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Multi-resolution indoor three-dimensional scene reconstitution device and method based on laser radar and quadrotor

A four-axis aircraft, three-dimensional scene technology, used in aircraft, measuring devices, transportation and packaging, etc., can solve the problems of single resolution and unable to reconstruct indoor three-dimensional scenes.

Inactive Publication Date: 2015-04-08
HEILONGJIANG INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The present invention aims to solve the problem that the mobile robot cannot enter the complex indoor environment, and thus cannot reconstruct the indoor three-dimensional scene, and the problem that the resolution of the three-dimensional reconstruction method of the conventional indoor environment is single, so as to provide a multi-copter based on laser radar and four-axis aircraft. Reconstruction device and method for distinguishing indoor 3D scene

Method used

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  • Multi-resolution indoor three-dimensional scene reconstitution device and method based on laser radar and quadrotor
  • Multi-resolution indoor three-dimensional scene reconstitution device and method based on laser radar and quadrotor
  • Multi-resolution indoor three-dimensional scene reconstitution device and method based on laser radar and quadrotor

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specific Embodiment approach 1

[0042] Specific implementation mode one, such as figure 1As shown, the multi-resolution indoor three-dimensional scene reconstruction device based on laser radar and quadcopter of the present invention includes a quadcopter, and the quadcopter includes a main body 1, four sets of propellers and motor protection covers 2, four One group of DC motors 3, four groups of propellers 4, four groups of support arms 5, four symmetrical screw holes 6 of the main body and through holes 7 on the main body constitute. The four sets of protective covers 2 are connected to the main body 1 through corresponding support arms 5, the four sets of DC motors 3 are connected to the corresponding four sets of propellers 4 through motor shafts, and the four sets of DC motors 3 are connected to the support arms 5. The four support arms 5 are crossed, and the angle of two adjacent support arms is 90 degrees. The main body 1 also includes four symmetrical screw holes 6 for connecting and fixing with the...

specific Embodiment approach 2

[0051] Embodiment 2. A multi-resolution indoor three-dimensional scene reconstruction method based on laser radar and quadcopter, the specific steps are:

[0052] Step 1, the ground control microcomputer 17 sends control instructions to the quadcopter by wireless means to control the attitude and position of the quadcopter flying indoors. The angular velocity and acceleration information of the three axes of the vehicle, and transmit this information to the ARM main control board 8, and the ARM main control board 8 calculates the current attitude of the quadcopter based on these information, and calculates the current attitude, position and the required control The error between attitude and position, and then drive four DC motors 3 through four electric regulation circuits 9, so as to achieve the purpose of quadcopter flight attitude and position control.

[0053] Step 2. When the attitude and position of the quadcopter are stable, the ARM main control board 8 will send instr...

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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 [0001] The invention relates to a multi-resolution indoor three-dimensional scene reconstruction technology based on a laser radar and a four-axis aircraft. Background technique [0002] Three-dimensional information is more in line with the cognitive habits of human eyes, and has gradually become a research hotspot in many fields. 3D reconstruction technology refers to the digital processing of realistic and objective 3D scenes in the computer, and then the real reproduction in the computer. The 3D reconstruction technology can not only provide accurate scene information for robots and humans, but also can be used for scene recognition. Or recognition, so 3D reconstruction will become the basis for future situational awareness applications. The 3D information of the indoor environment is a necessary prerequisite for the safe and reliable operation of indoor mobile robots. It can help the robot understand its own environmental information more clearly and re...

Claims

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Application Information

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IPC IPC(8): G05B19/042G01S17/89
CPCG01S17/89B64C39/02
Inventor 刘柏森刘静森侯晓力杨冬云王岩杨春光
Owner HEILONGJIANG INST OF TECH
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