CN107454866A - A kind of three-dimension modeling method and apparatus - Google Patents

A kind of three-dimension modeling method and apparatus Download PDF

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Publication number
CN107454866A
CN107454866A CN201680002685.0A CN201680002685A CN107454866A CN 107454866 A CN107454866 A CN 107454866A CN 201680002685 A CN201680002685 A CN 201680002685A CN 107454866 A CN107454866 A CN 107454866A
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CN
China
Prior art keywords
modeling
information
modelling apparatus
auxiliary
equipment
Prior art date
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Pending
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CN201680002685.0A
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Chinese (zh)
Inventor
骆磊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
As Science And Technology (beijing) Co Ltd
Cloudminds Beijing Technologies Co Ltd
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As Science And Technology (beijing) Co Ltd
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Publication date
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Publication of CN107454866A publication Critical patent/CN107454866A/en
Pending 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; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects

Abstract

A kind of three-dimension modeling and device, methods described include：It is determined that auxiliary modelling apparatus (103)；Auxiliary modeling request is sent to the auxiliary modelling apparatus, the auxiliary modeling request includes the identification information (106) of mould equipment yet to be built；Receive the three-dimensional model information according to the auxiliary modeling request feedback from the auxiliary modelling apparatus；According to the three-dimensional model information, the threedimensional model (109) for treating modelling apparatus is obtained.A kind of three-dimension modeling method is provided, treats that modelling apparatus establishes threedimensional model automatically as described in assisting auxiliary modelling apparatus, reduces dependence of the equipment three-dimensional modeling to attendant.

Description

A kind of three-dimension modeling method and apparatus
Technical field
The present invention relates to robot technology, more particularly to a kind of three dimensional model for robot method for building up, device and electronics are set It is standby.
Background technology
High in the clouds robot is that cognitive system is placed in cloud, and body, driving, sensor are placed on robot body, are passed through The intelligent robot that mobile communication connects the two；High in the clouds robot is the direction of intelligent anthropomorphic robot development.
In the prior art, the modeling ever more important to robot profile.One side robot can pass through itself 3D (3- It is Dimensions, three-dimensional) model obtains the information such as itself spatial attitude, help to improve stability or improve avoidance, anticollision Accuracy；On the other hand, in the scene for needing multirobot to work together, main robot or main equipment can be according to other machines The 3D models of people, judge whether can be worked together or determined how to divide the work in associated working etc..
By taking anticollision scene as an example, many robots have been provided with multivariant locomitivity.However, most of machines The still each discrete motion of each free degree of people, lacks mutual association and judges, so as to cause during exercise, especially machine After people's shell changes or has extra bear a heavy burden, each free degree of robot may collide when performing and moving, than As hand gets to leg, hand gets to body, or hand is held fist and do not held etc..
To solve the above problems, following scheme is used in the prior art：Robot provides the setting interface of 3D models, by tieing up Shield personnel set the 3D models of the robot according to the current profile of robot, and the 3D models are stored to the control of robot Preserved in module, then robot is controlled based on action of the 3D models dynamically to each free degree of robot, to cause Robot can avoid obstacle, or can avoid the collision in each free degree.
The deficiencies in the prior art essentially consist in：The threedimensional model by interface setting robot by attendant is needed, no Three-dimension modeling can be automatically performed.
The content of the invention
The embodiment of the present invention proposes the method for building up and device of threedimensional model, can be established automatically for equipment such as robots Threedimensional model.
In one aspect, the embodiments of the invention provide a kind of three-dimension modeling method, it is characterised in that methods described Including：
It is determined that auxiliary modelling apparatus；
Auxiliary modeling request is sent to the auxiliary modelling apparatus, the auxiliary modeling request includes the knowledge of mould equipment yet to be built Other information；
Receive the three-dimensional model information according to the auxiliary modeling request feedback from the auxiliary modelling apparatus；According to institute Three-dimensional model information is stated, obtains the threedimensional model for treating modelling apparatus.
Preferably, before the determination auxiliary modelling apparatus, in addition to：
It is determined that described treat that modelling apparatus meets modeling conditions；
When meeting following either condition, it is determined that described treat that modelling apparatus meets modeling conditions：
When equipment initializes；Or
Detect and treat that the change of modelling apparatus own wt exceedes predetermined threshold value；Or
Reach the default modeling time.
Preferably, it is described to determine to aid in modelling apparatus, including：
Obtain the modeling ability information for treating other equipment in modelling apparatus preset range；
The modeling ability information includes modeling data acquisition capability information, or the modeling ability information includes modeling Data retrieval capabilities information and modeling executive capability information；
According to the modeling ability information, it is determined that auxiliary modelling apparatus.
Preferably, the modeling data acquisition capability information is image data acquisition ability information, and described image data obtain Ability information is taken to include：Image information, image acquisition mode, image can be obtained and obtain type, image acquisition distance range, figure As obtaining precision, and image obtains one or more of combinations in angle；
And/or the modeling executive capability information of the other equipment includes：Translational speed, moving range, road conditions adapt to energy One or more of combinations in power, position, task situation and communication capacity.
Preferably, the modeling ability information of other equipment in modelling apparatus preset range is treated in the acquisition, including：
Connection is established visual identity, with the other equipment or with by way of server communication, obtaining default model The identification information of interior other equipment is enclosed, according to the identification information of the other equipment, acquisition treats in modelling apparatus preset range it The modeling ability information of his equipment.
Preferably, it is described to determine to aid in modelling apparatus, including：
Auxiliary modelling apparatus is sent to server and determines request, and the auxiliary modelling apparatus determines that request includes mould yet to be built and set Standby identification information；
Receive the knowledge for the auxiliary modelling apparatus for determining request feedback according to the auxiliary modelling apparatus from the server Other information, determine the auxiliary modelling apparatus.
Preferably, the auxiliary modelling apparatus determines request, in addition to：
Treat that the positional information of modelling apparatus, turning power information, locomotivity information, modeling temporal information, modeling are urgent One or more of combinations in degree information or communication capacity information.
Preferably, the auxiliary modeling request, including：
Treat that the positional information of modelling apparatus, turning power information, locomotivity information, modeling temporal information, modeling are urgent One or more of combinations in degree information or communication capacity information.
Preferably, in the three-dimensional mould received from the auxiliary modelling apparatus according to the auxiliary modeling request feedback Before type information, in addition to：
Receive the modeling action command according to the auxiliary modeling request feedback from the auxiliary modelling apparatus；
According to the modeling action command, modeling action is performed.
Preferably, the modeling action, including following one or more：
Keep current posture；
Keep the first default modeling posture；
Retainer body posture, original place rotate；
It is replaced by the second default modeling posture；
It is moved to the default modeling position of the auxiliary modelling apparatus.
Preferably, the modeling action command, including perform the time；
It is described to be acted according to the modeling action command, execution modeling, including according to the modeling action command, corresponding The execution time perform modeling action.
Preferably, the three-dimensional model information, including：Modeling data；
It is described that threedimensional model is obtained according to the three-dimensional model information, including：Modeled, obtained according to the modeling data Treat the threedimensional model of modelling apparatus；
Or
The three-dimensional model information, including treat the threedimensional model of modelling apparatus.
In another aspect, the embodiments of the invention provide a kind of three-dimension modeling method, it is characterised in that the side Method includes：
Preferably, methods described includes：
Auxiliary modeling request is obtained, the auxiliary modeling request includes the identification information of mould equipment yet to be built；
The modeling data of modelling apparatus is treated according to the auxiliary modeling request collection；
Three-dimensional model information is sent, the three-dimensional model information includes modeling data, or the three-dimensional model information bag Include the threedimensional model for treating modelling apparatus obtained according to modeling data modeling.
Preferably, the auxiliary modeling request, in addition to：
Treat that the positional information of modelling apparatus, turning power information, locomotivity information, modeling temporal information, modeling are urgent One or more of combinations in degree information or communication capacity information.
Preferably, before the transmission three-dimensional model information, in addition to：
Treat that modelling apparatus sends modeling action command to described.
In another aspect, the embodiments of the invention provide a kind of three-dimension modeling method, it is characterised in that the side Method includes：
Obtain and treat that the auxiliary modelling apparatus that modelling apparatus is sent determines request, the auxiliary modelling apparatus determines that request includes The identification information for treating modelling apparatus；
Obtain the modeling ability information for treating other equipment in modelling apparatus preset range；
Determining request and the modeling ability information according to the auxiliary modelling apparatus, to treat that modelling apparatus determines auxiliary to be described Help modelling apparatus；
To the identification information treated modelling apparatus and send the auxiliary modelling apparatus.
Preferably, the auxiliary modelling apparatus determines request, in addition to：
Treat that the positional information of modelling apparatus, turning power information, locomotivity information, modeling temporal information, modeling are urgent One or more of combinations in degree information or communication capacity information.
In another aspect, the embodiments of the invention provide a kind of three-dimension modeling device, it is characterised in that the dress Put including：
First equipment determining module, for determining to aid in modelling apparatus；
Auxiliary modeling request module, for the first equipment determining module determine auxiliary modelling apparatus after, to the auxiliary Modelling apparatus sends auxiliary modeling request, and the auxiliary modeling request includes the identification information of mould equipment yet to be built；
Receiving module, for receiving the three-dimensional mould from the auxiliary modelling apparatus according to the auxiliary modeling request feedback Type information；According to the three-dimensional model information, the threedimensional model for treating modelling apparatus is obtained.
Preferably, described device also includes：
Condition determining module, for the first equipment determining module determine auxiliary modelling apparatus before, it is determined that described Treat that modelling apparatus meets modeling conditions；
When meeting following either condition, treat that modelling apparatus meets modeling conditions described in the condition determining module determination：
When equipment initializes；Or
Detect and treat that the change of modelling apparatus own wt exceedes predetermined threshold value；Or
Reach the default modeling time.
Preferably, the first equipment determining module, including：
Acquiring unit, the modeling ability information of other equipment in modelling apparatus preset range is treated for obtaining；
The modeling ability information includes modeling data acquisition capability information, or the modeling ability information includes modeling Data retrieval capabilities information and modeling executive capability information；
Determining unit, for according to the modeling ability information, it is determined that auxiliary modelling apparatus.
Preferably, the modeling data acquisition capability information is image data acquisition ability information, and described image data obtain Ability information is taken to include：Image information, image acquisition mode, image can be obtained and obtain type, image acquisition distance range, figure As obtaining precision, and image obtains one or more of combinations in angle；
And/or the modeling executive capability information of the other equipment includes：Translational speed, moving range, road conditions adapt to energy One or more of combinations in power, position, task situation and communication capacity.
Preferably, the acquiring unit, is specifically used for：
Connection is established visual identity, with the other equipment or with by way of server communication, obtaining default model The identification information of interior other equipment is enclosed, according to the identification information of the other equipment, acquisition treats in modelling apparatus preset range it The modeling ability information of his equipment.
Preferably, the first equipment determining module, including：
Request unit, request is determined for sending auxiliary modelling apparatus to server, the auxiliary modelling apparatus determines please Seek the identification information including treating modelling apparatus；
Receiving unit, determine the auxiliary of request feedback according to the auxiliary modelling apparatus from the server for receiving The identification information of modelling apparatus, determine the auxiliary modelling apparatus.
Preferably, the auxiliary modelling apparatus determines request, in addition to：
Treat that the positional information of modelling apparatus, turning power information, locomotivity information, modeling temporal information, modeling are urgent One or more of combinations in degree information or communication capacity information.
Preferably, the auxiliary modeling request, including：
Treat that the positional information of modelling apparatus, turning power information, locomotivity information, modeling temporal information, modeling are urgent One or more of combinations in degree information or communication capacity information.
Preferably, described device also includes：
Action command receiving module, for being received in the receiving module from the auxiliary modelling apparatus according to described auxiliary Help before the three-dimensional model information of modeling request feedback, receive from the auxiliary modelling apparatus according to the auxiliary modeling request The modeling action command of feedback；
Action command execution module, for according to the modeling action command, performing modeling action.
Preferably, the modeling action, including following one or more：
Keep current posture；
Keep the first default modeling posture；
Retainer body posture, original place rotate；
It is replaced by the second default modeling posture；
It is moved to the default modeling position of the auxiliary modelling apparatus.
Preferably, the modeling action command, including perform the time；
The action command execution module, specifically for according to the modeling action command, being held in the execution time accordingly Row modeling acts.
Preferably, the three-dimensional model information, including：Modeling data；
The receiving module, specifically for receiving from the auxiliary modelling apparatus according to the auxiliary modeling request feedback Modeling data, modeled according to the modeling data, obtain and treat the threedimensional model of modelling apparatus；
Or
The three-dimensional model information, including treat the threedimensional model of modelling apparatus.
In another aspect, the embodiments of the invention provide a kind of three-dimension modeling device, it is characterised in that the dress Put including：
Acquisition request module, modeling request is aided in for obtaining, the auxiliary modeling request includes the knowledge of mould equipment yet to be built Other information；
Modeling data acquisition module, for treating the modeling data of modelling apparatus according to the auxiliary modeling request collection；
Sending module, for sending three-dimensional model information, the three-dimensional model information includes modeling data, or described three Dimension module information includes modeling the threedimensional model for treating modelling apparatus obtained according to the modeling data.
Preferably, the auxiliary modeling request, in addition to：
Treat that the positional information of modelling apparatus, turning power information, locomotivity information, modeling temporal information, modeling are urgent One or more of combinations in degree information or communication capacity information.
Preferably, described device also includes：
Action command sending module, for before the sending module sends three-dimensional model information, waiting to model to described Equipment sends modeling action command.
In another aspect, the embodiments of the invention provide a kind of three-dimension modeling device, it is characterised in that the dress Put including：
Equipment determines request receiving module, treats that the auxiliary modelling apparatus that modelling apparatus is sent determines request, institute for obtaining State auxiliary modelling apparatus and determine that request includes the identification information for treating modelling apparatus；
Data obtaining module, the modeling ability information of other equipment in modelling apparatus preset range is treated for obtaining；
Second equipment determining module, for determining that request and the modeling ability information are according to the auxiliary modelling apparatus It is described to treat that modelling apparatus determines auxiliary modelling apparatus；
Facility information sending module, for treating that modelling apparatus sends the identification information for aiding in modelling apparatus to described.
Preferably, the auxiliary modelling apparatus determines request, in addition to：
Treat that the positional information of modelling apparatus, turning power information, locomotivity information, modeling temporal information, modeling are urgent One or more of combinations in degree information or communication capacity information.
Beneficial effects of the present invention are as follows：
Auxiliary modelling apparatus is determined in the present invention；Auxiliary modeling request, the auxiliary are sent to the auxiliary modelling apparatus Modeling request includes the identification information of mould equipment yet to be built；Receive from the auxiliary modelling apparatus according to the auxiliary modeling request The three-dimensional model information of feedback；According to the three-dimensional model information, the threedimensional model for treating modelling apparatus is obtained.The invention provides A kind of method for establishing threedimensional model, treat that modelling apparatus establishes threedimensional model automatically as described in assisting auxiliary modelling apparatus, reduce Dependence of the equipment three-dimensional modeling to attendant.
Brief description of the drawings
The specific embodiment of the present invention is described below with reference to accompanying drawings, wherein：
Fig. 1 shows the schematic flow sheet of three-dimension modeling method in the embodiment of the present invention one；
Fig. 2 shows a kind of schematic flow sheet for aiding in modelling apparatus to determine method in the embodiment of the present invention one；
Fig. 3 shows another schematic flow sheet for aiding in modelling apparatus to determine method in the embodiment of the present invention one；
Fig. 4 shows the schematic flow sheet of three-dimension modeling method in the embodiment of the present invention two；
Fig. 5 shows the schematic flow sheet of three-dimension modeling method in the embodiment of the present invention three；
Fig. 6 shows the schematic flow sheet of three-dimension modeling method in the embodiment of the present invention four；
Fig. 7 shows the schematic flow sheet of three-dimension modeling method in the embodiment of the present invention five；
Fig. 8 shows the schematic flow sheet of three-dimension modeling method in the embodiment of the present invention six；
Fig. 9 shows the schematic flow sheet of three-dimension modeling method in the embodiment of the present invention seven；
Figure 10 shows the schematic flow sheet of three-dimension modeling method in the embodiment of the present invention eight；
Figure 11 shows the structural representation of three-dimension modeling device in the embodiment of the present invention nine；
Figure 12 shows the structural representation of three-dimension modeling device in the embodiment of the present invention ten；
Figure 13 shows the structural representation of three-dimension modeling device in the embodiment of the present invention 11.
Embodiment
In order that technical scheme and advantage are more clearly understood, below in conjunction with accompanying drawing to the exemplary of the present invention Embodiment is described in more detail, it is clear that and described embodiment is only the part of the embodiment of the present invention, rather than The exhaustion of all embodiments.And in the case where not conflicting, the feature in embodiment and embodiment in this explanation can be mutual It is combined.
Inventor notices during invention：, it is necessary to by attendant by connecing when establishing threedimensional model for robot The threedimensional model of mouth setting robot, it is impossible to be automatically performed three-dimension modeling.
For above-mentioned deficiency, in of the invention, treat that modelling apparatus establishes three-dimensional mould automatically as described in assisting auxiliary modelling apparatus Type, reduce dependence of the equipment three-dimensional modeling to attendant.
For the ease of the implementation of the present invention, illustrated below with example.
Embodiment one：
Fig. 1 shows three-dimension modeling method flow schematic diagram in the embodiment of the present invention one, as shown in figure 1, described three Dimension module method for building up includes：
Step 103, it is determined that auxiliary modelling apparatus；
Step 106, auxiliary modeling request is sent to the auxiliary modelling apparatus, the auxiliary modeling request includes mould yet to be built The identification information of equipment；
Step 109, receive and believed from the auxiliary modelling apparatus according to the threedimensional model of the auxiliary modeling request feedback Breath；According to the three-dimensional model information, the threedimensional model for treating modelling apparatus is obtained.
In step 103, treat that modelling apparatus is determined to help the auxiliary modelling apparatus for itself establishing threedimensional model, it is determined that Mode can include following four mode：
Mode one：Fig. 2 shows a kind of flow signal for the method for determining auxiliary modelling apparatus in the embodiment of the present invention one Figure, the method for determining auxiliary modelling apparatus include：
Step 1031, the modeling ability information for treating other equipment in modelling apparatus preset range is obtained；
The modeling ability information includes modeling data acquisition capability information, or the modeling ability information includes modeling Data retrieval capabilities information and modeling executive capability information；
Step 1032, according to the modeling ability information, it is determined that auxiliary modelling apparatus.
In mode one the auxiliary modelling apparatus of threedimensional model is established by treating that modelling apparatus oneself searching can assist in it.
In step 1031, treat that modelling apparatus obtains the modeling ability letter for treating other equipment in modelling apparatus preset range Breath.The preset range can be geographic range, for example, other equipment and treat modelling apparatus straight line or path distance default In 30 meters of scope；Or other equipment and treat that modelling apparatus exists together in the range of a predeterminable area, such as same room with them, it is same In individual geography fence etc.；Or in the range for the treatment of that modelling apparatus can be by sensor identification other equipment.The preset range It can also be range of management, such as other equipment with treating that modelling apparatus belongs to a management group.The preset range can also be Communication range, such as will can belong to preset range with treating that modelling apparatus directly establishes the equipment being stably connected with.Rational choosing Selecting preset range can make to treat that modelling apparatus more effectively determines auxiliary equipment between limited other equipment.
The mode of the specific modeling ability information for obtaining other equipment can be to treat modelling apparatus with owning in preset range Other equipment establish connection, or in each other equipment select preset range in other equipment establish connection, pass through number The modeling ability information of other equipment transmission is obtained according to path.The mode connected of establishing is unlimited, can be wired mode, but Preferred wireless mode, it is specifically as follows any connected mode well known to those skilled in the art such as bluetooth, infrared, wifi.
The modeling ability information comprises at least modeling data acquisition capability information, because in various threedimensional models of establishing In scheme, it is all necessary to obtain corresponding modeling data, such as realizes that three-dimensional is built by gathering all directions photo around equipment Need to aid in modelling apparatus that there is photo acquisition capability in the scheme of mould, i.e., with camera；By gathering each side around equipment Realized to depth of view information needs to aid in modelling apparatus to have infrared or ultrasonic wave multiple point distance measurement function etc. in the scheme of three-dimensional modeling. Equipment without modeling data acquisition capability will be unable to turn into auxiliary modelling apparatus.While modeling data acquisition capability information is also The good and bad information of modeling data acquisition capability is may further include, such as image obtains precision, image obtains distance range etc., The selection more matched with itself to treat modelling apparatus to be carried out according to these modeling data acquisition capability information, it is determined that auxiliary Equipment.
The modeling ability information can also include modeling executive capability information, such as the mobile speed of the other equipment Degree, moving range, road conditions adaptability, position, task situation and communication capacity etc..I.e. some equipment may possess builds accordingly Mould data retrieval capabilities, but due to the limitation of its presently described position, current task situation or locomotivity, prevent its from Complete well to treat that modelling apparatus establishes the task of threedimensional model, treat that modelling apparatus can be according to these modeling executive capability letters Breath carries out the selection more matched with itself, determines auxiliary equipment.
Preferably, the modeling data acquisition capability information is image data acquisition ability information, and described image data obtain Ability information is taken to include：Image information, image acquisition mode, image can be obtained and obtain type, image acquisition distance range, figure As obtaining precision, and image obtains one or more of combinations in angle；And/or the modeling of the other equipment performs energy Force information includes：Translational speed, moving range, road conditions adaptability, position, task situation and one kind or several in communication capacity The combination of kind.
The present embodiment additionally provides typical modeling data acquisition capability information and/or modeling executive capability information：
The modeling data acquisition capability information is image data acquisition energy in three-dimensional modeling scene is realized by image Force information, it includes following one or more information：
A) image information can be obtained：Characterize whether the equipment has the part that can obtain image, and have The ability of most basic acquisition image.When modelling apparatus is determining auxiliary modelling apparatus according to modeling data acquisition capability, such as Fruit includes this information, then only equipment, which can obtain image information, could turn into auxiliary modelling apparatus.
B) image acquisition mode：The type of image acquisition component is characterized, such as gathered by camera, pass through infrared photography Head is gathered, gathered by ultrasonic sensor, or passes through perspective ray collection etc..
C) image obtains type：Characterize the type of the view data obtained, such as photo, video, infrared photograph, ultrasonic wave Photo, infrared depth image, or ultrasonic wave depth image etc..
D) image obtains distance range；Characterize and obtain the applicable distance range of image component, when beyond these scopes not The view data established needed for threedimensional model can preferably be obtained.The image acquisition distance range of equipment is big, or just with treating The equipment of the distance matching of modelling apparatus, its image data acquisition ability are stronger.
E) image obtains precision：Characterize the precision for obtaining view data, it is possible to understand that precision is higher, the threedimensional model of foundation The degree of accuracy it is also higher.
F) image obtains angle：Characterize the angle information for the part for obtaining image, such as an only fixed image portion During part, it can only gather the view data of fixed angle；If there is one can surround the other equipment own level circumference The image acquisition component of rotation, or around the other equipment circumference be provided with multiple images obtaining widget when, can adopt Collect the view data of multiple angles.The equipment that the view data of multiple angles usually can be gathered, its picture acquisition power are stronger.
The modeling executive capability information of the other equipment includes following one or more information：
A) translational speed：When the other equipment can move, movement can be included in executive capability information is modeled Velocity information, the faster equipment of translational speed, it is also stronger that it models executive capability.
B) moving range：The scope that the other equipment can move is characterized, such as whether it can be moved to and wait to model Near equipment, and whether it can treat that modelling apparatus moves around described, and the other equipment is not under extreme case It is mobile.It can move, and moving range is big, the flexible equipment of movement, and it is also stronger that it models executive capability.
C) road conditions adaptability：The other equipment is characterized in the ability relative to rugged, rough road surface movement, or The ability of across obstacle in movement, the equipment high to road conditions adaptability, it is also stronger that it models executive capability.
D) position：Enable to treat that modelling apparatus obtains the positional information of each other equipment, so judge itself with it is described its The distance of his equipment, the generally nearer equipment of distance, it is also stronger that it models executive capability.
E) task situation：Characterize that the other equipment is current or task situation afterwards, can if the equipment is idle Assistance treats that modelling apparatus establishes threedimensional model, if there is other tasks in the short time, may not have modeling executive capability；
F) communication capacity：Characterize whether the other equipment has communication capacity, and communication type.It can communicate, and And communication type, with treating the equipment that modelling apparatus matches, it is also stronger that it models executive capability.
Above-mentioned each typical modeling ability information can relatively accurate, comprehensively characterize the modeling ability of the other equipment, just In treating modelling apparatus in step 1032 auxiliary modelling apparatus is determined according to these typical modeling ability information.
Preferably, the modeling ability information of other equipment in modelling apparatus preset range is treated in the acquisition, including：By regarding Feel identification, establish connection or the mode with server communication with the other equipment, obtain other equipment in preset range Identification information, according to the identification information of the other equipment, obtain the modeling energy for treating other equipment in modelling apparatus preset range Force information.
The present embodiment also provides a kind of modeling ability letter for more preferably obtaining and treating other equipment in modelling apparatus preset range The method of breath, i.e., the identification information of other equipment in preset range is obtained first, further according to identification information, is treating modelling apparatus sheet Inquiry obtains the modeling ability information of each equipment in the equipment modeling ability information table that ground has been deposited；Or by the preset range The identification information upload server of other equipment, the modeling ability information for obtaining each equipment according to identification information by server are concurrent Send back to and treat modelling apparatus.The identification information is that can identify the information of the other equipment, is typically unique, can be institute State the numbering or title of other equipment.Treat that modelling apparatus can be obtained in preset range other by way of visual identity and be set Standby identification information, such as by image recognition, its identification information is determined according to the resemblance of surrounding devices；Treat modelling apparatus The identification information of other equipment in preset range can also be obtained by way of establishing connection with the other equipment, such as searched Wifi signals near rope, determined according to the SSID (Service Set Identifier, service set) of each wifi signals Send the identification information of the equipment of wifi signals；Treat that modelling apparatus can be with obtaining preset range by way of server communication The identification information of interior other equipment, such as device-to-server to be modeled send device identifying information request, are wrapped in the request Containing the identification information of itself, server side obtains its position, communication capacity, management packet according to the identification information for treating modelling apparatus It is that it feeds back the identification information of the other equipment in its preset range etc. relevant information.
Treat that identification information of the modelling apparatus based on other equipment is further local or obtains each equipment pair with server communication The modeling ability information answered, which can make full use of, treats modelling apparatus local resource or server resource, avoids and treats modelling apparatus Mass data between other equipment in preset range communicates, and treats the traffic capacity requirement of modelling apparatus and other equipment more It is low.
In step 1032, according to the modeling ability information of each equipment obtained in step 1031, set according to auxiliary modeling It is standby to determine strategy, it is determined that auxiliary modelling apparatus.The auxiliary modelling apparatus finally determined can be one, or multiple, quilt Elect auxiliary modelling apparatus as should possess modeling data acquisition capability, and modeling data acquisition capability and/or modeling are held What row ability matched with treating the modeling requirement of modelling apparatus.Again on the basis of this, may be selected meet require equipment in one or The relatively high equipment of multiple modeling abilities.
It is described match with modeling requirement refer to, treat that modelling apparatus is believed according to itself turning power information, locomotivity One or more of combinations in breath, modeling temporal information, modeling urgency level information or communication capacity information, it is determined that to auxiliary The requirement of the modeling ability of modelling apparatus is helped, further according to the modeling ability information of the other equipment, is determined to described in satisfaction The equipment of modeling ability requirement matches with the modeling requirement.
Such as treat that modelling apparatus is justified when when modelling apparatus itself can not rotate, then needing auxiliary equipment to surround Zhou Yidong simultaneously obtains modeling data, and now the position of equipment or moving range will there are certain requirements, while image is obtained Angle there are certain requirements；Or when treat modelling apparatus can according to itself positional information and the positional information of the other equipment, Determining the need for the other equipment has locomotive function, and whether can be moved to the ability treated near modelling apparatus, Or moved at least into the ability for treating that modelling apparatus is in the image acquisition distance range of the equipment is made, then described other are set Standby moving range and/or image, which obtain distance range, to be needed to meet to require；Or if treating that modelling apparatus can move, then may be used Angle can be obtained to the locomotivity and image for aiding in modelling apparatus not require；Or the if task feelings of the other equipment Condition does not allow it treating that the time that modelling apparatus needs model assists it to establish threedimensional model, then the equipment can not meet to model It is required that.
The auxiliary modelling apparatus of threedimensional model is established by treating that modelling apparatus oneself searching can assist in it in mode one, and It can be selected to be more suitable for the auxiliary modelling apparatus of itself according to the modeling ability information of other equipment.
Mode two：Fig. 3 shows the schematic flow sheet for the method that auxiliary modelling apparatus is determined in the embodiment of the present invention one, institute State and determine that the method for auxiliary modelling apparatus includes：
Step 1034, send auxiliary modelling apparatus to server and determine request, the auxiliary modelling apparatus determines request bag Include the identification information for treating modelling apparatus；
Step 1035, receive and determine that the auxiliary of request feedback models according to the auxiliary modelling apparatus from the server The identification information of equipment, determine the auxiliary modelling apparatus.
Request is determined according to the auxiliary modelling apparatus for treating modelling apparatus by server in mode two, modelling apparatus is treated to be described It is determined to the auxiliary modelling apparatus for assisting it to establish threedimensional model.
In step 1034, device-to-server to be modeled sends auxiliary modelling apparatus and determines request, and request, which helps, carries institute The identification information for treating modelling apparatus is stated, the identification information is that can identify the information for treating modelling apparatus, is typically unique , can be the numbering or title for treating modelling apparatus.
Preferably, the auxiliary modelling apparatus determines request, in addition to：
Treat that the positional information of modelling apparatus, turning power information, locomotivity information, modeling temporal information, modeling are urgent One or more of combinations in degree information or communication capacity information.
The present embodiment also discloses, and can also include treating that the modeling of modelling apparatus needs in auxiliary modelling apparatus determines request Information is sought, and provides typical modeling requirement information：
A) positional information of modelling apparatus is treated：Show to treat the location of modelling apparatus, can be position range, such as institute The geography fence at place or residing room information or accurate position coordinates.
B) turning power information：Show to treat modelling apparatus whether can original place rotate, if treating that modelling apparatus being capable of original place Rotate, can use and treat that modelling apparatus original place rotates, it is each in modelling apparatus rotation process is treated to obtain its by auxiliary modelling apparatus The image of angle realizes modeling；This information, which may further indicate, simultaneously treats that modelling apparatus rotates modeling if appropriate for original place, because some set Excessive action is needed to cause the threedimensional model that can not establish determination in standby structures shape rotation process.
C) locomotivity information：Translational speed information, the mobile range for treating modelling apparatus can be included, or whether may be used Around the information of fixed point circular motion, described road conditions adaptability treated in modelling apparatus moving process etc. can also be included.
D) temporal information is modeled：It can be the temporal information for needing to complete modeling, can immediately, can also be set as not Carry out a certain moment；Can also be the information for modeling the period, i.e., it is auxiliary to treat that modelling apparatus can coordinate described in certain time period Equipment is helped to carry out the actions such as static, rotation or movement, and modeling can not then be coordinated herein outside the period by modeling.
E) urgency level information is modeled：Show to treat the priority for establishing model tasks of modelling apparatus, so that server will Preferably assist the resource allocation of the equipment of modeling high to modeling urgency level, priority it is high treat modelling apparatus.
F) communication capacity information：Treat whether modelling apparatus has communication capacity, and communication type described in sign, with housecoat Business device treats auxiliary modelling apparatus of the modelling apparatus matching with homogeneous communications ability to be described.
In step 1035, server obtains the identification information for treating modelling apparatus in auxiliary modelling apparatus determination request Afterwards, the corresponding table treated modelling apparatus and aid in modelling apparatus can be directly inquired about, is treated according to the identification information to be described Modelling apparatus determines auxiliary modelling apparatus；The phase for treating modelling apparatus of server storage can also be inquired about according to the identification information Modeling requirement information is closed, or to the correlation modeling demand information that modelling apparatus is treated described in the request of other servers, according to described Demand information treats that modelling apparatus matching is adapted to assist it to establish the equipment of threedimensional model to be described；Can also be according to being directly contained in The auxiliary modelling apparatus determines that the modeling requirement information in request treats that modelling apparatus matching is adapted to assist it to establish three to be described The equipment of dimension module.
Treat that modelling apparatus receives and determine that the auxiliary of request feedback is built according to the auxiliary modelling apparatus from the server The identification information of mould equipment, according to the identification information of the auxiliary modelling apparatus, determine the auxiliary modelling apparatus.
By server it is to treat that modelling apparatus matching can assist in it and establish the auxiliary modelling apparatus of threedimensional model in mode two, The computing capability for treating modelling apparatus requires low.
Mode three：According to the stored alternative auxiliary modelling apparatus information table of terminal to be modeled, according to priority or Modeling historical record it is newer select the auxiliary modelling apparatus of one of them or several equipment as determination wherein.The auxiliary Modelling apparatus information table can be that server issues or be determined according to other modes after aiding in modelling apparatus, by institute The information updating of auxiliary modelling apparatus is stated into the alternative auxiliary modelling apparatus information table.
Mode four：Skilled in the art realises that other determinations auxiliary modelling apparatus mode.
The auxiliary modelling apparatus that can assist to treat that modelling apparatus establishes threedimensional model is determined in step 103.
In step 106, treat that one or more auxiliary modelling apparatus transmission that modelling apparatus preceding step determines is auxiliary Modeling is helped to ask, the auxiliary modeling request includes the identification information of mould equipment yet to be built, so that auxiliary modelling apparatus understand that The relevant information of modelling apparatus is treated, and assists to treat that modelling apparatus establishes threedimensional model.
Treat that modelling apparatus can directly establish the transmission that auxiliary modeling request is realized in connection with the auxiliary modelling apparatus, It can be established by server or other communication nodes with the auxiliary modelling apparatus and connect and be sent to aid in modeling please Ask.
Preferably, the auxiliary modeling request, including：Treat the positional information, turning power information, mobile energy of modelling apparatus One or more of combinations in force information, modeling temporal information, modeling urgency level information or communication capacity information.
The present embodiment also discloses, can be with auxiliary modeling request that modelling apparatus is sent to auxiliary modelling apparatus is treated Including treating the modeling requirement information of modelling apparatus, and typical modeling requirement information is provided, each typical modeling requirement information With in above-mentioned steps 103, it is determined that modeling requirement information a)-f in step 1035 in auxiliary modelling apparatus mode three) it is identical, It can refer to described above.
After modelling apparatus sends the modeling requirement information of itself to auxiliary modelling apparatus, both sides can further consult specifically Modeling pattern, both sides is preferably established the threedimensional model for treating modelling apparatus.
In step 109, treating that modelling apparatus receives please negate from the auxiliary modelling apparatus according to the auxiliary modeling The three-dimensional model information of feedback；According to the three-dimensional model information, the threedimensional model for treating modelling apparatus is obtained.
Auxiliary modelling apparatus is being received after the auxiliary modeling request that modelling apparatus is sent, and is treated modelling apparatus and is built Mould, and obtain three-dimensional model information.Afterwards aid in modelling apparatus can by with the connection treated modelling apparatus and directly established To modelling apparatus transmission three-dimensional model information is treated, modelling apparatus can also be treated with described by server or other communication nodes Connection is established, and is sent to three-dimensional model information.
Preferably, the three-dimensional model information, including：Modeling data；It is described according to the three-dimensional model information, obtain three Dimension module, including：Modeled according to the modeling data, obtain the threedimensional model for treating modelling apparatus；Or the threedimensional model letter Breath, including treat the threedimensional model of modelling apparatus.
Treat that the three-dimensional model information from auxiliary modelling apparatus that modelling apparatus receives can include modeling data, such as enclose Around the image sequence for treating modelling apparatus shooting one week, treat that the three-dimensional of itself is being locally created according to the modeling data in modelling apparatus Model.Or auxiliary modelling apparatus completes according to modeling data after modeling data is obtained and treats building for modelling apparatus threedimensional model It is vertical, the threedimensional model for establishing completion is sent to and treats modelling apparatus, can directly be stored after modelling apparatus receives threedimensional model, nothing Computing need to be carried out again.Can be flexibly according to the computing capability of modelling apparatus and auxiliary modelling apparatus be treated, it is determined that completing three by which side The foundation of dimension module.
A kind of three-dimension modeling method is provided in the present embodiment one, waits to model as described in assisting auxiliary modelling apparatus Equipment establishes threedimensional model automatically, reduces dependence of the equipment three-dimensional modeling to attendant.
Embodiment two：
Fig. 4 shows three-dimension modeling method flow schematic diagram in the embodiment of the present invention two, as shown in figure 4, described three Dimension module method for building up includes：
Step 401, it is determined that described treat that modelling apparatus meets modeling conditions；
Step 403, it is determined that auxiliary modelling apparatus；
Step 406, auxiliary modeling request is sent to the auxiliary modelling apparatus, the auxiliary modeling request includes mould yet to be built The identification information of equipment；
Step 407, receive and referred to from the auxiliary modelling apparatus according to the modeling action of the auxiliary modeling request feedback Order；
Step 408, according to the modeling action command, modeling action is performed；
Step 409, receive and believed from the auxiliary modelling apparatus according to the threedimensional model of the auxiliary modeling request feedback Breath；According to the three-dimensional model information, the threedimensional model for treating modelling apparatus is obtained.
Step 403,406 and 409 in the present embodiment respectively with the phase of the step 103 in above-described embodiment one, 106 and 109 Together, the embodiment of same steps can refer to the explanation in above-described embodiment one.
Before step 403, including step 401, it is determined that described treat that modelling apparatus meets modeling conditions；Appoint when satisfaction is following During one condition, it is determined that described treat that modelling apparatus meets modeling conditions：When equipment initializes；Or detect and treat modelling apparatus certainly Body weight change exceedes predetermined threshold value；Or reach the default modeling time.
In the present embodiment two, treat that modelling apparatus initiates self-modeling according to their needs, when meeting following condition a period of time, treat Modelling apparatus determines itself to need to re-establish threedimensional model.
A) when equipment initializes：The threedimensional model of itself may be stored during most smart machine Default Values, to initial The equipment for not storing itself threedimensional model, or after equipment is shut down or is reset, it may be necessary to built again in initialization procedure Found the threedimensional model of itself.
B) detect and treat that the change of modelling apparatus own wt exceedes predetermined threshold value：Some equipment, which have, carries function, when removing , it is necessary to integrally again be modeled to equipment and the object carried when having transported excessive object, allow equipment according to after renewal from Body model determines transport path；Or some parts when equipment replacement, there occurs larger change the shape or volume of these parts Change, it is also desirable to equipment is modeled again, is that equipment can be operated or avoidance etc. according to the self model after renewal.It can lead to The change for the mass sensor sense weight for being arranged on equipment middle part or bottom is crossed, it is three-dimensional to confirm whether equipment needs gravity treatment to establish Model.
C) the default modeling time is reached：Treat modelling apparatus can according to predetermined period gravity treatment to itself being modeled operation, The instruction for establishing threedimensional model that can also be issued according to server is modeled or modeled at the time of instruction immediately.
Step 401 is optional step, treats that modelling apparatus can determine the need for establishing three to itself according to self-demand Dimension module, actively initiate auxiliary modeling procedure again afterwards, the process for initiating self-modeling is more flexible, intelligent.
After step 406, auxiliary modelling apparatus starts to treat that the auxiliary modeling request that modelling apparatus is sent is realized according to The modeling of modelling apparatus is treated, in modeling process, may include steps of 407 and 408.
Step 407, treat that modelling apparatus is received from the auxiliary modelling apparatus according to the auxiliary modeling request feedback Model action command；
Step 408, treat that modelling apparatus according to the modeling action command, performs modeling action；
In step 407, because auxiliary modeling process is not artificial modeling process, but assist to treat by another smart machine Modelling apparatus establishes threedimensional model, accordingly, it may be desirable to treat that modelling apparatus and auxiliary modelling apparatus are held consultation, to complete three-dimensional The foundation of model.The form of negotiation can treat that modelling apparatus is directly dynamic with the auxiliary modelling apparatus foundation connection reception modeling Instruct, either treat that modelling apparatus is established by server or other communication nodes with the auxiliary modelling apparatus and connect, lead to Cross the connection and receive the modeling action command from the auxiliary modelling apparatus.
Modeling action command instruction treats that modelling apparatus completes corresponding modeling action, is treated with coordinating auxiliary modelling apparatus to establish The threedimensional model of modelling apparatus.
In a step 408, treat that modelling apparatus is in the process, auxiliary according to the modeling action command, execution modeling action Help modelling apparatus to complete the collection of modeling data, and then treat that modelling apparatus establishes threedimensional model described in assistance.
Preferably, the modeling action, including following one or more：Keep current posture；Keep the first default modeling Posture；Retainer body posture, original place rotate；It is replaced by the second default modeling posture；It is moved to the pre- of the auxiliary modelling apparatus If model position.
Present embodiments provide following several typical modeling actions：
A) current posture is kept：Auxiliary modelling apparatus instruction treats that modelling apparatus keeps current posture, transfixion, is easy to auxiliary Equipment is helped to gather modeling data.
B) the first default modeling posture is kept：Auxiliary modelling apparatus instruction treats that modelling apparatus keeps the first default modeling appearance Gesture, that is, treat that modelling apparatus may have the default posture for being easy to modeling, such as expansion, upright etc., treat that modelling apparatus can basis Aid in the instruction of modelling apparatus to keep the first default modeling posture, be easy to auxiliary equipment to gather modeling data.
C) retainer body posture, original place rotate：In the case where auxiliary modelling apparatus is immovable, it may be necessary to wait to model Equipment retainer body posture is static and original place rotates, and is obtained by fixed auxiliary modelling apparatus in modelling apparatus rotation process is treated The modeling data of its all directions, in this case it is necessary to aid in modelling apparatus instruction to treat that modelling apparatus starts to rotate, and After the completion of modeling, it may indicate that it stops operating.
D) it is replaced by the second default modeling posture：Treat that modelling apparatus and auxiliary modelling apparatus can be multiple in modeling process Consult, treat modelling apparatus can accordingly auxiliary equipment modeling action command repeatedly change action, so that it establishes threedimensional model.
E) it is moved to the default modeling position of the auxiliary modelling apparatus：It is immovable or mobile in auxiliary modelling apparatus Ability is weaker than in the scene for treating modelling apparatus, and auxiliary modelling apparatus, which may indicate that, treats that modelling apparatus is moved to default modeling position, Reasonably model in region or scope.
Above-mentioned each modeling action can be performed simultaneously or sequentially, in modeling process, treat modelling apparatus it is executable one or Multiple modeling actions, certainly described modeling action can also be other actions of auxiliary modelling apparatus instruction.
Preferably, the modeling action command, including perform the time；It is described to be built according to the modeling action command, execution Mould acts, including according to the modeling action command, is performing time execution modeling action accordingly.
The modeling action command for aiding in modelling apparatus to send in step 407 can include performing the time, make to treat modelling apparatus Corresponding modeling can be performed according to the time of regulation in a step 408 to act, preferably to coordinate auxiliary modelling apparatus to build Mould.
In step 409, treating that modelling apparatus receives please negate from the auxiliary modelling apparatus according to the auxiliary modeling The three-dimensional model information of feedback；According to the three-dimensional model information, the threedimensional model for treating modelling apparatus is obtained.
A kind of three-dimension modeling method is provided in the present embodiment one, waits to model as described in assisting auxiliary modelling apparatus Equipment establishes threedimensional model automatically, reduces dependence of the equipment three-dimensional modeling to attendant.
Embodiment three：
Fig. 5 shows three-dimension modeling method flow schematic diagram in the embodiment of the present invention three, as shown in figure 5, described three Dimension module method for building up includes：
Step 503, it is determined that auxiliary modelling apparatus；
Step 506, auxiliary modeling request is sent to the auxiliary modelling apparatus, the auxiliary modeling request includes mould yet to be built The identification information of equipment；
Step 509, receive and believed from the auxiliary modelling apparatus according to the threedimensional model of the auxiliary modeling request feedback Breath；According to the three-dimensional model information, the threedimensional model for treating modelling apparatus is obtained.
One kind is present embodiments provided to be initiated as treating that modelling apparatus establishes threedimensional model from server to auxiliary modelling apparatus Auxiliary modeling request scheme, server can actively initiate modeling request or periodically initiate, can also be Receive what is initiated after the auxiliary modeling request of modelling apparatus.
In step 503, server is determined to assist to treat that modelling apparatus establishes the auxiliary modelling apparatus of threedimensional model, really Following three kinds of modes can be included by determining mode：
Mode one：The method for determining auxiliary modelling apparatus includes：
Step 5031, the modeling ability information for treating other equipment in modelling apparatus preset range is obtained；
The modeling ability information includes modeling data acquisition capability information, or the modeling ability information includes modeling Data retrieval capabilities information and modeling executive capability information；
Step 5032, according to the modeling ability information, it is determined that auxiliary modelling apparatus.
Found in mode one by server and can assist in the auxiliary modelling apparatus for treating that modelling apparatus establishes threedimensional model.
In step 5031, server obtains the modeling ability information for treating other equipment in modelling apparatus preset range.Institute It can be geographic range to state preset range, for example, other equipment and treat modelling apparatus straight line or path distance in preset range It is interior；Or other equipment and treat that modelling apparatus exists together in the range of a predeterminable area, such as same room with them, same geography enclose In column etc..The preset range can also be range of management, such as other equipment with treating that modelling apparatus belongs to a management group.Institute State preset range and can also be communication range, such as be able to will belong to preset with treating that modelling apparatus establishes the equipment being stably connected with Scope.Rational selection preset range can make server more effectively determine auxiliary equipment between limited other equipment.
The mode of the specific modeling ability information for obtaining other equipment can be, server is set with other in preset range It is standby to establish connection, or select the other equipment in preset range to establish connection in each other equipment, obtained by data path The modeling ability information for taking other equipment to send.It is described establish connection mode it is unlimited, can be wired mode, but preferred wireless Mode, it is specifically as follows any connected mode well known to those skilled in the art such as bluetooth, infrared, wifi.
The modeling ability information comprises at least modeling data acquisition capability information, because in various threedimensional models of establishing In scheme, it is all necessary to obtain corresponding modeling data, such as realizes that three-dimensional is built by gathering all directions photo around equipment Need to aid in modelling apparatus that there is photo acquisition capability in the scheme of mould, i.e., with camera；By gathering each side around equipment Realized to depth of view information needs to aid in modelling apparatus to have infrared or ultrasonic wave multiple point distance measurement function etc. in the scheme of three-dimensional modeling. Equipment without modeling data acquisition capability will be unable to turn into auxiliary modelling apparatus.While modeling data acquisition capability information is also The good and bad information of modeling data acquisition capability is may further include, such as image obtains precision, image obtains distance range etc., The selection more matched with itself to treat modelling apparatus to be carried out according to these modeling data acquisition capability information, it is determined that auxiliary Equipment.
The modeling ability information can also include modeling executive capability information, such as the mobile speed of the other equipment Degree, moving range, road conditions adaptability, position, task situation and communication capacity etc..I.e. some equipment may possess builds accordingly Mould data retrieval capabilities, but due to the limitation of its presently described position, current task situation or locomotivity, prevent its from Complete well to treat that modelling apparatus establishes the task of threedimensional model, server can enter according to these modeling executive capability information The selection that row more matches with treating modelling apparatus, determines auxiliary equipment.
Preferably, the modeling data acquisition capability information is image data acquisition ability information, and described image data obtain Ability information is taken to include：Image information, image acquisition mode, image can be obtained and obtain type, image acquisition distance range, figure As obtaining precision, and image obtains one or more of combinations in angle；And/or the modeling of the other equipment performs energy Force information includes：Translational speed, moving range, road conditions adaptability, position, task situation and one kind or several in communication capacity The combination of kind.
The present embodiment additionally provides typical modeling data acquisition capability information and/or modeling executive capability information：
The modeling data acquisition capability information is image data acquisition energy in three-dimensional modeling scene is realized by image Force information, it includes following one or more information：
A) image information can be obtained：Characterize whether the equipment has the part that can obtain image, and have The ability of most basic acquisition image.Server according to modeling data acquisition capability when determining auxiliary modelling apparatus, if bag Containing this information, then only equipment, which can obtain image information, could turn into auxiliary modelling apparatus.
B) image acquisition mode：The type of image acquisition component is characterized, such as gathered by camera, pass through infrared photography Head collection, or gathered by ultrasonic sensor.
C) image obtains type：Characterize the type of the view data obtained, such as photo, video, infrared photograph, ultrasonic wave Photo, infrared depth image, or ultrasonic wave depth image etc..
D) image obtains distance range；Characterize and obtain the applicable distance range of image component, when beyond these scopes not The view data established needed for threedimensional model can preferably be obtained.The image acquisition distance range of equipment is big, or just with treating The equipment of the distance matching of modelling apparatus, its image data acquisition ability are stronger.
E) image obtains precision：Characterize the precision for obtaining view data, it is possible to understand that precision is higher, the threedimensional model of foundation The degree of accuracy it is also higher.
F) image obtains angle：The angle information of the part of image, such as an only fixed image portion are obtained in table During part, it can only gather the view data of fixed angle；If there is one can surround the other equipment own level circumference The image acquisition component of rotation, or around the other equipment circumference be provided with multiple images obtaining widget when, can adopt Collect the view data of multiple angles.The equipment that the view data of multiple angles usually can be gathered, its picture acquisition power are stronger.
The modeling executive capability information of the other equipment includes following one or more information：
A) translational speed：When the other equipment can move, movement can be included in executive capability information is modeled Velocity information, the faster equipment of translational speed, it is also stronger that it models executive capability.
B) moving range：The scope that the other equipment can move is characterized, such as whether it can be moved to and wait to model Near equipment, and whether it can treat that modelling apparatus moves around described, and the other equipment is not under extreme case It is mobile.It can move, and moving range is big, the flexible equipment of movement, and it is also stronger that it models executive capability.
C) road conditions adaptability：The other equipment is characterized in the ability relative to rugged, rough road surface movement, or The ability of across obstacle in movement, the equipment high to road conditions adaptability, it is also stronger that it models executive capability.
D) position：Enable to treat that modelling apparatus obtains the positional information of each other equipment, so judge itself with it is described its The distance of his equipment, the generally nearer equipment of distance, it is also stronger that it models executive capability.
E) task situation：Characterize that the other equipment is current or task situation afterwards, can if the equipment is idle Assistance treats that modelling apparatus establishes threedimensional model, if there is other tasks in the short time, may not have modeling executive capability；
F) communication capacity：Characterize whether the other equipment has communication capacity, and communication type.It can communicate, and And communication type, with treating the equipment that modelling apparatus matches, it is also stronger that it models executive capability.
Above-mentioned each typical modeling ability information can relatively accurate, comprehensively characterize the modeling ability of the other equipment, just In server auxiliary modelling apparatus is determined in step 5032 according to these typical modeling ability information.
Preferably, the modeling ability information of other equipment in modelling apparatus preset range is treated in the acquisition, including：By with The other equipment establishes the mode of connection, the identification information of other equipment in preset range is obtained, according to the other equipment Identification information, obtain and treat the modeling ability information of other equipment in modelling apparatus preset range.
The identification information of other equipment in preset range is obtained first, further according to identification information, in server local Inquiry obtains the modeling ability information of each equipment in the equipment modeling ability information table deposited.The identification information is can identify institute The information of other equipment is stated, is typically unique, can be the numbering or title of the other equipment.Server can pass through The mode that connection is established with the other equipment obtains the identification information of other equipment in preset range, such as searches for preset range Interior wifi signals, determine to send out according to the SSID (Service Set Identifier, service set) of each wifi signals Send the identification information of the equipment of wifi signals.
Identification information based on other equipment further searches modeling ability information corresponding to each equipment in server local Server local resource can be made full use of, the mass data avoided between server and other equipment in preset range communicates.
In step 5032, according to the modeling ability information of each equipment obtained in step 5031, set according to auxiliary modeling It is standby to determine strategy, it is determined that auxiliary modelling apparatus.The auxiliary modelling apparatus finally determined can be one, or multiple, quilt Elect auxiliary modelling apparatus as should possess modeling data acquisition capability, and modeling data acquisition capability and/or modeling are held What row ability matched with treating the modeling requirement of modelling apparatus.Again on the basis of this, may be selected meet require equipment in one or The relatively high equipment of multiple modeling abilities.
It is described match with modeling requirement refer to, server can obtain in advance treats modelling apparatus turning power information, move One or more of combinations in kinetic energy force information, modeling temporal information, modeling urgency level information or communication capacity information, It is determined that the requirement for treating modelling apparatus to the modeling ability of auxiliary modelling apparatus, further according to the modeling ability of the other equipment Information, it is determined to meet that the equipment of the modeling ability requirement matches with the modeling requirement.
Such as treat that modelling apparatus is justified when when modelling apparatus itself can not rotate, then needing auxiliary equipment to surround Zhou Yidong simultaneously obtains modeling data, and now the position of equipment or moving range will there are certain requirements, while image is obtained Angle there are certain requirements；Or when server can be believed according to the position for the positional information and the other equipment for treating modelling apparatus Breath, it is determined whether need the other equipment that there is locomotive function, and whether can be moved to the energy treated near modelling apparatus Power, or moved at least into making to treat that modelling apparatus is in the image of the equipment and obtains ability in distance range, then it is described its The moving range and/or image of his equipment, which obtain distance range, to be needed to meet to require；Or if treating that modelling apparatus can move, Angle then may be obtained to the locomotivity and image for aiding in modelling apparatus not require；Or if the other equipment is appointed Business situation does not allow it treating that the time that modelling apparatus needs model assists it to establish threedimensional model, then the equipment can not meet Modeling demand.
Found in mode one by server and can assist in the auxiliary modelling apparatus for treating that modelling apparatus establishes threedimensional model, serviced Device can select to be more suitable for the auxiliary modelling apparatus for treating modelling apparatus according to the modeling ability information of other equipment.
Mode two：Server storage alternative auxiliary modelling apparatus information table corresponding with respectively treating modelling apparatus, for not With treat modelling apparatus, according to priority or the newer selection wherein of modeling historical record, one of them or several equipment are made For the auxiliary modelling apparatus of determination.The auxiliary modelling apparatus information table can be default or according to other modes Some is determined after the auxiliary modelling apparatus of modelling apparatus, the information updating of the auxiliary modelling apparatus is treated that modeling is set to described In standby alternative auxiliary modelling apparatus information table.
Mode three：Skilled in the art realises that other determinations auxiliary modelling apparatus mode.
In step 506, one or more auxiliary modelling apparatus that server preceding step determines sends auxiliary and built Mould is asked, and the auxiliary modeling request includes the identification information of mould equipment yet to be built, so that it is yet to be built to aid in modelling apparatus understand that The relevant information of mould equipment, and assist to treat that modelling apparatus establishes threedimensional model.Server is established with the auxiliary modelling apparatus to be connected Connect the transmission for realizing auxiliary modeling request.
Preferably, the auxiliary modeling request, including：Treat the positional information, turning power information, mobile energy of modelling apparatus One or more of combinations in force information, modeling temporal information, modeling urgency level information or communication capacity information.
The present embodiment also discloses, and can also include in the auxiliary modeling request that server is sent to auxiliary modelling apparatus The modeling requirement information of modelling apparatus is treated, and provides typical modeling requirement information, each typical modeling requirement information and reality Apply in the step 103 of example one, it is determined that the modeling requirement information in the step 1035 in auxiliary modelling apparatus mode three is identical, can refer to Described above is implemented.
After server sends the modeling requirement information of itself to auxiliary modelling apparatus, both sides can further consult specifically to build Mould mode, enable to treat that modelling apparatus preferably establishes the threedimensional model for treating modelling apparatus.
In step 509, server is received from the auxiliary modelling apparatus according to the auxiliary modeling request feedback Three-dimensional model information；According to the three-dimensional model information, the threedimensional model for treating modelling apparatus is obtained.
Auxiliary modelling apparatus is treated modelling apparatus and is modeled after the auxiliary modeling request of server transmission is received, And obtain three-dimensional model information.Aid in modelling apparatus to establish with server afterwards to connect, and be sent to three-dimensional model information.
Preferably, the three-dimensional model information, including：Modeling data；It is described according to the three-dimensional model information, obtain three Dimension module, including：Modeled according to the modeling data, obtain the threedimensional model for treating modelling apparatus；Or the threedimensional model letter Breath, including treat the threedimensional model of modelling apparatus.
The three-dimensional model information from auxiliary modelling apparatus that server receives can include modeling data, such as around treating Modelling apparatus shoots the image sequence of one week, and the three-dimensional mould for the treatment of modelling apparatus is being locally created according to the modeling data in server Type.Or auxiliary modelling apparatus completes according to modeling data after modeling data is obtained and treats building for modelling apparatus threedimensional model It is vertical, the threedimensional model for establishing completion is sent to server, server directly receives the threedimensional model established and completed, without entering again Row computing.Can be flexibly according to the computing capability of auxiliary modelling apparatus, it is determined that completing the foundation of threedimensional model by which side.
Server obtains sending the threedimensional model for treating modelling apparatus to yet to be built after the threedimensional model of modelling apparatus Mould equipment.If the three-dimensional model information that auxiliary modelling apparatus is sent includes modeling data, server can be built according to described Threedimensional model is sent to according to after the threedimensional model for treating modelling apparatus is locally created and treats modelling apparatus by modulus, can also be straight Connect and be transmitted directly to modeling data to treat modelling apparatus, by treating that modelling apparatus establishes the three-dimensional mould of itself according to the modeling data Type；If threedimensional model is directly sent to server by auxiliary modelling apparatus, the threedimensional model is forwarded to and treated by server Modelling apparatus.
A kind of three-dimension modeling method is provided in the present embodiment three, waits to model as described in assisting auxiliary modelling apparatus Equipment establishes threedimensional model automatically, reduces dependence of the equipment three-dimensional modeling to attendant.
Example IV：
Fig. 6 shows three-dimension modeling method flow schematic diagram in the embodiment of the present invention four, as shown in fig. 6, described three Dimension module method for building up includes：
Step 601, auxiliary modeling request is obtained, the auxiliary modeling request includes the identification information of mould equipment yet to be built；
Step 602, the modeling data of modelling apparatus is treated according to the auxiliary modeling request collection；
Step 603, treat that modelling apparatus sends modeling action command to described；
Step 604, three-dimensional model information is sent, the three-dimensional model information includes modeling data, or the three-dimensional mould Type information includes modeling the threedimensional model for treating modelling apparatus obtained according to the modeling data.
In step 601, modelling apparatus is aided in receive the auxiliary modeling request for treating that modelling apparatus or server are sent, institute Stating auxiliary modeling request includes treating the identification information of modelling apparatus, and the identification information is treats modelling apparatus described in can identifying Information, be typically unique, can be the numbering or title for treating modelling apparatus.
The modeling requirement information of modelling apparatus can also be included treating in auxiliary modeling request, the modeling requirement information can be with It is that positional information, turning power information, locomotivity information, modeling temporal information, the modeling urgency level for treating modelling apparatus are believed One or more of combinations in breath or communication capacity information.These information can be such that auxiliary modelling apparatus more reasonably determines Modeling pattern is aided in, and provides typical modeling requirement information：
A) positional information of modelling apparatus is treated：Show to treat the location of modelling apparatus, can be position range, such as institute The geography fence at place or residing room information or accurate position coordinates.
B) turning power information：Show to treat modelling apparatus whether can original place rotate, if treating that modelling apparatus being capable of original place Rotate, can use and treat that modelling apparatus original place rotates, it is each in modelling apparatus rotation process is treated to obtain its by auxiliary modelling apparatus The image of angle realizes modeling；This information, which may further indicate, simultaneously treats that modelling apparatus rotates modeling if appropriate for original place, because some set Excessive action is needed to cause the threedimensional model that can not establish determination in standby structures shape rotation process.
C) locomotivity information：Translational speed information, the mobile range for treating modelling apparatus can be included, or whether may be used Around the information of fixed point circular motion, described road conditions adaptability treated in modelling apparatus moving process etc. can also be included.
D) temporal information is modeled：It can be the temporal information for needing to complete modeling, can immediately, can also be set as not Carry out a certain moment；Can also be the information for modeling the period, i.e., it is auxiliary to treat that modelling apparatus can coordinate described in certain time period Equipment is helped to carry out the actions such as static, rotation or movement, and modeling can not then be coordinated herein outside the period by modeling.
E) urgency level information is modeled：Show to treat the priority for establishing model tasks of modelling apparatus, to treat that modeling is set It is standby according to by the modeling resource priority of itself modeling urgency level to be supplied to high, priority it is high treat modelling apparatus.
F) communication capacity information：Treat whether modelling apparatus has communication capacity, and communication type described in sign, so as to auxiliary Modelling apparatus is helped to determine whether to be sent to model action command, and establish communication with treating that modelling apparatus is communicated Mode.
In step 602, modelling apparatus is aided in determine the mode of collection modeling data according to the auxiliary modeling request, and The modeling data of modelling apparatus is treated in collection.
Such as when immovable or wait to model, it is necessary to be moved to by auxiliary modelling apparatus when can not rotate when modelling apparatus Equipment nearby and around treat modelling apparatus gather modeling data；When treating that modelling apparatus can move, but locomotivity is markedly less than Aid in then being also required to be moved to by auxiliary modelling apparatus during modelling apparatus treating near modelling apparatus and surround to treat that modelling apparatus gathers Modeling data；When modelling apparatus with auxiliary modelling apparatus can establish communication connection when, it is yet to be built to treat that modelling apparatus can instruct Mould equipment is moved near itself, or performs corresponding modeling action；When equipment modeling degree to be modeled is urgent, or only support to work as During preceding time modeling, auxiliary modeling these can treat that the auxiliary of modelling apparatus models task with priority treatment.
In step 603, treat that modelling apparatus sends modeling action command to described, the modeling action can include following One or more of typical modeling actions：
A) current posture is kept：Auxiliary modelling apparatus instruction treats that modelling apparatus keeps current posture, transfixion, is easy to auxiliary Equipment is helped to gather modeling data.
B) the first default modeling posture is kept：Auxiliary modelling apparatus instruction treats that modelling apparatus keeps the first default modeling appearance Gesture, that is, treat that modelling apparatus may have the default posture for being easy to modeling, such as expansion, upright etc., treat that modelling apparatus can basis Aid in the instruction of modelling apparatus to keep the first default modeling posture, be easy to auxiliary equipment to gather modeling data.
C) retainer body posture, original place rotate：In the case where auxiliary modelling apparatus is immovable, it may be necessary to wait to model Equipment retainer body posture is static and original place rotates, and is obtained by fixed auxiliary modelling apparatus in modelling apparatus rotation process is treated The modeling data of its all directions, in this case it is necessary to aid in modelling apparatus instruction to treat that modelling apparatus starts to rotate, and After the completion of modeling, it may indicate that it stops operating.
D) it is replaced by the second default modeling posture：Treat that modelling apparatus and auxiliary modelling apparatus can be multiple in modeling process Consult, treat modelling apparatus can accordingly auxiliary equipment modeling action command repeatedly change action, so that it establishes threedimensional model.
E) it is moved to the default modeling position of the auxiliary modelling apparatus：It is immovable or mobile in auxiliary modelling apparatus In the weak scene with treating modelling apparatus of ability, auxiliary modelling apparatus, which may indicate that, treats that modelling apparatus is moved to default modeling position, Reasonably model in region or scope.
Above-mentioned each modeling action can be performed simultaneously or sequentially, in modeling process, treat modelling apparatus it is executable one or Multiple modeling actions, certainly described modeling action can also be other actions of auxiliary modelling apparatus instruction.
Preferably, the modeling action command, including perform the time；It is described to be built according to the modeling action command, execution Mould acts, including according to the modeling action command, is performing time execution modeling action accordingly.
In step 603, modelling apparatus is aided in treating that modelling apparatus sends modeling action command, makes to treat that modelling apparatus can be with Time according to regulation performs corresponding modeling action, preferably to coordinate auxiliary modelling apparatus modeling.It should be noted that Step 603 is optional, and auxiliary modelling apparatus can not directly start to it to modelling apparatus transmission modeling action command is treated Modeling.In addition the present embodiment does not limit the sequencing relation of step 603 and step 602, and is modeled in auxiliary successively Cheng Zhong, it can repeatedly carry out 602 and 603 steps.
In step 604, modelling apparatus is aided in server or treats modelling apparatus transmission three-dimensional model information, described three Dimension module information can be the modeling data obtained in above-mentioned steps 602, i.e., modeling data is directly fed back treat modelling apparatus or Person's server, by treating that separately threedimensional model is calculated according to modeling data in modelling apparatus or server；The threedimensional model Information can also include modeling the threedimensional model for treating modelling apparatus obtained according to the modeling data, i.e., by auxiliary modelling apparatus Calculating is modeled, the result feedback after modeling is directly treated into modelling apparatus or server afterwards.
If aiding in modelling apparatus to send three-dimensional model information to server in step 604, after step 605, go back The server can be included to send three-dimensional model information to treating modelling apparatus.
A kind of three-dimension modeling method is provided in the present embodiment, modelling apparatus is treated as described in assisting auxiliary modelling apparatus It is automatic to establish threedimensional model, reduce dependence of the equipment three-dimensional modeling to attendant.
Embodiment five：
Fig. 7 shows three-dimension modeling method flow schematic diagram in the embodiment of the present invention five, as shown in fig. 7, described three Dimension module method for building up includes：
Step 701, obtain and treat that the auxiliary modelling apparatus that modelling apparatus is sent determines request, the auxiliary modelling apparatus determines Request includes the identification information for treating modelling apparatus；
Step 702, the modeling ability information for treating other equipment in modelling apparatus preset range is obtained；
Step 703, determine that request and the modeling ability information treat that modeling is set to be described according to the auxiliary modelling apparatus It is standby to determine auxiliary modelling apparatus；
Step 704, to the identification information treated modelling apparatus and send the auxiliary modelling apparatus.
The present embodiment is corresponding with the second way that modelling apparatus determination auxiliary modelling apparatus is treated in embodiment one,
In step 701, server, which obtains, treats that the auxiliary modelling apparatus that modelling apparatus is sent determines request, and the auxiliary is built Mould equipment determines that request includes the identification information of mould equipment yet to be built, and the identification information is treats modelling apparatus described in can identifying Information, it is typically unique, can is the numbering or title for treating modelling apparatus.
The modeling requirement information for treating modelling apparatus, the modeling requirement can also be included in auxiliary modelling apparatus determines request Information can treat that the positional information of modelling apparatus, turning power information, locomotivity information, modeling temporal information, modeling are tight One or more of combinations in anxious degree information or communication capacity information.These information can make server more reasonably true Surely modelling apparatus is aided in, and provides typical modeling requirement information：
A) positional information of modelling apparatus is treated：Show to treat the location of modelling apparatus, can be position range, such as institute The geography fence at place or residing room information or accurate position coordinates.
B) turning power information：Show to treat modelling apparatus whether can original place rotate, if treating that modelling apparatus being capable of original place Rotate, can use and treat that modelling apparatus original place rotates, it is each in modelling apparatus rotation process is treated to obtain its by auxiliary modelling apparatus The image of angle realizes modeling；This information, which may further indicate, simultaneously treats that modelling apparatus rotates modeling if appropriate for original place, because some set Excessive action is needed to cause the threedimensional model that can not establish determination in standby structures shape rotation process.
C) locomotivity information：Translational speed information, the mobile range for treating modelling apparatus can be included, or whether may be used Around the information of fixed point circular motion, described road conditions adaptability treated in modelling apparatus moving process etc. can also be included.
D) temporal information is modeled：It can be the temporal information for needing to complete modeling, can immediately, can also be set as not Carry out a certain moment；Can also be the information for modeling the period, i.e., it is auxiliary to treat that modelling apparatus can coordinate described in certain time period Equipment is helped to carry out the actions such as static, rotation or movement, and modeling can not then be coordinated herein outside the period by modeling.
E) urgency level information is modeled：Show to treat the priority for establishing model tasks of modelling apparatus, so that server will Preferably assist the resource allocation of the equipment of modeling high to modeling urgency level, priority it is high treat modelling apparatus.
F) communication capacity information：Treat whether modelling apparatus has communication capacity, and communication type described in sign, with housecoat Business device treats auxiliary modelling apparatus of the modelling apparatus matching with homogeneous communications ability to be described.
Server is obtained after the modeling requirement information of modelling apparatus in step 701, can be according to these modeling requirements Information is more accurate, reasonably determines auxiliary modelling apparatus.
In a step 702, server obtains the modeling ability information for treating other equipment in modelling apparatus preset range.It is described Preset range can be geographic range, for example, other equipment and treat modelling apparatus straight line or path distance within a preset range； Or other equipment and treat that modelling apparatus exists together in the range of a predeterminable area, for example, same room with them, same geography fence It is interior etc.；Or in the range for the treatment of that modelling apparatus can be by sensor identification other equipment.The preset range can also be pipe Scope, such as other equipment are managed with treating that modelling apparatus belongs to a management group.The preset range can also be communication range, example Such as it will can belong to preset range with treating that modelling apparatus establishes the equipment being stably connected with.Rational selection preset range can make Server more effectively determines auxiliary equipment between limited other equipment.
The mode for the modeling ability information that specific server obtains other equipment can be, in server and preset range Every other equipment establish connection, or in each other equipment select preset range in other equipment establish connection, lead to Cross data path and obtain the modeling ability information that other equipment is sent.The mode connected of establishing is unlimited, can be wired side Formula, but preferred wireless mode, it is specifically as follows any connected mode well known to those skilled in the art such as bluetooth, infrared, wifi.
The modeling ability information comprises at least modeling data acquisition capability information, because in various threedimensional models of establishing In scheme, it is all necessary to obtain corresponding modeling data, such as realizes that three-dimensional is built by gathering all directions photo around equipment Need to aid in modelling apparatus that there is photo acquisition capability in the scheme of mould, i.e., with camera；By gathering each side around equipment Realized to depth of view information needs to aid in modelling apparatus to have infrared or ultrasonic wave multiple point distance measurement function etc. in the scheme of three-dimensional modeling. Equipment without modeling data acquisition capability will be unable to turn into auxiliary modelling apparatus.While modeling data acquisition capability information is also The good and bad information of modeling data acquisition capability is may further include, such as image obtains precision, image obtains distance range etc., The selection more matched with itself to treat modelling apparatus to be carried out according to these modeling data acquisition capability information, it is determined that auxiliary Equipment.Typical modeling data acquisition capability information refers to determine the image in auxiliary modelling apparatus mode one in embodiment one Data retrieval capabilities information a)-f).
The modeling ability information can also include modeling executive capability information, such as the mobile speed of the other equipment Degree, moving range, road conditions adaptability, position, task situation and communication capacity etc..I.e. some equipment may possess builds accordingly Mould data retrieval capabilities, but due to the limitation of its presently described position, current task situation or locomotivity, prevent its from Complete well to treat that modelling apparatus establishes the task of threedimensional model, treat that modelling apparatus can be according to these modeling executive capability letters Breath carries out the selection more matched with itself, determines auxiliary equipment.Typical modeling executive capability information is referred in embodiment one It is determined that modeling executive capability information a)-f in auxiliary modelling apparatus mode one).
After server obtains the modeling ability information of other equipment in a step 702, it can be believed according to these modeling abilities Breath is more accurate, reasonably determines auxiliary modelling apparatus.
Preferably, in a step 702, it is described to obtain the modeling ability letter for treating other equipment in modelling apparatus preset range Breath, can be that server establishes the identification information for connecting other equipment in acquisition preset range, then root with each other equipment Locally tabled look-up according to the identification information of the other equipment and obtain the modeling ability information of the other equipment；It can also be server The modeling ability information for directly obtaining the other equipment and sending is established after connection with each other equipment.
In step 703, server determines that request and the modeling ability information are institute according to the auxiliary modelling apparatus State and treat that modelling apparatus determines auxiliary modelling apparatus, the auxiliary modelling apparatus finally determined can be one, or multiple, quilt Elect auxiliary modelling apparatus as should possess modeling data acquisition capability, and modeling data acquisition capability and/or modeling are held What row ability matched with treating the modeling requirement of modelling apparatus.On this basis, server may be selected to meet in the equipment of requirement The relatively high equipment of one or more modeling abilities.
It is described match with modeling requirement refer to, treat that modelling apparatus is believed according to itself turning power information, locomotivity One or more of combinations in breath, modeling temporal information, modeling urgency level information or communication capacity information, it is determined that to auxiliary The requirement of the modeling ability of modelling apparatus is helped, further according to the modeling ability information of the other equipment, is determined to described in satisfaction The equipment of modeling ability requirement matches with the modeling requirement.
Such as treat that modelling apparatus is justified when when modelling apparatus itself can not rotate, then needing auxiliary equipment to surround Zhou Yidong simultaneously obtains modeling data, and now the position of equipment or moving range will there are certain requirements, while image is obtained Angle there are certain requirements；Or when treat modelling apparatus can according to itself positional information and the positional information of the other equipment, Determining the need for the other equipment has locomotive function, and whether can be moved to the ability treated near modelling apparatus, Or moved at least into the ability for treating that modelling apparatus is in the image acquisition distance range of the equipment is made, then described other are set Standby moving range and/or image, which obtain distance range, to be needed to meet to require；Or if treating that modelling apparatus can move, then may be used Angle can be obtained to the locomotivity and image for aiding in modelling apparatus not require；Or the if task feelings of the other equipment Condition does not allow it treating that the time that modelling apparatus needs model assists it to establish threedimensional model, then the equipment can not meet to model It is required that.
In step 704, knowledge of the server to the auxiliary modelling apparatus for treating to determine in modelling apparatus forwarding step 703 Other information, so as to treat that modelling apparatus receives the auxiliary for determining request feedback according to the auxiliary modelling apparatus from the server After the identification information of modelling apparatus, the auxiliary modelling apparatus can be determined according to the identification information of the auxiliary modelling apparatus, And initiate auxiliary modeling request to the auxiliary modelling apparatus.
Embodiment six：
In the present embodiment, it will be illustrated so that robot three-dimensional models as an example.As shown in figure 8, it is the embodiment of the present invention six Middle three-dimension modeling method flow schematic diagram, as shown in figure 8, the three-dimension modeling method includes：
Step 801, robot detects that own wt increases above predetermined threshold 30% by bottom mass sensor, really Recognizing needs to establish threedimensional model to itself again；
Step 802, robot to be modeled by identification equipment A fuselages spray mark obtain device A numbering, by away from Range information of the device A away from robot to be modeled is obtained from sensor；
Step 803, robot to be modeled establishes bluetooth connection by scanning Bluetooth signal nearby with equipment B；
Step 804, equipment B to robot to be modeled send itself numbering, positional information and it is removable, have and can turn to (the present embodiment does not limit step 802 and step 803 and 804 sequencing to the information of camera, certainly, in the present embodiment It only can also continue to identify that other equipment obtains equipment B information without performing step 803 and 804 in the way of step 802, Or it only can also continue to identify that other equipment obtains the information of device A without performing step in the way of step 803 and 804 802)；
Step 805, robot to be modeled obtains equipment B according to the modeling ability of the numbering local search device A of device A The modeling ability information of transmission, determine after bonding apparatus A and B range information：Device A is irremovable, only has fixed shooting Head, 10 meters of distance robot to be modeled；Equipment B be may move, and camera, 70 meters of distance robot to be modeled can be turned to by having；
In this step, illustrated so that the modeling ability of device A has been locally stored in robot to be modeled as an example, if local do not have There is the modeling ability for inquiring device A, then need further to communicate with device A by bluetooth or other modes, obtain building for equipment Mould ability information.
Step 806, robot to be modeled can move according to itself and rotary characteristic, chosen distance are nearer Device A is as auxiliary modelling apparatus；
Step 807, robot to be modeled sends auxiliary modeling request to device A, and the request bag contains robot to be modeled Numbering and position, and it can be moved, rotary explanation；
Step 808, device A is instructed after modeling robot is moved to the position of its 5 meters of distance in camera face direction, is opened Begin to rotate；
Step 809, robot to be modeled is moved to device A camera face direction according to auxiliary modelling apparatus A instruction Behind the position of 5 meters of distances, start original place and rotate；
Step 810, device A recognize rotation after robot is modeled, it is shot respectively to photo with certain frequency, obtained Photo sequence, it is different according to the rotating speed of robot to be modeled, it can be taken the photograph once every 1-10 second beats；
Step 811, device A sends photo sequence to robot to be modeled；
Step 812, robot to be modeled is stopped operating, and the threedimensional model of itself is established according to image sequence；
Step 813, the information of device A is added or is updated in standby auxiliary modelling apparatus table.
Embodiment seven：
Fig. 9 shows three-dimension modeling method flow schematic diagram in the embodiment of the present invention seven, as shown in figure 9, described three Dimension module method for building up includes：
Step 901, after robot detects 5 minutes, the cycle to itself establishing threedimensional model again will be reached；
Step 902, robot to be modeled sends to cloud server and numbered comprising equipment of itself, needs to complete in 5 minutes Modeling, and itself can not move, can not rotate and be only capable of to realize that the auxiliary of wireless connection models request by bluetooth, ask cloud Server is held as its distribution auxiliary modelling apparatus；
Step 903, cloud server obtains robot location's information to be modeled, it is determined that with its distance in the range of 50 meters Other equipment A, equipment B and equipment C, and determine the modeling ability of each equipment；
Assuming that the modeling ability of each equipment obtained is：
Device A may move, and have rotating pick-up head, but only support wifi connections；
Equipment B may move, and have rotating pick-up head, support bluetooth connection, current idle；
Equipment C may move, and have rotating pick-up head, support bluetooth connection, being currently executing can not interrupt task；
Step 904, cloud server is according to the actual conditions of robot to be modeled, and removable for its distribution, having to turn Dynamic camera, support the equipment B of bluetooth connection and current idle for auxiliary modelling apparatus；
Step 905, cloud server sends auxiliary modelling apparatus B Bluetooth identification to robot to be modeled；
Step 906, robot to be modeled establishes with auxiliary modelling apparatus B according to above-mentioned Bluetooth identification and connects and send auxiliary Modeling request, the request include robot identity to be modeled；
Step 907, equipment B finds according to the mark of robot to be modeled and is moved to robot appropriate location to be modeled；
Step 908, equipment B is sent to robot to be modeled keeps straight position, and static action command；
Step 909, robot to be modeled performs straight position and remains stationary；
Step 910, robot to be modeled is instructed to equipment B sending actions and responded；
Step 911, equipment B begins around robot to be modeled and carries out one week circular motion, is shot while mobile yet to be built The photo of each angle of mould robot, form the first photo sequence；
Step 912, sent to robot to be modeled and be replaced by another straight position, and static action command；
Step 913, robot to be modeled performs another straight position and remains stationary；
Step 914, robot to be modeled is instructed to equipment B sending actions and responded；
Step 915, equipment B carries out second week circular motion around robot to be modeled, and is shot while mobile and waits to model The photo of each angle of robot, form the second photo sequence；It is to treat modeling engine according to the first photo sequence and the second photo sequence Device people establishes threedimensional model；
Step 916, modeling result is sent to robot to be modeled.
Embodiment eight：
Figure 10 shows three-dimension modeling method flow schematic diagram in the embodiment of the present invention eight, as illustrated, described three Dimension module method for building up includes：
Step 1001, robot opening initialization, detecting needs to establish threedimensional model to itself again；
Step 1002, robot to be modeled sends equipment of itself numbering, request server distribution auxiliary to cloud server Modelling apparatus；
Step 1003, cloud server obtains robot location's information to be modeled, and determines with its distance in 50 meters of scopes Interior other equipment A and equipment B, and determine the modeling ability of each equipment：
Device A may move, and have rotating pick-up head, only support wifi connections, IMAQ precision is 100dpi；
Equipment B may move, and have rotating pick-up head, only support wifi connections, IMAQ precision is 400dpi；
Step 1004, for cloud server according to IMAQ precision, selection equipment B is the auxiliary modeling of robot to be modeled Equipment；
Step 1005, cloud server sends auxiliary modeling request to auxiliary modelling apparatus B, is carried in request and treats modeling engine Device people identifies；
Step 1006, equipment B finds according to the mark of robot to be modeled and is moved to robot appropriate location to be modeled, Begin around robot to be modeled and carry out one week circular motion, the photo of each angle of robot to be modeled is shot while mobile, Form photo sequence；
Step 1007, equipment B sends photo sequence to cloud server；
Step 1008, cloud server models to obtain the threedimensional model of robot to be modeled according to sequence of pictures；
Step 1009, high in the clouds robot sends modeling result to robot to be modeled.
Embodiment nine：
Based on same inventive concept, a kind of three-dimension modeling device is additionally provided in the embodiment of the present invention, due to these The principle that equipment solves problem is similar to a kind of three-dimension modeling method, therefore the implementation of these equipment may refer to method Implement, repeat part and repeat no more.
Figure 11 shows the structural representation of three-dimension modeling device in the embodiment of the present invention nine, as illustrated, described Device 1100 includes：
First equipment determining module 1102, for determining to aid in modelling apparatus；
Auxiliary modeling request module 1103, for the first equipment determining module 1102 determine auxiliary modelling apparatus after, to The auxiliary modelling apparatus sends auxiliary modeling request, and the auxiliary modeling request includes the identification information of mould equipment yet to be built；
Receiving module 1106, the three of feedback is asked according to the auxiliary modeling from the auxiliary modelling apparatus for receiving Dimension module information；According to the three-dimensional model information, the threedimensional model for treating modelling apparatus is obtained.
Preferably, described device 1100 also includes：
Condition determining module 1101, for the first equipment determining module 1102 determine auxiliary modelling apparatus before, It is determined that described treat that modelling apparatus meets modeling conditions；
When meeting following either condition, treat that modelling apparatus meets modeling bar described in the determination of condition determining module 1101 Part：
When equipment initializes；Or
Detect and treat that the change of modelling apparatus own wt exceedes predetermined threshold value；Or
Reach the default modeling time.
Preferably, the first equipment determining module 1102, including：
Acquiring unit, the modeling ability information of other equipment in modelling apparatus preset range is treated for obtaining；
The modeling ability information includes modeling data acquisition capability information, or the modeling ability information includes modeling Data retrieval capabilities information and modeling executive capability information；
Determining unit, for according to the modeling ability information, it is determined that auxiliary modelling apparatus.
Preferably, the modeling data acquisition capability information is image data acquisition ability information, and described image data obtain Ability information is taken to include：Image information, image acquisition mode, image can be obtained and obtain type, image acquisition distance range, figure As obtaining precision, and image obtains one or more of combinations in angle；
And/or the modeling executive capability information of the other equipment includes：Translational speed, moving range, road conditions adapt to energy One or more of combinations in power, position, task situation and communication capacity.
Preferably, the acquiring unit, is specifically used for：
Connection is established visual identity, with the other equipment or with by way of server communication, obtaining default model The identification information of interior other equipment is enclosed, according to the identification information of the other equipment, acquisition treats in modelling apparatus preset range it The modeling ability information of his equipment.
Preferably, the first equipment determining module 1102, including：
Request unit, request is determined for sending auxiliary modelling apparatus to server, the auxiliary modelling apparatus determines please Seek the identification information including treating modelling apparatus；
Receiving unit, determine the auxiliary of request feedback according to the auxiliary modelling apparatus from the server for receiving The identification information of modelling apparatus, determine the auxiliary modelling apparatus.
Preferably, the auxiliary modelling apparatus determines request, in addition to：
Treat that the positional information of modelling apparatus, turning power information, locomotivity information, modeling temporal information, modeling are urgent One or more of combinations in degree information or communication capacity information.
Preferably, the auxiliary modeling request, including：
Treat that the positional information of modelling apparatus, turning power information, locomotivity information, modeling temporal information, modeling are urgent One or more of combinations in degree information or communication capacity information.
Preferably, described device 1100 also includes：
Action command receiving module 1104, for being received in the receiving module 1106 from the auxiliary modelling apparatus root Before three-dimensional model information according to the auxiliary modeling request feedback, receive from the auxiliary modelling apparatus according to the auxiliary The modeling action command of modeling request feedback；
Action command execution module 1105, for according to the modeling action command, performing modeling action.
Preferably, the modeling action, including following one or more：
Keep current posture；
Keep the first default modeling posture；
Retainer body posture, original place rotate；
It is replaced by the second default modeling posture；
It is moved to the default modeling position of the auxiliary modelling apparatus.
Preferably, the modeling action command, including perform the time；
The action command execution module 1105, specifically for according to the modeling action command, in corresponding perform Between perform modeling action.
Preferably, the three-dimensional model information, including：Modeling data；
The receiving module, specifically for receiving from the auxiliary modelling apparatus according to the auxiliary modeling request feedback Modeling data, modeled according to the modeling data, obtain and treat the threedimensional model of modelling apparatus；
Or
The three-dimensional model information, including treat the threedimensional model of modelling apparatus.
Embodiment ten：
Based on same inventive concept, a kind of three-dimension modeling device is additionally provided in the embodiment of the present invention, due to these The principle that equipment solves problem is similar to a kind of three-dimension modeling method, therefore the implementation of these equipment may refer to method Implement, repeat part and repeat no more.
Figure 12 shows the structural representation of three-dimension modeling device in the embodiment of the present invention ten, as illustrated, described Device 1200 includes：
Acquisition request module 1201, modeling request is aided in for obtaining, the auxiliary modeling request includes mould equipment yet to be built Identification information；
Modeling data acquisition module 1202, for treating the modeling number of modelling apparatus according to the auxiliary modeling request collection According to；
Sending module 1204, for sending three-dimensional model information, the three-dimensional model information includes modeling data, Huo Zhesuo Stating three-dimensional model information includes modeling the threedimensional model for treating modelling apparatus obtained according to the modeling data.
Preferably, the auxiliary modeling request, in addition to：
Treat that the positional information of modelling apparatus, turning power information, locomotivity information, modeling temporal information, modeling are urgent One or more of combinations in degree information or communication capacity information.
Preferably, described device also includes：
Action command sending module 1203, for the sending module 1203 send three-dimensional model information before, to institute State and treat that modelling apparatus sends modeling action command.
Embodiment 11：
Based on same inventive concept, a kind of three-dimension modeling device is additionally provided in the embodiment of the present invention, due to these The principle that equipment solves problem is similar to a kind of three-dimension modeling method, therefore the implementation of these equipment may refer to method Implement, repeat part and repeat no more.
Figure 13 shows the structural representation of three-dimension modeling device in the embodiment of the present invention 11, as illustrated, institute Stating device 1300 includes：
Equipment determines request receiving module 1301, treats that the auxiliary modelling apparatus that modelling apparatus is sent determines to ask for obtaining Ask, the auxiliary modelling apparatus determines that request includes the identification information for treating modelling apparatus；
Data obtaining module 1302, the modeling ability information of other equipment in modelling apparatus preset range is treated for obtaining；
Second equipment determining module 1303, for determining that request and the modeling ability are believed according to the auxiliary modelling apparatus Cease and treat that modelling apparatus determines auxiliary modelling apparatus to be described；
Facility information sending module 1304, for treating that modelling apparatus sends the identification for aiding in modelling apparatus and believed to described Breath.
Preferably, the auxiliary modelling apparatus determines request, in addition to：
Treat that the positional information of modelling apparatus, turning power information, locomotivity information, modeling temporal information, modeling are urgent One or more of combinations in degree information or communication capacity information.
For convenience of description, each several part of apparatus described above is divided into various modules with function and described respectively.Certainly, exist Each module or the function of unit can be realized in same or multiple softwares or hardware when implementing of the invention.
It should be understood by those skilled in the art that, embodiments of the invention can be provided as method, system or computer program Product.Therefore, the present invention can use the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware Apply the form of example.Moreover, the present invention can use the computer for wherein including computer usable program code in one or more The computer program production that usable storage medium is implemented on (including but is not limited to magnetic disk storage, CD-ROM, optical memory etc.) The form of product.
The present invention is the flow with reference to method according to embodiments of the present invention, equipment (system) and computer program product Figure and/or block diagram describe.It should be understood that can be by every first-class in computer program instructions implementation process figure and/or block diagram Journey and/or the flow in square frame and flow chart and/or block diagram and/or the combination of square frame.These computer programs can be provided The processors of all-purpose computer, special-purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce A raw machine so that produced by the instruction of computer or the computing device of other programmable data processing devices for real The device for the function of being specified in present one flow of flow chart or one square frame of multiple flows and/or block diagram or multiple square frames.
These computer program instructions, which may be alternatively stored in, can guide computer or other programmable data processing devices with spy Determine in the computer-readable memory that mode works so that the instruction being stored in the computer-readable memory, which produces, to be included referring to Make the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one square frame of block diagram or The function of being specified in multiple square frames.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted Series of operation steps is performed on calculation machine or other programmable devices to produce computer implemented processing, so as in computer or The instruction performed on other programmable devices is provided for realizing in one flow of flow chart or multiple flows and/or block diagram one The step of function of being specified in individual square frame or multiple square frames.
Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation Property concept, then can make other change and modification to these embodiments.So appended claims be intended to be construed to include it is excellent Select embodiment and fall into having altered and changing for the scope of the invention.

Claims (34)

  1. A kind of 1. three-dimension modeling method, it is characterised in that methods described includes：
    It is determined that auxiliary modelling apparatus；
    Auxiliary modeling request is sent to the auxiliary modelling apparatus, the auxiliary modeling request includes the identification letter of mould equipment yet to be built Breath；
    Receive the three-dimensional model information according to the auxiliary modeling request feedback from the auxiliary modelling apparatus；According to described three Dimension module information, obtain the threedimensional model for treating modelling apparatus.
  2. 2. the method as described in claim 1, it is characterised in that before the determination auxiliary modelling apparatus, in addition to：
    It is determined that described treat that modelling apparatus meets modeling conditions；
    When meeting following either condition, it is determined that described treat that modelling apparatus meets modeling conditions：
    When equipment initializes；Or
    Detect and treat that the change of modelling apparatus own wt exceedes predetermined threshold value；Or
    Reach the default modeling time.
  3. 3. the method as described in claim 1, it is characterised in that it is described to determine to aid in modelling apparatus, including：
    Obtain the modeling ability information for treating other equipment in modelling apparatus preset range；
    The modeling ability information includes modeling data acquisition capability information, or the modeling ability information includes modeling data Acquisition capability information and modeling executive capability information；
    According to the modeling ability information, it is determined that auxiliary modelling apparatus.
  4. 4. method as claimed in claim 3, it is characterised in that
    The modeling data acquisition capability information is image data acquisition ability information, described image data retrieval capabilities packet Include：Image information, image acquisition mode, image can be obtained and obtain type, image acquisition distance range, image acquisition precision, One or more of combinations in angle are obtained with image；
    And/or the modeling executive capability information of the other equipment includes：Translational speed, moving range, road conditions adaptability, One or more of combinations in position, task situation and communication capacity.
  5. 5. the method as described in claim 3 or 4, it is characterised in that the acquisition treats that other set in modelling apparatus preset range Standby modeling ability information, including：
    Connection is established visual identity, with the other equipment or with by way of server communication, obtaining in preset range The identification information of other equipment, according to the identification information of the other equipment, acquisition treats that other set in modelling apparatus preset range Standby modeling ability information.
  6. 6. the method as described in claim 1, it is characterised in that it is described to determine to aid in modelling apparatus, including：
    Auxiliary modelling apparatus is sent to server and determines request, and the auxiliary modelling apparatus determines that request includes mould equipment yet to be built Identification information；
    The identification for receiving the auxiliary modelling apparatus for determining request feedback according to the auxiliary modelling apparatus from the server is believed Breath, determines the auxiliary modelling apparatus.
  7. 7. method as claimed in claim 6, it is characterised in that the auxiliary modelling apparatus determines request, in addition to：
    Treat positional information, turning power information, locomotivity information, modeling temporal information, the modeling urgency level of modelling apparatus One or more of combinations in information or communication capacity information.
  8. 8. the method as described in claim 1, it is characterised in that the auxiliary modeling request, including：
    Treat positional information, turning power information, locomotivity information, modeling temporal information, the modeling urgency level of modelling apparatus One or more of combinations in information or communication capacity information.
  9. 9. the method as described in claim 1, it is characterised in that received described from the auxiliary modelling apparatus according to Before the three-dimensional model information of auxiliary modeling request feedback, in addition to：
    Receive the modeling action command according to the auxiliary modeling request feedback from the auxiliary modelling apparatus；
    According to the modeling action command, modeling action is performed.
  10. 10. method as claimed in claim 9, it is characterised in that the modeling action, including following one or more：
    Keep current posture；
    Keep the first default modeling posture；
    Retainer body posture, original place rotate；
    It is replaced by the second default modeling posture；
    It is moved to the default modeling position of the auxiliary modelling apparatus.
  11. 11. method as claimed in claim 9, it is characterised in that the modeling action command, including perform the time；
    It is described according to the modeling action command, perform modeling action, including according to the modeling action command, held accordingly The row time performs modeling action.
  12. 12. the method as described in claim 1, it is characterised in that
    The three-dimensional model information, including：Modeling data；
    It is described that threedimensional model is obtained according to the three-dimensional model information, including：Modeled, obtained yet to be built according to the modeling data The threedimensional model of mould equipment；
    Or
    The three-dimensional model information, including treat the threedimensional model of modelling apparatus.
  13. A kind of 13. three-dimension modeling method, it is characterised in that methods described includes：
    Auxiliary modeling request is obtained, the auxiliary modeling request includes the identification information of mould equipment yet to be built；
    The modeling data of modelling apparatus is treated according to the auxiliary modeling request collection；
    Three-dimensional model information is sent, the three-dimensional model information includes modeling data, or the three-dimensional model information includes root The threedimensional model for treating modelling apparatus obtained according to modeling data modeling.
  14. 14. method as claimed in claim 13, it is characterised in that the auxiliary modeling request, in addition to：
    Treat positional information, turning power information, locomotivity information, modeling temporal information, the modeling urgency level of modelling apparatus One or more of combinations in information or communication capacity information.
  15. 15. method as claimed in claim 13, it is characterised in that before the transmission three-dimensional model information, in addition to：
    Treat that modelling apparatus sends modeling action command to described.
  16. A kind of 16. three-dimension modeling method, it is characterised in that methods described includes：
    Obtain and treat that the auxiliary modelling apparatus that modelling apparatus is sent determines request, it is described that the auxiliary modelling apparatus determines that request includes Treat the identification information of modelling apparatus；
    Obtain the modeling ability information for treating other equipment in modelling apparatus preset range；
    Determine that request and the modeling ability information treat that modelling apparatus determines that auxiliary is built to be described according to the auxiliary modelling apparatus Mould equipment；
    To the identification information treated modelling apparatus and send the auxiliary modelling apparatus.
  17. 17. method as claimed in claim 16, it is characterised in that the auxiliary modelling apparatus determines request, in addition to：
    Treat positional information, turning power information, locomotivity information, modeling temporal information, the modeling urgency level of modelling apparatus One or more of combinations in information or communication capacity information.
  18. 18. a kind of three-dimension modeling device, it is characterised in that described device includes：
    First equipment determining module, for determining to aid in modelling apparatus；
    Auxiliary modeling request module, for after the first equipment determining module determines auxiliary modelling apparatus, being modeled to the auxiliary Equipment sends auxiliary modeling request, and the auxiliary modeling request includes the identification information of mould equipment yet to be built；
    Receiving module, believed for receiving from the auxiliary modelling apparatus according to the threedimensional model of the auxiliary modeling request feedback Breath；According to the three-dimensional model information, the threedimensional model for treating modelling apparatus is obtained.
  19. 19. device as claimed in claim 18, it is characterised in that described device also includes：
    Condition determining module, for before the first equipment determining module determines auxiliary modelling apparatus, determining described yet to be built Mould equipment meets modeling conditions；
    When meeting following either condition, treat that modelling apparatus meets modeling conditions described in the condition determining module determination：
    When equipment initializes；Or
    Detect and treat that the change of modelling apparatus own wt exceedes predetermined threshold value；Or
    Reach the default modeling time.
  20. 20. device as claimed in claim 18, it is characterised in that the first equipment determining module, including：
    Acquiring unit, the modeling ability information of other equipment in modelling apparatus preset range is treated for obtaining；
    Determining unit, for according to the modeling ability information, it is determined that auxiliary modelling apparatus；
    The modeling ability information includes modeling data acquisition capability information, or the modeling ability information includes modeling data Acquisition capability information and modeling executive capability information.
  21. 21. device as claimed in claim 20, it is characterised in that
    The modeling data acquisition capability information is image data acquisition ability information, described image data retrieval capabilities packet Include：Image information, image acquisition mode, image can be obtained and obtain type, image acquisition distance range, image acquisition precision, One or more of combinations in angle are obtained with image；
    And/or the modeling executive capability information of the other equipment includes：Translational speed, moving range, road conditions adaptability, One or more of combinations in position, task situation and communication capacity.
  22. 22. the device as described in claim 20 or 21, it is characterised in that the acquiring unit, be specifically used for：
    Connection is established visual identity, with the other equipment or with by way of server communication, obtaining in preset range The identification information of other equipment, according to the identification information of the other equipment, acquisition treats that other set in modelling apparatus preset range Standby modeling ability information.
  23. 23. device as claimed in claim 18, it is characterised in that the first equipment determining module, including：
    Request unit, request is determined for sending auxiliary modelling apparatus to server, the auxiliary modelling apparatus determines request bag Include the identification information for treating modelling apparatus；
    Receiving unit, determine that the auxiliary of request feedback models according to the auxiliary modelling apparatus from the server for receiving The identification information of equipment, determine the auxiliary modelling apparatus.
  24. 24. device as claimed in claim 23, it is characterised in that the auxiliary modelling apparatus determines request, in addition to：
    Treat positional information, turning power information, locomotivity information, modeling temporal information, the modeling urgency level of modelling apparatus One or more of combinations in information or communication capacity information.
  25. 25. device as claimed in claim 18, it is characterised in that the auxiliary modeling request, including：
    Treat positional information, turning power information, locomotivity information, modeling temporal information, the modeling urgency level of modelling apparatus One or more of combinations in information or communication capacity information.
  26. 26. device as claimed in claim 18, it is characterised in that described device also includes：
    Action command receiving module, built for being received in the receiving module from the auxiliary modelling apparatus according to the auxiliary Before the three-dimensional model information of mould request feedback, receive from the auxiliary modelling apparatus according to the auxiliary modeling request feedback Modeling action command；
    Action command execution module, for according to the modeling action command, performing modeling action.
  27. 27. device as claimed in claim 26, it is characterised in that the modeling action, including following one or more：
    Keep current posture；
    Keep the first default modeling posture；
    Retainer body posture, original place rotate；
    It is replaced by the second default modeling posture；
    It is moved to the default modeling position of the auxiliary modelling apparatus.
  28. 28. device as claimed in claim 26, it is characterised in that the modeling action command, including perform the time；
    The action command execution module, specifically for according to the modeling action command, being built performing time execution accordingly Mould acts.
  29. 29. device as claimed in claim 18, it is characterised in that
    The three-dimensional model information, including：Modeling data；
    The receiving module, specifically for receiving from auxiliary modelling apparatus the building according to the auxiliary modeling request feedback Modulus evidence, modeled according to the modeling data, obtain the threedimensional model for treating modelling apparatus；
    Or
    The three-dimensional model information, including treat the threedimensional model of modelling apparatus.
  30. 30. a kind of three-dimension modeling device, it is characterised in that described device includes：
    Acquisition request module, modeling request is aided in for obtaining, the auxiliary modeling request includes the identification letter of mould equipment yet to be built Breath；
    Modeling data acquisition module, for treating the modeling data of modelling apparatus according to the auxiliary modeling request collection；
    Sending module, for sending three-dimensional model information, the three-dimensional model information includes modeling data, or the three-dimensional mould Type information includes modeling the threedimensional model for treating modelling apparatus obtained according to the modeling data.
  31. 31. device as claimed in claim 30, it is characterised in that the auxiliary modeling request, in addition to：
    Treat positional information, turning power information, locomotivity information, modeling temporal information, the modeling urgency level of modelling apparatus One or more of combinations in information or communication capacity information.
  32. 32. device as claimed in claim 30, it is characterised in that described device also includes：
    Action command sending module, for before the sending module sends three-dimensional model information, modelling apparatus to be treated to described Send modeling action command.
  33. 33. a kind of three-dimension modeling device, it is characterised in that described device includes：
    Equipment determines request receiving module, treats that the auxiliary modelling apparatus that modelling apparatus is sent determines request for obtaining, described auxiliary Modelling apparatus is helped to determine that request includes the identification information for treating modelling apparatus；
    Data obtaining module, the modeling ability information of other equipment in modelling apparatus preset range is treated for obtaining；
    Second equipment determining module, for determining that request and the modeling ability information are described according to the auxiliary modelling apparatus Treat that modelling apparatus determines auxiliary modelling apparatus；
    Facility information sending module, for treating that modelling apparatus sends the identification information for aiding in modelling apparatus to described.
  34. 34. device as claimed in claim 33, it is characterised in that the auxiliary modelling apparatus determines request, in addition to：
    Treat positional information, turning power information, locomotivity information, modeling temporal information, the modeling urgency level of modelling apparatus One or more of combinations in information or communication capacity information.
CN201680002685.0A 2016-05-23 2016-05-23 A kind of three-dimension modeling method and apparatus Pending CN107454866A (en)

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