CN109242963A - A kind of three-dimensional scenic simulator and equipment - Google Patents
A kind of three-dimensional scenic simulator and equipment Download PDFInfo
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- CN109242963A CN109242963A CN201811150189.7A CN201811150189A CN109242963A CN 109242963 A CN109242963 A CN 109242963A CN 201811150189 A CN201811150189 A CN 201811150189A CN 109242963 A CN109242963 A CN 109242963A
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- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
This application discloses a kind of three-dimensional scenic simulator and equipment.The three-dimensional scenic simulator is used for the configuring condition of simulated target object in the scene, including data obtaining module, modeling module, coupling module and application module.Data obtaining module is for obtaining the three-dimensional data of target object and the three-dimensional data of scene.Modeling module is used to establish the threedimensional model of target object and the threedimensional model of scene respectively according to the three-dimensional data of target object and the three-dimensional data of scene.In the coordinate system for the threedimensional model that coupling module is used to for the coordinate system of the threedimensional model of target object to be coupled to scene.Application module in the threedimensional model of scene for configuring configuring condition of the threedimensional model of target object with simulated target object in the scene.
Description
Technical field
This application involves smart home fields, and in particular to a kind of three-dimensional scenic simulator and equipment.
Background technique
As living standard increasingly improves, people are frequently necessary to add new object at home, such as: furniture or housework robot
Deng.However, consumer is often unclear for the full-size(d) of alternative product on the market, need that scene is gone to measure in person
Or online compares repeatedly.Also tend to have found that it is likely that meeting and ring existing in family after the suitable product of size is bought back home even if finding
Border is not arranged in pairs or groups or fault when measuring before due to causes the product bought not applicable and needs to replace, it appears very troublesome.
Summary of the invention
Presently filed embodiment provides a kind of three-dimensional scenic simulator and equipment.
The three-dimensional scenic simulator of the application embodiment, for the configuring condition of simulated target object in the scene,
Including data obtaining module, modeling module, coupling module and application module.The data obtaining module is for obtaining the target
The three-dimensional data of the three-dimensional data of object and the scene.The modeling module is used for the three-dimensional data according to the target object
Establish the threedimensional model of the target object and the threedimensional model of the scene respectively with the three-dimensional data of the scene.The coupling
In the coordinate system for the threedimensional model that molding block is used to for the coordinate system of the threedimensional model of the target object to be coupled to the scene.
The application module is used to configure the threedimensional model of the target object in the threedimensional model of the scene to simulate the mesh
Mark configuring condition of the object in the scene.
The equipment of the application embodiment comprising the three-dimensional scenic simulator of above embodiment.The equipment root
It is corresponded to according to the simulation effect of three-dimensional scenic simulator and executes corresponding function.
The three-dimensional scenic simulator and equipment of the application embodiment, by the coordinate system coupling of the threedimensional model of target object
In the coordinate system for closing the threedimensional model of scene, so as to according to the threedimensional model of target object in the threedimensional model of scene
Ornaments to simulate the configuring condition of the target object in the scene, it is simple and convenient, it is clear intuitive, be conducive to improve user's body
It tests.
The additional aspect and advantage of presently filed embodiment will be set forth in part in the description, partially will be from following
Description in become obvious, or recognized by the practice of presently filed embodiment.
Detailed description of the invention
The above-mentioned and/or additional aspect and advantage of the application is from combining in description of the following accompanying drawings to embodiment by change
It obtains obviously and is readily appreciated that, in which:
Fig. 1 is the module diagram of the three-dimensional scenic simulator of the application embodiment；
Fig. 2 is the flow diagram of the three-dimensional scenic analogy method of the application embodiment；
Fig. 3 is a kind of equipment Hu structural schematic diagram that the application embodiment provides；
Fig. 4 is the module diagram of the three-dimensional scenic simulator of the application first embodiment；
Fig. 5 is the flow diagram of the three-dimensional scenic analogy method of the application first embodiment；
Fig. 6 is the flow diagram of the three-dimensional scenic analogy method of the application first embodiment；
Fig. 7 is the flow diagram of the three-dimensional scenic analogy method of the application first embodiment；
Fig. 8 is the flow diagram of the three-dimensional scenic analogy method of the application first embodiment；
Fig. 9 is the flow diagram of the three-dimensional scenic analogy method of the application first embodiment；
Figure 10 is the module diagram of the three-dimensional scenic simulator of the application second embodiment；
Figure 11 is the flow diagram of the three-dimensional scenic analogy method of the application second embodiment；
Figure 12 is the flow diagram of the three-dimensional scenic analogy method of the application second embodiment；
Figure 13 is the flow diagram of the three-dimensional scenic analogy method of the application second embodiment.
Specific embodiment
Presently filed embodiment is described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and is only used for explaining the application, and should not be understood as the limitation to the application.
In the description of the present application, term " first ", " second " are used for description purposes only, and should not be understood as instruction or dark
Show relative importance or implicitly indicates the quantity of indicated technical characteristic.The feature of " first ", " second " is defined as a result,
It can explicitly or implicitly include one or more feature.In the description of the present application, the meaning of " plurality " is
Two or more, unless otherwise specifically defined.
In the description of the present application, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected or can be in communication with each other；It can be directly connected, it can also be by between intermediary
It connects connected, can be the connection inside two elements or the interaction relationship of two elements.For the ordinary skill of this field
For personnel, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
Following disclosure provides many different embodiments or example is used to realize the different structure of the application.In order to
Simplify disclosure herein, hereinafter the component of specific examples and setting are described.Certainly, they are merely examples, and
And purpose does not lie in limitation the application.In addition, the application can in different examples repeat reference numerals and/or reference letter,
This repetition is for purposes of simplicity and clarity, itself not indicate between discussed various embodiments and/or setting
Relationship.In addition, this application provides various specific techniques and material example, but those of ordinary skill in the art can be with
Recognize the application of other techniques and/or the use of other materials.
It should be understood that embodiments described herein and/or method are exemplary in itself, it is not construed as pair
The limitation of technical scheme.Embodiment or method described herein are only that the application the relevant technologies thought is covered
One of numerous technical solutions are a variety of, therefore each step of described method and technology scheme can be according to being indicated
Order executes, and can execute, may be performed simultaneously, or be omitted in some cases, above-mentioned change according to other order
It is regarded as the range that the application technical solution claimed is covered.
Presently filed embodiment provides a kind of three-dimensional scenic simulator 10 and three-dimensional scenic analogy method.
Referring to Fig. 1, the three-dimensional scenic simulator 10 of the application embodiment, in the scene for simulated target object
Configuring condition.The three-dimensional scenic simulator 10 includes data obtaining module 12, modeling module 14, coupling module 16 and answers
With module 18.
The data obtaining module 12 for obtain the three-dimensional data of scene to be simulated and in the scene into
The three-dimensional data of the target object of row configuration.The modeling module 14 is used for three according to the three-dimensional data of scene and target object
Dimension data establishes the threedimensional model of scene and the threedimensional model of target object respectively.The coupling module 16 is used for target object
Threedimensional model the coordinate system threedimensional model that is coupled to scene coordinate system in.The application module 18 is used for the three of scene
Configuring condition of the threedimensional model of target object with simulated target object in the scene is configured in dimension module.It is described configuration include but
It is not limited to move and/or overturn in the threedimensional model of scene existing structure in target object or target object and scene
Interaction and evacuation.
Referring to Fig. 2, the three-dimensional scenic analogy method of the application embodiment, in the scene for simulated target object
Configuring condition, three-dimensional scenic analogy method include the following steps:
Step S12: the three-dimensional data of target object and the three-dimensional data of scene are obtained；
Step S14: it is respectively corresponded according to the three-dimensional data of the three-dimensional data of target object and scene and establishes target object
The threedimensional model of threedimensional model and scene；
Step S16: the coordinate system of the threedimensional model of target object is coupled in the coordinate system of the threedimensional model of scene；With
Step S18: the threedimensional model of configuration target object is with simulated target object in scene in the threedimensional model of scene
In configuring condition.
Referring to Fig. 3, the application also provides a kind of equipment 100, such as mobile phone, laptop, tablet computer, touch-control are handed over
Mutual screen, door, the vehicles, robot, automatic numerical control lathe etc..The equipment 100 includes at least one any of the above-described embodiment party
The three-dimensional scenic simulator 10 of formula.The equipment is corresponded to for the simulation effect according to the three-dimensional scenic simulator to be executed
Corresponding function.The corresponding function includes but is not limited to Home Fashion & Design Shanghai, robot control, simulation interactive game etc..
Three-dimensional scenic simulator 10, equipment 100 and the three-dimensional scenic analogy method of the application embodiment, by object
The coordinate system of the threedimensional model of body is coupled in the coordinate system of the threedimensional model of scene, thus according to the threedimensional model of target object
Configuration needs in the threedimensional model of scene carry out simulated target object true configuring condition in the scene, simple and convenient, clearly
Chu Zhiguan is conducive to improve user experience.
The three-dimensional scenic simulator 10 and three-dimensional scenic analogy method of the application can be divided into two specific embodiments,
Next two embodiments are illustrated respectively.It should be pointed out that two realities of the those skilled in the art according to the application
Deformation or alternative made by example are applied, also within the scope of protection of this application.
Embodiment one:
Referring to Fig. 4, the first embodiment of the application provides a kind of three-dimensional scenic simulator 10, it to be used for real-time mould
Quasi- configuring condition of the target object in the threedimensional model of current scene.In the present embodiment, current scene is family
Scene is occupied, target object is the furniture for needing to be placed in household.
The three-dimensional scenic simulator 10 include the data obtaining module 12 connected by bus 11, sensing mould group 13,
Modeling module 14, memory 15, coupling module 16, interactive module 17 and application module 18.The three-dimensional scenic simulator 10
Modules/mould group by the bus 11 carry out signal and data interaction.The data obtaining module 12 is for obtaining institute
The three-dimensional data of the three-dimensional data of scene to be simulated and the target object for needing to be configured in the scene.In the application
First embodiment in, the data obtaining module 12 is for obtaining the three-dimensional data of furniture and the three-dimensional data of household.
The data obtaining module 12 can obtain the three-dimensional data of target object by network from the server of businessman.Example
Such as: the information module 12 can also include search unit 122 and download unit 124.Described search unit 122 is according to preset
The dimension data of target object searches out the target object to meet the requirements from the website of businessman.The download unit 124 will choosing
In target object three-dimensional data downloading be stored in local memory 15.
The three of scene where the data obtaining module 12 can also directly be sensed by sensing mould group 13 or target object
Dimension data.Such as: the data obtaining module 12 can be shot by the three-dimensional camera being arranged on the portable terminals such as mobile phone
The scene at place or target object in front obtain corresponding three-dimensional data.
The sensing mould group 13 includes three-dimensional camera.The sensing mould group 13 be used to handle the output data of three-dimensional camera with
Obtain the three-dimensional data of target object and/or the three-dimensional data of scene, and by the three of the three-dimensional data of target object and/or scene
Dimension data is transmitted to data obtaining module 12.In this way, realizing three-dimensional data and/or field of the data obtaining module 12 to target object
The acquisition of the three-dimensional data of scape.
The three-dimensional camera is used to sense the three-dimensional data of subject.The principle of the three-dimensional camera can be based on structure
Light, binocular vision or flight time (Time Of Flight, TOF), it is not limited here.It is understood that by institute
Subject three-dimensional data in space can be sensed by stating three-dimensional camera, can be by according to these three-dimensional datas sensed
Photograph rebuilds the threedimensional model of target object and scene in proportion, simulates the real deployment feelings of target object in the scene
Condition.
Specifically, the equipment such as user or designed robot can hold the three-dimensional camera according to preset more
Scene where a angle senses or the complete three-dimensional data of finding target object.Alternatively, in the scene for needing to be modeled
At multiple preset positions, such as the edge of an interior space ceiling, it is corresponding to set up multiple three-dimensional cameras to sense field
The Complete three-dimensional data of scape, set three-dimensional camera quantity are not particularly limited.12 pairs of the acquisition of information mould group three-dimensional phases
These three-dimensional datas that machine senses denoised, spliced, matched and optimized etc. store after processing it is spare to the memory 15.
It is understood that the sensing mould group 13 can also include color camera, in this way, can be obtained by color camera
Take the colouring information of scene and target object.The three-dimensional data that the colouring information and three-dimensional camera obtained in conjunction with color camera obtains
The colorful three-dimensional model of the scene and target object that build, can more authentic image.
Memory 15 described in user can store the three-dimensional data of household and the three-dimensional data of furniture, so that the modeling mould
Block 14 can read the three-dimensional data of needs when establishing threedimensional model from memory 15.The memory 15 can be setting
Storage medium on local terminal, the cloud memory being also possible on network.
The modeling module 14 is used to establish target respectively according to the three-dimensional data of target object and the three-dimensional data of scene
The threedimensional model of object and the threedimensional model of scene.The three-dimensional data include but is not limited to three-dimensional coordinate, laser reflection intensity,
The point cloud data of colouring information.Point cloud data can be pre-processed, be divided by the modeling module 14, triangle gridding and net
The processing such as lattice rendering, to complete the foundation of threedimensional model.For example, filtering and noise reduction, data compaction and data interpolation can be passed through
Etc. modes carry out the pretreatment of point cloud data.Then, point cloud data is split, is clustered so that cloud will entirely be put as multiple points
Cloud, each cloud correspond to independent subject.It is then possible to carry out triangle gridding to cloud using convex closure or recessed packet algorithm
Change, so that subsequent grid be facilitated to render.This results in after the Space expanding of cloud, grid is mapped textures onto
In, so that object is more life-like.
The coupling module 16 is for the coordinate system of the threedimensional model of target object to be coupled to by coordinate transform operation
In the coordinate system of the threedimensional model of scene, so as to the configuring condition of the subsequent simulated target object in the threedimensional model of scene.Tool
Body, the coupling module 16 is used for according to preset coordinate transformation algorithm, such as: coordinate translation matrix and/or coordinate rotation
Coordinate data of the threedimensional model of target object in itself reference frame is converted into the threedimensional model of target object by matrix
Coordinate data in the reference frame of scene.
It is understood that coordinate of the target object threedimensional model before being not coupled to the threedimensional model of scene
System is the coordinate system established using target object itself as object of reference.The coordinate system of the threedimensional model of the scene is with scene
The coordinate system that interior preset is established by object of reference.The threedimensional model of the target object is coupled to the threedimensional model of scene
In, exactly the coordinate data of the threedimensional model of target object is converted into the coordinate data of the threedimensional model of scene, in other words,
Threedimensional model with metric objective object is described with the coordinate system of the threedimensional model of scene.
User can be issued by interactive module 17 is coupled to the three of scene for the coordinate system of the threedimensional model of target object
Instruction in the coordinate system of dimension module is coupled to the three of scene to control the coupling module 16 for the threedimensional model of target object
In dimension module.The interactive module 17 include but is not limited to be mouse, keyboard and touch screen.
Specifically, in the present embodiment, user can first open the threedimensional model of household, then by the three-dimensional mould of furniture
Type is dragged in the threedimensional model of household；Alternatively, user can first open the threedimensional model of furniture, then by the threedimensional model of household
It is dragged in the threedimensional model of furniture；Alternatively, user can select and disposably open furniture threedimensional model and household three
Dimension module.
Certainly, the threedimensional model of multiple furniture can be once coupled to the threedimensional model of a household by user；It can also be with
The threedimensional model of furniture is once coupled to the threedimensional model of multiple households；It can also be once by the threedimensional model coupling of multiple furniture
Close the threedimensional model of multiple households.The not quantity of the threedimensional model to the furniture to intercouple and the threedimensional model of household herein
It is defined.
The application module 18 is for configuring the threedimensional model of target object in the threedimensional model of scene with simulated target
The configuring condition of object in the scene.In the first embodiment of the application, the application module 18 is used for the three of household
In dimension module, configure the threedimensional model of furniture, thus simulate furniture be in it is placed in the middle actually put effect, mentioned for Home Fashion & Design Shanghai
For reference.
In the first embodiment of the application, the application module 18 includes interference unit 182,184 and of interactive unit
Calculate unit 186.
The interference unit 182 is used to judge mesh according to the space attribute of preset scene and the three-dimensional data of target object
The interference situation that the threedimensional model of mark object occurs when contacting with each other with the existing structure in scene threedimensional model.The space
Attribute is including may pass through attribute and not may pass through attribute.The interference unit 182 sense two have not may pass through attribute
Space coordinate group, which is moved into when contacting with each other, to be limited it and mutually enters inside respective area of space, only along mutual
Contact surface is mobile.
It is understood that the category of area of space corresponding to existing structure in the target object and scene of solid property
Property not may pass through attribute, the attribute of other area of space in addition to this is that may pass through attribute.In this way, making target object three
Action of configuration of the dimension module in scene threedimensional model is the same to be consistent with truth.In reality scene, the target
The movement that object can not occur should also be as can not achieve in the threedimensional model of scene.
The space attribute of the three-dimensional data of the space attribute and scene of the three-dimensional data of the target object can be by user's root
It presets, can also be judged shared by object according to the three-dimensional data sensed as the modeling module 14 according to actual conditions
Automatically attribute is assigned after area of space, then is adjusted according to the actual situation by user.
In an application scenarios, along the direction vertical with the wall of the threedimensional model of household, by the three-dimensional of desk
After model is moved to the wall for being close to the threedimensional model of household, the threedimensional model of desk can not be further continued for along the three-dimensional with household
The vertical direction of the wall of model is mobile, because desk can not pass through wall in actual scene.In this scene
In, it is respectively the wall of the threedimensional model of desk and the threedimensional model of household that two, which have the space coordinate group that not may pass through attribute,
Wall.
In another application scenarios, the space coordinate of desktop, which is predetermined to be, not may pass through attribute, and desktop upper surface with
On space coordinate be predetermined to be and may pass through attribute, the space coordinate of the cylinder of pen container, which is predetermined to be, not may pass through attribute, and pen
The space coordinate of the barrel chamber of cylinder, which is predetermined to be, may pass through attribute, therefore, pen can be put in barrel chamber, but pen cannot pass through cylinder
Body can move pen container along the upper surface of desktop, but pen container can not pass through desktop.Note that " desktop " in example and
" pen container " all refers to the threedimensional model of the furniture in the threedimensional model of household, rather than desktop and pen container in reality scene.
In addition to may pass through attribute and not may pass through attribute other than, space attribute can also include resilient property.It is appreciated that
For that can may pass through attribute with the object that deformation occurs in the scene of reality and not may pass through attribute and be not sufficient to describe its property
Matter.Area of space with resilient property can occur according to natural resiliency size when contacting with the object that not may pass through attribute
The deformation of predeterminable level allows the object that not may pass through attribute to enter the space of original resilient property within a preset range
It is interior.
In one scenario, the space coordinate of the threedimensional model of curtain can be preset as resilient property, and according to curtain
The ability of deformation sets deformation quantity, and when pulling the threedimensional model of curtain, the threedimensional model of curtain is drawn in the range of deformation quantity
It stretches.
In another scene, the space coordinate of the threedimensional model of sponge wall can be preset as to resilient property, and according to
The deformability of sponge wall sets deformation quantity.When by the threedimensional model of desk along vertical with the surface of the threedimensional model of sponge wall
Direction be moved to contacted with the threedimensional model of sponge wall after continued to move to along former direction, the threedimensional model of the sponge wall can be
It is recessed in the range of deformation quantity, after reaching the limit of deformation quantity, if continued to move to again along former direction, the three of desk
Dimension module cannot continue to move to, and the threedimensional model of the sponge wall can keep the deformation under the limiting condition of deformation quantity.In this way
To simulate the deformation that sponge wall is occurred by the influence of the pressure of desk in reality scene.
The setting of the resilient property can make in the threedimensional model of scene, between furniture and furniture and furniture with
The interaction between existing structure in household is modeled to obtain more closer to reality.
User is prompted to pay attention to when the interference unit 182 judges to have interfered situation.Such as: the interference unit
182 by vibration, voice broadcast or in the place interfered it is highlighted or reminded in a manner of flashing display etc..
The interactive unit 184 is used to receive the signal of configuration target object threedimensional model, and according to signal in scene
Change position and the form of the threedimensional model of target object in threedimensional model.
In this way, user can change target object threedimensional model by interactive unit 184 in the threedimensional model of scene
Position and form.Specifically, user can input configuration signal to three-dimensional scenic simulator 10 by interactive module 17, described
Interactive module 17 includes but is not limited to mouse, keyboard and touch screen.For example, user can use finger in the threedimensional model of household
It is pulled on touch screen or swivel furniture threedimensional model, the interactive unit 184 exists according to the finger situation of movement sensed
Change position and the form of furniture threedimensional model in household threedimensional model.
The measuring and calculating unit 186 is for calculating in scene threedimensional model and target object threedimensional model between multiple labels
Relative position information, such as: distance, angle, curvature etc..The label includes but is not limited to coordinate points, lines or pattern.
In this way, user calculates object after target object being configured to perfect condition in the threedimensional model of scene
Existing structure is the location information reached this perfect condition and need to change in body or scene, to facilitate user to furniture or household
It modifies and adjusts.Similarly, user can calculate coordinate to three-dimensional scenic simulator 10 is selected by interactive module 17
Point, after choosing measuring and calculating coordinate points, user can be by clicking completing button so that the measuring and calculating unit 186 starts to calculate.
For example, user can once select two measuring and calculating coordinate points, the interactive unit 184 is obtaining the two measuring and calculating
After coordinate points, the coordinate value of the two measuring and calculating coordinate points is sent to measuring and calculating unit 186.The measuring and calculating module 186 according to this two
The coordinate value of a measuring and calculating coordinate points calculates the distance of the two measuring and calculating coordinate points.Alternatively, user can also once select multiple surveys
Coordinate points are calculated, the interactive unit 184 sends out the coordinate value of this multiple measuring and calculating coordinate points after obtaining multiple measuring and calculating coordinate points
Give measuring and calculating unit 186.The measuring and calculating module 186 calculates this multiple measuring and calculating and sits according to the coordinate value of this multiple measuring and calculating coordinate points
Angle in punctuate between the distance or mutual two o'clock line of every two measuring and calculating coordinate points.User can also pass through interactive module
17 are arranged lines in target object and/or the threedimensional model of scene to calculate the location informations such as angle.
The location information that can will calculate of measuring and calculating module 186 shown in relevant threedimensional model for
Family reference.
It note that because of acquisition be target object and the true three-dimensional data of scene, what the measuring and calculating module 186 calculated
The location information of mark of correlation is true in target object and/or scene in target object and/or the threedimensional model of scene
Size.
User can input adjustment data after seeing the distance value for calculating and to three-dimensional scenic simulator 10, with
Observe display case of the threedimensional model of furniture adjusted in the threedimensional model of household.The interactive unit 184 is for obtaining
It takes the adjustment data of the threedimensional model of target object and adjusts target object in the threedimensional model of scene according to adjustment data
Threedimensional model.
In this way, user can according to display case of the threedimensional model of furniture adjusted in the threedimensional model of household come
Decide whether to adjust again, or saves adjustment data.If the user feels that the threedimensional model of furniture adjusted is in household
Putting in threedimensional model is unfavourable, can be continued with similar mode adjust furniture threedimensional model, until put in accordance with
Regard.When user feel the threedimensional model of furniture adjusted in the threedimensional model of household when putting in accordance with regard, can be with
It is saved in memory 15 by data are adjusted by save button, adjustment data can be sent to the seller of furniture with a key, with
Make the seller of furniture according to the size of adjustment data point reuse furniture.Certainly, if user the threedimensional model of furniture has been carried out it is more
Secondary adjustment, the interactive unit 184 can all send memory 15 for the adjustment data adjusted each time, and such user is adjusting
It is whole repeatedly after, certain adjustment before can also reappearing.
The three-dimensional scenic simulator 10 of the application first embodiment can apply three-dimensional scenic analogy method.It needs
Bright, the explanation of above-mentioned embodiment and beneficial effect to three-dimensional scenic simulator 10 is also applied for this implementation
The three-dimensional scenic method of mode is no longer developed in details herein to avoid redundancy.
Referring to Fig. 1, a kind of three-dimensional scenic analogy method that the application first embodiment provides, for simulating one in real time
Configuring condition of the object in the threedimensional model of current environment.In the present embodiment, current environment is household scene, target
Object is the furniture for needing to be placed in household.Three-dimensional scenic analogy method includes:
Step S12: the three-dimensional data of target object and the three-dimensional data of scene are obtained；
Step S14: the threedimensional model of target object is established according to the three-dimensional data of the three-dimensional data of target object and scene
With the threedimensional model of scene；
Step S16: the coordinate system of the threedimensional model of target object is coupled in the coordinate system of the threedimensional model of scene；With
Step S18: the threedimensional model of configuration target object is with simulated target object in scene in the threedimensional model of scene
In configuring condition.
The three-dimensional scenic analogy method of the application embodiment shows up the coordinate system coupling of the threedimensional model of target object
In the coordinate system of the threedimensional model of scape, thus the configuration feelings according to the threedimensional model of target object in the threedimensional model of scene
Condition carrys out the configuring condition of simulated target object in the scene, simple and convenient, clear intuitive, is conducive to improve user experience.
Referring to Fig. 5, step S18 further comprises:
Step S181: the three of target object are judged according to the space attribute of preset scene and the three-dimensional data of target object
Situation is interfered when dimension module configures in the threedimensional model of scene.
The space attribute is including may pass through attribute and not may pass through attribute.Sense two have not may pass through attribute
Space coordinate group be moved into when contacting with each other and limit it and mutually enter inside respective area of space.
Referring to Fig. 6, step S18 further comprises:
Step S182: when being all that not may pass through attribute in the threedimensional model of the target object and the threedimensional model of scene
When space coordinate contacts, the threedimensional model of the threedimensional model and scene that prompt the target object is interfered.
It is described to prompt including but not limited to highlight with vibration, voice broadcast or in the place interfered or flash display etc.
Mode is reminded.
Referring to Fig. 7, step S18 further comprises:
Step S183: the signal of configuration target object threedimensional model is received, and according to signal in the threedimensional model of scene
Change position and the form of the threedimensional model of target object.
Referring to Fig. 8, step S18 further comprises:
Step S184: multiple labels for measuring and calculating in target object and/or the threedimensional model of scene are obtained.The mark
Note includes but is not limited to coordinate points, lines or pattern；With
Step S185: the relevant location information between label described in measuring and calculating target object and/or the threedimensional model of scene.
Between the location information including but not limited to label such as: distance, angle, curvature etc..
Referring to Fig. 9, step S18 further comprises:
Step S186: the measuring and calculating of the threedimensional model of target object is obtained；With
Step S187: the threedimensional model of target object is adjusted in the threedimensional model of scene according to adjustment data.
Embodiment two:
Referring to Fig. 10, the application second embodiment provides a kind of three-dimensional scenic simulator 10, it to be used for real-time mould
Quasi- configuring condition of the target object in the threedimensional model of current environment.In the present embodiment, current environment is household field
Scape, target object are to need the robot moved between two parties that is in.
The robot includes but is not limited to sweeping robot, floor-mopping robot and window clean robot.
It is similar with the first embodiment of the application, in the second embodiment of the application, the three-dimensional scenic simulation dress
Setting 10 includes the data obtaining module 12 connected by bus 11, sensing mould group 13, modeling module 14, memory 15, coupled mode
Block 16, interactive module 17 and application module 18.The data obtaining module 12 is used to obtain three-dimensional data and the field of target object
The three-dimensional data of scape.The modeling module 14 for establishing respectively according to the three-dimensional data of target object and the three-dimensional data of scene
The threedimensional model of target object and the threedimensional model of scene.The coupling module 16 is used for the seat of the threedimensional model of target object
In the coordinate system for the threedimensional model that scene is coupled in mark system.The application module 18 is for configuring mesh in the threedimensional model of scene
Mark configuring condition of the threedimensional model of object with simulated target object in the scene.
Similar with the first embodiment of the application, in the second embodiment of the application, the application module 18 includes
Interference unit 182, interactive unit 184 and measuring and calculating unit 186.But, in the second embodiment of the application, the application module
18 further include control unit 188.
To avoid redundancy, part identical with first embodiment or similar is repeated no more in second embodiment.
About the three-dimensional data of target object, it that is to say three dimensions of the robot in the second embodiment of the application
According to can be obtained by the mode similar with the three-dimensional data of above-mentioned acquisition household；Alternatively, official of the user in purchase robot
It is voluntarily downloaded on website；Alternatively, itself preserving the three-dimensional data of the robot, three-dimensional scenic mould in the memory of robot
Quasi- device 10 can send request instruction to robot, so that its three-dimensional data is sent to three-dimensional scenic simulator by robot
10.Certainly, user can also hold include three-dimensional camera mobile device, take pictures from multiple angles to housework robot
Or camera shooting, to obtain the three-dimensional data of the robot.
Described control unit 188 is used for the threedimensional model according to scene, cooks up the travelling route of target object.
In this way, user can by control unit 188 in the threedimensional model of household the threedimensional model of planning robot
Travelling route, to realize travelling route of the planning robot in the household scene of reality.
It note that planning of the described control unit 188 for travelling route, can be automatic planning, be also possible to be based on
The instruction of user is planned.When control unit 188 automatically plans travelling route, described control unit 188
Judge three dimensional model for robot in household threedimensional model according to the space attribute of the threedimensional model of the threedimensional model and household of robot
In the route that can advance, need completing for task to provide a plurality of travelling route in conjunction with robot, for selection by the user.
It is real with the first of the application when described control unit 188 plans travelling route based on the instruction of user
Apply that mode is similar, user can use the mode for being similar to the threedimensional model of moving furniture in the threedimensional model of household, in household
Threedimensional model in mobile housework robot threedimensional model.After the completion of movement, described control unit 188 can be by mobile road
Line is sent to the preservation of memory 15.
In addition, no matter control unit 188 be for the planning of travelling route plan automatically, or based on the instruction of user into
Professional etiquette is drawn, and after cooking up travelling route, user can carry out personalized adjustment to travelling route.User can pass through friendship
The mutual input of module 17 adjustment data, then control unit 188 plans travelling route according to adjustment data again.
It can also include telecontrol equipment 22 and sensing device 24 on the target object.
The telecontrol equipment 22 is for driving target object to be moved.
Described control unit 188 is used to be driven according to the travelling route control telecontrol equipment 22 for the target object planned in advance
Target object moves in the scene.
In this way, user can control the movement of target object by control unit 188.Specifically, the telecontrol equipment 22
It can be communicated by modes such as bluetooth, WI-FI (Wireless-Fidelity, wireless network) with control unit 188.The control
Designed travelling route can be sent to telecontrol equipment 22 by unit 188 through the above way.The telecontrol equipment 22 is connecing
Receive control unit 188 sending move when, can control robot according to travelling route reality household scene in
Movement.
The sensing device 24 includes but is not limited to three-dimensional camera, ultrasonic distance-measuring sensor, gyroscope and infrared acquisition
Device etc..The three-dimensional camera can be set at the top of robot, and can rotate to capture the ambient image around robot.
The gyroscope is used to sense the motion state of target object.The ultrasonic distance-measuring sensor and infrared detector are for being expert at
The spatial parameters such as position, distance, the size of barrier are sensed, during with avoidance mentions during traveling for target object
For reference.
It often will appear difference in practical traveling situation and institute's programme path, therefore described control unit 188 is also used to root
The motion state of the target object sensed according to sensing device 24 and barrier situation in front of travelling route control target
Object carries out avoidance.
After the target object avoiding obstacles, described control unit 188 is worked as further according to the target object sensed
Front position judges to be that target object is led back to original programme path by reference to path is long-range with factors such as task performances
Or select more preferably other programme paths.
The three-dimensional scenic simulator 10 of the application second embodiment can apply three-dimensional scenic analogy method.It needs
Bright, the explanation of above-mentioned embodiment and beneficial effect to three-dimensional scenic simulator 10 is also applied for this implementation
The three-dimensional scenic method of mode is no longer developed in details herein to avoid redundancy.
Referring to Fig. 1, a kind of three-dimensional scenic analogy method that the application first embodiment provides, for simulating one in real time
Configuring condition of the object in the threedimensional model of current environment.In the present embodiment, current environment is household scene, target
Object is to need the robot moved between two parties that is in.Three-dimensional scenic analogy method includes:
Step S12: the three-dimensional data of target object and the three-dimensional data of scene are obtained；
Step S14: the threedimensional model of target object is established according to the three-dimensional data of the three-dimensional data of target object and scene
With the threedimensional model of scene；
Step S16: the coordinate system of the threedimensional model of target object is coupled in the coordinate system of the threedimensional model of scene；With
Step S18: the threedimensional model of configuration target object is with simulated target object in scene in the threedimensional model of scene
In configuring condition.
The three-dimensional scenic analogy method of the application embodiment shows up the coordinate system coupling of the threedimensional model of target object
In the coordinate system of the threedimensional model of scape, thus the configuration feelings according to the threedimensional model of target object in the threedimensional model of scene
Condition carrys out the configuring condition of simulated target object in the scene, simple and convenient, clear intuitive, is conducive to improve user experience.
Figure 11 is please referred to, step S18 includes:
Step S188: it needs to complete according to the threedimensional model of target object, the threedimensional model of scene and target object
Task cooks up the travelling route of target object in the scene.
Figure 12 is please referred to, target object includes telecontrol equipment 22, and step S18 includes:
Step S189: telecontrol equipment 22 is controlled according to the travelling route for the target object planned in advance, target object is driven to exist
It is moved in scene.
Figure 13 is please referred to, target object further includes sensing device 24, and step S18 includes:
Step S18a: the obstacle encountered in the target object motion state and travel path that sensing device 24 senses is obtained
The spatial parameter of object.
The spatial parameter include but is not limited to barrier position in the scene, at a distance from target object, itself
Three-dimensional data etc.；
Step S18b: target is controlled according to the spatial parameter of the motion state of the target object sensed and barrier
Object avoiding obstacles；And
Step S18c: sentenced according to the current location of the target object sensed and reference path length and task performance
Disconnected is that target object is led back to original programme path or selection more preferably other programme paths.
It should be noted that the application embodiment can only meet above-mentioned one of embodiment or meet simultaneously
State multiple embodiments, that is to say, that the embodiment that said one or multiple embodiments are composed also belongs to the application
The protection scope of embodiment.
In the description of this specification, reference term " certain embodiments ", " embodiment ", " some embodiment party
The description of formula ", " exemplary embodiment ", " example ", " specific example " or " some examples " etc. means in conjunction with the embodiment party
Formula or example particular features, structures, materials, or characteristics described are contained at least one embodiment or example of the application
In.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment or example.Moreover,
Particular features, structures, materials, or characteristics described can be in any one or more embodiments or example with suitable
Mode combine.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the application includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, to execute function, this should be by the application
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processing module or other can be from instruction
Execute system, device or equipment instruction fetch and the system that executes instruction) use, or combine these instruction execution systems, device or
Equipment and use.For the purpose of this specification, " computer-readable medium " can be it is any may include, store, communicating, propagating or
Transfer program uses for instruction execution system, device or equipment or in conjunction with these instruction execution systems, device or equipment
Device.The more specific example (non-exhaustive list) of computer-readable medium include the following: there are one or more wirings
Electrical connection section (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of presently filed embodiment can be with hardware, software, firmware or their combination come real
It is existing.In the above-described embodiment, multiple steps or method can be with storages in memory and by suitable instruction execution system
The software or firmware of execution is realized.For example, if realized with hardware, in another embodiment, ability can be used
Any one of following technology or their combination well known to domain is realized: being had for realizing logic function to data-signal
The discrete logic of logic gates, the specific integrated circuit with suitable combinational logic gate circuit, programmable gate array
(PGA), field programmable gate array (FPGA) etc..
Although presently filed embodiment has been shown and described above, it is to be understood that above embodiment is
Illustratively, it should not be understood as the limitation to the application, those skilled in the art within the scope of application can be right
Above embodiment is changed, modifies, replacement and variant, and scope of the present application is defined by the claims and their equivalents.
Claims (13)
1. a kind of three-dimensional scenic simulator, for the configuring condition of simulated target object in the scene, which is characterized in that described
Three-dimensional scenic simulator includes:
Data obtaining module, the data obtaining module be used for obtain the target object three-dimensional data and the scene three
Dimension data；
Modeling module, the modeling module are used for the three-dimensional data point of three-dimensional data and the scene according to the target object
The threedimensional model of the target object and the threedimensional model of the scene are not established；
Coupling module, the coupling module are used to the coordinate system of the threedimensional model of the target object being coupled to the scene
In the coordinate system of threedimensional model；With
Application module, the application module are used to configure the threedimensional model of the target object in the threedimensional model of the scene
To simulate configuring condition of the target object in the scene.
2. three-dimensional scenic simulator as described in claim 1, which is characterized in that the three-dimensional scenic simulator includes sense
Survey mould group, the sensing mould group includes three-dimensional camera, the sensing mould group for handle the output data of the three-dimensional camera with
Obtain the three-dimensional data of the target object and/or the three-dimensional data of the scene, and by the three-dimensional data of the target object
And/or the three-dimensional data of the scene is transmitted to the data obtaining module.
3. three-dimensional scenic simulator as described in claim 1, which is characterized in that the coupling module is used for according to preset
Coordinate data of the threedimensional model of the target object in itself reference frame is converted into the mesh by coordinate transformation algorithm
Mark coordinate data of the threedimensional model of object in the reference frame of the scene.
4. three-dimensional scenic simulator as described in claim 1, which is characterized in that the application module includes:
Interference unit, the interference unit are used for the space according to the preset scene and the three-dimensional data of the target object
When existing structure in the threedimensional model of target object described in determined property and the threedimensional model of the scene contacts with each other
Interference situation, the space attribute include may pass through attribute and not may pass through attribute, the interference unit senses two tools
There is the space coordinate group that can not pass through attribute be moved into when contacting with each other and limits it into inside respective area of space.
5. three-dimensional scenic simulator as claimed in claim 4, which is characterized in that the interference unit is used to work as the target
When being all that the space coordinate that not may pass through attribute contacts with each other in the threedimensional model of object and the threedimensional model of the scene,
The threedimensional model of the target object and the threedimensional model of the scene is prompted to interfere.
6. three-dimensional scenic simulator as described in claim 1, which is characterized in that the application module includes interactive unit,
The interactive unit is used to receive the signal for the threedimensional model for configuring the target object, and according to the signal in the scene
Threedimensional model in change the target object threedimensional model position and form.
7. three-dimensional scenic simulator as claimed in claim 6, which is characterized in that the application module includes measuring and calculating unit,
The interactive unit is used to set up multiple marks for measuring and calculating in the target object and/or the threedimensional model of the scene
Note；The measuring and calculating unit is used to calculate the phase between label described in the target object and/or the threedimensional model of the scene
Off position information is as the reference for adjusting the target object.
8. three-dimensional scenic simulator as claimed in claim 7, which is characterized in that the interactive unit is calculated for obtaining
The relevant location information of the label come is simultaneously showed according to the relevant location information of the label adjustment target object
Threedimensional model effect.
9. three-dimensional scenic simulator as described in claim 1, which is characterized in that the application module includes control unit,
Described control unit is used for pre- according to the threedimensional model of the target object, the threedimensional model of the scene and the target object
If task, cook up travelling route of the target object in the scene.
10. three-dimensional scenic simulator as claimed in claim 9, which is characterized in that the target object includes telecontrol equipment,
Described control unit is used for according to the travelling route for the target object the planned in advance control telecontrol equipment driving
Target object moves in the scene.
11. three-dimensional scenic simulator as claimed in claim 9, which is characterized in that the target object includes sensing device,
The sensing device is used to sense the barrier situation in front of the motion state and the travelling route of the target object, described
Control unit is used for:
The motion state and the obstacle principle in front of the travelling route for obtaining the target object of the sensing device senses
Condition；
The target object is controlled according to the barrier situation in front of the motion state and travelling route of the target object to avoid
Barrier；
After the target object avoids the barrier, described control unit is current according to the target object sensed
Position by reference to path is long-range and the judgement of task performance be the target object is led back to original programme path or
Select more preferably other programme paths.
12. a kind of equipment, which is characterized in that including three-dimensional scenic simulator described in any one of claims 1 to 11, institute
It states equipment and corresponds to the corresponding function of execution according to the simulation effect of the three-dimensional scenic simulator.
13. equipment as claimed in claim 12, which is characterized in that the corresponding function include Home Fashion & Design Shanghai, robot control,
Simulate any one or more in interactive game.
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