Distributed array unmanned aerial vehicle for panoramic imaging

Abstract

The invention discloses a distributed array panoramic imaging unmanned aerial vehicle, and relates to the technical field of unmanned aerial vehicles, the distributed array panoramic imaging unmanned aerial vehicle comprises a vehicle body and a ground station, the periphery of the vehicle body is provided with a plurality of placing ports, the placing ports are internally provided with view finding devices, and the vehicle body is internally provided with a flight control module and an image processing module; the machine body is connected with a ground station through an external cable, the power columns are ejected away from the machine body, the power columns are scattered around the machine body, then the power columns are distributed in an array mode, each power column is provided with a plurality of deflection plates, and the deflection plates drive the panorama camera to rotate when rotating and drive the panorama camera to rotate when rotating. The shooting angle of the panorama camera is adjusted, the effect that grids arranged on the surface of the deflection plate serve as a grid plate is also achieved, and therefore the air flow surface in the air is driven to be matched with a plurality of blades, and stable flight of the power column in the air is achieved.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a UAV for panoramic imaging using a distributed array. Background Technology

[0002] Panoramic imaging utilizes special imaging devices to acquire multi-directional images from a single viewpoint, with a horizontal field of view of 360° and a vertical field of view of up to a hemisphere or more. Due to its large imaging range and fast imaging speed, it can provide stereoscopic perception and reproduction of large field-of-view scenes for fields such as terrain exploration, robot navigation, virtual reality, and computer vision. In recent years, it has developed rapidly and has become a research hotspot in optoelectronics, computer vision, and computer graphics.

[0003] Existing panoramic imaging typically uses drones to carry panoramic cameras to capture images of target airspace above the shooting area. This requires the drone to take pictures at different shooting points to obtain a panoramic image of the entire shooting area, which results in a long shooting time. In addition, the drone's flight endurance is limited, requiring the drone to return to the ground to change batteries, making the shooting process time-consuming. Summary of the Invention

[0004] The purpose of this invention is to provide a distributed array panoramic imaging drone to solve the problems mentioned in the prior art.

[0005] To achieve the above objectives, the present invention provides the following technical solution:

[0006] A distributed array panoramic imaging UAV includes: an airframe and a ground station. The airframe has several placement ports arranged around its perimeter, and each placement port contains a framing device. The airframe contains a flight control module and an image processing module. Each placement port contains an electromagnet, and each framing device contains a magnet. The framing device is connected to the placement port via the magnet. The airframe is connected to the ground station via an external cable.

[0007] Preferably, an air vent is provided at the center of the machine body, and two propellers are symmetrically arranged inside the air vent. The two symmetrically arranged propellers rotate in opposite directions. A drive motor is provided inside the machine body, and the drive shaft of the drive motor is connected to the drive shaft of the propeller.

[0008] Preferably, the framing device includes: a power column, which contacts the placement opening, a support rod is provided on the top of the power column, a rotating ring is provided on the support rod, a brushless motor is provided on the support rod, and the rotating ring is mounted on the brushless motor.

[0009] Preferably, a plurality of blades are arranged around the circumference of the rotating ring, and the plurality of blades are arranged around the axis of the rotating ring. A rotating shaft is provided at the bottom of the rotating ring, and an electromagnetic spring is provided between the blades and the rotating ring. The blades are rotatably connected to the rotating ring through the electromagnetic spring and the rotating shaft.

[0010] Preferably, a storage cavity is provided at the bottom of the power column, and a plurality of deflection plates are provided on the side wall of the storage cavity. The plurality of deflection plates are arranged around the axis of the power column. A deflection gear is provided on the side of the deflection plate near the storage cavity. A micro motor is provided inside the storage cavity, and a drive gear is provided on the drive shaft of the micro motor. The drive gear meshes with the deflection gear.

[0011] Preferably, a panoramic camera is provided at the bottom of the deflection plate, a grid is provided on the surface of the deflection plate, a number of slots are provided on the side of the power column away from the deflection plate, and a rubber buffer pad is provided at the bottom of the power column.

[0012] Preferably, the placement port is provided with a nozzle, the nozzle is arranged obliquely upward, a pressure valve is provided inside the nozzle, an air pump is provided inside the machine body, one end of the air pump is connected to a vent, the other end of the air pump is connected to the nozzle, and several adjustment ports are provided on the side and bottom of the machine body, the adjustment ports are connected to the air pump through pipes.

[0013] Preferably, the machine body is further provided with a cable, the two ends of which are connected to the power column and the machine body respectively. The machine body is provided with a take-up reel for winding the cable, and the cable is used for circuit connection and data transmission between the power column and the machine body.

[0014] Preferably, a gyroscope and an altimeter are installed inside both the body and the power column.

[0015] Before takeoff, the controller activates the electromagnet inside the placement port. When the electromagnet is energized, it generates magnetic force. Since there is a magnet inside the power column and a cable connects the power column to the aircraft, the magnetic force generated by the reel and the electromagnet works together to fix the power column. Before takeoff, the electromagnetic spring on the rotating ring is de-energized, and the blades are pressed down by the spring force of the electromagnetic spring, so that the blades are parallel to the power column.

[0016] When a panoramic shooting mission is required, the staff controls the two propellers to start via the ground station. Since the two propellers rotate in opposite directions, the aircraft can generate greater thrust, which in turn drives several power columns to climb toward the target airspace. During the climb, the controller controls the air pump inside the aircraft to draw air from the vents and deliver it through pipes to the side closer to the adjustment port. Finally, under the correction of the gyroscope inside the aircraft, the air is ejected outward from the corresponding adjustment port, thus achieving stable flight of the aircraft in the working airspace and ensuring the stability of the panoramic imaging.

[0017] Once the aircraft is in stable flight, the controller controls the air pump to deliver gas to the nozzle. A large amount of gas accumulates in the nozzle. Since there is a pressure valve inside the nozzle, when the pressure accumulated in the nozzle reaches the set value of the pressure valve, the pressure valve opens, and the accumulated gas is instantly ejected from the nozzle. At the same time as the gas is ejected, the controller controls the electromagnet to be de-energized, and the magnet inside the power column loses its magnetic attraction. Furthermore, since the nozzle is arranged at an angle upward, the power column moves diagonally upward under the action of the gas impact, and the power column pulls the cable to move along a parabola.

[0018] During the movement of the power column, the controller energizes the electromagnetic spring on the rotating ring, which then contracts, causing the blades to rotate around the axis of rotation, making the blades perpendicular to the power column. When the altimeter inside the power column detects that the maximum height of the parabola has been reached, the altimeter converts the height signal into an electrical signal and transmits it to the controller. The controller then starts the brushless motor at the top of the support rod, which drives the rotating ring to rotate, which in turn drives the blades to rotate. The power generated by the blades then propels the power column into flight.

[0019] As the blades rotate, the controller activates the micro-motor inside the storage cavity. The drive shaft of the micro-motor drives the drive gear, which meshes with the deflection gear. This drive gear then drives the deflection gear, which in turn rotates the deflection plate. The bottom of the deflection plate then rotates away from the storage cavity. This rotation of the deflection plate causes the panoramic camera to extend from the slot. Once extended, the controller activates the panoramic camera to begin capturing images. The panoramic camera performs panoramic imaging of the target area. Because the surface of the deflection plate has several grids, the deflection plate's rotation disturbs the airflow. The motion of the flow is detected by the gyroscope, which converts the attitude signal into an electrical signal and feeds it back to the controller. The controller controls the micro motor in the storage cavity to adjust the deflection angle of the deflection plate. After the deflection plate is adjusted, it also drives the panoramic camera to adjust its position, so that the panoramic camera can better image the ground and realize multi-angle imaging processing. At the same time, due to the long-term operation of the panoramic camera, the panoramic camera will generate heat. The airflow in the air flows under the action of the grid on the deflection plate, so that the airflow comes into contact with the surface of the panoramic camera and carries away the heat from the surface of the panoramic camera, thus ensuring the stability of the panoramic camera's operation.

[0020] After the panoramic imaging operation is completed, the controller controls the take-up reels inside the camera body to rotate sequentially. As the reels rotate, they drive the cable to wind up, pulling the power column closer to the camera body. When the power column approaches the camera body, the electromagnet in the corresponding placement port is energized. The magnetic force generated by the electromagnet then works with the take-up reel again to fix the retrieved power column. At the same time, the controller also controls the brushless motor to stop rotating and the electromagnetic spring on the rotating ring to be de-energized. As a result, the blades are squeezed by the electromagnetic spring again and rotate, becoming parallel to the power column. Once one power column has been retrieved, the controller then controls the retrieval of the next power column, until all power columns have been retrieved. The camera body then lowers the viewfinder and returns to the ground.

[0021] Compared with the prior art, the beneficial effects of the present invention are:

[0022] 1. By ejecting several power columns from the aircraft body, these columns disperse around the aircraft and are arranged in an array. Each power column is equipped with several deflector plates. When the deflector plates rotate, they drive the panoramic camera to rotate, adjusting the camera's shooting angle. The deflector plates also function as grids on their surface, thus influencing the airflow surface. This, in conjunction with several blades, enables the power columns to fly stably in the air. Simultaneously, multiple panoramic cameras capture images of the shooting area. These images are then processed by the ground station to quickly synthesize a panoramic image of the entire shooting area, thereby improving the efficiency of panoramic imaging. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the present invention when panoramic imaging is not performed;

[0024] Figure 2 This is a schematic diagram of the structure of the present invention when performing panoramic imaging;

[0025] Figure 3 This is a schematic diagram of the organism's structure;

[0026] Figure 4 This is a schematic diagram of the viewfinder when it is not performing panoramic imaging.

[0027] Figure 5 This is a schematic diagram of the viewfinder in the position of panoramic imaging.

[0028] Figure 6 This is a schematic diagram of the internal structure of the viewfinder.

[0029] In the diagram: 1. Airframe; 11. Mounting port; 12. Air vent; 13. Propeller; 14. Nozzle; 15. Cable;

[0030] 2. Viewfinder; 21. Power column; 22. Support rod; 23. Rotating ring; 24. Blade; 25. Storage cavity; 26. Deflector plate; 27. Panoramic camera; 28. Slot. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] Example: Figures 1-6 As shown, this invention provides a UAV technology solution for panoramic imaging using a distributed array.

[0033] A distributed array panoramic imaging UAV includes: a body 1 and a ground station. The body 1 has a plurality of placement ports 11 arranged around its perimeter and around the axis of the body 1. A viewing device 2 is installed in each placement port 11. The body 1 has a flight control module and an image processing module installed inside. An electromagnet is installed in each placement port 11. A magnet is installed in each viewing device 2. The viewing device 2 is connected to the placement port 11 via the magnet. The body 1 is connected to the ground station via an external cable.

[0034] In one specific embodiment of the present invention, an air vent 12 is provided at the center of the body 1, and two propellers 13 are symmetrically arranged inside the air vent 12. The two symmetrically arranged propellers 13 rotate in opposite directions. A drive motor is provided inside the body 1, and the drive shaft of the drive motor is connected to the transmission shaft of the propellers 13.

[0035] In one specific embodiment of the present invention, a nozzle 14 is provided on the placement port 11. The nozzle 14 is arranged obliquely upward. A pressure valve is provided inside the nozzle 14. An air pump is provided inside the body 1. One end of the air pump is connected to the ventilation port 12, and the other end of the air pump is connected to the nozzle 14. Several adjustment ports are provided on the side and bottom of the body 1. The adjustment ports are connected to the air pump through pipes.

[0036] In one specific embodiment of the present invention, a cable 15 is also provided inside the body 1. The two ends of the cable 15 are respectively connected to the power column 21 and the body 1. A take-up reel is provided inside the body 1 for winding the cable 15. The cable 15 is used for power connection and data transmission between the power column 21 and the body 1.

[0037] In one specific embodiment of the present invention, the framing device 2 includes: a power column 21, which contacts the placement port 11; a support rod 22 is provided on the top of the power column 21; a rotating ring 23 is provided on the support rod 22; a brushless motor is provided on the support rod 22; the rotating ring 23 is mounted on the brushless motor; and a gyroscope and an altimeter are provided inside both the body 1 and the power column 21.

[0038] In one specific embodiment of the present invention, a plurality of blades 24 are arranged around the circumference of the rotating ring 23, and the plurality of blades 24 are arranged around the axis of the rotating ring 23. A rotating shaft is provided at the bottom of the rotating ring 23, and an electromagnetic spring is provided between the blades 24 and the rotating ring 23. The blades 24 are rotatably connected to the rotating ring 23 through the electromagnetic spring and the rotating shaft.

[0039] In one specific embodiment of the present invention, a storage cavity 25 is provided at the bottom of the power column 21, and a plurality of deflection plates 26 are provided on the side wall of the storage cavity 25. The plurality of deflection plates 26 are arranged around the axis of the power column 21. A deflection gear is provided on the side of the deflection plate 26 near the storage cavity 25. A micro motor is provided inside the storage cavity 25, and a drive gear is provided on the drive shaft of the micro motor. The drive gear meshes with the deflection gear.

[0040] In one specific embodiment of the present invention, a panoramic camera 27 is provided at the bottom of the deflection plate 26, a grid is provided on the surface of the deflection plate 26, a plurality of slots 28 are provided on the side of the power column 21 away from the deflection plate 26, and a rubber buffer pad is provided at the bottom of the power column 21.

[0041] Working principle of the invention:

[0042] Before takeoff, the controller activates the electromagnet in the placement port 11. After the electromagnet is energized, it generates magnetic force. Since there is a magnet in the power column 21 and the cable 15 connects the power column 21 to the aircraft body 1, the magnetic force generated by the reel and the electromagnet works together to fix the power column 21. Before takeoff, the electromagnetic spring on the rotating ring 23 is de-energized, and the blade 24 is pressed down by the spring force of the electromagnetic spring, so that the blade 24 is parallel to the power column 21.

[0043] When a panoramic shooting mission is required, the staff controls the two propellers 13 to start through the ground station. Since the two propellers 13 rotate in opposite directions, the aircraft 1 can generate greater thrust. The aircraft 1 then drives several power columns 21 to climb toward the target airspace. During the climb, the controller controls the air pump inside the aircraft 1 to draw air. The air pump draws the airflow from the air vent 12 and delivers it to the side near the adjustment port through the pipe. Finally, under the correction of the gyroscope inside the aircraft 1, it is ejected outward from the corresponding adjustment port, thus achieving stable flight of the aircraft 1 in the working airspace and ensuring the stability of the panoramic imaging.

[0044] Once the aircraft 1 is in stable flight, the controller controls the air pump to deliver gas to the nozzle 14. A large amount of gas accumulates in the nozzle 14. Since a pressure valve is installed inside the nozzle 14, when the pressure accumulated in the nozzle 14 reaches the set value of the pressure valve, the pressure valve opens, and the accumulated gas is instantly ejected from the nozzle 14. At the same time as the gas is ejected, the controller controls the electromagnet to be de-energized, and the magnet inside the power column 21 loses its magnetic attraction. Furthermore, since the nozzle 14 is arranged obliquely upward, the power column 21 moves obliquely upward under the action of gas impact, and the power column 21 pulls the cable 15 to move along a parabola.

[0045] During the movement of the power column 21, the controller energizes the electromagnetic spring on the rotating ring 23, causing the electromagnetic spring to contract. During the contraction, the blade 24 rotates around the rotation axis, making the blade 24 perpendicular to the power column 21. When the altimeter inside the power column 21 detects that the maximum height of the parabola has been reached, the altimeter converts the height signal into an electrical signal and transmits it to the controller. The controller then starts the brushless motor at the top of the support rod 22, which drives the rotating ring 23 to rotate. In turn, the rotating ring 23 drives the blade 24 to rotate, and the power generated by the blade 24 propels the power column 21 to fly in the air.

[0046] As blade 24 rotates, the controller activates the micro-motor within storage cavity 25. The drive shaft of the micro-motor drives the active gear to rotate, which meshes with the deflection gear. This, in turn, drives the deflection gear to rotate, causing the deflection plate 26 to rotate. The bottom of the deflection plate 26 then rotates away from storage cavity 25. This rotation of the deflection plate 26 drives the panoramic camera 27 to rotate, causing it to extend from slot 28. Once extended, the controller activates the panoramic camera 27 to begin capturing images. The panoramic camera 27 performs panoramic imaging of the target area. Because the surface of the deflection plate 26 has several grids, the grids disturb the air after the plate deflects. The airflow movement is detected by the gyroscope, and the attitude of the power column 21 is converted into an electrical signal and fed back to the controller. The controller controls the micro motor in the storage cavity 25 to adjust the deflection angle of the deflection plate 26. After the deflection plate 26 is adjusted, it also drives the panoramic camera 27 to adjust its position, so that the panoramic camera 27 can better perform panoramic imaging of the ground, thereby realizing multi-angle imaging processing. At the same time, due to the long-term operation of the panoramic camera 27, the panoramic camera 27 will generate heat. The airflow in the air flows under the action of the grid on the deflection plate 26, so that the airflow comes into contact with the surface of the panoramic camera 27 and carries away the heat from the surface of the panoramic camera 27, thereby ensuring the stability of the panoramic camera 27 in operation.

[0047] After the panoramic imaging operation is completed, the controller controls the take-up reel inside the camera body 1 to rotate sequentially. When the take-up reel rotates, it drives the cable 15 to wind up. When the cable 15 winds up, it pulls the power column 21 closer to the camera body 1. When the power column 21 approaches the camera body 1, the electromagnet in the corresponding placement port 11 is energized. Then, the magnetic force generated by the electromagnet cooperates with the take-up reel again to fix the retrieved power column 21. At the same time, the controller also controls the brushless motor to stop rotating and the electromagnetic spring on the rotating ring 23 to be de-energized. Then, the blade 24 is squeezed by the electromagnetic spring again and rotates, and is in a parallel state with the power column 21. When one power column 21 is retrieved, the controller then controls the next power column 21 to be retrieved. Finally, when all the power columns 21 are retrieved, the camera body 1 drives the viewfinder 2 to descend and return to the ground.

[0048] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A distributed array panoramic imaging drone, characterized in that: include: A machine body (1) and a ground station, wherein the machine body (1) is provided with a plurality of placement openings (11) around its periphery, the plurality of placement openings (11) being arranged around the axis of the machine body (1), a viewfinder (2) being provided in the placement openings (11), a flight control module and an image processing module being provided inside the machine body (1), an electromagnet being provided in the placement openings (11), a magnet being provided in the viewfinder (2), the viewfinder (2) being connected to the placement openings (11) via the magnet, and the machine body (1) being connected to the ground station via an external cable.

2. The distributed array panoramic imaging drone according to claim 1, characterized in that: An air outlet (12) is arranged at the center of the machine body (1), and two propellers (13) are symmetrically arranged in the air outlet (12). The two symmetrically arranged propellers (13) rotate in opposite directions. A drive motor is arranged in the machine body (1), and a drive shaft of the drive motor is connected to a transmission shaft of the propeller (13).

3. The distributed array panoramic imaging drone according to claim 1, characterized in that: The framing device (2) comprises: a power column (21), the power column (21) is in contact with the placement port (11), a support rod (22) is arranged at the top of the power column (21), a rotating ring (23) is arranged on the support rod (22), a brushless motor is arranged on the support rod (22), and the rotating ring (23) is mounted on the brushless motor.

4. The distributed array panoramic imaging drone according to claim 3, characterized in that: A plurality of blades (24) are arranged around the rotating ring (23), and the plurality of blades (24) are arranged around the axis of the rotating ring (23). A rotating shaft is arranged at the bottom of the rotating ring (23). An electromagnetic spring is arranged between the blade (24) and the rotating ring (23), and the blade (24) is rotatably connected to the rotating ring (23) via the electromagnetic spring and the rotating shaft.

5. The distributed array panoramic imaging drone according to claim 3, characterized in that: A storage cavity (25) is provided at the bottom of the power column (21), a plurality of deflection plates (26) are provided on the side wall of the storage cavity (25), the plurality of deflection plates (26) are arranged around the axis of the power column (21), a deflection gear is provided on one side of the deflection plate (26) close to the storage cavity (25), a micro motor is provided inside the storage cavity (25), a driving gear is provided on the driving shaft of the micro motor, and the driving gear is meshed with the deflection gear.

6. The distributed array panoramic imaging drone according to claim 5, characterized in that: A panoramic camera (27) is arranged at the bottom of the deflection plate (26), a grid is arranged on the surface of the deflection plate (26), a plurality of notches (28) are arranged on a side of the power column (21) away from the deflection plate (26), and a rubber buffer pad is arranged at the bottom of the power column (21).

7. The distributed array panoramic imaging drone according to claim 1, characterized in that: The placement port (11) is provided with a nozzle (14), the nozzle (14) is arranged obliquely upward, a pressure valve is provided in the nozzle (14), an air pump is provided in the body (1), one end of the air pump is connected to the air port (12), and the other end of the air pump is connected to the nozzle (14), and a plurality of regulating ports are provided on the side and bottom of the body (1), and the regulating ports are connected to the air pump through pipelines.

8. The distributed array panoramic imaging drone according to claim 3, characterized in that: A cable (15) is also provided in the machine body (1), the two ends of the cable (15) being respectively connected to the power column (21) and the machine body (1), a take-up wheel for reeling up the cable (15) is provided in the machine body (1), and the cable (15) is used for power connection and data transmission between the power column (21) and the machine body (1).

9. The distributed array panoramic imaging drone according to claim 3, characterized in that: The machine body (1) and the power column (21) are both provided with a gyroscope and an altimeter.

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