CN104503339A - Multi-resolution indoor three-dimensional scene reconstitution device and method based on laser radar and quadrotor - Google Patents
Multi-resolution indoor three-dimensional scene reconstitution device and method based on laser radar and quadrotor Download PDFInfo
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
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Abstract
Provided is a multi-resolution indoor three-dimensional scene reconstitution device based on laser radar and quadrotor and a method thereof, relating to the technology of multi-resolution indoor three-dimensional scene reconstitution based on laser radar and quadrotor. The purpose of the invention is to solve the problem that mobile robot cannot access to a complex indoor environment, thus being not able to reconstitute the indoor three-dimensional scene; and the problem that the resolution of the conventional indoor environment three-dimensional reconstitution method is single. The invention purposely combines the laser radar scanning technology with the quadrotor, takes advantages of both the laser radar and the quadrotor, and concurrently breaks through the difficulty that the complexity of an unknown indoor ground environment makes a common ground robot be not able to access. The resolution of the indoor three-dimensional reconstitution can be increased by combining the laser radar scanning technology with the flexible movement characteristic of the quadrotor, i.e., details and outline information of the indoor three-dimensional environment can be synchronously obtained. The multi-resolution indoor three-dimensional scene reconstitution device and method based on laser radar and quadrotor are applicable to various occasions, including traffic, disaster relief, exploration, and the like.
Description
Technical field
The present invention relates to the indoor three-dimensional scenic reconfiguration technique of many resolutions based on laser radar and four-axle aircraft.
Background technology
Three-dimensional information compares the understanding custom meeting human eye, becomes multi-field study hotspot gradually.Three Dimensional Reconfiguration refers to the objective three-dimensional scenic of reality digitized processing in a computer, and then true reappearance in a computer, not only scene information accurately can be provided for robot and the mankind by Three Dimensional Reconfiguration, but also three-dimensionalreconstruction may be used for scene cognition or identification, so will become the basis of future scenarios aware application.The three-dimensional information of indoor environment is the prerequisite of the safe and reliable operation of indoor mobile robot, the environmental information residing for the clearer understanding of robot self can be helped and realize and environmental interaction, make corresponding operation, so accurate indoor three-dimensional scene information is at field important roles such as public service, rescue, military surveillances.
Three-dimensional scenic reconstructing method roughly can be divided into structure based light and view-based access control model two kinds.View-based access control model method obtains scene information, owing to lacking real space length information, can not react three dimensions really.Mainly structure based light obtains the three-dimensional information of scene, as laser radar at present.Laser radar provides realization means for obtaining space three-dimensional information, it adopts the method for contactless Active measuring directly to obtain the three-dimensional information of multiple precision, not only to light without any restriction, and can scan arbitrary objects and scene, accurately and fast by reality scene digitizing, the information after digitizing is supplied to computing machine to process.
Three-dimensional scenic reconfiguration device mainly contains stationary platform and two kinds, ground mobile robot platform, three-dimensional scenic reconfiguration device based on stationary platform relatively-stationary object of can adjusting the distance carries out three-dimensionalreconstruction, because it cannot move, three-dimensional scenic is caused to reconstruct resolution single; Ground mobile robot can be convenient, flexible on ground movement, for entering indoor environment, the reconstruct of the indoor three-dimensional scenic differentiated can be carried out more, but for the unknown indoor environment of complexity, such as indoor environmental pollution, fire or have military threat etc., this ground mobile robot cannot play a role.
Mainly there is following problem in domestic and international indoor three-dimensional scenic reconfiguration technique.
1, the Theories and methods of the three-dimensionalreconstruction of home and abroad is mainly based on stationary platform and movable machine people platform, because ground mobile robot cannot enter complicated unknown indoor environment, therefore does not carry out indoor three-dimensional scene information reconstruction by above platform;
2, the Theories and methods of the three-dimensional modeling of home and abroad causes the resolution of three-dimensional reconstruction single due to the feature of himself platform, can not rebuild from the angle of details and the many resolutions of profile to indoor three-dimensional scenic.
Summary of the invention
The present invention cannot enter to solve complex indoor environment mobile robot, and then the problem can not rebuild indoor three-dimensional scenic, and the problem that conventional chambers surrounding three-dimensional method for reconstructing resolution is single, thus provide a kind of indoor three-dimensional scenic reconfiguration device of many resolutions based on laser radar and four-axle aircraft and method.
Based on the indoor three-dimensional scenic reconfiguration device of many resolutions of laser radar and four-axle aircraft, it comprises four-axle aircraft and mounting platform, and described four-axle aircraft comprises main body 1, four groups of screw propellers and motor protecting cover 2, four groups of direct current generators 3, four groups of screw propellers 4 and four groups of sway braces 5;
Described four groups of screw propellers and motor protecting cover 2 are connected with main body 1 respectively by four sway braces 5, described four groups of direct current generators 3 are connected with four groups of screw propellers 4 respectively by motor shaft, the stator of four groups of direct current generators 3 is fixed on sway brace 5, described four sway braces 5 form " ten " font decussate texture, angle between adjacent two sway braces is 90 degree, and four angles of described main body 1 have four screws 6; The center of main body 1 also has a through hole 7, for circuit component cabling between mounting platform different layers;
Mounting platform is divided into two-layer according to order from bottom to top, that is: ground floor and the second layer, and this two-layer mounting platform is connected to one by the screw bolt of four on main body 1;
Be provided with onboard flight in the ground floor of mounting platform to control and sensor information collecting unit, described onboard flight controls and sensor information collecting unit is powered by high-capacity lithium battery, and described onboard flight controls and sensor information collecting unit comprises ARM master control borad 8, electricity adjusts circuit 9, accelerometer 10, gyroscope 11, laser circuit 12, camera circuitry 13, wireless transmit/receive units 14 and steering wheel circuit 15;
The acceleration signal input end of ARM master control borad 8 is connected with the acceleration signal output terminal of accelerometer 10; The gyroscope signal input end of ARM master control borad 8 is connected with the gyroscope signal output terminal of gyroscope 11; Described ARM master control borad 8 is for obtaining four-axle aircraft current pose information according to this acceleration signal and gyroscope signal;
Four speed controling signal output terminals of ARM master control borad 8 adjust circuit 9 to be connected with the speed controling signal input end of four direct current generators 3 respectively by four electricity;
The laser control signal output terminal of ARM master control borad 8 is connected with the control signal input end of laser circuit 12; Described ARM master control borad 8 sends linear laser for the laser instrument 20 being controlled the mounting platform second layer by laser circuit 12;
The picture signal input end of ARM master control borad 8 is connected with the image signal output end of camera circuitry 13, described ARM master control borad 8 for obtain camera acquisition to linear laser be radiated on indoor object and reflect formed image;
The servos control signal output part of ARM master control borad 8 is connected with the control signal input end of steering wheel circuit 15, and described ARM master control borad 8 rotates for controlling steering wheel;
Steering wheel 18, laser instrument 20, fixed head 21, video camera 22, steering wheel rotating disc 23 and steering wheel axle 24 is provided with in the second layer of mounting platform;
Main body 1 has the screw 25 for fixed host computer body and steering wheel; Described main body 1 is fixedly connected with by screw 25 with steering wheel 18; Steering wheel 18 is fixedly connected with steering wheel rotating disc 23 by steering wheel axle 24; Steering wheel rotating disc 23 has screw 19, steering wheel rotating disc 23 is connected with bottom fixed head 21 by screw 19; On fixed head 21, the left and right sides has two circular ports, is respectively used to fixed laser 20 and video camera 22.
It also comprises terrestrial contr, and described terrestrial contr comprises wireless transmitting-receiving equipments 16 and controls microcomputer 17, and described control microcomputer 17 carries out data interaction by wireless transmitting-receiving equipments 16 and wireless transmit/receive units 14 with ARM master control borad 8.
The camera lens of video camera 22 is equipped with optical filter.
The indoor three-dimensional scenic reconstructing method of many resolutions based on said apparatus, it realizes due to following steps:
Step one, ground controls microcomputer 17 wirelessly to four-axle aircraft sending controling instruction, control four-axle aircraft in the attitude of indoor flight and position, after four-axle aircraft receives instruction, angular velocity and the acceleration information of three axis of four-axle aircraft is obtained by gyroscope 11 and accelerometer 10, and send these information to ARM master control borad 8, ARM master control borad 8 calculates the current pose of four-axle aircraft according to the angular velocity of three of described four-axle aircraft axis and acceleration information, and calculate current pose, the attitude of position and required control, error between position, then circuit 9 is adjusted to drive four direct current generators 3 by four electricity, with by four-axle aircraft flight attitude and position control to steady state (SS),
Step 2, after the attitude of four-axle aircraft and position reach steady state (SS), ARM master control borad 8 sends instruction by laser circuit 12 to laser instrument 20, make laser instrument 12 send linear laser, then ARM master control borad 8 is radiated on indoor object by the linear laser that camera circuitry 13 acquisition camera 22 collects and reflects formed image;
Step 3, ARM master control borad 8 send ground to by the image that step 2 collects by wireless transceiver circuit 14 and control microcomputer 17;
Step 4, control microcomputer 17 resolve the image received, and calculate the actual range of the object distance four-axle aircraft that linear laser scans;
Step 5, ARM master control borad 8 send instruction by steering wheel circuit 15 to steering wheel 18, steering wheel 18 is rotated by fixing stepping angle, after often rotating to a new angle, repeat step two, step 3 and step 4, when after control steering wheel rotating 360 degrees, obtain the reconfiguration information of complete indoor three-dimensional scenic;
Step 6, ground control microcomputer 17 wirelessly to four-axle aircraft sending controling instruction, and the height of adjustment four-axle aircraft in indoor and position, repeat step one to step 5, realize the indoor three-dimensional scenic reconstruct of differentiating more.
The feature of Laser Radar Scanning technology and four-axle aircraft movement flexibly combines by the present invention, and carry out indoor three-dimensional scenic reconstruct, the effect brought has:
1, overcoming unknown indoor environment complexity makes common ground robot enter, and then can not carry out the problem of indoor three-dimensional scenic reconstruct;
2, combined with Laser Radar Scanning technology by the feature of four-axle aircraft movement flexibly, solve the problem that conventional chambers three-dimensionalreconstruction resolution is single;
3, adopt Laser Radar Scanning technology reengineering three-dimensional scenic, solve view-based access control model method acquisition scene information and lack real space length information, can not truly reflect three-dimensional problem;
4, by the flexible movement of four-axle aircraft, in conjunction with three-dimensional laser scanning technique, can be reconstructed indoor three dimensions from different distance, different angles, the problem that conventional reconstruction methods cannot obtain indoor scene detailed information and profile information simultaneously can be solved.
Accompanying drawing explanation
Fig. 1 is four-axle aircraft structural representation;
Fig. 2 is four-axle aircraft main body ground floor structural representation;
Fig. 3 is that onboard flight controls and sensor information collecting unit connection diagram;
Fig. 4 is wireless communication configuration schematic diagram;
Fig. 5 is four-axle aircraft main body second layer structural representation;
Fig. 6 is single point laser range measurement principle schematic diagram;
Fig. 7 is the distance problem abstract schematic of laser lines hot spot each point on parallel plane;
Fig. 8 is 3D range measurement principle schematic diagram;
Embodiment
Embodiment one, as shown in Figure 1; the indoor three-dimensional scenic reconfiguration device of many resolutions based on laser radar and four-axle aircraft of the present invention comprises four-axle aircraft, and the through hole 7 that described four-axle aircraft comprises on main body 1, four groups of screw propellers and motor protecting cover 2, four groups of direct current generators 3, four groups of screw propellers 4, four groups of sway braces 5, four screws 6 of main body symmetry and main body is formed.Described four groups of protective covers 2 are connected with main body 1 by respective support arm 5; described four groups of direct current generators 3 are connected with corresponding four groups of screw propellers 4 by motor shaft; four groups of direct current generators 3 are connected with sway brace 5; described four sway braces 5 are in right-angled intersection; adjacent two sway brace angles are 90 degree, described main body 1 also comprise four symmetrical screws 6, for being connected and fixed with mounting platform; main body 1 center also includes a through hole 7, for circuit component cabling between mounting platform different layers.
In present embodiment, described main body 1 is also provided with mounting platform, and this mounting platform is two-layer altogether according to order from bottom to top, and this two-layer mounting platform is fixedly connected with by the symmetrical screw bolt of four on main body.
As shown in Fig. 2, Fig. 3 and Fig. 5, the ground floor of mounting platform also comprises onboard flight and controls and sensor information collecting unit, and this airborne control module comprises ARM master control borad 8, electricity adjusts circuit 9, accelerometer 10, gyroscope 11, laser circuit 12, camera circuitry 13, wireless receiving and dispatching 14 and steering wheel circuit 15 to form.Wherein ARM master control borad 8 is connected with accelerometer 10 and gyroscope 11, for obtaining four-axle aircraft current pose information; ARM master control borad 8 also adjusts circuit 9 to be connected with four electricity, and controls four brushless motor speeds increases or reduce, and reaches the object of organism balance; The laser instrument 20 be connected for controlling the mounting platform second layer sends linear laser to ARM master control borad 8 with laser circuit 12; ARM master control borad 8 be connected with camera circuitry 13 for obtain camera acquisition to linear laser be radiated on indoor object and reflect formed image; ARM master control borad 8 is connected with steering wheel circuit 15 and rotates for controlling steering wheel, can obtain the image information in indoor 360 degree of spaces like this.
Screw 19, laser instrument 20, fixed head 21, video camera 22, steering wheel rotating disc 23, steering wheel axle 24 and the screw 25 for fixed host computer body and steering wheel that the second layer of mounting platform also comprises on steering wheel 18, steering wheel rotating disc are formed.Main body 1 is fixedly connected with by screw 25 with steering wheel 18; Steering wheel 18 is fixedly connected with steering wheel rotating disc 23 by steering wheel axle 24; Steering wheel rotating disc 23 is connected with bottom fixed head 21 by the screw 19 on steering wheel rotating disc; On fixed head 21, there are two circular ports the left and right sides, is respectively used to fixed laser 20 and video camera 22.
Onboard flight controls and sensor information collecting unit is powered by high-capacity lithium battery.
As shown in Figure 4, to control and sensor information collecting unit coordinates also has terrestrial contr with onboard flight, this terrestrial contr is by wireless receiving and dispatching 16 and control microcomputer 17 and form.Ground controls microcomputer 17 by wireless transceiver circuit 16 to four-axle aircraft sending controling instruction, ARM master control borad 8, ARM master control borad 8 can be sent after the wireless transceiver circuit 14 of airborne control module receives instruction to can control motor according to instruction and rotate the object controlled to reach flight attitude.ARM master control borad 8 also can send the image collected to ground by wireless transceiver circuit 14 and control microcomputer 17, controls microcomputer and resolves the image received, calculate the actual range of the object distance four-axle aircraft that linear laser scans.
Video camera 22 is also equipped with optical filter, enters for the light retaining laser emission wavelength, avoids light to disturb, and reduces the calculated amount that follow-up ground controls microcomputer, improves real-time.
Four-axle aircraft has the flying quality of similar helicopter, can aloft hover, and has the features such as physical construction is simple, with low cost, easy maintenance, flight noise are little simultaneously.It can according to actual conditions, and self attitude of adjustment, keeps organism balance, and can receive user instruction in real time, realize requiring action.Four-axle aircraft can be applicable to traffic, the disaster relief, a lot of occasion such as detection.
Laser Radar Scanning technology and four-axle aircraft combine by the present invention targetedly, display one's respective advantages, and break through unknown flooring circumstance complication simultaneously and make the unapproachable difficult problem of common ground robot.The feature of Laser Radar Scanning technology and four-axle aircraft movement is flexibly combined, the resolution of indoor three-dimensional reconstruction can be improved, namely obtain details and the profile information of indoor three-dimensional environment simultaneously.
Embodiment two, the indoor three-dimensional scenic reconstructing method of many resolutions based on laser radar and four-axle aircraft, concrete steps are:
Step one, ground controls microcomputer 17 wirelessly to four-axle aircraft sending controling instruction, control four-axle aircraft in the attitude of indoor flight and position, after four-axle aircraft receives instruction, angular velocity and the acceleration information of three axis of four-axle aircraft is obtained by gyroscope 11 and accelerometer 10, and send these information to ARM master control borad 8, ARM master control borad 8 calculates the current pose of four-axle aircraft according to these information, and calculate current pose, the attitude of position and required control, error between position, then circuit 9 is adjusted to drive four direct current generators 3 by four electricity, to reach the object of four-axle aircraft flight attitude and position control.
Step 2, when after four-axle aircraft oneself attitude and position stability, ARM master control borad 8 can send instruction by laser circuit 12 to laser instrument 20, make laser instrument 12 send linear laser, then ARM master control borad 8 is radiated on indoor object by the linear laser that camera circuitry 13 acquisition camera 22 collects and reflects formed image.
Step 3, ARM master control borad 8 send ground to by the image that step 2 collects by wireless transceiver circuit 14 and control microcomputer 17.
Step 4, control microcomputer 17 resolve the image received, and calculate the actual range of the object distance four-axle aircraft that linear laser scans.
Step 5, ARM master control borad 8 send instruction by steering wheel circuit 15 to steering wheel 18, steering wheel 18 is rotated by fixing stepping angle, after often rotating to a new angle, repeat step two, step 3 and step 4, after control steering wheel rotates a circle, finally just can obtain the reconfiguration information of complete indoor three-dimensional scenic.
Step 6, ground control microcomputer 17 wirelessly to four-axle aircraft sending controling instruction, and the height of adjustment four-axle aircraft in indoor and position, repeat step one to step 5, reach the object of the indoor three-dimensional scenic reconstruct of differentiating with this more.
Below in conjunction with Fig. 6, Fig. 7 and Fig. 8, the actual range resolving the object distance four-axle aircraft that linear laser scans in step 4 is further described, is specially:
Fig. 6 is single point laser range measurement principle figure, figure middle conductor s is the plane of fixed cameras and laser instrument, video camera imaging plane is parallel with this fixed pan, and the ray that laser instrument sends and this plane included angle are β, d is the distance of object and the laser instrument that will measure, f is the focal length of video camera, q is the vertical range of object to fixed pan, x is the distance that be imaged onto a side of laser spot on video camera photo-sensitive cell on object under test, then the distance of object distance laser instrument can be tried to achieve by following formula:
q＝f*s/x (1)
d＝q/sin(β) (2)
For solving of variable x, suppose that in image, the pixel coordinate of laser spot is (px, py), obtain the x in formula, by the coordinate transform of pixel unit to actual distance value, conveniently will calculate, camera views coordinate axis can be made when mounted parallel with above-mentioned line segment x, so just only need obtain actual projector distance x by the parameter of in luminous point pixel coordinate (px or py), only use px here, variable x can be obtained by following formula:
x＝PixelSize*px+offset (3)
Wherein PixelSize is the size of single pixel photosite on video camera photo-sensitive cell, and offset is the deviation of projector distance and the actual projector distance calculated by pixel.
The formula obtaining distance d by above analysis is as follows:
d＝f*s/(PixelSize*px+offset)/sin(β) (4)
The problem of carrying out finding range for linear laser can be converted into the single-point range finding problem shown in Fig. 6.In order to simplify problem, first consider the distance problem for laser facula each point in a plane parallel with video camera light-sensitive surface.
As shown in Figure 7, far surface is target plane to be measured, has the laser facula of a purple above.Plane is nearby the photosensitive imaging plane of video camera, after turnover, can be regarded as a cross section of the icicle that objective plane forms to camera imaging central point.In figure, P1 point is positioned at the mid point of video camera projected picture height, this on picture projection P 1' distance video camera center distance be the focal distance f of video camera.Therefore directly can bring formula (4) into for P1 and obtain actual range.Extra parameter is related to for the solving of some P2 on other height.
As shown in Figure 8, if the subpoint P2' of P2 is f' to video camera centre distance, then P2 to baseline vertical line distance d' can be obtained by following formula:
d'＝f'*baseline/x (5)
And f' can be obtained by f, formula is as follows:
f'＝f/cos(arctan((P2'.y-P1'.y)/f)) (6)
P2'.y and P1'.y is wherein the true altitude of P2' and P1' on image-forming component respectively, can be multiplied by pixels tall and obtains by putting separately pixel coordinate py.
After having obtained vertical line distance d', actual range D can be obtained by angle theta.After the coordinate having obtained laser facula arbitrfary point on parallel plane, can by problem vague generalization, for any laser projection point of 3d space, can first construct this point coordinate a parallel plane, then utilize above-mentioned Algorithm for Solving.
Object unknown complex indoor being differentiated more to three-dimensional reconstruction is reached finally by the rotation of steering wheel and the flexible movement of four-axle aircraft.
Claims (4)
1. based on the indoor three-dimensional scenic reconfiguration device of many resolutions of laser radar and four-axle aircraft, it is characterized in that: it comprises four-axle aircraft and mounting platform, described four-axle aircraft comprises main body (1), four groups of screw propellers and motor protecting cover (2), four groups of direct current generators (3), four groups of screw propellers (4) and four groups of sway braces (5);
Described four groups of screw propellers and motor protecting cover (2) are connected with main body (1) respectively by four sway braces (5), described four groups of direct current generators (3) are connected with four groups of screw propellers (4) respectively by motor shaft, the stator of four groups of direct current generators (3) is fixed on sway brace (5), described four sway braces (5) composition " ten " font decussate texture, angle between adjacent two sway braces is 90 degree, four angles of described main body (1) has four screws (6); The center of main body (1) also has a through hole (7), for circuit component cabling between mounting platform different layers;
Mounting platform is divided into two-layer according to order from bottom to top, that is: ground floor and the second layer, and this two-layer mounting platform is connected to one by four screw bolts on main body (1);
Be provided with onboard flight in the ground floor of mounting platform to control and sensor information collecting unit, described onboard flight controls and sensor information collecting unit is powered by high-capacity lithium battery, and described onboard flight controls and sensor information collecting unit comprises ARM master control borad (8), electricity adjusts circuit (9), accelerometer (10), gyroscope (11), laser circuit (12), camera circuitry (13), wireless transmit/receive units (14) and steering wheel circuit (15);
The acceleration signal input end of ARM master control borad (8) is connected with the acceleration signal output terminal of accelerometer (10); The gyroscope signal input end of ARM master control borad (8) is connected with the gyroscope signal output terminal of gyroscope (11); Described ARM master control borad (8) is for obtaining four-axle aircraft current pose information according to this acceleration signal and gyroscope signal;
Four speed controling signal output terminals of ARM master control borad (8) adjust circuit (9) to be connected with the speed controling signal input end of four direct current generators (3) respectively by four electricity;
The laser control signal output terminal of ARM master control borad (8) is connected with the control signal input end of laser circuit (12); Described ARM master control borad (8) sends linear laser for the laser instrument (20) being controlled the mounting platform second layer by laser circuit (12);
The picture signal input end of ARM master control borad (8) is connected with the image signal output end of camera circuitry (13), described ARM master control borad (8) for obtain camera acquisition to linear laser be radiated on indoor object and reflect formed image;
The servos control signal output part of ARM master control borad (8) is connected with the control signal input end of steering wheel circuit (15), and described ARM master control borad (8) rotates for controlling steering wheel;
Steering wheel (18), laser instrument (20), fixed head (21), video camera (22), steering wheel rotating disc (23) and steering wheel axle (24) is provided with in the second layer of mounting platform;
Main body (1) has the screw (25) for fixed host computer body and steering wheel; Described main body (1) is fixedly connected with by screw (25) with steering wheel (18); Steering wheel (18) is fixedly connected with steering wheel rotating disc (23) by steering wheel axle (24); Steering wheel rotating disc (23) has screw (19), steering wheel rotating disc (23) is connected with fixed head (21) bottom by screw (19); The upper left and right sides of fixed head (21) has two circular ports, is respectively used to fixed laser (20) and video camera (22).
2. the indoor three-dimensional scenic reconfiguration device of many resolutions based on laser radar and four-axle aircraft according to claim 1, it is characterized in that it also comprises terrestrial contr, described terrestrial contr comprises wireless transmitting-receiving equipments (16) and controls microcomputer (17), and described control microcomputer (17) carries out data interaction by wireless transmitting-receiving equipments (16) and wireless transmit/receive units (14) with ARM master control borad (8).
3. the indoor three-dimensional scenic reconfiguration device of many resolutions based on laser radar and four-axle aircraft according to claim 1, the camera lens that it is characterized in that video camera (22) is equipped with optical filter.
4. based on the indoor three-dimensional scenic reconstructing method of many resolutions of claim 2, it is characterized in that: it realizes due to following steps:
Step one, ground controls microcomputer (17) wirelessly to four-axle aircraft sending controling instruction, control four-axle aircraft in the attitude of indoor flight and position, after four-axle aircraft receives instruction, angular velocity and the acceleration information of three axis of four-axle aircraft is obtained by gyroscope (11) and accelerometer (10), and send these information to ARM master control borad (8), ARM master control borad (8) calculates the current pose of four-axle aircraft according to the angular velocity of three of described four-axle aircraft axis and acceleration information, and calculate current pose, the attitude of position and required control, error between position, then circuit (9) is adjusted to drive four direct current generators (3) by four electricity, with by four-axle aircraft flight attitude and position control to steady state (SS),
Step 2, after the attitude of four-axle aircraft and position reach steady state (SS), ARM master control borad (8) sends instruction by laser circuit (12) to laser instrument (20), make laser instrument (12) send linear laser, then ARM master control borad (8) is radiated on indoor object by the linear laser that camera circuitry (13) acquisition camera (22) collects and reflects formed image;
Step 3, ARM master control borad (8) send ground to by the image that step 2 collects by wireless transceiver circuit (14) and control microcomputer (17);
Step 4, control microcomputer (17) are resolved the image received, and calculate the actual range of the object distance four-axle aircraft that linear laser scans;
Step 5, ARM master control borad (8) send instruction by steering wheel circuit (15) to steering wheel (18), steering wheel (18) is rotated by fixing stepping angle, after often rotating to a new angle, repeat step two, step 3 and step 4, when after control steering wheel rotating 360 degrees, obtain the reconfiguration information of complete indoor three-dimensional scenic;
Step 6, ground control microcomputer (17) wirelessly to four-axle aircraft sending controling instruction, and the height of adjustment four-axle aircraft in indoor and position, repeat step one to step 5, realize the indoor three-dimensional scenic reconstruct of differentiating more.
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