CN110949682A - Indoor modeling unmanned aerial vehicle and indoor modeling method based on VR photography - Google Patents
Indoor modeling unmanned aerial vehicle and indoor modeling method based on VR photography Download PDFInfo
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- 230000007246 mechanism Effects 0.000 description 6
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- 238000013507 mapping Methods 0.000 description 4
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
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Abstract
The invention provides an indoor modeling unmanned aerial vehicle and an indoor modeling method based on VR photography.
Description
Technical Field
The invention relates to the technical field of three-dimensional modeling, in particular to an indoor modeling method based on VR photography and an indoor modeling unmanned aerial vehicle for realizing the method.
Background
In the field of photography, aerial photography is undoubtedly the most widely known application of unmanned aerial vehicles from record films "aerial photography china" which are evergreen to various aerial photography competitions, but the existing aerial photography unmanned aerial vehicles can only output two-dimensional plane images, and real vr (virtual reality) panorama and space modeling image output cannot be obtained due to the shielding problem of the bodies and the flight stability problem. Because VR photography has the characteristic of 360 ° panoramic viewing, a more perfect and stable immersive experience is needed in the field of VR movie entertainment. The existing equipment in the VR photography field in the market mainly comprises a VR panoramic camera and an unmanned aerial vehicle or a remote control car for mounting the VR panoramic camera, and the shooting method is limited and fixed.
Meanwhile, for mapping and modeling, the equipment mainly carries out aerial photography and mapping by an unmanned aerial vehicle mounted with a plurality of cameras, and carries out point cloud modeling by using images and spatial information. The field can not carry out photography modeling on the interior of a building or the indoor with poor GPS signals such as a bridge opening and the like, and the modeling is carried out by artificially supplementing information at present.
Disclosure of Invention
Therefore, the invention provides an indoor modeling method based on VR photography and an indoor modeling unmanned aerial vehicle for realizing the method, which can obtain more stable VR panorama and indoor modeling.
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
an indoor model unmanned aerial vehicle comprises an unmanned aerial vehicle body, a control processor, a horizontal sensor, a self-stabilizing device, a panoramic camera support, cameras, distance sensors and a communication module, wherein the cameras and the distance sensors are respectively arranged on the panoramic camera support, the cameras and the distance sensors are respectively connected with the control processor, and the control processor is in communication connection with a ground control station through the communication module;
the utility model discloses an unmanned aerial vehicle, including panorama camera support, Y axle motor, X axle motor, horizontal sensor, control treater, X axle motor and Y axle motor, panorama camera support is connected through from steady device the unmanned aerial vehicle body, from steady device includes X axle motor and Y axle motor, X axle motor connects panorama camera support to drive panorama camera support along the swing of X axle direction, Y axle motor connects X axle motor to drive X axle motor and panorama camera support along the swing of Y axle direction, horizontal sensor sets up the horizontal offset in order to detect the unmanned aerial vehicle body on the unmanned aerial vehicle body, and the output connection the control treater, control treater control connection the X axle motor and the Y axle motor of self-steady device to the rotation of the pivot of control X axle motor and/or Y axle motor and make panorama camera support keep the level.
Further, the self-stabilization device further comprises: base, Y axle motor supporting seat, bearing, X axle motor connecting piece and leg joint spare, the base sets up on the unmanned aerial vehicle body, Y axle motor supporting seat and bearing set up relatively on the base, Y axle motor sets up on Y axle motor supporting seat, the one end of X axle motor connecting piece is connected the pivot of Y axle motor, the other end pass through the rotatable setting on the bearing of bearing, X axle motor sets up on X axle motor connecting piece, leg joint spare's both ends are connected respectively on the pivot of X axle motor and panoramic camera support.
Further, the leg joint spare includes two bracing pieces, the X axle motor is double-end motor, and its pivot extends the both ends of X axle motor, and the panoramic camera support is connected respectively to the one end of two bracing pieces, and the other end is connected respectively in the both ends of the pivot of X axle motor.
Furthermore, the X-axis motor connecting piece is provided with a limiting groove, a swing arm is arranged on a rotating shaft of the X-axis motor and is matched in the limiting groove so as to limit the rotating angle of the rotating shaft of the X-axis motor.
Further, still be equipped with the elasticity shock pad on the base to connect in unmanned aerial vehicle body top through the elasticity shock pad.
Further, panoramic camera support is the space frame structure who forms by the concatenation of a plurality of connecting rods, the unmanned aerial vehicle body sets up in panoramic camera support, upper end, lower extreme and the week side of panoramic camera support all are provided with the mount pad, the camera sets up on the mount pad.
Further, the distance sensors are arranged at the upper end, the lower end and the peripheral side of the panoramic camera support.
Further, the distance sensor is a laser range finder.
Further, the communication module is a wireless communication module.
An indoor modeling method based on VR photography comprises the following steps:
a1, providing the indoor modeling unmanned aerial vehicle, and realizing communication connection with a ground control station;
a2, controlling the indoor modeling unmanned aerial vehicle to take off and position in the air at a certain height;
a3, after positioning is completed, controlling the indoor modeling unmanned aerial vehicle to execute a flight task on a preset route, and respectively shooting a live view and detecting a flight distance by a camera and a distance sensor;
a4, calculating space coordinates from the detection data of the distance sensor;
a5, making VR images and building a point cloud three-dimensional model through the live-action shot by the camera and the corresponding space coordinate information.
Through the technical scheme provided by the invention, the method has the following beneficial effects:
set up from steady device through between unmanned aerial vehicle body and the panoramic camera support, can be fine keep the steady of panoramic camera support to make the camera can shoot stable outdoor scene, the accurate space coordinate is solved out through the distance that distance sensor measured simultaneously, thereby obtains not sheltering from, stable VR panoramic image and accurate establishment point cloud three-dimensional model.
Drawings
Fig. 1 is a schematic perspective view of an indoor modeling unmanned aerial vehicle in an embodiment;
FIG. 2 is a side view of an indoor modeling drone of an embodiment;
FIG. 3 is a perspective view of the self-stabilizing device in an embodiment;
FIG. 4 is a side view of the self-stabilizing device of the embodiment;
fig. 5 is an exploded view of the self-stabilizing device in the embodiment.
Detailed Description
To further illustrate the various embodiments, the invention provides the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the embodiments. Those skilled in the art will appreciate still other possible embodiments and advantages of the present invention with reference to these figures. Elements in the figures are not drawn to scale and like reference numerals are generally used to indicate like elements.
The invention will now be further described with reference to the accompanying drawings and detailed description.
Referring to fig. 1 to 5, the indoor model unmanned aerial vehicle provided by this embodiment includes an unmanned aerial vehicle body 10, a control processor (not shown), a level sensor (not shown), a self-stabilization device 20, a panoramic camera support 30, a camera 41, a distance sensor 42 and a communication module (not shown), the camera 41 and the distance sensor 42 are all provided in plurality and respectively disposed on the panoramic camera support 30, the camera 41 and the distance sensor 42 are respectively connected with the control processor, and the control processor is in communication connection with a ground control station through the communication module.
Set up a plurality of cameras 41 and distance sensor 42 distribution on panorama camera support 30, panorama camera support 30 is connected through self-stabilizing device 20 unmanned aerial vehicle body 10, when unmanned aerial vehicle body 10 inclines in flight in-process, the horizontal offset of horizontal sensor response detection unmanned aerial vehicle body 10 to export to control processor, control processor drives panorama camera support 30 according to offset control X axle motor 28 and/or Y axle motor 27 and makes the compensation swing, can make panorama camera support 30 remain the stationary state throughout. The cameras 41 can respectively shoot real scenes at a plurality of angles (such as upper, lower, front, rear, left and right), and then splicing is carried out subsequently, so that a stable VR panorama without shielding can be formed; meanwhile, the flight vector of the unmanned aerial vehicle can be accurately detected through the distance sensor 42, so that the space coordinate can be accurately calculated, and the point cloud three-dimensional model is established by combining with the shot real scene, so that the efficiency is high. The problems of technical bottlenecks of shielding, unstable shooting, limited shooting mode and surveying and mapping modeling of VR photographing equipment on indoor and outdoor model combined modeling and low modeling efficiency for medium and low altitudes are solved.
Further, in this embodiment, the self-stabilization device 20 further includes: base 21, Y axle motor supporting seat 22, bearing support 23, X axle motor connecting piece 24 and leg joint spare 25, base 21 sets up on unmanned aerial vehicle body 10, Y axle motor supporting seat 22 and bearing support 23 set up relatively on base 21, Y axle motor 27 sets up on Y axle motor supporting seat 22, the one end of X axle motor connecting piece 24 is connected Y axle motor 27's pivot, the other end pass through the rotatable setting of bearing support 23 on, X axle motor 28 sets up on X axle motor connecting piece 24, leg joint spare 25's both ends are connected respectively on X axle motor 28's pivot and panoramic camera support 30. The air conditioner is formed in the same plane and distributed in a crossed manner, has small volume and more compact structure, and is better suitable for the flight of indoor space; and reduce this unmanned aerial vehicle's volume and weight as far as, save power. Of course, in other embodiments, the structure of the self-stabilizing device 20 is not limited thereto.
Still further, in this embodiment, the bracket connector 25 includes two support rods, the X-axis motor 28 is a double-headed motor, one end of each of the two support rods is connected to the panoramic camera bracket 30, and the other end is connected to two ends of a rotating shaft of the X-axis motor 28. The stress of the self-stabilizing device 20 and the panoramic camera support 30 is more uniform, and the stability is better.
More specifically, in this embodiment, the X-axis motor connecting part 24 is provided with a limiting groove 241, and a swing arm 281 is disposed on the rotating shaft of the X-axis motor 28, and the swing arm 281 is fitted in the limiting groove 241 to limit the rotation angle of the rotating shaft of the X-axis motor 28. Simultaneously, because of the inclination of unmanned aerial vehicle body 10 can not be too big, set up this angle restriction, prevention that can be fine excessively swings under abnormal situation and causes unmanned aerial vehicle unbalance.
Still further, in this embodiment, an elastic shock pad 26 is further disposed on the base 21, and is connected to the top of the unmanned aerial vehicle body 10 through the elastic shock pad 26. The shock absorption effect can be well played, and shaking is effectively prevented.
Further, in this embodiment, panoramic camera support 30 is the space frame structure who is formed by the concatenation of a plurality of connecting rods, unmanned aerial vehicle body 10 sets up in panoramic camera support 30, upper end, lower extreme and week side of panoramic camera support 30 all are provided with mount pad 31, in this embodiment, all are provided with mount pad 31 at week side's front end, rear end, left end and right-hand member, camera 41 sets up on mount pad 31, realizes that the panorama does not have the shooting of sheltering from. More specifically, each mounting seat 31 located on the periphery of the panoramic camera support 30 is provided with a seat hole inclined upwards and a seat hole inclined downwards, and two cameras are respectively assembled, so that the shooting is more comprehensive and clear.
Further, in this embodiment, the distance sensors 42 are disposed at the upper end, the lower end and the peripheral side of the panoramic camera support 30, so as to achieve accurate detection. Specifically, on the circumferential side of the panoramic camera mount 30, the distance sensors 42 are disposed to be staggered with the cameras 41, that is, the distance sensors 42 are disposed at the left front end, the right front end, the left rear end, and the right rear end.
Of course, in other embodiments, the structure of the panoramic camera holder 30 is not limited thereto, and a panoramic camera holder such as that disclosed in chinese utility model application No. 201720182864.9 may be used. The arrangement of the camera 41 and the distance sensor 42 is not limited to this, and may be any arrangement as long as panoramic shooting is achieved and spatial coordinates can be calculated by measuring the distances between the X axis, the Y axis, and the Z axis.
Further, in this embodiment, the distance sensor 42 is a laser range finder, which has a small volume and is accurate in measurement. Of course, in other embodiments, the distance sensor 42 may be implemented by other devices capable of measuring distance.
Further, in this embodiment, the communication module is a wireless communication module, specifically a bluetooth communication module, and has mature technology and good stability. Of course, in other embodiments, other modules such as a 4G wireless communication module, a GPRS wireless communication module, etc. may be used, or a wired communication module, etc. may be used.
Further, in this embodiment, the unmanned aerial vehicle body 10 is the unmanned aerial vehicle structure for flight among the prior art, including fuselage 11 and power unit 12, fuselage 11 bottom is equipped with undercarriage 13 and battery (not shown), and undercarriage 13 is used for unmanned aerial vehicle's the support that rises and falls, and the battery supplies power for all devices of unmanned aerial vehicle. The power mechanism 12 is a propeller mechanism connected to the periphery of the machine body, the propeller mechanism 12 comprises a driving motor 121 and blades 122 connected to a rotating shaft of the driving motor 121, the propeller mechanism 12 on the periphery of the machine body 11 is connected to the machine body 11 through a carbon fiber rod 123, and the propeller mechanism is simple in structure and light in weight. The control processor receives information of the ground control station through the communication module to control the power mechanism to operate, and accordingly flight is achieved.
In the specific embodiment, the control processor adopts an STM32F series single chip microcomputer as a main control chip, the series chips are produced by Italian Semiconductor (ST) companies, and the kernel is Cortex-M3, so that the control processor has strong functions and can meet all requirements of flight control.
The embodiment also provides an indoor modeling method based on VR photography, which includes the following steps:
a1, providing the indoor modeling unmanned aerial vehicle, and realizing communication connection with a ground control station, namely, the control processor realizes communication connection with the ground control station through a communication module;
a2, controlling the indoor modeling unmanned aerial vehicle to take off and position in the air at a certain height;
specifically, the ground control station gives the instruction of taking off, and control processor receives and controls the unmanned aerial vehicle body after the instruction and takes off to fix a position in the air of a take-off height, carries out the setting of origin of coordinates. Preferably, the positioning is carried out in the air flying to a certain height at a slow speed, and the controllability and the precision are better.
A3, after the positioning is finished, controlling the indoor modeling unmanned aerial vehicle to execute a flight task on a preset route, and shooting a live view and detecting a flight distance by the camera 41 and the distance sensor 42 respectively;
specifically, the preset route of the indoor modeling unmanned aerial vehicle can be realized by a path preset in the control processor in advance, or the preset route can be realized by a route given by the ground control station, and the preset route is set as the prior art and is not detailed herein.
A4, calculating space coordinates from the detection data of the distance sensor;
specifically, in this embodiment, the camera 41 and the distance sensor 42 respectively transmit the photographed live view and the detected flight distance data to the control processor, and the control processor stores the data of the distance sensor 42 to calculate the spatial coordinates, and writes the spatial coordinates into the GPS positioning data; and then transmitted to a ground control station. The transmission of data can be directly transmitted through the communication module, or the data are stored in the memory card firstly, and the memory card is pulled out to be led out after the return trip of the unmanned aerial vehicle falls to the ground. Or the control processor directly transmits the shot real scene and the detected flight distance data to the ground control station, and the ground control station calculates space coordinates and the like.
And A5, making a VR image and establishing a point cloud three-dimensional model through a live view shot by a camera and corresponding space coordinate information to obtain a stable and non-shielded VR image and a point cloud three-dimensional model.
Specifically, the specific processes of VR image and establishing point cloud three-dimensional model are the prior art, and are not detailed here.
According to the indoor modeling unmanned aerial vehicle, when the unmanned aerial vehicle body inclines in the flying process, the horizontal sensor senses and detects the horizontal offset of the unmanned aerial vehicle body 10 and outputs the horizontal offset to the control processor, and the control processor controls the X-axis motor 28 and/or the Y-axis motor 27 according to the offset to drive the panoramic camera support 30 to make compensation swing, so that the panoramic camera support 30 can be always kept in a stable state. The multiple cameras can respectively shoot real scenes at multiple angles (such as upper, lower, front, rear, left and right), and then splicing is carried out subsequently, so that a stable VR panorama without shielding can be formed; meanwhile, the flight vector of the unmanned aerial vehicle can be accurately detected through the distance sensor 42, so that the space coordinate can be accurately calculated, and the point cloud three-dimensional model is established by combining with the shot real scene, so that the efficiency is high. The problems of technical bottlenecks of shielding, unstable shooting, limited shooting mode and surveying and mapping modeling of VR photographing equipment on indoor and outdoor model combined modeling and low modeling efficiency for medium and low altitudes are solved.
While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. An indoor mold unmanned aerial vehicle, its characterized in that: the system comprises an unmanned aerial vehicle body, a control processor, a horizontal sensor, a self-stabilizing device, a panoramic camera support, a camera, a distance sensor and a communication module, wherein the plurality of cameras and the plurality of distance sensors are respectively arranged on the panoramic camera support, the cameras and the plurality of distance sensors are respectively connected with the control processor, and the control processor is in communication connection with a ground control station through the communication module;
the utility model discloses an unmanned aerial vehicle, including panorama camera support, Y axle motor, X axle motor, horizontal sensor, control treater, X axle motor and Y axle motor, panorama camera support is connected through from steady device the unmanned aerial vehicle body, from steady device includes X axle motor and Y axle motor, X axle motor connects panorama camera support to drive panorama camera support along the swing of X axle direction, Y axle motor connects X axle motor to drive X axle motor and panorama camera support along the swing of Y axle direction, horizontal sensor sets up the horizontal offset in order to detect the unmanned aerial vehicle body on the unmanned aerial vehicle body, and the output connection the control treater, control treater control connection the X axle motor and the Y axle motor of self-steady device to the rotation of the pivot of control X axle motor and/or Y axle motor and make panorama camera support keep the level.
2. The indoor modeling drone of claim 1, wherein: the self-stabilization device further comprises: base, Y axle motor supporting seat, bearing, X axle motor connecting piece and leg joint spare, the base sets up on the unmanned aerial vehicle body, Y axle motor supporting seat and bearing set up relatively on the base, Y axle motor sets up on Y axle motor supporting seat, the one end of X axle motor connecting piece is connected the pivot of Y axle motor, the other end pass through the rotatable setting on the bearing of bearing, X axle motor sets up on X axle motor connecting piece, leg joint spare's both ends are connected respectively on the pivot of X axle motor and panoramic camera support.
3. The indoor modeling drone of claim 2, wherein: the bracket connecting piece comprises two supporting rods, the X-axis motor is a double-head motor, two ends of the X-axis motor extend out of a rotating shaft of the X-axis motor, one ends of the two supporting rods are respectively connected with the panoramic camera bracket, and the other ends of the two supporting rods are respectively connected with two ends of the rotating shaft of the X-axis motor.
4. The indoor modeling drone of claim 2, wherein: the X-axis motor connecting piece is provided with a limiting groove, a swing arm is arranged on a rotating shaft of the X-axis motor and is matched in the limiting groove to limit the rotating angle of the rotating shaft of the X-axis motor.
5. The indoor modeling drone of claim 2, wherein: still be equipped with the elastic damping pad on the base to connect in unmanned aerial vehicle body top through the elastic damping pad.
6. The indoor modeling drone of claim 1, wherein: the panoramic camera support is the three-dimensional frame structure that forms by the concatenation of a plurality of connecting rods, the unmanned aerial vehicle body sets up in the panoramic camera support, upper end, lower extreme and the week side of panoramic camera support all are provided with the mount pad, the camera sets up on the mount pad.
7. The indoor modeling drone of claim 6, wherein: the distance sensors are arranged at the upper end, the lower end and the peripheral side of the panoramic camera support.
8. The indoor modeling drone of claim 1, wherein: the distance sensor is a laser range finder.
9. The indoor modeling drone of claim 1, wherein: the communication module is a wireless communication module.
10. An indoor modeling method based on VR photography is characterized by comprising the following steps:
a1, providing the indoor modeling unmanned aerial vehicle as claimed in any one of the above claims 1 to 9, and making a communication connection with a ground control station;
a2, controlling the indoor modeling unmanned aerial vehicle to take off and position in the air at a certain height;
a3, after positioning is completed, controlling the indoor modeling unmanned aerial vehicle to execute a flight task on a preset route, and respectively shooting a live view and detecting a flight distance by a camera and a distance sensor;
a4, calculating space coordinates from the detection data of the distance sensor;
a5, making VR images and building a point cloud three-dimensional model through the live-action shot by the camera and the corresponding space coordinate information.
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| CN111452683A (en) * | 2020-04-16 | 2020-07-28 | 上海海洋大学 | Intelligent three-direction acceleration control child seat |
| CN112414373A (en) * | 2020-11-24 | 2021-02-26 | 中国电建集团昆明勘测设计研究院有限公司 | Automatic interpretation method based on unmanned aerial vehicle and VR technology |
| CN113379901A (en) * | 2021-06-23 | 2021-09-10 | 武汉大学 | Method and system for establishing house live-action three-dimension by utilizing public self-photographing panoramic data |
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