A drone for panoramic imaging of a distributed array

Abstract

The application discloses a kind of unmanned plane for panoramic imaging of distributed array, it is related to unmanned plane technical field, including: body and ground station, the periphery of the body is provided with a plurality of placing port, the placing port is provided with viewfinder, the inside of the body is provided with flight control module and image processing module, the body is connected ground station by external cable, by the power column of several ejects away from body, so that the power column of several is scattered in the periphery of body, further the power column of several is array distribution, and every power column is also provided with a plurality of deflector plate, deflector plate rotates to drive panoramic camera to rotate, so that the shooting angle of panoramic camera is adjusted, also realized that deflector plate uses the role of grid plate by the grid set on surface, to drive the airflow surface in the air, and cooperate with a plurality of blades, realize the stable flight of power column in the air.

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, the rotating ring is provided with a plurality of blades around the rotating ring, the plurality of blades are arranged around the axis of the rotating ring, the bottom of the rotating ring is provided with a rotating shaft, and the blades are connected with the rotating ring through the electromagnetic spring and the rotating shaft.

[0010] Preferably, the bottom of the power column is provided with a storage cavity, a plurality of deflection plates are arranged on the side wall of the storage cavity, the plurality of deflection plates are arranged around the axis of the power column, the deflection plates are provided with deflection gears on the side close to the storage cavity, and the inside of the storage cavity is provided with a micro motor, the driving shaft of the micro motor is provided with a driving gear, and the driving gear is meshed with the deflection gear.

[0011] Preferably, the bottom of the deflection plate is provided with a panoramic camera, the surface of the deflection plate is provided with a grid, the side of the power column away from the deflection plate is provided with a plurality of notches, and the bottom of the power column is provided with a rubber buffer pad.

[0012] Preferably, the placing opening is provided with a spray opening, the spray opening is arranged obliquely upward, the spray opening is provided with a pressure valve, the machine body is provided with an air pump, one end of the air pump is communicated with the air inlet, the other end of the air pump is communicated with the spray opening, the side and the bottom of the machine body are provided with a plurality of adjusting openings, and the adjusting openings are connected with the air pump through pipelines.

[0013] Preferably, the machine body is also provided with a cable, both ends of the cable are connected with the power column and the machine body respectively, the machine body is provided with a take-up wheel 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, the machine body and the power column are provided with a gyroscope and an altimeter.

[0015] Before taking off, the controller controls the electromagnetic iron in the placing opening to start, the electromagnetic iron generates magnetic force after being electrified, the power column is provided with a magnet, and the power column and the machine body are connected with a cable, so that the take-up wheel and the electromagnetic iron cooperate with each other under the magnetic force, and the fixing of the power column is realized; before taking off, the electromagnetic spring on the rotating ring is in a state of power-off, and the blades are suppressed under the elastic force of the electromagnetic spring, so that the blades are in a parallel state with the power column.

[0016] When the panoramic shooting task needs to be carried out, the staff starts two propellers through the ground station control, because the rotating directions of the two propellers are opposite, the body can generate greater thrust, and the body drives several power columns to climb to the target airspace, in the process of climbing, the controller controls the air pump in the body to pump air, the air pump extracts the airflow in the air inlet, and delivers it to the side close to the adjusting port through the pipeline, and finally sprays it out from the corresponding adjusting port under the correction of the gyroscope in the body, thereby realizing the stable flight of the body in the working airspace, so as to ensure the stability of panoramic imaging.

[0017] When the body is in stable flight, the controller controls the gas output by the air pump to be delivered to the nozzle, and a large amount of gas accumulates in the nozzle, because the pressure valve is arranged in the nozzle, when the pressure in the nozzle reaches the set value of the pressure valve, the pressure valve is opened, and the accumulated gas is sprayed out from the nozzle at once, at the same time of the gas spraying out, the controller controls the electromagnet to be de-energized, so that the magnet in the power column loses the attraction of the magnetic force, and because the nozzle is arranged obliquely upward, the power column moves obliquely upward under the action of the gas impact, and the power column pulls the cable to move along the parabola;

[0018] In the process of moving, the controller controls the electromagnetic spring on the rotating ring to be energized, and then the electromagnetic spring is energized and shrinks, and the shrinking process drives the blade to rotate, the blade rotates around the rotating shaft, so that the blade is in a vertical state with the power column; When the altimeter in the power column detects that it reaches the maximum height of the parabola, the altimeter converts the height signal into an electric signal and transmits it to the controller, the controller controls the brushless motor at the top of the support rod to start, the brushless motor drives the rotating ring to rotate, and then the rotating ring drives the blade to rotate, and the power generated by the blade drives the power column to fly in the air;

[0019] The controller controls the micro motor in the storage cavity to start while the blades rotate, the driving shaft of the micro motor drives the driving gear to rotate, the driving gear meshes with the deflection gear, and then the driving gear drives the deflection gear to rotate, the deflection gear drives the deflection plate to rotate when rotating, the bottom of the deflection plate rotates away from the storage cavity, the deflection plate drives the panoramic camera to rotate when rotating, so that the panoramic camera extends out of the slot, and the controller controls the panoramic camera to start shooting after the panoramic camera extends out of the slot, the panoramic camera performs panoramic imaging processing on the target area, because the surface of the deflection plate is provided with a plurality of grids, the grids disturb the airflow movement in the air after the deflection plate is deflected, the attitude of the power column is detected through the gyroscope, so that the attitude signal is converted into an electric signal and fed back to the controller, the controller controls the micro motor in the storage cavity to adjust the deflection angle of the deflection plate, and after the deflection plate is adjusted, the deflection plate also drives the panoramic camera to adjust the position, so that the panoramic camera can better perform panoramic imaging on the ground, so that multi-angle imaging processing is realized, and at the same time, because the panoramic camera works for a long time, the panoramic camera generates heat, the airflow in the air flows under the action of the grids on the deflection plate, so that the airflow contacts the surface of the panoramic camera and carries away the heat of the surface of the panoramic camera, thereby ensuring the stability of the work of the panoramic camera.

[0020] When the panoramic imaging operation is completed, the controller controls the take-up wheel in the machine body to rotate in sequence, the take-up wheel drives the cable to be wound when rotating, the cable is wound to pull the power column close to the machine body, when the power column approaches the machine body, the electromagnet in the corresponding placing opening is electrified, and then the magnetic force generated by the electromagnet cooperates with the take-up wheel again to fix the power column that is recovered back, at the same time, the controller controls the brushless motor to stop rotating and the electromagnetic spring on the rotating ring to be de-energized, and then the blades are pressed to rotate again by the electromagnetic spring, and are in parallel with the power column, when one of the power columns is recovered, the controller controls the next power column to be recovered, and finally until all the power columns are recovered, the machine body drives the viewfinder device to descend and return to the ground.

[0021] Compared with the prior art, the beneficial effects of the present application 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 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] The unmanned aerial vehicle for panoramic imaging of a distributed array comprises a body 1 and a ground station, a plurality of placing openings 11 are arranged around the body 1, the plurality of placing openings 11 are arranged around the axis of the body 1, a viewing device 2 is arranged in the placing opening 11, a flight control module and an image processing module are arranged in the body 1, an electromagnet is arranged in the placing opening 11, a magnet is arranged in the viewing device 2, the viewing device 2 is connected with the placing opening 11 through the magnet, and the body 1 is connected with the ground station through an external cable.

[0034] As a specific embodiment of the present application, a wind port 12 is arranged at the center of the body 1, two symmetrical propellers 13 are arranged in the wind port 12, the rotating directions of the two symmetrical propellers 13 are opposite, a driving motor is arranged in the body 1, and the driving shaft of the driving motor is connected with the transmission shaft of the propeller 13.

[0035] As a specific embodiment of the present application, a spout 14 is arranged on the placing opening 11, the spout 14 is arranged obliquely upward, a pressure valve is arranged in the spout 14, an air pump is arranged in the body 1, one end of the air pump is communicated with the wind port 12, the other end of the air pump is communicated with the spout 14, a plurality of adjusting openings are arranged on the side and the bottom of the body 1, and the adjusting openings are connected with the air pump through pipelines.

[0036] As a specific embodiment of the present application, a cable 15 is further arranged in the body 1, two ends of the cable 15 are connected with a power column 21 and the body 1 respectively, a take-up reel for winding the cable 15 is arranged in the body 1, and the cable 15 is used for power connection and data transmission between the power column 21 and the body 1.

[0037] As a specific embodiment of the present application, the viewing device 2 comprises the power column 21, the power column 21 is in contact with the placing opening 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, the rotating ring 23 is installed on the brushless motor, and a gyroscope and an altimeter are arranged in the body 1 and the power column 21.

[0038] As a specific embodiment of the present application, a plurality of blades 24 are arranged around the rotating ring 23, 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 rotationally connected with the rotating ring 23 through the electromagnetic spring and the rotating shaft.

[0039] As a specific embodiment of the present application, the bottom of the power column 21 is provided with a storage cavity 25, a plurality of deflection plates 26 are arranged on the side wall of the storage cavity 25, the deflection plates 26 are arranged around the axis of the power column 21, the deflection plates 26 are provided with deflection gears near one side of the storage cavity 25, and a micro motor is arranged in the storage cavity 25, a driving shaft of the micro motor is provided with a driving gear, and the driving gear is engaged with the deflection gear.

[0040] As a specific embodiment of the present application, the bottom of the deflection plate 26 is provided with a panoramic camera 27, the surface of the deflection plate 26 is provided with a grid, the side of the power column 21 away from the deflection plate 26 is provided with a plurality of notches 28, and the bottom of the power column 21 is provided with a rubber buffer pad.

[0041] The working principle of the present application is as follows:

[0042] Before take-off, the controller controls the electromagnet in the placing port 11 to start, the electromagnet generates a magnetic force after being powered on, the power column 21 is provided with a magnet, and the power column 21 is connected with the cable 15 between the power column 21 and the body 1, so that the winding wheel cooperates with the magnetic force of the electromagnet to fix the power column 21; before take-off, the electromagnetic spring on the rotating ring 23 is in a power-off state, and the blades 24 are suppressed under the action of the electromagnetic spring force, so that the blades 24 are in a parallel state with the power column 21.

[0043] When panoramic shooting tasks are needed, the staff controls two propellers 13 to start through the ground station, the body 1 can generate greater thrust because the rotating directions of the two propellers 13 are opposite, the body 1 drives the plurality of power columns 21 to climb to the target airspace, in the process of climbing, the controller controls the air pump in the body 1 to pump air, the air pump pumps the airflow in the air port 12 and transports it to the side close to the adjusting port through the pipeline, and finally the airflow is sprayed out from the corresponding adjusting port under the correction of the gyroscope in the body 1, so that the body 1 realizes stable flight in the working airspace, thereby ensuring the stability of panoramic imaging.

[0044] When the body 1 flies stably, the controller controls the gas output by the air pump to be transported to the jet port 14, a large amount of gas accumulates in the jet port 14, a pressure valve is arranged in the jet port 14, when the pressure accumulated in the jet port 14 reaches the set value of the pressure valve, the pressure valve is opened, and the accumulated gas is sprayed out from the jet port 14 at once, at the same time of the gas spraying out, the controller controls the electromagnet to be powered off, the magnet in the power column 21 loses the attraction of the magnetic force, and because the jet port 14 is arranged obliquely upward, the power column 21 moves obliquely upward under the action of the gas impact, and the power column 21 pulls the cable 15 to move along a parabola.

[0045] In the process of moving the power column 21, the controller controls the electromagnetic spring on the rotating ring 23 to be energized, and then the electromagnetic spring is energized and shrinks, and in the process of shrinking, the vane 24 is driven to rotate, and the vane 24 rotates around the rotating shaft, so that the vane 24 is in a vertical state with the power column 21; when the altimeter in the power column 21 detects that it reaches the maximum height of the parabola, the altimeter converts the height signal into an electrical signal and transmits it to the controller, and the controller controls the brushless motor at the top of the support rod 22 to start, and the brushless motor drives the rotating ring 23 to rotate, and then the rotating ring 23 drives the vane 24 to rotate, and then the power generated by the vane 24 drives the power column 21 to fly in the air;

[0046] At the same time of rotating the vane 24, the controller controls the micro motor in the storage cavity 25 to start, the driving shaft of the micro motor drives the driving gear to rotate, and the driving gear is engaged with the deflection gear, and then the driving gear drives the deflection gear to rotate, and the deflection gear drives the deflection plate 26 to rotate when rotating, and the bottom of the deflection plate 26 rotates away from the side of the storage cavity 25, and the deflection plate 26 drives the panoramic camera 27 to rotate when rotating, so that the panoramic camera 27 extends from the slot 28, and when the panoramic camera 27 extends from the slot 28, the controller controls the panoramic camera 27 to start shooting, and the panoramic camera 27 performs panoramic imaging processing on the target area, and since the surface of the deflection plate 26 is provided with a plurality of grids, the grids will disturb the airflow movement in the air after the deflection plate 26 is deflected, and the attitude of the power column 21 is detected by the gyroscope, so as to convert the attitude signal into an electrical signal and feedback to the controller, and the controller controls the micro motor in the storage cavity 25 to adjust the deflection angle of the deflection plate 26, and after the deflection plate 26 is adjusted, the deflection plate 26 also drives the panoramic camera 27 to adjust the position, so that the panoramic camera 27 can better perform panoramic imaging on the ground, so as to realize multi-angle imaging processing, and at the same time, due to the long-time work of the panoramic camera 27, the panoramic camera 27 will generate temperature, and the airflow in the air flows under the action of the grids on the deflection plate 26, so that the airflow contacts the surface of the panoramic camera 27 and carries away the heat on the surface of the panoramic camera 27, thereby ensuring the stability of the work of the panoramic camera 27;

[0047] When the panoramic imaging operation is finished, the controller controls the winding wheels in the machine body 1 to rotate in sequence. When the winding wheels rotate, the cable 15 is wound, and when the cable 15 is wound, the power column 21 is pulled to approach the machine body 1. When the power column 21 approaches the machine body 1, the electromagnet in the placing opening 11 corresponding thereto is electrified, and then the magnetic force generated by the electromagnet cooperates with the winding wheels again to fix the power column 21 being recovered back. Meanwhile, the controller controls the brushless motor to stop rotating and the electromagnetic spring on the rotating ring 23 to be de-energized, and then the blade 24 is rotated again under the extrusion of the electromagnetic spring and is in parallel with the power column 21. When one of the power columns 21 is recovered completely, the controller controls the next power column 21 to be recovered, and finally until all the power columns 21 are recovered completely, the machine body 1 drives the viewfinder device 2 to descend and return to the ground.

[0048] It will be apparent to those skilled in the art that the application is not limited to the details of the above-exemplified embodiments and that the present application can be implemented in other particular forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the above description, and it is intended that all changes and modifications which come within the meaning and range of equivalency of the claims are resolvable thereunder. Any reference signs in the claims should not be construed as limiting the claims concerned.

Claims

1. A drone for panoramic imaging of a distributed array, characterized by: Include: The body (1) and ground station, the body (1) is provided with several placement ports (11) around, several placement ports (11) are arranged around the axis of the body (1), the placement port (11) is provided with a viewfinder (2), the inside of the body (1) is provided with a flight control module and an image processing module, the placement port (11) is provided with an electromagnet, the viewfinder (2) is provided with a magnet, the viewfinder (2) is connected with the placement port (11) through the magnet, the body (1) is connected with the ground station through the external cable; The viewfinder (2) comprises: a power column (21), the power column (21) is in contact with the placement port (11), the top of the power column (21) is provided with a support rod (22), the support rod (22) is provided with a rotating ring (23), the support rod (22) is provided with a brushless motor, the rotating ring (23) is installed on the brushless motor; The bottom of the power column (21) is provided with a storage cavity (25), the sidewall of the storage cavity (25) is provided with several deflection plates (26), several deflection plates (26) are arranged around the axis of the power column (21), the side close to the storage cavity (25) of the deflection plate (26) is provided with a deflection gear, the inside of the storage cavity (25) is provided with a micro motor, the drive shaft of the micro motor is provided with a driving gear, and the driving gear is engaged with the deflection gear.

2. The unmanned aerial vehicle for panoramic imaging with a distributed array according to claim 1, characterized in that: The center of the body (1) is provided with an air port (12), two symmetrical propellers (13) are symmetrically arranged in the air port (12), the rotating directions of the two symmetrical propellers (13) are opposite, the body (1) is provided with a driving motor, and the driving shaft of the driving motor is connected with the transmission shaft of the propeller (13).

3. The unmanned aerial vehicle for panoramic imaging with a distributed array according to claim 1, characterized in that: The periphery of the rotating ring (23) is provided with several blades (24), several blades (24) are arranged around the axis of the rotating ring (23), the bottom of the rotating ring (23) is provided with a rotating shaft, an electromagnetic spring is arranged between the blade (24) and the rotating ring (23), and the blade (24) is rotatably connected with the rotating ring (23) through the electromagnetic spring and the rotating shaft.

4. The unmanned aerial vehicle for panoramic imaging with distributed array according to claim 1, characterized in that: The bottom of the deflection plate (26) is provided with a panoramic camera (27), the surface of the deflection plate (26) is provided with a grid, the side away from the deflection plate (26) of the power column (21) is provided with several notches (28), and the bottom of the power column (21) is provided with a rubber buffer pad.

5. The unmanned aerial vehicle for panoramic imaging with a distributed array according to claim 1, characterized in that: The placement port (11) is provided with a nozzle (14), the nozzle (14) is arranged obliquely upward, the nozzle (14) is provided with a pressure valve, the body (1) is provided with an air pump, one end of the air pump is communicated with the air port (12), the other end of the air pump is communicated with the nozzle (14), and the side and the bottom of the body (1) are provided with several adjusting ports.

6. The unmanned aerial vehicle for panoramic imaging with a distributed array according to claim 1, characterized in that: The machine body (1) is also provided with a cable (15), two ends of the cable (15) are connected with a power column (21) and the machine body (1) respectively, the machine body (1) is provided with a take-up wheel for winding the cable (15), and the cable (15) is used for power connection and data transmission between the power column (21) and the machine body (1).

7. The unmanned aerial vehicle for panoramic imaging with a distributed array according to claim 1, 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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