CN115561734A - 5G laser sensor probe, and three-dimensional model construction method and device - Google Patents
5G laser sensor probe, and three-dimensional model construction method and device Download PDFInfo
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- CN115561734A CN115561734A CN202211229557.3A CN202211229557A CN115561734A CN 115561734 A CN115561734 A CN 115561734A CN 202211229557 A CN202211229557 A CN 202211229557A CN 115561734 A CN115561734 A CN 115561734A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
The invention discloses a 5G laser sensor probe, a three-dimensional model construction method and a device, wherein the probe comprises: the device comprises a probe shell, a camera module and a 5G module; the top surface of the probe shell is respectively provided with a laser emitting end, a photoelectric detection element, a time digital converter and a laser receiver, the time digital converter is respectively connected with the laser emitting end, the photoelectric detection element and the laser receiver, the camera module and the 5G module are arranged on the top surface of the probe shell, and the 5G module is respectively connected with the laser receiver and the camera module. The invention can integrate the camera module and the 5G module in the 5G laser sensor probe, so that the probe can be in wireless communication with different devices or systems, thereby avoiding the use of wired communication, improving the efficiency of data transmission, and improving the precision of detection imaging by combining the camera module to detect an exploration field or an object, and facilitating the subsequent analysis of technicians.
Description
Technical Field
The invention relates to the technical field of laser sensor probes, in particular to a 5G laser sensor probe, a three-dimensional model construction method and a three-dimensional model construction device.
Background
Lidar, also known as a laser sensor probe, is a radar system that emits a laser beam to detect characteristic quantities such as a position and a velocity of a target. The working principle of the method is that a detection signal (laser beam) is transmitted to a target, then a received signal (target echo) reflected from the target is compared with the transmitted signal and appropriately processed, and parameters of the target, including distance, direction, height, speed, posture, even shape and the like, are obtained, and the method can be particularly applied to detection, tracking and identification of different moving targets.
At present, a laser radar generally adopted comprises a laser transmitter, an optical receiver and a rotary table, wherein a laser device changes electric pulses into optical pulses to be transmitted out, the optical receiver restores the optical pulses reflected from a target into the electric pulses, the collected electric pulses are transmitted to a display and a background processing system through cables, and the electric pulses are processed by the background processing system to generate and display corresponding exploration images for a user to check.
However, the existing laser radar has the following technical problems: because data acquired by the laser radar can be transmitted to the background processing system through the cable, when field investigation such as remote or cave exploration is required, thick and long cables need to be additionally arranged, wiring is difficult, the workload of the field exploration and the cost of the field exploration are increased, and reflected signals are easily interfered, so that the exploration image generated by the background processing system is larger in difference with an actual image, and the distortion degree is higher.
Disclosure of Invention
The invention provides a 5G laser sensor probe and a method and a device for constructing a three-dimensional model, wherein the 5G laser sensor probe is provided with a 5G communication module and a camera set, the camera set and a laser processor respectively collect images and optical signals of an exploration field, the images and the signals are transmitted to a background through the 5G communication module, and the background generates a corresponding exploration image, so that the transmission efficiency of the signals can be improved, and the imaging precision can also be improved.
A first aspect of an embodiment of the present invention provides a 5G laser sensor probe, where the 5G laser sensor probe includes: the device comprises a probe shell, a camera module and a 5G module;
the top surface of the probe shell is respectively provided with a laser emitting end, a photoelectric detection element, a time-to-digital converter and a laser receiver, the time-to-digital converter is respectively connected with the laser emitting end, the photoelectric detection element and the laser receiver, the camera module and the 5G module are arranged on the top surface of the probe shell, and the 5G module is respectively connected with the laser receiver and the camera module;
the 5G module is used for transmitting the exploration image shot by the camera module and the reflected laser acquired by the laser receiver to a background processing system so that the background processing system can generate an exploration model.
In one possible implementation manner of the first aspect, the top surface of the probe casing is further provided with: the gyroscope is connected with the camera module, and the camera module comprises a wide-angle lens, an ultra-wide-angle lens and a telephoto lens.
In a possible implementation manner of the first aspect, the top surface of the probe casing is further provided with an infrared emitter for positioning, and the infrared emitter is arranged on the side of the laser receiver.
A second aspect of the embodiments of the present invention provides a method for building a three-dimensional model based on a laser sensor probe, the method being applicable to the 5G laser sensor probe described above, and the method including:
calling the 5G laser sensor probe to respectively acquire an exploration image and a reflected laser signal of an object to be detected;
and generating a three-dimensional model by using the exploration image and the reflected laser signal.
In one possible implementation manner of the second aspect, the generating a three-dimensional model by using the exploration image and the reflected laser signal includes:
determining the flight time of laser according to the reflected laser signal, and calculating the model distance of the object to be measured by adopting the flight time;
intercepting a shape image related to the shape of the object to be detected from the exploration image, and respectively performing multi-angle projection and correction on the shape image to obtain a plurality of projection images;
and constructing a three-dimensional model by adopting the plurality of projection images and the model distance.
In a possible implementation manner of the second aspect, the determining a time of flight of the laser according to the reflected laser signal includes:
acquiring a receiving time node of the reflected laser signal and acquiring a transmitting time node of laser from the time-to-digital converter;
and calculating the difference value between the receiving time node and the transmitting time node to obtain the flight time.
In a possible implementation manner of the second aspect, the acquiring an exploration image of an object to be measured includes:
determining the positioning position of an object to be measured by using an infrared emitter;
and after the infrared emitter finishes positioning, calling the camera module to acquire the exploration image of the object to be detected.
A third aspect of the embodiments of the present invention provides a three-dimensional model building apparatus based on a laser sensor probe, the apparatus being suitable for a 5G laser sensor probe as described above, the apparatus including:
the calling module is used for calling the 5G laser sensor probe to respectively acquire an exploration image and a reflected laser signal of an object to be detected;
and the generating module is used for generating a three-dimensional model by using the exploration image and the reflected laser signal.
Compared with the prior art, the 5G laser sensor probe, the three-dimensional model construction method and the three-dimensional model construction device provided by the embodiment of the invention have the beneficial effects that: the invention can integrate the camera module and the 5G module in the 5G laser sensor probe, so that the probe can be in wireless communication with different devices or systems, thereby avoiding the use of wired communication, simplifying the communication structure, improving the efficiency of data transmission, and improving the precision of detection imaging by combining the camera module to detect an exploration field or an object, and facilitating the subsequent analysis of technicians.
Drawings
Fig. 1 is a schematic structural diagram of a 5G laser sensor probe according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a method for building a three-dimensional model based on a laser sensor probe according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an object positioning structure according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a three-dimensional model building device based on a laser sensor probe according to an embodiment of the present invention;
in the figure: the device comprises a probe shell 1, a camera module 2, a 5G module 3, a laser emitting end 4, a photoelectric detection element 5, a time-to-digital converter 6, a laser receiver 7, a gyroscope 8, an infrared emitter 9 and an antenna 10.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
Lidar, also known as a laser sensor probe, is a radar system that emits a laser beam to detect characteristic quantities such as a position and a velocity of a target. The working principle of the method is that a detection signal (laser beam) is transmitted to a target, then a received signal (target echo) reflected from the target is compared with the transmitted signal and appropriately processed, and parameters of the target, including distance, direction, height, speed, posture, even shape and the like, are obtained, and the method can be particularly applied to detection, tracking and identification of different moving targets.
The laser radar generally adopted at present comprises a laser transmitter, an optical receiver and a rotary table, wherein a laser changes electric pulses into optical pulses to be transmitted out, the optical receiver restores the optical pulses reflected from a target into the electric pulses, the collected electric pulses are transmitted to a display and a background processing system through cables, and the background processing system processes the electric pulses to generate and display corresponding exploration images for a user to check.
However, the existing laser radar has the following technical problems: because data acquired by the laser radar can be transmitted to the background processing system through the cable, when field investigation such as remote or cave exploration is required, thick and long cables need to be additionally arranged, wiring is difficult, the workload of the field exploration and the cost of the field exploration are increased, and reflected signals are easily interfered, so that the exploration image generated by the background processing system is larger in difference with an actual image, and the distortion degree is higher.
In order to solve the above problems, a method of a 5G laser sensor probe provided by the embodiments of the present application will be described and explained in detail by the following specific embodiments.
Referring to fig. 1, a schematic structural diagram of a 5G laser sensor probe according to an embodiment of the present invention is shown.
Wherein, as an example, the 5G laser sensor probe may include: the device comprises a probe shell 1, a camera module 2 and a 5G module 3;
the top surface of the probe shell 1 is respectively provided with a laser emitting end 4, a photoelectric detection element 5, a time-to-digital converter 6 and a laser receiver 7, the time-to-digital converter 6 is respectively connected with the laser emitting end 4, the laser emitting end 4 and the laser receiver 7, the camera module 2 and the 5G module 3 are arranged on the top surface of the probe shell 1, and the 5G module 3 is respectively connected with the laser receiver 7 and the camera module 2;
the 5G module 3 is used for transmitting the exploration image shot by the camera module 2 and the reflected laser collected by the laser receiver 7 to a background processing system so that the background processing system can generate an exploration model.
The 5G module 3 is a 5G communication module, and may be used for wireless data communication with different devices or systems.
In this embodiment, the 5G module 3 and the camera module 2 are integrated in the sensor probe, so that the camera module 2 and each laser device can work together to perform field exploration or object detection simultaneously, the camera module 2 acquires images or images of a field, each laser device or laser device acquires optical signals, and finally the 5G module 3 transmits each data to the background processing system, and the background processing system processes and analyzes each data.
Specifically, the laser emitting end 4 is used for emitting laser; the photoelectric detection element 5 is used for detecting laser; the time-to-digital converter 6 is used for calculating the time for transmitting and receiving laser; the laser receiver 7 is used for receiving laser.
The 5G module 3 can realize long-distance data transmission, cable connection is not needed, the line connection of an exploration field can be simplified, thick and long cables do not need to be additionally arranged, and the steps of exploration operation and exploration cost are simplified; and moreover, the camera is combined to shoot the object to be detected or the exploration site, so that the background processing system can analyze and restore the image shot by the camera, the imaging definition is improved, and the analysis is convenient for technicians.
In addition, each device is integrated in one probe device, the structure of the whole probe device can be simplified, and the probe device is convenient for technicians to carry and use.
In order to facilitate the camera module 2 to shake during shooting, referring to fig. 1, in an embodiment, the top surface of the probe casing 1 is further provided with: gyroscope 8, gyroscope 8 with camera module 2 is connected, camera module 2 includes wide-angle lens, super wide-angle lens and telephoto lens.
The gyroscope 8 can enhance the anti-shake performance, so that the image shot by the camera is clearer.
When shooting an object, the position of the object needs to be determined, and in order to position the object, referring to fig. 1, in an embodiment, an infrared emitter 9 for positioning is further disposed on the top surface of the probe housing 1, and the infrared emitter 9 is disposed on a side of the laser receiver 7.
To further improve the efficiency of the communication, referring to fig. 1, in an embodiment, an antenna 10 may be further provided at the side of the probe housing 11.
In an alternative application example, the 5G laser sensor probe can be modeled in three dimensions at the highest speed and then transmitted to software and hardware of a technician and a designer through 5G technology. The three-dimensional model scanned by the 5G laser sensor probe can be used to: static data and dynamic data (size data, electric inspection data and the like) are added to VR and AR glasses and quality control departments, and can be used as the basis for field technicians and designers to modify products, the dynamic analysis during product testing and the dynamic analysis during product running are matched with the application of intelligent design software, so that a 5G laser sensor probe becomes an important ring of the basis of intelligent industrial manufacturing.
In this embodiment, an embodiment of the present invention provides a 5G laser sensor probe, which has the following beneficial effects: the invention can integrate the camera module and the 5G module in the 5G laser sensor probe, so that the probe can be in wireless communication with different devices or systems, thereby avoiding the use of wired communication, simplifying the communication structure, improving the efficiency of data transmission, and improving the precision of detection imaging by combining the camera module to detect an exploration field or an object, and facilitating the subsequent analysis of technicians.
In field exploration, technicians can adopt the existing laser probe to emit laser and collect reflected laser, convert the reflected laser into photoelectric pulses, then send the photoelectric pulses to a background processing system, and the background processing system draws a model of an exploration field or an exploration object according to photoelectric pulse signals so as to be used by the technicians.
Various obstacles may exist in an exploration field, and different obstacles may influence laser reflection, so that an error exists between a converted photoelectric pulse signal and the actual signal, the deviation between a subsequently constructed model and an actual object or the field is larger, and the constructed model has lower precision. And the probe can transmit data in a wired mode, so that the transmission time is long and the efficiency is low.
Referring to fig. 2, a schematic flow chart of a three-dimensional model building method based on a laser sensor probe according to an embodiment of the present invention is shown.
In one embodiment, the method is applicable to the 5G laser sensor probe of the above embodiments.
By way of example, the method for constructing the three-dimensional model based on the laser sensor probe may include:
s11, calling the 5G laser sensor probe to respectively acquire the exploration image and the reflected laser signal of the object to be detected.
In one embodiment, the 5G laser sensor probe is provided with a camera module and various lasers, exploration images can be collected through the camera module, lasers can be sent to an exploration field or a detection object through the laser emitting end, and reflected lasers are collected through the laser receiver.
In practical operation, the reflected laser light can be converted into a pulse signal, and a reflected laser signal is obtained.
Referring to fig. 3, a schematic structural diagram of object positioning according to an embodiment of the present invention is shown.
Before the image is collected, the shot object needs to be positioned so as to improve the imaging definition. Wherein, as an example, step S11 may comprise the following sub-steps:
and S111, determining the positioning position of the object to be measured by using the infrared transmitter.
And S112, after the infrared emitter finishes positioning, calling a camera module to acquire the exploration image of the object to be detected.
Specifically, infrared rays can be transmitted to the object to be detected by using an infrared ray transmitter to determine the positioning position of the object to be detected. And if the infrared ray reflected by the object to be detected is received, determining that the infrared ray emitter finishes positioning. Then, the camera module can be controlled to shoot the object to be detected, and the exploration image is acquired.
And S12, generating a three-dimensional model by using the exploration image and the reflected laser signal.
In one embodiment, the survey image and the reflected laser signal may be used simultaneously to construct a three-dimensional model of the object to be detected or the survey field for viewing by a technician.
In an alternative embodiment, step S12 may comprise the following sub-steps:
s121, determining the flight time of laser according to the reflected laser signal, and calculating the model distance of the object to be measured by adopting the flight time.
Specifically, a laser emitter (VCSEL) can directly send laser pulses to a measurement object, a time-to-digital converter (TDC) and a photoelectric detection element (SPAD) measure a time interval between a reflected pulse and a receiver (CMOS/CCD photosensitive element) and the emitter (VCSEL) to obtain a flight time of light, and then a shape model of the object to be measured is directly calculated according to the flight time.
In an embodiment, step S121 may include:
s1211, acquiring a receiving time node of the reflected laser signal, and acquiring a transmitting time node of the laser from the time-to-digital converter.
And S1212, calculating a difference value between the receiving time node and the transmitting time node to obtain the flight time.
In a specific implementation, the laser transmitter may notify the time-to-digital converter after transmitting the laser, so that the time-to-digital converter records the corresponding time node to obtain the transmission time node. And then, acquiring a receiving time node for receiving the reflected laser signal to obtain a receiving time node, and subtracting the two time nodes to obtain the flight time.
And calculating the distance between the current position of the user and the object to be measured according to the flight time to obtain the model distance.
S122, intercepting a shape image related to the shape of the object to be detected from the exploration image, and respectively carrying out multi-angle projection and correction on the shape image to obtain a plurality of projection images.
And S123, constructing a three-dimensional model by adopting the plurality of projection images and the model distance.
Specifically, the image recognition can be performed on the exploration image, the object to be detected in the exploration image is determined, and the image of the corresponding object to be detected is captured to obtain the shape image. The exploration images can be multiple, the shape image of the shape of the object to be detected can be cut from each exploration image to obtain multiple shape images, then the multiple shape images are projected at different angles and mutually corrected to obtain multiple projection images, and each projection image can correspond to the object to be detected at one angle.
And finally, constructing corresponding object models according to objects to be detected corresponding to different angles, and then zooming the object models by combining the distance of the user to obtain the three-dimensional model.
For example, as shown in fig. 3, the object to be measured is a polygon, the top surface of the object is a rectangle, the side edges of the object are rectangles, and the front surface and the back surface of the object are quadrangles, so that the shape of the object to be measured can be determined according to the shape diagram of each angle, and then the corresponding object model can be generated, and then, scaling of the corresponding proportion can be performed according to the model distance, or the size of the object can be determined according to the model distance.
For example, if the model distance is 1 meter, and the length, height, and width of the object model generated according to the image scale are 0.5 meter, 0.4 meter, and 0.2 meter, the size of the object model can be adjusted according to the ratio of the model distance to the object model 1, and the side lengths of the obtained three-dimensional model are 1 meter, 0.8 meter, and 0.4 meter, respectively.
In an alternative embodiment, a three-dimensional model may also be generated using individual images of the object according to existing model generation methods.
In this embodiment, the embodiment of the present invention provides a method for constructing a three-dimensional model based on a laser sensor probe, which has the following beneficial effects: according to the invention, the laser sensor probe combined with the 5G module and the camera module can be used for detecting an object, so that on one hand, the practicability and convenience of the laser sensor probe can be enhanced, on the other hand, a three-dimensional model of the object to be detected can be rapidly generated, so that the manufacturing time of the model is shortened, the manufacturing efficiency of the model is improved, technicians can rapidly check and observe product data and shapes in real time, and the subsequent exploration, research and analysis can be conveniently carried out by the technicians. In addition, the method and the device can also generate drawings for the three-dimensional modeling and the entity image model, and send the drawings to technicians and designers in different places for instant communication and modification of unreasonable design positions, so that products are optimized.
The embodiment of the invention also provides a three-dimensional model building device based on the laser sensor probe, and referring to fig. 4, a schematic structural diagram of the three-dimensional model building device based on the laser sensor probe provided by the embodiment of the invention is shown.
The device is suitable for use in a 5G laser sensor probe as described above.
Wherein, as an example, the three-dimensional model building device based on the laser sensor probe can comprise:
the calling module 401 is used for calling the 5G laser sensor probe to respectively acquire an exploration image and a reflected laser signal of an object to be detected;
a generating module 402 for generating a three-dimensional model using the survey image and the reflected laser signal.
Optionally, the generating module is further configured to:
determining the flight time of laser according to the reflected laser signal, and calculating the model distance of the object to be measured by adopting the flight time;
intercepting a shape image about the shape of an object to be detected from the exploration image, and respectively carrying out multi-angle projection and correction on the shape image to obtain a plurality of projection images;
and constructing a three-dimensional model by adopting the plurality of projection images and the model distance.
Optionally, the generating module is further configured to:
acquiring a receiving time node of the reflected laser signal and acquiring a transmitting time node of laser from the time-to-digital converter;
and calculating the difference value between the receiving time node and the transmitting time node to obtain the flight time.
Optionally, the invoking module is further configured to:
determining the positioning position of an object to be detected by using an infrared transmitter;
and after the infrared emitter finishes positioning, calling the camera module to acquire the exploration image of the object to be detected.
It can be clearly understood by those skilled in the art that, for convenience and brevity, the specific working process of the apparatus described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
Further, an embodiment of the present application further provides an electronic device, including: the system comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the three-dimensional model building method based on the laser sensor probe.
Further, the present application also provides a computer-readable storage medium storing a computer-executable program, where the computer-executable program is used to make a computer execute the method for building a three-dimensional model based on a laser sensor probe according to the above embodiments.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. A5G laser sensor probe, comprising: the device comprises a probe shell, a camera module and a 5G module;
the top surface of the probe shell is respectively provided with a laser emitting end, a photoelectric detection element, a time-to-digital converter and a laser receiver, the time-to-digital converter is respectively connected with the laser emitting end, the photoelectric detection element and the laser receiver, the camera module and the 5G module are arranged on the top surface of the probe shell, and the 5G module is respectively connected with the laser receiver and the camera module;
the 5G module is used for transmitting the exploration image shot by the camera module and the reflected laser collected by the laser receiver to the background processing system so that the background processing system can generate an exploration model.
2. The 5G laser sensor probe of claim 1, wherein the top surface of the probe housing is further provided with: the gyroscope, the gyroscope with camera module connects, the camera module includes wide-angle lens, super wide-angle lens and telephoto lens.
3. The 5G laser sensor probe of claim 1, wherein the top surface of the probe housing is further provided with an infrared emitter for positioning, and the infrared emitter is arranged at the side of the laser receiver.
4. A method for constructing a three-dimensional model based on a laser sensor probe, wherein the method is applied to the 5G laser sensor probe according to any one of claims 1 to 3, and the method comprises the following steps:
calling the 5G laser sensor probe to respectively acquire an exploration image and a reflected laser signal of an object to be detected;
and generating a three-dimensional model by using the exploration image and the reflected laser signal.
5. The method of claim 4, wherein the generating a three-dimensional model using the survey image and the reflected laser signal comprises:
determining the flight time of laser according to the reflected laser signal, and calculating the model distance of the object to be measured by adopting the flight time;
intercepting a shape image related to the shape of the object to be detected from the exploration image, and respectively performing multi-angle projection and correction on the shape image to obtain a plurality of projection images;
and constructing a three-dimensional model by adopting the plurality of projection images and the model distance.
6. The method for constructing the three-dimensional model based on the laser sensor probe according to claim 5, wherein the determining the flight time of the laser according to the reflected laser signal comprises:
acquiring a receiving time node of the reflected laser signal and acquiring a transmitting time node of laser from the time-to-digital converter;
and calculating the difference value between the receiving time node and the transmitting time node to obtain the flight time.
7. The method for constructing the three-dimensional model based on the laser sensor probe according to claim 4, wherein the step of collecting the exploration image of the object to be detected comprises the following steps:
determining the positioning position of an object to be detected by using an infrared transmitter;
and after the infrared emitter finishes positioning, calling the camera module to acquire the exploration image of the object to be detected.
8. A three-dimensional model building apparatus based on a laser sensor probe, wherein the apparatus is suitable for the 5G laser sensor probe according to any one of claims 1 to 3, and the apparatus comprises:
the calling module is used for calling the 5G laser sensor probe to respectively acquire an exploration image and a reflected laser signal of an object to be detected;
and the generating module is used for generating a three-dimensional model by using the exploration image and the reflected laser signal.
9. An electronic device, comprising: memory, processor and computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the program, implements the method of building a three-dimensional model based on a laser sensor probe according to any of claims 4 to 7.
10. A computer-readable storage medium storing a computer-executable program for causing a computer to execute the method for constructing a three-dimensional model based on a laser sensor probe according to any one of claims 4 to 7.
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