CN115657061B - Indoor wall surface three-dimensional scanning device and method - Google Patents
Indoor wall surface three-dimensional scanning device and method Download PDFInfo
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Abstract
The invention discloses a three-dimensional scanning device and a three-dimensional scanning method for an indoor wall surface, and belongs to the technical field of three-dimensional scanning, wherein the device comprises a base, a first supporting table, a second supporting table, a third supporting table, a galvanometer module, a visible light camera, a control module and a laser ranging module; the method adopts a three-dimensional scanning mode of a comprehensive or designated area, avoids dense point cloud, noise points and distortion caused by uneven parts and cracks of the wall surface, effectively avoids the technical problem of uneven scanning surface, has higher scanning and mapping precision, can autonomously select a scanning area, and has higher degree of freedom.
Description
Technical Field
The invention belongs to the technical field of three-dimensional reconstruction, and particularly relates to an indoor wall surface three-dimensional scanning device and method.
Background
The existing three-dimensional reconstruction method mainly comprises the steps of obtaining three-dimensional dense point cloud through a laser radar, an RGB-D depth camera and a binocular camera, finishing pose estimation by utilizing dense point cloud information, splicing the point cloud to a correct position, and finishing three-dimensional reconstruction. When the flat objects such as the wall surface are faced, part of noise points and distortion points inevitably appear in the point cloud data acquired by the laser radar and the RGB-D depth camera, so that the reconstructed three-dimensional model cannot meet the requirement of high-precision indoor mapping; and the binocular camera is especially difficult to extract the wall surface characteristic points, so that the three-dimensional reconstruction is completely ineffective.
Therefore, the present invention provides an indoor wall surface three-dimensional scanning device and method, so as to solve at least some of the above technical problems.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the utility model provides an indoor wall surface three-dimensional scanning device and a method, which at least solve some technical problems.
In order to realize the purpose, the technical scheme adopted by the invention is as follows:
an indoor wall surface three-dimensional scanning device comprises a base, a first supporting table, a second supporting table, a third supporting table, a galvanometer module, a visible light camera and a control module, and a laser ranging module, wherein the first supporting table, the second supporting table and the third supporting table are arranged on the base; the control module is respectively connected with the galvanometer module, the laser ranging module and the visible light camera, and a laser emergent port of the laser ranging module is aligned to an incident port of the galvanometer module.
Furthermore, the visual field coverage area of the visible light camera covers the detected wall surface, and the laser point coverage area of the laser ranging module is larger than the visual field coverage area of the visible light camera.
Further, the control module is connected to the PC terminal.
A three-dimensional scanning method for indoor wall surfaces comprises the following steps:
and 4, fitting a wall surface equation by using the laser three-dimensional coordinates in the scannable area, and determining the boundary value of the wall surface equation through the laser three-dimensional coordinates of the 4 wall corner points to complete wall surface three-dimensional scanning.
Further, the step 1 comprises: and 11, the visible light camera collects a first image of the detected wall surface and transmits the first image to the PC end through the control module.
Further, the step 2 comprises: step 21, manually marking pixel coordinates of 4 wall corner points of the detected wall surface and pixel coordinates in a scannable area on the first image; and step 22, transmitting the pixel coordinates of the 4 wall corner points of the measured wall surface and the pixel coordinates in the scannable area to the control module.
Further, the step 3 comprises:
step 31, the laser ranging module emits laser, the control module controls a galvanometer in the galvanometer module to deflect, adjusts the position of a laser spot projected on the measured wall surface by the laser, and detects the pixel coordinates of the laser spot until the pixel coordinates are sequentially the same as the pixel coordinates of 4 wall corner points of the measured wall surface to obtain laser three-dimensional coordinates corresponding to the 4 wall corner points;
and step 32, the laser ranging module emits laser, the control module controls a galvanometer in the galvanometer module to deflect, the position of a laser spot projected on the measured wall surface by the laser is adjusted, and the pixel coordinate of the laser spot is detected until the pixel coordinate is the same as the pixel coordinate in the scannable area, so that the three-dimensional laser coordinate corresponding to at least 3 positions in the scannable area is obtained.
Further, the detecting of the pixel coordinates of the laser spot comprises: a, a laser ranging module emits laser and projects the laser on indoor wall surfaces with different illumination, different distances and different types to form corresponding laser points, a visible light camera sequentially collects second images of the corresponding wall surfaces, the second images are converted into HSV color spaces, HSV ranges of the laser points are counted, and a judgment threshold value is obtained; and step B, collecting a third image of the detected wall surface by the visible light camera, traversing all pixel coordinates on the third image, counting the pixel coordinates meeting the judgment threshold, and selecting the middle points of all the pixel coordinates meeting the judgment threshold as the pixel coordinates of the laser points on the third image.
Further, the step 4 comprises: step 41, establishing a plane equation Ax + By + Cz + D =0, then establishing an optimization term (0-Ax-By-Cz-D) ^2 according to a least square method, wherein (A, B and C) are normal vectors of planes corresponding to the plane equation, D is a known constant of the plane equation, and are substituted into the laser three-dimensional coordinates in the scannable area obtained in the step 32, and solving the plane equation By using a Gauss-Newton method; and 42, determining the value range of the plane equation by using the laser three-dimensional coordinates corresponding to the 4 wall corner points obtained in the step 31, and finishing the three-dimensional scanning of the measured wall surface.
Furthermore, the 4 corner points of the detected wall surface include an upper left corner, a lower left corner, an upper right corner and a lower right corner, and the scannable area is a remaining area where the non-scannable area is removed.
Compared with the prior art, the invention has the following beneficial effects:
because the existing three-dimensional scanning mode is overall scanning, when concave-convex parts appear on the wall surface, noise points and singular points are easy to generate, and the finally scanned wall surface is not smooth enough. The invention can avoid the situation by specifying the scanning area to eliminate the area which is not to be scanned, adopts the three-dimensional scanning mode of the whole or specified area, and avoids the technical problems of dense point cloud, noise points and distortion caused by uneven parts, cracks and the like of the wall surface, thereby effectively avoiding the unevenness of the scanning surface, having higher scanning and surveying precision, being capable of selecting the scanning area independently and having higher degree of freedom.
Drawings
Fig. 1 is a schematic structural diagram of a scanning device according to the present invention.
FIG. 2 is a plane distribution diagram of the galvanometer module, the laser ranging module and the visible light of the present invention.
Fig. 3 is a schematic diagram of manual labeling of the first image according to the present invention.
FIG. 4 is a flow chart of the method of the present invention.
Wherein, the names corresponding to the reference numbers are:
the system comprises a base 1, a vibrating mirror 2, a laser ranging module 3, a visible light camera 4, a control module 5, a visible light camera 6, a laser point coverage area 7, a first supporting platform 11, a second supporting platform 12 and a third supporting platform 13.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the three-dimensional indoor wall scanning device provided by the present invention comprises a base 1, a first support platform 11, a second support platform 12 and a third support platform 13 which are arranged on the base 1, a galvanometer module 2 which is installed on the first support platform 11, a visible light camera 4 and a control module 5 which are installed on the second support platform 12, and a laser ranging module 3 which is installed on the third support platform 13; the control module 5 is respectively connected with the galvanometer module 2, the laser ranging module 3 and the visible light camera 4, and a laser emergent port of the laser ranging module 3 is aligned with an incident port of the galvanometer module 2. The laser ranging module 3 emits laser, and the galvanometer module 2 deflects the irradiation direction of the laser, so that the laser is adjusted to be projected to different positions of the measured wall surface. The visible light camera 4 photographs the measured wall surface and the measured wall surface with the stress light spot formed after laser projection, the control module 5 processes the photographed picture by combining the laser parameter of the laser ranging module 3, and finally three-dimensional scanning of the measured wall surface is achieved.
As shown in fig. 2, in some embodiments, the field coverage area 6 of the visible light camera covers the wall to be detected, so as to ensure that all areas of the wall to be detected can be recorded by images; the laser spot coverage area 7 of the laser ranging module is larger than the visual field coverage area 6 of the visible light camera, so that the visual field coverage area 6 of the visible light camera can be completely covered by the laser spots.
In some embodiments, the control module 5 is connected to the PC. The PC end is used for manually carrying out regional self-selection on a scanning region of the detected wall surface, the degree of freedom is higher, and meanwhile, regions which are not required to be scanned, such as uneven concave-convex parts or regions with cracks, can be removed.
The laser ranging module 3 comprises but is not limited to a laser range finder or a laser ranging device with a ranging function, and the ranging precision of the laser ranging module 3 is at or below millimeter level; the galvanometer module 2 comprises a galvanometer used for changing the direction of laser beams, the mirror surface of the galvanometer is adjustable, an adjusting mechanism of the galvanometer is preferably an electric motor, and the electric motor is connected with the control module 5; the control module 5 is a microprocessor, and the model is preferably STM32F103VE; the visible light camera 4 may be purchased in the market and used directly.
As shown in fig. 4, a three-dimensional scanning method for an indoor wall surface includes the following steps:
and 4, fitting a wall surface equation by using the laser three-dimensional coordinates in the scannable region, and determining the boundary value of the wall surface equation through the laser three-dimensional coordinates of the 4 wall corner points to complete wall surface three-dimensional scanning.
The method can avoid noise points and singular points easily generated by the concave-convex part of the wall surface in a mode of designating the scanning area so as to eliminate the area which is not to be scanned, and avoid dense point cloud, noise points and distortion caused by the concave-convex part of the wall surface, cracks and the like, thereby effectively avoiding the technical problem of uneven scanning surface.
In some embodiments, step 1 comprises: and 11, the visible light camera collects a first image of the detected wall surface and transmits the first image to the PC end through the control module.
In some embodiments, the step 2 includes: step 21, manually marking pixel coordinates of 4 wall corner points of the detected wall surface and pixel coordinates in a scannable area on the first image; and step 22, transmitting the pixel coordinates of the 4 wall corner points of the measured wall surface and the pixel coordinates in the scannable area to the control module. Step 2, scanning limitation of the detected wall surface in the whole or designated area is performed through manual marking, as shown in fig. 3, the detected wall surface can be the whole wall surface of the indoor wall surface or a partial wall surface of a certain area of the indoor wall surface, and three-dimensional information of the partial wall surface is obtained, but the current mainstream whole scanning mode cannot meet the requirement. The 4 corner points comprise an upper left corner, a lower left corner, an upper right corner and a lower right corner. The scannable region is the remaining region with the angle points within 4 and the non-scannable region is removed, and the non-scannable region comprises the regions which influence the scanning effect, such as wall surface concave-convex parts, cracks and the like.
In some embodiments, the step 3 includes:
step 31, the laser ranging module emits laser, the control module controls a galvanometer in the galvanometer module to deflect, adjusts the position of a laser spot projected on the measured wall surface by the laser, and detects the pixel coordinates of the laser spot until the pixel coordinates are sequentially the same as the pixel coordinates of 4 wall corner points of the measured wall surface to obtain laser three-dimensional coordinates corresponding to the 4 wall corner points;
and step 32, the laser ranging module emits laser, the control module controls a galvanometer in the galvanometer module to deflect, the position of a laser spot projected on the measured wall surface by the laser is adjusted, and the pixel coordinate of the laser spot is detected until the pixel coordinate is the same as the pixel coordinate in the scannable area, so that the three-dimensional laser coordinate corresponding to at least 3 positions in the scannable area is obtained.
And 3, projecting the laser points to 4 wall corner points and a scannable area to further obtain corresponding laser three-dimensional coordinates.
In some embodiments, the pixel coordinate detection of the laser spot comprises: a, a laser ranging module emits laser and projects the laser on indoor wall surfaces with different illumination, different distances and different types to form corresponding laser points, a visible light camera sequentially collects second images of the corresponding wall surfaces, the second images are converted into HSV color spaces, HSV ranges of the laser points are counted, and a judgment threshold value is obtained; and step B, collecting a third image of the detected wall surface by a visible light camera, traversing all pixel coordinates on the third image, counting the pixel coordinates meeting the judgment threshold, and selecting the middle points of all the pixel coordinates meeting the judgment threshold as the pixel coordinates of the laser points on the third image. In the step 31 and the step 32, in the adjustment process of the laser projection position, the visible light camera continuously acquires the corresponding third image, and the pixel coordinates of the laser point are obtained in real time in the step B, so as to judge whether the laser point reaches 4 corner points or the scannable area.
Because the pixel values of the laser points emitted and formed by the laser ranging module are slightly different under different illumination conditions, a plurality of conditions need to be counted to obtain a judgment threshold value, and therefore the pixel coordinate corresponding to the laser is found out in the image. The threshold values of the laser points under various conditions are counted, the laser points can be found more accurately, and the generalization is improved.
In some embodiments, the step 4 includes: step 41, establishing a plane equation Ax + By + Cz + D =0, then establishing an optimization term (0-Ax-By-Cz-D) ^2 according to a least square method, wherein (A, B and C) are normal vectors of planes corresponding to the plane equation, D is a known constant of the plane equation, and the known constant is substituted into the plurality of laser three-dimensional coordinates in the scannable area obtained in the step 32, and solving the plane equation By using a Gauss Newton method; and 42, determining the value range of the plane equation by using the laser three-dimensional coordinates corresponding to the 4 wall corner points obtained in the step 31, and finishing the three-dimensional scanning of the measured wall surface. Since the plane equation is an infinite plane, the boundary, i.e. the maximum and minimum values of x, y and z, needs to be indicated by 4 corner points, so as to obtain the scanned map of the measured wall surface.
Finally, it should be noted that: the above embodiments are only preferred embodiments of the present invention to illustrate the technical solutions of the present invention, but not to limit the technical solutions, and certainly not to limit the patent scope of the present invention; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention; that is, the technical problems to be solved by the present invention, which are not substantially changed or supplemented by the spirit and the concept of the main body of the present invention, are still consistent with the present invention and shall be included in the scope of the present invention; in addition, the technical scheme of the invention is directly or indirectly applied to other related technical fields, and the technical scheme of the invention is included in the patent protection scope of the invention.
Claims (7)
1. The three-dimensional scanning device for the indoor wall surface is characterized by comprising a base (1), a first supporting platform (11), a second supporting platform (12) and a third supporting platform (13) which are arranged on the base (1), a galvanometer module (2) installed on the first supporting platform (11), a visible light camera (4) and a control module (5) which are installed on the second supporting platform (12), and a laser ranging module (3) which is installed on the third supporting platform (13); the control module (5) is respectively connected with the galvanometer module (2), the laser ranging module (3) and the visible light camera (4), and a laser exit port of the laser ranging module (3) is aligned to an entrance port of the galvanometer module (2);
the scanning method of the indoor wall surface three-dimensional scanning device comprises the following steps:
step 1, a visible light camera collects a first image of a measured wall surface of an indoor wall surface;
step 2, marking 4 wall corner points and a scannable area of the measured wall surface in the first image;
step 3, emitting laser by using a laser ranging module and a galvanometer module, and scanning 4 wall corner points and a scannable area in sequence to obtain laser three-dimensional coordinates of the 4 wall corner points and a plurality of laser three-dimensional coordinates in the scannable area;
step 4, fitting a wall surface equation by using laser three-dimensional coordinates in the scannable area, and determining the boundary value of the wall surface equation through the laser three-dimensional coordinates of the 4 wall corner points to complete wall surface three-dimensional scanning;
the step 3 comprises the following steps:
step 31, the laser ranging module emits laser, the control module controls a galvanometer in the galvanometer module to deflect, adjusts the position of a laser spot projected on the measured wall surface by the laser, and detects the pixel coordinates of the laser spot until the pixel coordinates are sequentially the same as the pixel coordinates of 4 wall corner points of the measured wall surface to obtain laser three-dimensional coordinates corresponding to the 4 wall corner points;
step 32, the laser ranging module emits laser, the control module controls a galvanometer in the galvanometer module to deflect, the position of a laser spot projected on the measured wall surface by the laser is adjusted, and the pixel coordinate of the laser spot is detected until the pixel coordinate is the same as the pixel coordinate in the scannable area, so that the laser three-dimensional coordinate corresponding to at least 3 positions in the scannable area is obtained;
the detection of the pixel coordinates of the laser spot comprises: a, a laser ranging module emits laser and projects the laser on indoor wall surfaces with different illumination, different distances and different types to form corresponding laser points, a visible light camera sequentially collects second images of the corresponding wall surfaces, the second images are converted into HSV color spaces, HSV ranges of the laser points are counted, and a judgment threshold value is obtained; b, collecting a third image of the detected wall surface by a visible light camera, traversing all pixel coordinates on the third image, counting the pixel coordinates meeting a judgment threshold, and selecting the middle points of all the pixel coordinates meeting the judgment threshold as the pixel coordinates of the laser points on the third image;
the step 4 comprises the following steps: step 41, establishing a plane equation Ax + By + Cz + D =0, then establishing an optimization term (0-Ax-By-Cz-D) ^2 according to a least square method, wherein (A, B and C) are normal vectors of planes corresponding to the plane equation, D is a known constant of the plane equation, and the known constant is substituted into the plurality of laser three-dimensional coordinates in the scannable area obtained in the step 32, and solving the plane equation By using a Gauss Newton method; and 42, determining the value range of the plane equation by using the laser three-dimensional coordinates corresponding to the 4 wall corner points obtained in the step 31, and finishing the three-dimensional scanning of the measured wall surface.
2. The three-dimensional scanning device for indoor wall surfaces, according to claim 1, is characterized in that the visual field coverage area of the visible light camera (4) covers the wall surface to be detected, and the laser point coverage area of the laser ranging module (3) is larger than the visual field coverage area of the visible light camera (4).
3. An indoor wall surface three-dimensional scanning device according to claim 1, characterized in that the control module (5) is connected to a PC terminal.
4. A three-dimensional scanning method for indoor wall surfaces is characterized by comprising the following steps:
step 1, a visible light camera collects a first image of a measured wall surface of an indoor wall surface;
step 2, marking 4 wall corner points and a scannable area of the measured wall surface in the first image;
step 3, emitting laser by using a laser ranging module and a galvanometer module, and scanning 4 wall corner points and a scannable area in sequence to obtain laser three-dimensional coordinates of the 4 wall corner points and a plurality of laser three-dimensional coordinates in the scannable area;
step 4, fitting a wall surface equation by using the laser three-dimensional coordinates in the scannable region, and determining the boundary value of the wall surface equation through the laser three-dimensional coordinates of 4 wall corner points to complete wall surface three-dimensional scanning;
the step 3 comprises the following steps:
step 31, the laser ranging module emits laser, the control module controls a galvanometer in the galvanometer module to deflect, the position of a laser point projected on the measured wall surface by the laser is adjusted, and the pixel coordinates of the laser point are detected until the pixel coordinates are sequentially the same as the pixel coordinates of 4 wall corner points of the measured wall surface, so that the laser three-dimensional coordinates corresponding to the 4 wall corner points are obtained;
step 32, the laser ranging module emits laser, the control module controls a galvanometer in the galvanometer module to deflect, the position of a laser spot projected on the measured wall surface by the laser is adjusted, and the pixel coordinate of the laser spot is detected until the pixel coordinate is the same as the pixel coordinate in the scannable area, so that the laser three-dimensional coordinate corresponding to at least 3 positions in the scannable area is obtained;
the detection of the pixel coordinates of the laser spot comprises: a, a laser ranging module emits laser and projects the laser on indoor wall surfaces with different illumination, different distances and different types to form corresponding laser points, a visible light camera sequentially collects second images of the corresponding wall surfaces, the second images are converted into HSV color spaces, HSV ranges of the laser points are counted, and a judgment threshold is obtained; b, collecting a third image of the detected wall surface by a visible light camera, traversing all pixel coordinates on the third image, counting the pixel coordinates meeting a judgment threshold, and selecting the middle points of all the pixel coordinates meeting the judgment threshold as the pixel coordinates of the laser points on the third image;
the step 4 comprises the following steps: step 41, establishing a plane equation Ax + By + Cz + D =0, then establishing an optimization term (0-Ax-By-Cz-D) ^2 according to a least square method, wherein (A, B and C) are normal vectors of planes corresponding to the plane equation, D is a known constant of the plane equation, and are substituted into the laser three-dimensional coordinates in the scannable area obtained in the step 32, and solving the plane equation By using a Gauss-Newton method; and 42, determining the value range of the plane equation by using the laser three-dimensional coordinates corresponding to the 4 wall corner points obtained in the step 31, and finishing the three-dimensional scanning of the measured wall surface.
5. The indoor wall surface three-dimensional scanning method according to claim 4, wherein the step 1 comprises: and 11, the visible light camera collects a first image of the detected wall surface and transmits the first image to the PC end through the control module.
6. The method for three-dimensionally scanning an indoor wall surface according to claim 5, wherein the step 2 comprises: step 21, manually marking pixel coordinates of 4 wall corner points of the detected wall surface and pixel coordinates in a scannable area on the first image; and step 22, transmitting the pixel coordinates of the 4 wall corner points of the measured wall surface and the pixel coordinates in the scannable area to the control module.
7. The method according to claim 4, wherein the 4 corner points of the detected wall surface include an upper left corner, a lower left corner, an upper right corner and a lower right corner, and the scannable area is a remaining area excluding the non-scannable area.
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