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WO2017201649A1 - Procédé et dispositif de modélisation tridimensionnelle - Google Patents

Procédé et dispositif de modélisation tridimensionnelle Download PDF

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Publication number
WO2017201649A1
WO2017201649A1 PCT/CN2016/082991 CN2016082991W WO2017201649A1 WO 2017201649 A1 WO2017201649 A1 WO 2017201649A1 CN 2016082991 W CN2016082991 W CN 2016082991W WO 2017201649 A1 WO2017201649 A1 WO 2017201649A1
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WO
WIPO (PCT)
Prior art keywords
modeling
modeled
information
auxiliary
dimensional model
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Ceased
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PCT/CN2016/082991
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English (en)
Chinese (zh)
Inventor
骆磊
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Cloudminds Beijing Technologies Co Ltd
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Cloudminds Beijing Technologies Co Ltd
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Application filed by Cloudminds Beijing Technologies Co Ltd filed Critical Cloudminds Beijing Technologies Co Ltd
Priority to CN201680002685.0A priority Critical patent/CN107454866A/zh
Priority to PCT/CN2016/082991 priority patent/WO2017201649A1/fr
Publication of WO2017201649A1 publication Critical patent/WO2017201649A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects

Definitions

  • the robot can obtain information such as its own spatial attitude through its own 3D (3-Dimensions, 3D) model, help improve stability or improve the accuracy of obstacle avoidance and collision avoidance; on the other hand, in the scene where multiple robots need to work together
  • the master robot or the master device can judge whether it is possible to perform joint work or determine how to divide the work in the joint work according to the 3D model of other robots.
  • the modeling data acquisition capability information is image data acquisition capability information
  • the image data acquisition capability information includes: whether image information can be acquired, an image acquisition mode, an image acquisition type, an image acquisition distance range, and an image acquisition accuracy. a combination of one or several of the image acquisition angles;
  • the acquiring modeling capability information of other devices in the preset range of the device to be modeled includes:
  • the three-dimensional model information includes: modeling data;
  • Obtaining a three-dimensional model according to the three-dimensional model information comprising: obtaining a three-dimensional model of the device to be modeled according to the modeling data modeling;
  • the auxiliary modeling request comprises:
  • the receiving module is configured to receive modeling data that is fed back from the auxiliary modeling device according to the auxiliary modeling request, and obtain a three-dimensional model of the device to be modeled according to the modeling data modeling;
  • a sending module configured to send three-dimensional model information, where the three-dimensional model information includes modeling data, or the three-dimensional model information includes a three-dimensional model of the device to be modeled according to the modeling data modeling.
  • Step 1031 Obtain modeling capability information of other devices in a preset range of the device to be modeled
  • Step 1032 Determine an auxiliary modeling device according to the modeling capability information.
  • the device to be modeled by itself finds an auxiliary modeling device capable of assisting in establishing a three-dimensional model, and can select an auxiliary modeling device more suitable for itself according to the modeling capability information of other devices.
  • step 103 an auxiliary modeling device that can assist the device to be modeled in establishing a three-dimensional model is determined.
  • Step 401 Determine that the device to be modeled meets a modeling condition
  • the auxiliary modeling device begins to model the device to be modeled according to the auxiliary modeling request sent by the device to be modeled.
  • the following steps 407 and 408 may be included.
  • the auxiliary modeling device indicates that the device to be modeled maintains the current posture, and is stationary, facilitating the auxiliary device to collect modeling data.
  • Step 509 Receive three-dimensional model information fed back from the auxiliary modeling device according to the auxiliary modeling request; and obtain a three-dimensional model of the device to be modeled according to the three-dimensional model information.
  • the modeling capability information may further include modeling execution capability information, such as a moving speed, a moving range, a road adaptability, a location, a task situation, and a communication capability of the other device. That is, some devices may have corresponding modeling data acquisition capabilities, but due to their current location, current task conditions, or mobility limitations, the server cannot perform the task of establishing a three-dimensional model for the device to be modeled. Based on these modeling execution capability information, it is more suitable for the device to be modeled. Match the selection to determine the auxiliary equipment.
  • modeling execution capability information such as a moving speed, a moving range, a road adaptability, a location, a task situation, and a communication capability of the other device. That is, some devices may have corresponding modeling data acquisition capabilities, but due to their current location, current task conditions, or mobility limitations, the server cannot perform the task of establishing a three-dimensional model for the device to be modeled. Based on these modeling execution capability information, it is more suitable for the device to be modeled. Match the selection to determine the auxiliary
  • Image acquisition accuracy Characterizes the accuracy of acquiring image data. It can be understood that the higher the accuracy, the higher the accuracy of the established three-dimensional model.
  • the auxiliary modeling request includes: one or more of location information, rotation capability information, mobility capability information, modeling time information, modeling urgency information, or communication capability information of the device to be modeled. combination.
  • the device to be modeled when the device to be modeled cannot move or cannot rotate, it needs to be moved by the auxiliary modeling device to the vicinity of the device to be modeled and collect modeling data around the device to be modeled; when the device to be modeled can move, but the mobility is obviously weak When assisting the modeling device, it is also necessary to move from the auxiliary modeling device to the vicinity of the device to be modeled and collect modeling data around the device to be modeled; when the device to be modeled and the auxiliary modeling device can establish a communication connection, the to be built
  • the modeling device can instruct the device to be modeled to move to its vicinity, or perform a corresponding modeling action; when the modeling of the device to be modeled is urgent, or only supports current time modeling, the auxiliary modeling can preferentially process the devices to be modeled. Auxiliary modeling tasks.
  • the modeling action instruction includes an execution time; and the performing the modeling action according to the modeling action instruction includes performing a modeling action at a corresponding execution time according to the modeling action instruction.
  • the auxiliary modeling device sends a three-dimensional model letter to the server or the device to be modeled.
  • the three-dimensional model information may be the modeling data obtained in the above step 602, that is, the modeling data is directly fed back to the device or server to be modeled, and the three-dimensional model is calculated according to the modeling data by the device or the server to be modeled;
  • the three-dimensional model information may also include a three-dimensional model of the device to be modeled according to the modeling data modeling, that is, the modeling calculation by the auxiliary modeling device, and then directly feedback the modeled result to the device to be modeled or server.
  • Embodiment 5 is a diagrammatic representation of Embodiment 5:
  • Step 701 Acquire an auxiliary modeling device determination request sent by the device to be modeled, where the auxiliary modeling device determines that the request includes the identification information of the device to be modeled.
  • Rotation capability information indicates whether the device to be modeled can be rotated in place. If the device to be modeled can be rotated in place, the device to be modeled can be rotated in situ, and the auxiliary modeling device is in the process of rotating the device to be modeled. The image of each angle is obtained for modeling; at the same time, this information can also indicate whether the device to be modeled is suitable for in-situ rotation modeling, because the structure of some devices determines that too many actions are required during the rotation process, and the determined three-dimensional model cannot be established.
  • modeling time information time information that can be modeled, which may be immediate or set to a certain moment in the future; or information of the modeling time period, that is, in a certain period of time
  • the device to be modeled can cooperate with the auxiliary device to perform actions such as stationary, rotating or moving, and cannot be modeled outside the modeling time period.
  • the server acquires modeling capability information of other devices within the preset range of the device to be modeled.
  • the preset range may be a geographical range, such as a line of other devices and devices to be modeled or The path distance is within the preset range; or other devices are within the same preset area as the device to be modeled, such as the same room, within the same geofence; or the device to be modeled can identify the range of other devices through the sensor Inside.
  • the preset range may also be a management scope, for example, other devices belong to a management group and the device to be modeled.
  • the preset range may also be a communication range, for example, a device that can establish a stable connection with the device to be modeled belongs to a preset range. A reasonable choice of preset ranges enables the server to more effectively determine the auxiliary device among a limited number of other devices.
  • the auxiliary modeling device can be determined more accurately and reasonably according to the modeling capability information.
  • the server determines the auxiliary modeling device for the device to be modeled according to the auxiliary modeling device determining request and the modeling capability information, and the final determined auxiliary modeling device may be one or more
  • the selected modeling device should be equipped with modeling data acquisition capabilities, and the modeling data acquisition capabilities and/or modeling execution capabilities match the modeling requirements of the device to be modeled. Based on this, the server can select one or more devices with relatively high modeling capabilities in the required devices.
  • FIG. 8 is a schematic flowchart of a method for establishing a three-dimensional model according to Embodiment 6 of the present invention. As shown in FIG. 8, the method for establishing a three-dimensional model includes:
  • Step 801 The robot detects, by the bottom mass sensor, that the weight increase exceeds a predetermined threshold by 30%, and confirms that it is necessary to re-establish a three-dimensional model for itself;
  • Step 808 the device A instructs the robot to be modeled to move to a position where the camera is facing the distance of 5 meters, and then starts to rotate;
  • Step 810 after identifying the rotated robot to be modeled, the device A takes a photo of the respective directions at a certain frequency, and obtains a sequence of photos, which can be taken every 1-10 seconds according to the rotation speed of the robot to be modeled;
  • step 813 the information of the device A is added or updated to the standby auxiliary modeling device table.
  • Device A is mobile, has a rotatable camera, but only supports wifi connection;
  • Device C is mobile, has a rotatable camera, supports Bluetooth connectivity, and is currently performing non-interruptible tasks;
  • Step 904 the cloud server allocates a movable, rotatable camera with a rotatable camera, supports the Bluetooth connection, and the currently idle device B is an auxiliary modeling device according to the actual situation of the robot to be modeled;
  • Step 905 The cloud server sends the Bluetooth identifier of the auxiliary modeling device B to the robot to be modeled;
  • Step 908 the device B sends an action instruction to the model to be modeled to maintain the extended posture and is stationary;
  • Step 910 the robot to be modeled sends an action command response to the device B.
  • Step 1007 device B sends a sequence of photos to the cloud server
  • Step 1008 the cloud server models the three-dimensional model of the robot to be modeled according to the image sequence
  • FIG. 11 is a schematic structural diagram of a three-dimensional model establishing apparatus according to Embodiment 9 of the present invention. As shown in the figure, the apparatus 1100 includes:
  • a first device determining module 1102 configured to determine an auxiliary modeling device
  • the condition determining module 1101 determines that the device to be modeled satisfies the modeling condition when any of the following conditions are met:
  • the first device determining module 1102 includes:
  • a determining unit configured to determine the auxiliary modeling device according to the modeling capability information.
  • the modeling execution capability information of the other device includes: a combination of one or more of a moving speed, a moving range, a road adaptability, a location, a task situation, and a communication capability.
  • the first device determining module 1102 includes:
  • the auxiliary modeling device determines the request, and further includes:
  • the action instruction receiving module 1104 is configured to receive, according to the auxiliary modeling, the auxiliary modeling device from the auxiliary modeling device before receiving the three-dimensional model information fed back from the auxiliary modeling device according to the auxiliary modeling device. Modeling action instructions requesting feedback;
  • the action instruction execution module 1105 is configured to perform a modeling action according to the modeling action instruction.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Graphics (AREA)
  • Geometry (AREA)
  • Software Systems (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Mobile Radio Communication Systems (AREA)
  • General Factory Administration (AREA)

Abstract

L'invention concerne un procédé et un dispositif de modélisation tridimensionnelle. Le procédé comporte les étapes consistant à : déterminer un appareil de support de modélisation (103) ; envoyer, à l'appareil de support de modélisation, une requête de support de modélisation, la requête de support de modélisation comprenant des informations d'identification pour un objet destiné à être modélisé (106) ; recevoir, en provenance de l'appareil de support de modélisation, des informations de modèle tridimensionnel renvoyées en fonction de la requête de support de modélisation, et obtenir, en fonction des informations de modèle tridimensionnel, un modèle tridimensionnel de l'objet destiné à être modélisé (109). L'invention concerne un procédé de modélisation tridimensionnelle. L'appareil de support de modélisation prend en charge la modélisation tridimensionnelle automatique d'un objet destiné à être modélisé, pour ainsi réduire la dépendance de la modélisation tridimensionnelle d'objets par rapport au personnel de maintenance.
PCT/CN2016/082991 2016-05-23 2016-05-23 Procédé et dispositif de modélisation tridimensionnelle Ceased WO2017201649A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201680002685.0A CN107454866A (zh) 2016-05-23 2016-05-23 一种三维模型建立方法和装置
PCT/CN2016/082991 WO2017201649A1 (fr) 2016-05-23 2016-05-23 Procédé et dispositif de modélisation tridimensionnelle

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Cited By (1)

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Publication number Priority date Publication date Assignee Title
CN110744547A (zh) * 2019-11-08 2020-02-04 山东大学 一种基于分段常曲率的连续体机械臂逆运动学建模方法

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CN108297099A (zh) * 2018-01-31 2018-07-20 上海与德通讯技术有限公司 一种机器人的自救方法和机器人
CN108638064B (zh) * 2018-05-15 2020-10-27 浙江工业大学 一种基于均值耦合的多机械臂系统自适应参数辨识与位置同步控制方法
CN110322545A (zh) * 2019-05-14 2019-10-11 广东康云科技有限公司 校园三维数字化建模方法、系统、装置及存储介质
CN110322546A (zh) * 2019-05-14 2019-10-11 广东康云科技有限公司 变电站三维数字化建模方法、系统、装置及存储介质
CN118365820B (zh) * 2024-06-18 2024-10-29 福建省星云大数据应用服务有限公司 一种基于3d模型的物联网设备管理方法及系统

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