WO2023045195A1 - Method and apparatus for detecting flatness of working area, device, medium and product - Google Patents

Method and apparatus for detecting flatness of working area, device, medium and product Download PDF

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Publication number
WO2023045195A1
WO2023045195A1 PCT/CN2022/073796 CN2022073796W WO2023045195A1 WO 2023045195 A1 WO2023045195 A1 WO 2023045195A1 CN 2022073796 W CN2022073796 W CN 2022073796W WO 2023045195 A1 WO2023045195 A1 WO 2023045195A1
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Prior art keywords
point cloud
target point
flatness
target
area
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PCT/CN2022/073796
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French (fr)
Chinese (zh)
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程渊
陈浩
刘明亮
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上海三一重机股份有限公司
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Publication of WO2023045195A1 publication Critical patent/WO2023045195A1/en

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    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/50Depth or shape recovery
    • EFIXED CONSTRUCTIONS
    • E01CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01CCONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C23/00Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/01Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/60Analysis of geometric attributes
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/10Image acquisition modality
    • G06T2207/10028Range image; Depth image; 3D point clouds

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  • the present application relates to the technical field of earthwork operations, in particular to a method, device, equipment, medium and product for detecting the flatness of an operation area.
  • intelligent technology and unmanned technology are more and more widely used in excavators, loaders, road rollers and other operating machinery.
  • Various auxiliary functions are configured on the working machine to improve the working efficiency of the working machine and optimize the working accuracy.
  • the embodiment of the present application provides a method, device, equipment, medium and product for detecting the flatness of the working area, which is used to solve the problems of high cost, low efficiency and long time consumption caused by manual judgment of the working effect of the working machine in the prior art Defects, to achieve fast and accurate judgment of the operating effect of the operating machine.
  • the embodiment of the present application provides a method for detecting the flatness of the work area, including:
  • the determination parameters include: normal vector and curvature
  • the determination of the determination parameters corresponding to each target point cloud in the target point cloud set includes:
  • the said target point cloud is subjected to a plane fitting operation based on the determination parameters to obtain a point cloud plane, including:
  • the extraction of effective target point clouds from the second preset number of target point clouds based on the normal vector includes:
  • the determining at least one new seed point cloud from the valid target point cloud based on the curvature includes:
  • the corresponding target point cloud is used as the new seed point cloud.
  • the detection of the flatness of the work area based on the rendering result includes:
  • the detection method of the flatness of the work area before the acquisition of the target point cloud and the target image corresponding to the work area, it also includes:
  • the target point cloud set is extracted from the original point cloud set, and the target image is extracted from the original image based on the range of the working area.
  • the embodiment of the present application provides a detection device for the flatness of the working area, including:
  • An acquisition module configured to acquire target point cloud sets and target images corresponding to the operation area
  • a determination module configured to determine a determination parameter corresponding to each target point cloud in the target point cloud set, where the determination parameter is used to indicate the flatness of the working area;
  • a fitting module configured to perform a plane fitting operation on the target point cloud based on the determination parameters to obtain a point cloud plane
  • a rendering module configured to render the target point cloud in the point cloud plane based on the target image and a preset conversion relationship to obtain a rendering result, the conversion relationship being between the target point cloud and the target image Correspondence between;
  • a detection module configured to detect the flatness of the operation area based on the rendering result.
  • the embodiment of the present application also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and operable on the processor, and the processor implements any of the above-mentioned tasks when executing the program.
  • an electronic device including a memory, a processor, and a computer program stored on the memory and operable on the processor, and the processor implements any of the above-mentioned tasks when executing the program.
  • the embodiment of the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of any method for detecting the flatness of the working area described above are implemented.
  • the embodiment of the present application also provides a computer program product, including a computer program, characterized in that, when the computer program is executed by a processor, the steps of any one of the methods for detecting the flatness of the working area described above are implemented.
  • the method, device, equipment, medium and product for detecting the flatness of the work area obtain the target point cloud set and the target image corresponding to the work area; determine the determination parameters corresponding to each target point cloud in the target point cloud set, The judgment parameter is used to indicate the flatness of the work area; based on the judgment parameter, the plane fitting operation is performed on the target point cloud to obtain the point cloud plane; based on the target image and the preset conversion relationship, the target point in the point cloud plane is rendered Cloud, to get the rendering result, the conversion relationship is the corresponding relationship between the target point cloud and the target image; based on the rendering result, the flatness of the operation area is detected, and this application can be directly based on the target point cloud set and the target image corresponding to the operation area.
  • Fig. 1 is one of the schematic flow charts of a method for detecting the flatness of a working area provided by the embodiment of the present application;
  • Fig. 2 is the second schematic flow diagram of a method for detecting the flatness of a working area provided by the embodiment of the present application;
  • Fig. 3 is the third schematic flow diagram of a method for detecting the flatness of the work area provided by the embodiment of the present application;
  • Fig. 4 is a schematic structural diagram of a detection device for flatness of a work area provided by an embodiment of the present application
  • FIG. 5 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • An embodiment of the present application provides a method for detecting the flatness of a work area, and the method can be applied to work machines, such as excavators, loaders, and road rollers, and can also be applied to servers.
  • work machines such as excavators, loaders, and road rollers
  • servers can also be applied to servers.
  • this method in an excavator is taken as an example for illustration, but it should be noted that it is only for illustration and is not intended to limit the scope of protection of the present application.
  • Some other descriptions in the embodiments of the present application are also examples, and are not used to limit the protection scope of the present application, and will not be described one by one later.
  • the specific implementation of this method is shown in Figure 1:
  • Step 101 acquiring target point cloud sets and target images corresponding to the work area.
  • the original point cloud set and the original image obtained by the detection unit installed on the excavator are obtained, and the range of the operation area preset by the user is obtained; based on the range of the operation area, the target point is extracted from the original point cloud set clustering, and extracting the target image from the original image.
  • the detection unit includes a laser radar and a camera.
  • the laser radar includes: solid-state laser radar, millimeter wave radar, ultrasonic radar, etc.
  • the camera includes a monocular camera, a double-sided camera, and the like.
  • the lidar is used to obtain the target point cloud, and the camera is used to obtain the target image.
  • the area that the laser radar can detect is the laser radar coverage area
  • the area that the camera can detect is the camera coverage area.
  • To detect the working area that the user is interested in it is necessary to artificially set the scope of the working area in advance, and only detect the flatness of the preset working area. See Figure 2 for details.
  • the user while setting the range of the work area, the user also needs to set a determination parameter, which is used to indicate the flatness of the work area.
  • joint calibration is required to determine the conversion relationship between the point cloud coordinate system and the camera coordinate system, that is, to determine the conversion relationship between point cloud coordinates and pixel coordinates, that is, to determine the target Correspondence between point cloud and target image.
  • Step 102 determine the decision parameters corresponding to each target point cloud in the target point cloud set.
  • the determination parameters include: normal vector and curvature.
  • the determination parameter corresponding to each target point cloud is determined by performing the first processing procedure on each target point cloud.
  • the first processing process specifically includes: taking the target point cloud as the center, obtaining the first preset number of target point clouds from the adjacent area of the target point cloud to obtain a local point cloud plane; based on the local point cloud plane, calculating the target point cloud corresponding The normal vector and curvature of .
  • Step 103 based on the determination parameters, perform a plane fitting operation on the target point cloud to obtain a point cloud plane.
  • the present application adopts the method of expanding the connected area of adjacent points to obtain the final point cloud plane.
  • Step 301 select any target point cloud from the target point cloud set as a seed point cloud.
  • Step 302 based on the seed point cloud, perform the following second processing procedure: take the seed point cloud as the center, obtain a second preset number of target point clouds from the adjacent area of the seed point cloud; based on the normal vector, from the second preset number Extract an effective target point cloud from the target point cloud; determine at least one new seed point cloud from the effective target point cloud based on the curvature.
  • any target point cloud is selected from the target point cloud set as the initial seed point cloud, and the target point cloud corresponding to the minimum curvature can be selected as the seed point cloud.
  • a second preset number of target point clouds is obtained from the adjacent area of the initial seed point cloud; based on the normal vector, an effective target point cloud is extracted from the second preset number of target point clouds , the plane fitting operation is performed on the effective target point cloud and the initial seed point cloud to obtain the initial point cloud plane.
  • At least one new seed point cloud is determined from the effective target point cloud, and the new seed point cloud is used as the initial seed point cloud.
  • the present application calculates the included angle between the normal vector corresponding to the seed point cloud and the normal vector of each target point cloud in the second preset number, and the corresponding target when the included angle is smaller than the preset included angle point cloud, as a valid target point cloud.
  • the corresponding target point cloud is used as a new seed point cloud.
  • step 303 step 302 is repeatedly executed until it is determined whether each target point cloud in the target point cloud set is extracted as the valid target point cloud.
  • Step 304 carry out the plane fitting operation on the effective target point cloud obtained by executing the second processing each time to obtain the point cloud plane.
  • the plane fitting operation is performed on the effective target point cloud obtained by the second processing process and the target point cloud in the previous initial point cloud plane to obtain a new initial point cloud plane, and the new initial point cloud plane
  • the cloud plane is used as the initial point cloud plane until it is judged whether each target point cloud in the target point cloud set is extracted as the effective target point cloud, and the new initial point cloud plane at this time is used as the point cloud plane.
  • Step 104 based on the target image and the preset conversion relationship, render the target point cloud in the point cloud plane to obtain a rendering result.
  • the rendering result may be a rendered three-dimensional stereogram, or may be a rendered two-dimensional image.
  • Step 105 based on the rendering result, detect the flatness of the working area.
  • the rendering result includes an unrendered area.
  • the unrendered area it is determined that the flatness of the job area corresponding to the unrendered area is unqualified.
  • the rendering result does not include When including unrendered areas, make sure that the flatness of the entire working area is acceptable.
  • the rendering result is a rendered 3D stereogram
  • the flatness of the corresponding operation area is unqualified, and when it is determined that the unrendered image area is not included, it is determined that the flatness of the entire operation area is qualified.
  • the rendering result is a rendered two-dimensional image
  • detect whether the rendered two-dimensional image includes an unrendered image area and when it is determined that the unrendered image area is included, determine the unrendered image area
  • the flatness of the corresponding operation area is unqualified, and when it is determined that the unrendered image area is not included, it is determined that the flatness of the entire operation area is qualified.
  • this application uses the RGB value of the pixel in the target image to render and color each target point cloud, that is, the area with the preset color in the rendering result is the rendered area, and the area without the preset color in the rendering result is Areas that are not rendered.
  • the preset color is the color corresponding to the actual working area.
  • the rendering result is a rendered 3D stereogram
  • the area in the 3D stereogram whose color is the preset color is the rendered area
  • the area in the 3D stereogram whose color is not the preset color is the unrendered area.
  • the rendering result is a rendered 2D image
  • the area in the 2D image whose color is the preset color is the rendered area
  • the area in the 2D image whose color is not the preset color is the unrendered area.
  • the present application uses the RGB value of the pixel in the target image to render and color each target point cloud, that is, the area with color in the rendering result is the rendered area, and the area without color is the unrendered area.
  • the region with color in the 3D stereogram is the rendered region
  • the region without color in the 3D stereogram is the unrendered region.
  • the rendering result is a rendered 2D image
  • the area with color in the 2D image is the rendered area
  • the area without color in the 2D image is the unrendered area.
  • the operator can be prompted with the actual position of the unqualified image area in the work area in the form of voice or text, reminding the operator Unqualified positions are repaired, which effectively saves labor costs and improves user experience.
  • the method, device, equipment, medium and product for detecting the flatness of the work area obtain the target point cloud set and the target image corresponding to the work area; determine the determination parameters corresponding to each target point cloud in the target point cloud set, The judgment parameter is used to indicate the flatness of the work area; based on the judgment parameter, the plane fitting operation is performed on the target point cloud to obtain the point cloud plane; based on the target image and the preset conversion relationship, the target point in the point cloud plane is rendered Cloud, to get the rendering result, the conversion relationship is the corresponding relationship between the target point cloud and the target image; based on the rendering result, the flatness of the operation area is detected, and this application can be directly based on the target point cloud set and the target image corresponding to the operation area.
  • the detection device for the flatness of the working area described below and the detection method for the flatness of the working area described above can be referred to each other, and the repetitions will not be repeated. , see Figure 4 for details.
  • An acquisition module 401 configured to acquire target point cloud sets and target images corresponding to the work area
  • a determination module 402 configured to determine a determination parameter corresponding to each target point cloud in the target point cloud set, where the determination parameter is used to indicate the flatness of the work area;
  • the fitting module 403 is used to perform a plane fitting operation on the target point cloud based on the determination parameters to obtain a point cloud plane;
  • the rendering module 404 is used to render the target point cloud in the point cloud plane based on the target image and the preset conversion relationship to obtain a rendering result, and the conversion relationship is the corresponding relationship between the target point cloud and the target image;
  • the detection module 405 is configured to detect the flatness of the work area based on the rendering result.
  • the determination parameters include: a normal vector and a curvature; the determination module 402 is specifically configured to perform the following first processing procedure on each target point cloud:
  • the fitting module 403 is specifically used to select any target point cloud from the target point cloud set as the seed point cloud; based on the seed point cloud, the following second processing process is performed: centering on the seed point cloud Obtaining a second preset number of target point clouds in the adjacent area; extracting a valid target point cloud from the second preset number of target point clouds based on the normal vector; determining at least one new seed from the valid target point cloud based on the curvature Point cloud: Repeat the second processing procedure until each target point cloud in the target point cloud set is judged to be extracted as the effective target point cloud; carry out plane fitting to the effective target point cloud obtained by performing the second processing procedure each time Operation to get the point cloud plane.
  • the fitting module 403 is specifically used to calculate the angle between the normal vector corresponding to the seed point cloud and the normal vector of each target point cloud in the second preset number; make the angle smaller than the preset angle
  • the target point cloud corresponding to the angle is used as the effective target point cloud; when the curvature of the target point cloud in the effective target point cloud is less than the preset curvature, the corresponding target point cloud is used as the new seed point cloud.
  • the detection module 405 is specifically configured to detect whether an unrendered area is included in the rendering result; when it is determined that an unrendered area is included, it is determined that the flatness of the job area corresponding to the unrendered area is unqualified .
  • the acquisition module 401 is also used to acquire the original point cloud set and the original image obtained by the detection unit; acquire the scope of the preset work area; based on the scope of the work area, extract the target point cloud set from the original point cloud set , and extract the target image from the original image.
  • Figure 5 illustrates a schematic diagram of the physical structure of an electronic device, as shown in Figure 5, the electronic device may include: a processor (processor) 501, a communication interface (Communications Interface) 502, a memory (memory) 503 and a communication bus 504, Wherein, the processor 501 , the communication interface 502 , and the memory 503 communicate with each other through the communication bus 504 .
  • processor processor
  • Communication interface Communication interface
  • memory memory
  • the processor 501 can call the logic instructions in the memory 503 to execute the method for detecting the flatness of the work area, the method includes: acquiring the target point cloud set and the target image corresponding to the work area; determining the target point cloud corresponding to each target point cloud in the target point cloud set Judgment parameters, the judgment parameters are used to indicate the flatness of the work area; based on the judgment parameters, the plane fitting operation is performed on the target point cloud to obtain the point cloud plane; based on the target image and the preset conversion relationship, the points in the point cloud plane are rendered The target point cloud obtains the rendering result, and the conversion relationship is the corresponding relationship between the target point cloud and the target image; based on the rendering result, the flatness of the work area is detected.
  • the above logic instructions in the memory 503 may be implemented in the form of software function units and when sold or used as an independent product, may be stored in a computer-readable storage medium.
  • the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc., which can store program codes. .
  • the present application also provides a computer program product
  • the computer program product includes a computer program stored on a non-transitory computer-readable storage medium
  • the computer program includes program instructions, and when the program instructions are executed by a computer During execution, the computer can execute the detection method for the flatness of the work area provided by the above methods, the method includes: obtaining the target point cloud set and the target image corresponding to the work area; determining the determination parameters corresponding to each target point cloud in the target point cloud set , the judgment parameter is used to indicate the flatness of the work area; based on the judgment parameter, the plane fitting operation is performed on the target point cloud to obtain the point cloud plane; based on the target image and the preset conversion relationship, the target point in the point cloud plane is rendered Cloud, get the rendering result, and convert the relationship into the corresponding relationship between the target point cloud and the target image; based on the rendering result, detect the flatness of the work area.
  • the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it is implemented to perform the detection methods for the flatness of the work area provided by each of the above, the The method includes: obtaining the target point cloud set and the target image corresponding to the operation area; determining the determination parameters corresponding to each target point cloud in the target point cloud set, and the determination parameters are used to indicate the flatness of the operation area; based on the determination parameters, the target point cloud is The plane fitting operation obtains the point cloud plane; based on the target image and the preset conversion relationship, the target point cloud in the point cloud plane is rendered to obtain the rendering result, and the conversion relationship is the corresponding relationship between the target point cloud and the target image; Based on the rendering results, the flatness of the working area is detected.
  • the device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative efforts.
  • each implementation can be implemented by means of software plus a necessary general hardware platform, and of course also by hardware.
  • the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic discs, optical discs, etc., including several instructions to make a computer device (which may be a personal computer, server, or network device, etc.) execute the methods described in various embodiments or some parts of the embodiments.

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Abstract

A method for detecting flatness of a working area, comprising: acquiring a target point cloud set and a target image corresponding to a working area; determining a determination parameter corresponding to each target point cloud in the target point cloud set, the determination parameter being used for indicating the flatness of the working area; performing a plane fitting operation on the target point cloud on the basis of the determination parameter to obtain a point cloud plane; rendering the target point cloud in the point cloud plane on the basis of the target image and a preset conversion relationship to obtain the rendering result, the conversion relationship being a correspondence between the target point cloud and the target image; and detecting the flatness of the working area on the basis of the rendering result. Further disclosed are a device for detecting flatness of a working area, an electronic device, a storage medium, and a product.

Description

作业区域平整度的检测方法、装置、设备、介质及产品Method, device, equipment, medium and product for detecting flatness of working area
相关申请的交叉引用Cross References to Related Applications
本申请要求于2021年09月27日提交的申请号为202111138696.0,名称为“作业区域平整度的检测方法、装置、设备、介质及产品”的中国专利申请的优先权,其通过引用方式全部并入本文。This application claims the priority of the Chinese patent application filed on September 27, 2021 with the application number 202111138696.0 and titled "Method, device, equipment, medium and product for detecting the flatness of the working area", which is incorporated by reference in its entirety. into this article.
技术领域technical field
本申请涉及土方作业技术领域,尤其涉及一种作业区域平整度的检测方法、装置、设备、介质及产品。The present application relates to the technical field of earthwork operations, in particular to a method, device, equipment, medium and product for detecting the flatness of an operation area.
背景技术Background technique
目前,智能化技术和无人化技术在挖掘机,装载机,压路机等作业机械上运用越来越广泛。各种各样的辅助功能被配置在作业机械上,以提高作业机械的工作效率,优化作业精度。At present, intelligent technology and unmanned technology are more and more widely used in excavators, loaders, road rollers and other operating machinery. Various auxiliary functions are configured on the working machine to improve the working efficiency of the working machine and optimize the working accuracy.
目前,作业机械在作业时,作业效果的判断绝大部分是由人工完成的,通过人工测量来判断作业效果的好坏。但是,通过人工来判断作业机械的作业效果,造成了人力成本的增加,整体作业效率的降低以及作业耗时的增长等诸多问题。At present, when the operation machine is operating, the judgment of the operation effect is mostly done manually, and the operation effect is judged by manual measurement. However, judging the operation effect of the operation machine manually has caused many problems such as an increase in labor costs, a decrease in overall operation efficiency, and an increase in operation time.
因此,如何提高判断作业机械的作业效果的效率,是目前业界亟待解决的问题。Therefore, how to improve the efficiency of judging the operating effect of the operating machine is an urgent problem to be solved in the industry.
发明内容Contents of the invention
本申请实施例提供一种作业区域平整度的检测方法、装置、设备、介质及产品,用以解决现有技术中通过人工判断作业机械的作业效果,造成的成本高、效率低及耗时长的缺陷,实现快速、精确的判断作业机械的作业效果。The embodiment of the present application provides a method, device, equipment, medium and product for detecting the flatness of the working area, which is used to solve the problems of high cost, low efficiency and long time consumption caused by manual judgment of the working effect of the working machine in the prior art Defects, to achieve fast and accurate judgment of the operating effect of the operating machine.
本申请实施例提供一种作业区域平整度的检测方法,包括:The embodiment of the present application provides a method for detecting the flatness of the work area, including:
获取作业区域对应的目标点云集和目标图像;Obtain the target point cloud and target image corresponding to the operation area;
确定所述目标点云集中每个目标点云对应的判定参数,所述判定参数用于指示所述作业区域的平整度;determining a determination parameter corresponding to each target point cloud in the target point cloud set, where the determination parameter is used to indicate the flatness of the operation area;
基于所述判定参数,对所述目标点云进行平面拟合操作,得到点云平面;Based on the determination parameters, perform a plane fitting operation on the target point cloud to obtain a point cloud plane;
基于所述目标图像和预设定的转换关系,渲染所述点云平面中的目标点云,得到渲染结果,所述转换关系为所述目标点云和所述目标图像之间的对应关系;Rendering the target point cloud in the point cloud plane based on the target image and a preset conversion relationship to obtain a rendering result, the conversion relationship being a corresponding relationship between the target point cloud and the target image;
基于所述渲染结果,检测所述作业区域的平整度。Based on the rendering result, the flatness of the working area is detected.
根据本申请一个实施例的作业区域平整度的检测方法,所述判定参数包括:法向量和曲率;According to the detection method of the flatness of the working area according to an embodiment of the present application, the determination parameters include: normal vector and curvature;
所述确定所述目标点云集中每个目标点云对应的判定参数,包括:The determination of the determination parameters corresponding to each target point cloud in the target point cloud set includes:
对所述每个目标点云执行以下第一处理过程:Perform the following first processing procedure on each target point cloud:
以所述目标点云为中心向邻近区域获取第一预设数量的目标点云,得到局部点云平面;基于所述局部点云平面,计算所述目标点云对应的法向量和曲率。Taking the target point cloud as the center to acquire a first preset number of target point clouds from adjacent areas to obtain a local point cloud plane; based on the local point cloud plane, calculate the normal vector and curvature corresponding to the target point cloud.
根据本申请一个实施例的作业区域平整度的检测方法,所述基于所述判定参数,对所述目标点云进行平面拟合操作,得到点云平面,包括:According to the detection method of the flatness of the working area according to an embodiment of the present application, the said target point cloud is subjected to a plane fitting operation based on the determination parameters to obtain a point cloud plane, including:
从所述目标点云集中选择任一个所述目标点云,作为种子点云;Select any one of the target point clouds from the set of target point clouds as a seed point cloud;
基于所述种子点云,执行以下第二处理过程:Based on the seed point cloud, the following second processing procedure is performed:
以所述种子点云为中心向邻近区域获取第二预设数量的目标点云;基于所述法向量,从所述第二预设数量的目标点云中提取有效目标点云;基于所述曲率,从所述有效目标点云中,确定至少一个新的种子点云;Taking the seed point cloud as the center to obtain a second preset number of target point clouds from adjacent areas; based on the normal vector, extracting an effective target point cloud from the second preset number of target point clouds; based on the curvature, determining at least one new seed point cloud from said valid target point cloud;
重复执行所述第二处理过程,直至所述目标点云集中所述每个目标点云被判断是否提取为所述有效目标点云;Repeating the second processing procedure until it is judged whether each target point cloud in the target point cloud set is extracted as the valid target point cloud;
将每次执行所述第二处理过程得到的所述有效目标点云进行平面拟合操作,得到所述点云平面。Perform a plane fitting operation on the valid target point cloud obtained by executing the second processing each time to obtain the point cloud plane.
根据本申请一个实施例的作业区域平整度的检测方法,所述基于所述法向量,从所述第二预设数量的目标点云中提取有效目标点云,包括:According to the detection method of the flatness of the working area according to an embodiment of the present application, the extraction of effective target point clouds from the second preset number of target point clouds based on the normal vector includes:
计算所述种子点云对应的法向量分别与所述第二预设数量中的每个目标点云的法向量的夹角;Calculate the included angle between the normal vector corresponding to the seed point cloud and the normal vector of each target point cloud in the second preset quantity;
将所述夹角小于预设夹角时对应的目标点云,作为所述有效目标点云;Using the corresponding target point cloud when the included angle is smaller than the preset included angle as the effective target point cloud;
所述基于所述曲率,从所述有效目标点云中,确定至少一个新的种子点云,包括:The determining at least one new seed point cloud from the valid target point cloud based on the curvature includes:
将所述有效目标点云中的目标点云的曲率小于预设曲率时,对应的目标点云作为所述新的种子点云。When the curvature of the target point cloud in the effective target point cloud is smaller than the preset curvature, the corresponding target point cloud is used as the new seed point cloud.
根据本申请一个实施例的作业区域平整度的检测方法,所述基于所述渲染结果,检测所述作业区域的平整度,包括:According to the method for detecting the flatness of the work area according to an embodiment of the present application, the detection of the flatness of the work area based on the rendering result includes:
检测所述渲染结果中是否包括未被渲染的区域;Detect whether the rendering result includes an unrendered area;
当确定包括所述未被渲染的区域时,确定所述未被渲染的区域对应的作业区域的平整度不合格。When it is determined that the unrendered area is included, it is determined that the flatness of the working area corresponding to the unrendered area is unqualified.
根据本申请一个实施例的作业区域平整度的检测方法,所述获取作业区域对应的目标点云集和目标图像之前,还包括:According to the detection method of the flatness of the work area according to an embodiment of the present application, before the acquisition of the target point cloud and the target image corresponding to the work area, it also includes:
获取检测单元得到的原始点云集和原始图像;Obtain the original point cloud set and original image obtained by the detection unit;
获取预先设定的所述作业区域的范围;Obtaining the preset scope of the operation area;
基于所述作业区域的范围,从所述原始点云集中提取所述目标点云集,以及从所述原始图像中提取所述目标图像。The target point cloud set is extracted from the original point cloud set, and the target image is extracted from the original image based on the range of the working area.
本申请实施例提供一种作业区域平整度的检测装置,包括:The embodiment of the present application provides a detection device for the flatness of the working area, including:
获取模块,用于获取作业区域对应的目标点云集和目标图像;An acquisition module, configured to acquire target point cloud sets and target images corresponding to the operation area;
确定模块,用于确定所述目标点云集中每个目标点云对应的判定参数,所述判定参数用于指示所述作业区域的平整度;A determination module, configured to determine a determination parameter corresponding to each target point cloud in the target point cloud set, where the determination parameter is used to indicate the flatness of the working area;
拟合模块,用于基于所述判定参数,对所述目标点云进行平面拟合操作,得到点云平面;A fitting module, configured to perform a plane fitting operation on the target point cloud based on the determination parameters to obtain a point cloud plane;
渲染模块,用于基于所述目标图像和预设定的转换关系,渲染所述点云平面中的目标点云,得到渲染结果,所述转换关系为所述目标点云和所述目标图像之间的对应关系;A rendering module, configured to render the target point cloud in the point cloud plane based on the target image and a preset conversion relationship to obtain a rendering result, the conversion relationship being between the target point cloud and the target image Correspondence between;
检测模块,用于基于所述渲染结果,检测所述作业区域的平整度。A detection module, configured to detect the flatness of the operation area based on the rendering result.
本申请实施例还提供一种电子设备,包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序,所述处理器执行所述程序时实现如上述任一种所述作业区域平整度的检测方法的步骤。The embodiment of the present application also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and operable on the processor, and the processor implements any of the above-mentioned tasks when executing the program The steps of the method for detecting the flatness of an area.
本申请实施例还提供一种非暂态计算机可读存储介质,其上存储有计算机程序,该计算机程序被处理器执行时实现如上述任一种所述作业区域平整度的检测方法的步骤。The embodiment of the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of any method for detecting the flatness of the working area described above are implemented.
本申请实施例还提供一种计算机程序产品,包括计算机程序,其特征在 于,所述计算机程序被处理器执行时实现如上述任一种所述作业区域平整度的检测方法的步骤。The embodiment of the present application also provides a computer program product, including a computer program, characterized in that, when the computer program is executed by a processor, the steps of any one of the methods for detecting the flatness of the working area described above are implemented.
本申请实施例提供的作业区域平整度的检测方法、装置、设备、介质及产品,通过获取作业区域对应的目标点云集和目标图像;确定目标点云集中每个目标点云对应的判定参数,该判定参数用于指示作业区域的平整度;基于判定参数,对目标点云进行平面拟合操作,得到点云平面;基于目标图像和预设定的转换关系,渲染点云平面中的目标点云,得到渲染结果,该转换关系为目标点云和目标图像之间的对应关系;基于渲染结果,检测作业区域的平整度,本申请直接根据作业区域对应的目标点云集和目标图像,就可以检测作业区域的平整度,即作业效果,解决了现有技术中通过人工判断作业机械的作业效果,造成的成本高、效率低及耗时长的缺陷,实现了快速、精确的判断作业机械的作业区域的平整度,有效的节约了人工成本,提高了作业平整度检测的效率,提高了用户体验。The method, device, equipment, medium and product for detecting the flatness of the work area provided in the embodiments of the present application obtain the target point cloud set and the target image corresponding to the work area; determine the determination parameters corresponding to each target point cloud in the target point cloud set, The judgment parameter is used to indicate the flatness of the work area; based on the judgment parameter, the plane fitting operation is performed on the target point cloud to obtain the point cloud plane; based on the target image and the preset conversion relationship, the target point in the point cloud plane is rendered Cloud, to get the rendering result, the conversion relationship is the corresponding relationship between the target point cloud and the target image; based on the rendering result, the flatness of the operation area is detected, and this application can be directly based on the target point cloud set and the target image corresponding to the operation area. Detect the flatness of the operation area, that is, the operation effect, which solves the defects of high cost, low efficiency and long time-consuming caused by manually judging the operation effect of the operation machine in the prior art, and realizes the rapid and accurate judgment of the operation of the operation machine The flatness of the area effectively saves labor costs, improves the efficiency of job flatness detection, and improves user experience.
附图说明Description of drawings
为了更清楚地说明本申请实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图是本申请的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are For some embodiments of the present application, those of ordinary skill in the art can also obtain other drawings based on these drawings without creative effort.
图1是本申请实施例提供的一种作业区域平整度的检测方法的流程示意图之一;Fig. 1 is one of the schematic flow charts of a method for detecting the flatness of a working area provided by the embodiment of the present application;
图2是本申请实施例提供的一种作业区域平整度的检测方法的流程示意图之二;Fig. 2 is the second schematic flow diagram of a method for detecting the flatness of a working area provided by the embodiment of the present application;
图3是本申请实施例提供的一种作业区域平整度的检测方法的流程示意图之三;Fig. 3 is the third schematic flow diagram of a method for detecting the flatness of the work area provided by the embodiment of the present application;
图4是本申请实施例提供的一种作业区域平整度的检测装置的结构示意图;Fig. 4 is a schematic structural diagram of a detection device for flatness of a work area provided by an embodiment of the present application;
图5是本申请实施例提供的电子设备的结构示意图。FIG. 5 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
具体实施方式Detailed ways
为使本申请实施例的目的、技术方案和优点更加清楚,下面将结合本申 请实施例中的附图,对本申请实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本申请一部分实施例,而不是全部的实施例。基于本申请中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都属于本申请保护的范围。In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.
下面结合图1至图3描述本申请实施例的作业区域平整度的检测方法。The method for detecting the flatness of the work area according to the embodiment of the present application will be described below with reference to FIGS. 1 to 3 .
本申请实施例提供了一种作业区域平整度的检测方法,该方法可以应用在作业机械中,例如,挖掘机,装载机,压路机,也可以应用在服务器中。下面,以该方法应用在挖掘机中为例进行说明,但需要说明的是仅为举例说明,并不用于对本申请的保护范围进行限定。本申请实施例中的一些其他说明,也是举例说明,并不用于对本申请的保护范围进行限定,之后便不再一一说明。该方法的具体实现如图1所示:An embodiment of the present application provides a method for detecting the flatness of a work area, and the method can be applied to work machines, such as excavators, loaders, and road rollers, and can also be applied to servers. In the following, the application of this method in an excavator is taken as an example for illustration, but it should be noted that it is only for illustration and is not intended to limit the scope of protection of the present application. Some other descriptions in the embodiments of the present application are also examples, and are not used to limit the protection scope of the present application, and will not be described one by one later. The specific implementation of this method is shown in Figure 1:
步骤101,获取作业区域对应的目标点云集和目标图像。 Step 101, acquiring target point cloud sets and target images corresponding to the work area.
一个具体所述例中,获取安装在挖掘机上的检测单元得到的原始点云集和原始图像,以及获取用户预先设定的作业区域的范围;基于作业区域的范围,从原始点云集中提取目标点云集,以及从原始图像中提取目标图像。In a specific example, the original point cloud set and the original image obtained by the detection unit installed on the excavator are obtained, and the range of the operation area preset by the user is obtained; based on the range of the operation area, the target point is extracted from the original point cloud set clustering, and extracting the target image from the original image.
具体的,检测单元包括激光雷达和相机,激光雷达包括:固态激光雷达、毫米波雷达、超声波雷达等,相机包括单目相机、双面相机等。激光雷达用于获取目标点云,相机用于获取目标图像。Specifically, the detection unit includes a laser radar and a camera. The laser radar includes: solid-state laser radar, millimeter wave radar, ultrasonic radar, etc., and the camera includes a monocular camera, a double-sided camera, and the like. The lidar is used to obtain the target point cloud, and the camera is used to obtain the target image.
其中,激光雷达能够检测的区域为激光雷达覆盖区域,相机能够检测的区域为相机覆盖区域,但是,在本申请中并不需要检测所有的激光雷达覆盖区域和相机覆盖区域的平整度,只需要检测用户感兴趣的作业区域,因此,需要人为预先设定作业区域的范围,仅检测预先设定的作业区域的平整度。具体可参见图2。Among them, the area that the laser radar can detect is the laser radar coverage area, and the area that the camera can detect is the camera coverage area. However, in this application, it is not necessary to detect the flatness of all the laser radar coverage area and the camera coverage area. To detect the working area that the user is interested in, it is necessary to artificially set the scope of the working area in advance, and only detect the flatness of the preset working area. See Figure 2 for details.
具体的,用户在设定作业区域的范围的同时,还需要设定判定参数,判定参数用于指示作业区域的平整度。Specifically, while setting the range of the work area, the user also needs to set a determination parameter, which is used to indicate the flatness of the work area.
另外,在将激光雷达和相机安装在挖掘机上之后,需要进行联合标定,以确定点云坐标系和相机坐标系的转换关系,即,确定点云坐标到像素坐标的转换关系,即,确定目标点云和目标图像之间的对应关系。In addition, after the lidar and the camera are installed on the excavator, joint calibration is required to determine the conversion relationship between the point cloud coordinate system and the camera coordinate system, that is, to determine the conversion relationship between point cloud coordinates and pixel coordinates, that is, to determine the target Correspondence between point cloud and target image.
步骤102,确定目标点云集中每个目标点云对应的判定参数。 Step 102, determine the decision parameters corresponding to each target point cloud in the target point cloud set.
其中,判定参数包括:法向量和曲率。Wherein, the determination parameters include: normal vector and curvature.
一个具体实施例中,通过对每个目标点云执行第一处理过程,以确定每个目标点云对应的判定参数。该第一处理过程具体为:以目标点云为中心,向目标点云的邻近区域获取第一预设数量的目标点云,得到局部点云平面;基于局部点云平面,计算目标点云对应的法向量和曲率。In a specific embodiment, the determination parameter corresponding to each target point cloud is determined by performing the first processing procedure on each target point cloud. The first processing process specifically includes: taking the target point cloud as the center, obtaining the first preset number of target point clouds from the adjacent area of the target point cloud to obtain a local point cloud plane; based on the local point cloud plane, calculating the target point cloud corresponding The normal vector and curvature of .
步骤103,基于判定参数,对目标点云进行平面拟合操作,得到点云平面。 Step 103, based on the determination parameters, perform a plane fitting operation on the target point cloud to obtain a point cloud plane.
具体的,本申请采用相邻点连通区域扩展的方式,得到最终的点云平面。Specifically, the present application adopts the method of expanding the connected area of adjacent points to obtain the final point cloud plane.
一个具体实施例中,点云平面的实现过程具体如图3所示:In a specific embodiment, the implementation process of the point cloud plane is specifically shown in Figure 3:
步骤301,从目标点云集中选择任一个目标点云,作为种子点云。步骤302,基于种子点云,执行以下第二处理过程:以种子点云为中心,向种子点云的邻近区域获取第二预设数量的目标点云;基于法向量,从第二预设数量的目标点云中提取有效目标点云;基于曲率,从有效目标点云中,确定至少一个新的种子点云。 Step 301, select any target point cloud from the target point cloud set as a seed point cloud. Step 302, based on the seed point cloud, perform the following second processing procedure: take the seed point cloud as the center, obtain a second preset number of target point clouds from the adjacent area of the seed point cloud; based on the normal vector, from the second preset number Extract an effective target point cloud from the target point cloud; determine at least one new seed point cloud from the effective target point cloud based on the curvature.
下面,通过一个完整的点云平面形成过程进行具体说明:Below, a complete point cloud plane formation process is described in detail:
首先,从目标点云集中选择任一个目标点云,作为初始种子点云,可以选择曲率最小时对应的目标点云作为种子点云。First, any target point cloud is selected from the target point cloud set as the initial seed point cloud, and the target point cloud corresponding to the minimum curvature can be selected as the seed point cloud.
再者,以初始种子点云为中心,向初始种子点云的邻近区域获取第二预设数量的目标点云;基于法向量,从第二预设数量的目标点云中提取有效目标点云,将有效目标点云和初始种子点云进行平面拟合操作,得到初始点云平面。Furthermore, with the initial seed point cloud as the center, a second preset number of target point clouds is obtained from the adjacent area of the initial seed point cloud; based on the normal vector, an effective target point cloud is extracted from the second preset number of target point clouds , the plane fitting operation is performed on the effective target point cloud and the initial seed point cloud to obtain the initial point cloud plane.
最后,基于曲率,从有效目标点云中,确定至少一个新的种子点云,将新的种子点云作为初始种子点云。Finally, based on the curvature, at least one new seed point cloud is determined from the effective target point cloud, and the new seed point cloud is used as the initial seed point cloud.
一个具体实施例中,本申请通过计算种子点云对应的法向量分别与第二预设数量中的每个目标点云的法向量的夹角,将夹角小于预设夹角时对应的目标点云,作为有效目标点云。In a specific embodiment, the present application calculates the included angle between the normal vector corresponding to the seed point cloud and the normal vector of each target point cloud in the second preset number, and the corresponding target when the included angle is smaller than the preset included angle point cloud, as a valid target point cloud.
一个具体实施例中,本申请将有效目标点云中的目标点云的曲率小于预设曲率时,对应的目标点云作为新的种子点云。In a specific embodiment, when the curvature of the target point cloud in the effective target point cloud is smaller than the preset curvature, the corresponding target point cloud is used as a new seed point cloud.
步骤303,重复执行步骤302,直至目标点云集中每个目标点云被判断是否提取为所述有效目标点云。In step 303, step 302 is repeatedly executed until it is determined whether each target point cloud in the target point cloud set is extracted as the valid target point cloud.
步骤304,将每次执行第二处理过程得到的有效目标点云进行平面拟合 操作,得到点云平面。 Step 304, carry out the plane fitting operation on the effective target point cloud obtained by executing the second processing each time to obtain the point cloud plane.
具体的,将本次执行第二处理过程得到的有效目标点云,和上一次初始点云平面中的目标点云进行平面拟合操作,得到新的初始点云平面,并把新的初始点云平面作为初始点云平面,直至目标点云集中每个目标点云被判断是否提取为所述有效目标点云,将此时新的初始点云平面,作为点云平面。Specifically, the plane fitting operation is performed on the effective target point cloud obtained by the second processing process and the target point cloud in the previous initial point cloud plane to obtain a new initial point cloud plane, and the new initial point cloud plane The cloud plane is used as the initial point cloud plane until it is judged whether each target point cloud in the target point cloud set is extracted as the effective target point cloud, and the new initial point cloud plane at this time is used as the point cloud plane.
步骤104,基于目标图像和预设定的转换关系,渲染点云平面中的目标点云,得到渲染结果。 Step 104, based on the target image and the preset conversion relationship, render the target point cloud in the point cloud plane to obtain a rendering result.
具体的,确定目标图像中每个像素对应的RGB值,基于转换关系,确定每个像素分别对应的目标点云,确定完成后,基于像素的RGB值为每个目标点云渲染颜色,得到渲染结果。Specifically, determine the RGB value corresponding to each pixel in the target image, and determine the target point cloud corresponding to each pixel based on the conversion relationship. After the determination is completed, render the color of each target point cloud based on the RGB value of the pixel, and obtain the rendered result.
其中,渲染结果可以为渲染后的三维立体图,也可以为渲染后的二维图像。Wherein, the rendering result may be a rendered three-dimensional stereogram, or may be a rendered two-dimensional image.
步骤105,基于渲染结果,检测作业区域的平整度。 Step 105, based on the rendering result, detect the flatness of the working area.
一个具体实施例中,检测渲染结果中是否包括未被渲染的区域,当确定包括未被渲染的区域时,确定未被渲染的区域对应的作业区域的平整度不合格,当确定渲染结果中不包括未被渲染的区域时,确定整个作业区域的平整度合格。In a specific embodiment, it is detected whether the rendering result includes an unrendered area. When it is determined that the unrendered area is included, it is determined that the flatness of the job area corresponding to the unrendered area is unqualified. When it is determined that the rendering result does not include When including unrendered areas, make sure that the flatness of the entire working area is acceptable.
具体的,例如,当渲染结果为渲染后的三维立体图时,检测渲染后的三维立体图中是否包括未被渲染的图像区域,当确定包括未被渲染的图像区域时,确定未被渲染的图像区域对应的作业区域的平整度不合格,当确定不包括未被渲染的图像区域时,确定整个作业区域的平整度合格。Specifically, for example, when the rendering result is a rendered 3D stereogram, it is detected whether an unrendered image area is included in the rendered 3D stereogram, and when it is determined that the unrendered image area is included, the unrendered image area is determined The flatness of the corresponding operation area is unqualified, and when it is determined that the unrendered image area is not included, it is determined that the flatness of the entire operation area is qualified.
又例如,当渲染结果为渲染后的二维图像时,检测渲染后的二维图像中是否包括未被渲染的图像区域,当确定包括未被渲染的图像区域时,确定未被渲染的图像区域对应的作业区域的平整度不合格,当确定不包括未被渲染的图像区域时,确定整个作业区域的平整度合格。For another example, when the rendering result is a rendered two-dimensional image, detect whether the rendered two-dimensional image includes an unrendered image area, and when it is determined that the unrendered image area is included, determine the unrendered image area The flatness of the corresponding operation area is unqualified, and when it is determined that the unrendered image area is not included, it is determined that the flatness of the entire operation area is qualified.
具体的,本申请利用目标图像中的像素的RGB值为每个目标点云渲染染色,即渲染结果中存在预设颜色的区域为被渲染的区域,渲染结果中不存在预设颜色的区域为未被渲染的区域。其中,预设颜色为实际作业区域对应的颜色。Specifically, this application uses the RGB value of the pixel in the target image to render and color each target point cloud, that is, the area with the preset color in the rendering result is the rendered area, and the area without the preset color in the rendering result is Areas that are not rendered. Wherein, the preset color is the color corresponding to the actual working area.
例如,当渲染结果为渲染后的三维立体图时,三维立体图中的颜色为预 设颜色的区域为被渲染区域,三维立体图中的颜色非预设颜色的区域为未被渲染区域。又例如,当渲染结果为渲染后的二维图像时,二维图像中的颜色为预设颜色的区域为被渲染区域,二维图像中的颜色非预设颜色的区域为未被渲染区域。For example, when the rendering result is a rendered 3D stereogram, the area in the 3D stereogram whose color is the preset color is the rendered area, and the area in the 3D stereogram whose color is not the preset color is the unrendered area. For another example, when the rendering result is a rendered 2D image, the area in the 2D image whose color is the preset color is the rendered area, and the area in the 2D image whose color is not the preset color is the unrendered area.
具体的,本申请利用目标图像中的像素的RGB值为每个目标点云渲染染色,即,渲染结果中存在颜色的区域为被渲染的区域,不存在颜色的区域为未被渲染的区域。Specifically, the present application uses the RGB value of the pixel in the target image to render and color each target point cloud, that is, the area with color in the rendering result is the rendered area, and the area without color is the unrendered area.
例如,当渲染结果为渲染后的三维立体图时,三维立体图中存在颜色的区域为被渲染区域,三维立体图不存在颜色的区域为未被渲染区域。又例如,当渲染结果为渲染后的二维图像时,二维图像中存在颜色的区域为被渲染区域,二维图像中不存在颜色的区域为未被渲染区域。For example, when the rendering result is a rendered 3D stereogram, the region with color in the 3D stereogram is the rendered region, and the region without color in the 3D stereogram is the unrendered region. For another example, when the rendering result is a rendered 2D image, the area with color in the 2D image is the rendered area, and the area without color in the 2D image is the unrendered area.
另外,在确定未被渲染的图像区域对应的作业区域的平整度不合格之后,可以通过语音或文字的形式,提示操作手图像区域不合格的位置在作业区域中的实际位置,提醒操作手针对不合格的位置进行作业修复,有效的节省了人力成本,提高了用户体验。In addition, after it is determined that the flatness of the work area corresponding to the unrendered image area is unqualified, the operator can be prompted with the actual position of the unqualified image area in the work area in the form of voice or text, reminding the operator Unqualified positions are repaired, which effectively saves labor costs and improves user experience.
本申请实施例提供的作业区域平整度的检测方法、装置、设备、介质及产品,通过获取作业区域对应的目标点云集和目标图像;确定目标点云集中每个目标点云对应的判定参数,该判定参数用于指示作业区域的平整度;基于判定参数,对目标点云进行平面拟合操作,得到点云平面;基于目标图像和预设定的转换关系,渲染点云平面中的目标点云,得到渲染结果,该转换关系为目标点云和目标图像之间的对应关系;基于渲染结果,检测作业区域的平整度,本申请直接根据作业区域对应的目标点云集和目标图像,就可以检测作业区域的平整度,即作业效果,解决了现有技术中通过人工判断作业机械的作业效果,造成的成本高、效率低及耗时长的缺陷,实现了快速、精确的判断作业机械的作业区域的平整度,有效的节约了人工成本,提高了作业平整度检测的效率,提高了用户体验。The method, device, equipment, medium and product for detecting the flatness of the work area provided in the embodiments of the present application obtain the target point cloud set and the target image corresponding to the work area; determine the determination parameters corresponding to each target point cloud in the target point cloud set, The judgment parameter is used to indicate the flatness of the work area; based on the judgment parameter, the plane fitting operation is performed on the target point cloud to obtain the point cloud plane; based on the target image and the preset conversion relationship, the target point in the point cloud plane is rendered Cloud, to get the rendering result, the conversion relationship is the corresponding relationship between the target point cloud and the target image; based on the rendering result, the flatness of the operation area is detected, and this application can be directly based on the target point cloud set and the target image corresponding to the operation area. Detect the flatness of the operation area, that is, the operation effect, which solves the defects of high cost, low efficiency and long time-consuming caused by manually judging the operation effect of the operation machine in the prior art, and realizes the rapid and accurate judgment of the operation of the operation machine The flatness of the area effectively saves labor costs, improves the efficiency of job flatness detection, and improves user experience.
下面对本申请实施例提供的作业区域平整度的检测装置进行描述,下文描述的作业区域平整度的检测装置与上文描述的作业区域平整度的检测方法可相互对应参照,重复之处不再赘述,具体可参见图4。The following is a description of the detection device for the flatness of the working area provided by the embodiment of the present application. The detection device for the flatness of the working area described below and the detection method for the flatness of the working area described above can be referred to each other, and the repetitions will not be repeated. , see Figure 4 for details.
获取模块401,用于获取作业区域对应的目标点云集和目标图像;An acquisition module 401, configured to acquire target point cloud sets and target images corresponding to the work area;
确定模块402,用于确定目标点云集中每个目标点云对应的判定参数,判定参数用于指示作业区域的平整度;A determination module 402, configured to determine a determination parameter corresponding to each target point cloud in the target point cloud set, where the determination parameter is used to indicate the flatness of the work area;
拟合模块403,用于基于判定参数,对目标点云进行平面拟合操作,得到点云平面;The fitting module 403 is used to perform a plane fitting operation on the target point cloud based on the determination parameters to obtain a point cloud plane;
渲染模块404,用于基于目标图像和预设定的转换关系,渲染点云平面中的目标点云,得到渲染结果,转换关系为目标点云和目标图像之间的对应关系;The rendering module 404 is used to render the target point cloud in the point cloud plane based on the target image and the preset conversion relationship to obtain a rendering result, and the conversion relationship is the corresponding relationship between the target point cloud and the target image;
检测模块405,用于基于渲染结果,检测作业区域的平整度。The detection module 405 is configured to detect the flatness of the work area based on the rendering result.
一个具体实施例中,判定参数包括:法向量和曲率;确定模块402,具体用于对每个目标点云执行以下第一处理过程:In a specific embodiment, the determination parameters include: a normal vector and a curvature; the determination module 402 is specifically configured to perform the following first processing procedure on each target point cloud:
以目标点云为中心向邻近区域获取第一预设数量的目标点云,得到局部点云平面;基于局部点云平面,计算目标点云对应的法向量和曲率。Taking the target point cloud as the center to obtain a first preset number of target point clouds from adjacent areas to obtain a local point cloud plane; based on the local point cloud plane, calculate the normal vector and curvature corresponding to the target point cloud.
一个具体实施例中,拟合模块403,具体用于从目标点云集中选择任一个目标点云,作为种子点云;基于种子点云,执行以下第二处理过程:以种子点云为中心向邻近区域获取第二预设数量的目标点云;基于法向量,从第二预设数量的目标点云中提取有效目标点云;基于曲率,从有效目标点云中,确定至少一个新的种子点云;重复执行第二处理过程,直至目标点云集中每个目标点云被判断是否提取为所述有效目标点云;将每次执行第二处理过程得到的有效目标点云进行平面拟合操作,得到点云平面。In a specific embodiment, the fitting module 403 is specifically used to select any target point cloud from the target point cloud set as the seed point cloud; based on the seed point cloud, the following second processing process is performed: centering on the seed point cloud Obtaining a second preset number of target point clouds in the adjacent area; extracting a valid target point cloud from the second preset number of target point clouds based on the normal vector; determining at least one new seed from the valid target point cloud based on the curvature Point cloud: Repeat the second processing procedure until each target point cloud in the target point cloud set is judged to be extracted as the effective target point cloud; carry out plane fitting to the effective target point cloud obtained by performing the second processing procedure each time Operation to get the point cloud plane.
一个具体实施例中,拟合模块403,具体用于计算种子点云对应的法向量分别与第二预设数量中的每个目标点云的法向量的夹角;将夹角小于预设夹角时对应的目标点云,作为有效目标点云;将有效目标点云中的目标点云的曲率小于预设曲率时,对应的目标点云作为新的种子点云。In a specific embodiment, the fitting module 403 is specifically used to calculate the angle between the normal vector corresponding to the seed point cloud and the normal vector of each target point cloud in the second preset number; make the angle smaller than the preset angle The target point cloud corresponding to the angle is used as the effective target point cloud; when the curvature of the target point cloud in the effective target point cloud is less than the preset curvature, the corresponding target point cloud is used as the new seed point cloud.
一个具体实施例中,检测模块405,具体用于检测渲染结果中是否包括未被渲染的区域;当确定包括未被渲染的区域时,确定未被渲染的区域对应的作业区域的平整度不合格。In a specific embodiment, the detection module 405 is specifically configured to detect whether an unrendered area is included in the rendering result; when it is determined that an unrendered area is included, it is determined that the flatness of the job area corresponding to the unrendered area is unqualified .
一个具体实施例中,获取模块401,还用于获取检测单元得到的原始点云集和原始图像;获取预先设定的作业区域的范围;基于作业区域的范围,从原始点云集中提取目标点云集,以及从原始图像中提取目标图像。In a specific embodiment, the acquisition module 401 is also used to acquire the original point cloud set and the original image obtained by the detection unit; acquire the scope of the preset work area; based on the scope of the work area, extract the target point cloud set from the original point cloud set , and extract the target image from the original image.
图5示例了一种电子设备的实体结构示意图,如图5所示,该电子设备 可以包括:处理器(processor)501、通信接口(Communications Interface)502、存储器(memory)503和通信总线504,其中,处理器501,通信接口502,存储器503通过通信总线504完成相互间的通信。处理器501可以调用存储器503中的逻辑指令,以执行作业区域平整度的检测方法,该方法包括:获取作业区域对应的目标点云集和目标图像;确定目标点云集中每个目标点云对应的判定参数,判定参数用于指示作业区域的平整度;基于判定参数,对目标点云进行平面拟合操作,得到点云平面;基于目标图像和预设定的转换关系,渲染点云平面中的目标点云,得到渲染结果,转换关系为目标点云和目标图像之间的对应关系;基于渲染结果,检测作业区域的平整度。Figure 5 illustrates a schematic diagram of the physical structure of an electronic device, as shown in Figure 5, the electronic device may include: a processor (processor) 501, a communication interface (Communications Interface) 502, a memory (memory) 503 and a communication bus 504, Wherein, the processor 501 , the communication interface 502 , and the memory 503 communicate with each other through the communication bus 504 . The processor 501 can call the logic instructions in the memory 503 to execute the method for detecting the flatness of the work area, the method includes: acquiring the target point cloud set and the target image corresponding to the work area; determining the target point cloud corresponding to each target point cloud in the target point cloud set Judgment parameters, the judgment parameters are used to indicate the flatness of the work area; based on the judgment parameters, the plane fitting operation is performed on the target point cloud to obtain the point cloud plane; based on the target image and the preset conversion relationship, the points in the point cloud plane are rendered The target point cloud obtains the rendering result, and the conversion relationship is the corresponding relationship between the target point cloud and the target image; based on the rendering result, the flatness of the work area is detected.
此外,上述的存储器503中的逻辑指令可以通过软件功能单元的形式实现并作为独立的产品销售或使用时,可以存储在一个计算机可读取存储介质中。基于这样的理解,本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来,该计算机软件产品存储在一个存储介质中,包括若干指令用以使得一台计算机设备(可以是个人计算机,服务器,或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括:U盘、移动硬盘、只读存储器(ROM,Read-Only Memory)、随机存取存储器(RAM,Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。In addition, the above logic instructions in the memory 503 may be implemented in the form of software function units and when sold or used as an independent product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including Several instructions are used to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc., which can store program codes. .
另一方面,本申请还提供一种计算机程序产品,所述计算机程序产品包括存储在非暂态计算机可读存储介质上的计算机程序,所述计算机程序包括程序指令,当所述程序指令被计算机执行时,计算机能够执行上述各方法所提供的作业区域平整度的检测方法,该方法包括:获取作业区域对应的目标点云集和目标图像;确定目标点云集中每个目标点云对应的判定参数,判定参数用于指示作业区域的平整度;基于判定参数,对目标点云进行平面拟合操作,得到点云平面;基于目标图像和预设定的转换关系,渲染点云平面中的目标点云,得到渲染结果,转换关系为目标点云和目标图像之间的对应关系;基于渲染结果,检测作业区域的平整度。On the other hand, the present application also provides a computer program product, the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, and when the program instructions are executed by a computer During execution, the computer can execute the detection method for the flatness of the work area provided by the above methods, the method includes: obtaining the target point cloud set and the target image corresponding to the work area; determining the determination parameters corresponding to each target point cloud in the target point cloud set , the judgment parameter is used to indicate the flatness of the work area; based on the judgment parameter, the plane fitting operation is performed on the target point cloud to obtain the point cloud plane; based on the target image and the preset conversion relationship, the target point in the point cloud plane is rendered Cloud, get the rendering result, and convert the relationship into the corresponding relationship between the target point cloud and the target image; based on the rendering result, detect the flatness of the work area.
又一方面,本申请还提供一种非暂态计算机可读存储介质,其上存储有计算机程序,该计算机程序被处理器执行时实现以执行上述各提供的作业区域平整度的检测方法,该方法包括:获取作业区域对应的目标点云集和目标 图像;确定目标点云集中每个目标点云对应的判定参数,判定参数用于指示作业区域的平整度;基于判定参数,对目标点云进行平面拟合操作,得到点云平面;基于目标图像和预设定的转换关系,渲染点云平面中的目标点云,得到渲染结果,转换关系为目标点云和目标图像之间的对应关系;基于渲染结果,检测作业区域的平整度。In yet another aspect, the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it is implemented to perform the detection methods for the flatness of the work area provided by each of the above, the The method includes: obtaining the target point cloud set and the target image corresponding to the operation area; determining the determination parameters corresponding to each target point cloud in the target point cloud set, and the determination parameters are used to indicate the flatness of the operation area; based on the determination parameters, the target point cloud is The plane fitting operation obtains the point cloud plane; based on the target image and the preset conversion relationship, the target point cloud in the point cloud plane is rendered to obtain the rendering result, and the conversion relationship is the corresponding relationship between the target point cloud and the target image; Based on the rendering results, the flatness of the working area is detected.
以上所描述的装置实施例仅仅是示意性的,其中所述作为分离部件说明的单元可以是或者也可以不是物理上分开的,作为单元显示的部件可以是或者也可以不是物理单元,即可以位于一个地方,或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部模块来实现本实施例方案的目的。本领域普通技术人员在不付出创造性的劳动的情况下,即可以理解并实施。The device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. It can be understood and implemented by those skilled in the art without any creative efforts.
通过以上的实施方式的描述,本领域的技术人员可以清楚地了解到各实施方式可借助软件加必需的通用硬件平台的方式来实现,当然也可以通过硬件。基于这样的理解,上述技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来,该计算机软件产品可以存储在计算机可读存储介质中,如ROM/RAM、磁碟、光盘等,包括若干指令用以使得一台计算机设备(可以是个人计算机,服务器,或者网络设备等)执行各个实施例或者实施例的某些部分所述的方法。Through the above description of the implementations, those skilled in the art can clearly understand that each implementation can be implemented by means of software plus a necessary general hardware platform, and of course also by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic discs, optical discs, etc., including several instructions to make a computer device (which may be a personal computer, server, or network device, etc.) execute the methods described in various embodiments or some parts of the embodiments.
最后应说明的是:以上实施例仅用以说明本申请的技术方案,而非对其限制;尽管参照前述实施例对本申请进行了详细的说明,本领域的普通技术人员应当理解:其依然可以对前述各实施例所记载的技术方案进行修改,或者对其中部分技术特征进行等同替换;而这些修改或者替换,并不使相应技术方案的本质脱离本申请各实施例技术方案的精神和范围。Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than limiting them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims (10)

  1. 一种作业区域平整度的检测方法,其特征在于,包括:A method for detecting the flatness of a working area, comprising:
    获取作业区域对应的目标点云集和目标图像;Obtain the target point cloud and target image corresponding to the operation area;
    确定所述目标点云集中每个目标点云对应的判定参数,所述判定参数用于指示所述作业区域的平整度;determining a determination parameter corresponding to each target point cloud in the target point cloud set, where the determination parameter is used to indicate the flatness of the operation area;
    基于所述判定参数,对所述目标点云进行平面拟合操作,得到点云平面;Based on the determination parameters, perform a plane fitting operation on the target point cloud to obtain a point cloud plane;
    基于所述目标图像和预设定的转换关系,渲染所述点云平面中的目标点云,得到渲染结果,所述转换关系为所述目标点云和所述目标图像之间的对应关系;Rendering the target point cloud in the point cloud plane based on the target image and a preset conversion relationship to obtain a rendering result, the conversion relationship being a corresponding relationship between the target point cloud and the target image;
    基于所述渲染结果,检测所述作业区域的平整度。Based on the rendering result, the flatness of the working area is detected.
  2. 根据权利要求1所述的作业区域平整度的检测方法,其特征在于,所述判定参数包括:法向量和曲率;The method for detecting the flatness of the work area according to claim 1, wherein the determination parameters include: a normal vector and a curvature;
    所述确定所述目标点云集中每个目标点云对应的判定参数,包括:The determination of the determination parameters corresponding to each target point cloud in the target point cloud set includes:
    对所述每个目标点云执行以下第一处理过程:Perform the following first processing procedure on each target point cloud:
    以所述目标点云为中心向邻近区域获取第一预设数量的目标点云,得到局部点云平面;基于所述局部点云平面,计算所述目标点云对应的法向量和曲率。Taking the target point cloud as the center to acquire a first preset number of target point clouds from adjacent areas to obtain a local point cloud plane; based on the local point cloud plane, calculate the normal vector and curvature corresponding to the target point cloud.
  3. 根据权利要求2所述的作业区域平整度的检测方法,其特征在于,所述基于所述判定参数,对所述目标点云进行平面拟合操作,得到点云平面,包括:The method for detecting the flatness of an operation area according to claim 2, wherein, based on the determination parameters, performing a plane fitting operation on the target point cloud to obtain a point cloud plane includes:
    从所述目标点云集中选择任一个所述目标点云,作为种子点云;Select any one of the target point clouds from the set of target point clouds as a seed point cloud;
    基于所述种子点云,执行以下第二处理过程:Based on the seed point cloud, the following second processing procedure is performed:
    以所述种子点云为中心向邻近区域获取第二预设数量的目标点云;基于所述法向量,从所述第二预设数量的目标点云中提取有效目标点云;基于所述曲率,从所述有效目标点云中,确定至少一个新的种子点云;Taking the seed point cloud as the center to obtain a second preset number of target point clouds from adjacent areas; based on the normal vector, extracting an effective target point cloud from the second preset number of target point clouds; based on the curvature, determining at least one new seed point cloud from said valid target point cloud;
    重复执行所述第二处理过程,直至所述目标点云集中所述每个目标点云被判断是否提取为所述有效目标点云;Repeating the second processing procedure until it is judged whether each target point cloud in the target point cloud set is extracted as the valid target point cloud;
    将每次执行所述第二处理过程得到的所述有效目标点云进行平面拟合操作,得到所述点云平面。Perform a plane fitting operation on the valid target point cloud obtained by executing the second processing each time to obtain the point cloud plane.
  4. 根据权利要求3所述的作业区域平整度的检测方法,其特征在于,所 述基于所述法向量,从所述第二预设数量的目标点云中提取有效目标点云,包括:The detection method of the flatness of the work area according to claim 3, wherein, based on the normal vector, extracting an effective target point cloud from the target point cloud of the second preset quantity comprises:
    计算所述种子点云对应的法向量分别与所述第二预设数量中的每个目标点云的法向量的夹角;Calculate the included angle between the normal vector corresponding to the seed point cloud and the normal vector of each target point cloud in the second preset quantity;
    将所述夹角小于预设夹角时对应的目标点云,作为所述有效目标点云;Using the corresponding target point cloud when the included angle is smaller than the preset included angle as the effective target point cloud;
    所述基于所述曲率,从所述有效目标点云中,确定至少一个新的种子点云,包括:The determining at least one new seed point cloud from the valid target point cloud based on the curvature includes:
    将所述有效目标点云中的目标点云的曲率小于预设曲率时,对应的目标点云作为所述新的种子点云。When the curvature of the target point cloud in the effective target point cloud is smaller than the preset curvature, the corresponding target point cloud is used as the new seed point cloud.
  5. 根据权利要求1-4任一项所述的作业区域平整度的检测方法,其特征在于,所述基于所述渲染结果,检测所述作业区域的平整度,包括:The method for detecting the flatness of the work area according to any one of claims 1-4, wherein the detection of the flatness of the work area based on the rendering result includes:
    检测所述渲染结果中是否包括未被渲染的区域;Detect whether the rendering result includes an unrendered area;
    当确定包括所述未被渲染的区域时,确定所述未被渲染的区域对应的作业区域的平整度不合格。When it is determined that the unrendered area is included, it is determined that the flatness of the working area corresponding to the unrendered area is unqualified.
  6. 根据权利要求1-4任一项所述的作业区域平整度的检测方法,其特征在于,所述获取作业区域对应的目标点云集和目标图像之前,还包括:According to the detection method of the flatness of the work area according to any one of claims 1-4, it is characterized in that before the acquisition of the target point cloud corresponding to the work area and the target image, it also includes:
    获取检测单元得到的原始点云集和原始图像;Obtain the original point cloud set and original image obtained by the detection unit;
    获取预先设定的所述作业区域的范围;Obtaining the preset scope of the operation area;
    基于所述作业区域的范围,从所述原始点云集中提取所述目标点云集,以及从所述原始图像中提取所述目标图像。The target point cloud set is extracted from the original point cloud set, and the target image is extracted from the original image based on the range of the working area.
  7. 一种作业区域平整度的检测装置,其特征在于,包括:A detection device for the flatness of a working area, characterized in that it comprises:
    获取模块,用于获取作业区域对应的目标点云集和目标图像;An acquisition module, configured to acquire target point cloud sets and target images corresponding to the operation area;
    确定模块,用于确定所述目标点云集中每个目标点云对应的判定参数,所述判定参数用于指示所述作业区域的平整度;A determination module, configured to determine a determination parameter corresponding to each target point cloud in the target point cloud set, where the determination parameter is used to indicate the flatness of the working area;
    拟合模块,用于基于所述判定参数,对所述目标点云进行平面拟合操作,得到点云平面;A fitting module, configured to perform a plane fitting operation on the target point cloud based on the determination parameters to obtain a point cloud plane;
    渲染模块,用于基于所述目标图像和预设定的转换关系,渲染所述点云平面中的目标点云,得到渲染结果,所述转换关系为所述目标点云和所述目标图像之间的对应关系;A rendering module, configured to render the target point cloud in the point cloud plane based on the target image and a preset conversion relationship to obtain a rendering result, the conversion relationship being between the target point cloud and the target image Correspondence between;
    检测模块,用于基于所述渲染结果,检测所述作业区域的平整度。A detection module, configured to detect the flatness of the operation area based on the rendering result.
  8. 一种电子设备,包括存储器、处理器及存储在所述存储器上并可在所述处理器上运行的计算机程序,其特征在于,所述处理器执行所述程序时实现如权利要求1至6任一项所述作业区域平整度的检测方法的步骤。An electronic device, comprising a memory, a processor, and a computer program stored on the memory and operable on the processor, wherein the processor implements the program according to claims 1 to 6 when executing the program. The step of any one of the methods for detecting the flatness of the work area.
  9. 一种非暂态计算机可读存储介质,其上存储有计算机程序,其特征在于,所述计算机程序被处理器执行时实现如权利要求1至6任一项所述作业区域平整度的检测方法的步骤。A non-transitory computer-readable storage medium, on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the method for detecting the flatness of the work area according to any one of claims 1 to 6 is implemented A step of.
  10. 一种计算机程序产品,包括计算机程序,其特征在于,所述计算机程序被处理器执行时实现如权利要求1-6任一项所述作业区域平整度的检测方法的步骤。A computer program product, comprising a computer program, characterized in that, when the computer program is executed by a processor, the steps of the method for detecting the flatness of the work area according to any one of claims 1-6 are realized.
PCT/CN2022/073796 2021-09-27 2022-01-25 Method and apparatus for detecting flatness of working area, device, medium and product WO2023045195A1 (en)

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