuous and complete three-dimensional surface model.

[0143] As a preferred embodiment, the solution of this application is specifically implemented as follows: the triangular meshing algorithm can specifically adopt the Delaunay triangulation technique, which constructs a triangular mesh by maximizing the minimum angle principle; the surface fitting algorithm can specifically adopt the non-uniform rational B-spline surface fitting technique, which can accurately represent complex surfaces and maintain smoothness.

[0144] By employing the above-mentioned method, this application effectively avoids the problems of misalignment and gaps in the process of splicing three-dimensional contour lines, ensuring the continuity and integrity of the three-dimensional model of the inner wall of the wine jar 1, thereby improving the accuracy of subsequent liquid level measurement.

[0145] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the technical concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A three-dimensional measuring device for the inside of a wine jar, characterized in that, The internal three-dimensional measuring device of the wine jar includes: A fixing cap, which is used to fix the wine jar at the mouth; A motion mechanism, movably connected to the fixed cover; and A three-dimensional information acquisition mechanism includes a conical laser, a first connecting column, and a first camera connected in sequence. The first camera is connected to the motion mechanism, and the conical laser is located away from the motion mechanism. The motion mechanism is used to drive the conical laser and the first camera to move along the axial direction of the wine jar; the conical laser is used to emit a conical laser beam to the inner wall of the wine jar, and the first camera is used to capture the laser image projected onto the inner wall of the wine jar. The motion mechanism includes: Mounting base, which is disposed on the fixed cover and located outside the wine jar; A drive motor is mounted on the mounting base and located outside the wine jar; A ball screw, one end of which is connected to the drive motor and extends into the wine jar; The slide table is slidably connected to the ball screw; and A connecting flange is provided, which is connected to the slide table, and the conical laser is mounted on the connecting flange. The three-dimensional information acquisition mechanism further includes a ring laser, a second connecting column, and a second camera connected in sequence. The ring laser is connected to the connecting flange, and the second camera is connected to the storage control module. The storage control module is electrically connected to the ring laser and the second camera and is used to control the operation of the ring laser and the second camera. The three-dimensional information acquisition mechanism further includes a first data acquisition module and a storage control module. The first data acquisition module is connected to the first camera, and the storage control module is connected to the end of the first data acquisition module away from the first camera and is connected to the connecting flange. The storage control module is electrically connected to the first data acquisition module, the conical laser, and the first camera, and is used to acquire the image of the conical laser collected by the first data acquisition module and control the operation of the conical laser and the first camera.

2. The three-dimensional measuring device for the inside of a wine jar as described in claim 1, characterized in that, The three-dimensional measuring device inside the wine jar also includes a support component located inside the wine jar, the support component including... Multiple support arms, one end of which is hinged to the fixed cover, and A movable sleeve, with the other ends of multiple support arms hinged to the outer wall of the movable sleeve; the inner wall of the movable sleeve is provided with spring hooks, and the outer peripheral wall of the mounting base is provided with multiple slots, which are spaced apart along the axial direction of the mounting base; the spring hooks engage with one of the slots to lock the movable sleeve to the mounting base; each support arm is inclined relative to the mounting base.

3. The three-dimensional measuring device for the inside of a wine jar as described in claim 1, characterized in that, The three-dimensional measuring device inside the wine jar also includes a mounting column and a setting module mounted on the mounting column. The mounting column is located on the mounting base and outside the wine jar. The setting module is electrically connected to the storage control module and is used to allow users to set parameters and operate the device outside the wine jar.

4. The three-dimensional measuring device for the inside of a wine jar as described in claim 3, characterized in that, The three-dimensional information acquisition mechanism further includes a second data acquisition module. The two ends of the second data acquisition module are respectively connected to the second camera and the storage control module, and the storage control module is electrically connected to the second data acquisition module for acquiring the image of the ring laser acquired by the data acquisition module.

5. The three-dimensional measuring device for the inside of a wine jar as described in claim 3, characterized in that, The field of view of the first camera is greater than the emission range of the cone laser; the field of view of the second camera is greater than the emission range of the ring laser.

6. A method for three-dimensional modeling of the interior of a wine jar, characterized in that, The method for three-dimensional modeling the interior of a wine jar employs the three-dimensional measuring device for the interior of a wine jar as described in any one of claims 1 to 5, and the steps of the method for three-dimensional modeling the interior of a wine jar include: S1: Perform system calibration on the first camera and conical laser, as well as the second camera and ring laser, of the three-dimensional information acquisition module of the three-dimensional measurement equipment inside the wine jar, and establish a mapping relationship model between the laser pattern and the three-dimensional space. S2: Fix the three-dimensional measuring device inside the wine jar to the mouth of the wine jar, control the three-dimensional information acquisition module to rise at a constant speed from the bottom of the jar, synchronously acquire the deformation pattern formed by the ring laser and cone laser projected on the inner wall of the wine jar, and record the height coordinates corresponding to each frame of the deformation pattern in real time. S3: Based on the mapping relationship model, the deformation pattern of each height coordinate collected is solved into a three-dimensional contour line of the inner wall of the wine jar at that height position. S4: Segment and merge all the three-dimensional contour lines with height coordinates to reconstruct a three-dimensional model of the inner wall of the wine jar from the bottom to the mouth.

7. The three-dimensional modeling method for the interior of a wine jar as described in claim 6, characterized in that, The system calibration in S1 specifically involves: establishing a mathematical mapping relationship between the two-dimensional laser deformation patterns captured by the first camera and the conical laser, and the two-dimensional laser ring laser, and between the two-dimensional laser ring laser and the three-dimensional spatial points on the inner wall of the wine jar, by determining the fixed relative position parameters of the first camera and the conical laser, and the fixed relative position parameters of the second camera and the ring laser.

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