UAV image processing and map building system

Abstract

The present invention discloses an unmanned aerial vehicle image processing and map building system, including a base station and an unmanned aerial vehicle, wherein a bearing plate is fixedly installed at the bottom of the unmanned aerial vehicle, and clamps are fixedly installed at both ends of the bottom of the bearing plate, a rotating rod is rotatably installed between the clamps, an adjustment plate is fixedly sleeved on the surface of the rotating rod, a circular shaft is rotatably installed between the clamps, a driven gear and a rotating gear are rotatably installed at one end of the clamp, one end of the rotating rod passes through the clamp and is fixedly connected to one end of the driven gear, one end of the circular shaft passes through the clamp and is fixedly connected to one side of the rotating gear, and the outer surface of the driven gear is meshed with the outer surface of the rotating gear. In the unmanned aerial vehicle image processing and map building system, an operator can drive the bearing plate and the optical camera below it to slide through the unmanned aerial vehicle, and then start the motor, the operation of the motor will cause the circular rod to rotate, and then the circular rod will drive the rotating shaft to rotate.

Description

Technical Field

[0001] The present invention relates to the technical field of computer vision and geographic information system, and in particular to an unmanned aerial vehicle image processing and map building system. Background Art

[0002] Computer vision is a science that studies how to make machines "see". It aims to identify, track and measure targets through cameras and computers, and perform graphic processing to make the computer-processed images more suitable for human observation or transmission to instrument detection. The core tasks of computer vision include processing the collected pictures or videos to obtain three-dimensional information of the corresponding scene, which is similar to the visual system of humans and other organisms. Geographic Information System is a computer-based technology used to capture, store, check and display data related to locations on the earth's surface. GIS is not limited to displaying maps, but also involves capturing, managing and analyzing data in a spatial environment. The main ideas of GIS include creating geographic data, managing data in a database, analyzing and discovering patterns, and displaying them on a map. GIS is widely used in environment, military, agriculture and public security. All fields help users understand geographic spatial relationships, patterns and trends, so as to make better decisions. Image processing is an important branch of computer vision. It involves image representation, sampling and quantization, image enhancement, image restoration, image compression, image segmentation, edge detection, morphological operations and other technologies. These technologies enable computers to process and analyze image data, thereby realizing image recognition, target detection, scene understanding and other functions. Map construction is a key link in the geographic information system. It constructs map information by analyzing the features in images or videos, such as road grids, buildings, traffic signs, etc. The main task of map construction is to segment the image and divide it into different geographic spatial units, giving each unit corresponding attribute information. Therefore, a drone image processing and map construction system is needed.

[0003] When operators are building a map, they need drones to collect images and transmit the collected data to a computer for processing before building the map. When collecting images, drones need to be equipped with optical cameras, but most of them are fixedly installed, with poor shooting flexibility. They cannot adjust the camera's angle, focal length and other parameters at any time to quickly capture images at different angles and distances. In addition, the drone needs to return after collecting the image, but the lack of an auxiliary buffer mechanism during the landing process may cause damage to the drone and important components, thereby affecting the integrity of the collected image. Summary of the invention

[0004] The purpose of the present invention is to provide a drone image processing and map construction system to solve the problem proposed in the above background technology that when operators construct maps, they need drones to collect images and transmit the collected data to computers and construct maps after the computer processes them. When drones collect images, they need to carry optical cameras to collect images, but most of them are fixedly installed, with poor shooting flexibility, and cannot adjust the camera's angle, focal length and other parameters at any time to quickly capture images at different angles. In addition, the drone needs to return after collecting the image, but lacks an auxiliary buffer mechanism during the landing process, which may cause damage to the drone and important components, thereby affecting the integrity of the collected image.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a UAV image processing and map building system, comprising a base station and a UAV, a carrying plate fixedly installed on the bottom of the UAV, clamps fixedly installed on both ends of the bottom of the carrying plate, a rotating rod rotatably installed between the clamps, an adjusting plate fixedly sleeved on the surface of the rotating rod, a circular shaft rotatably installed between the clamps, a driven gear and a rotating gear rotatably installed on one end of the clamp, one end of the rotating rod passes through the clamp and is fixedly connected to one end of the driven gear, one end of the circular shaft passes through the clamp and is fixedly connected to one side of the rotating gear, the outer surface of the driven gear is meshed with the outer surface of the rotating gear, and an optical camera, an image acquisition module and a data transmission module are fixedly installed on the bottom of the adjustment plate.

[0006] Preferably, a roller and a rotating shaft are rotatably mounted on one end of the splint, and a belt is movably sleeved on the outer surfaces of the roller and the rotating shaft, the other end of the round shaft passes through the splint and is fixedly connected to one end of the roller, a round rod is fixedly mounted on one end of the rotating shaft, a mounting frame is fixedly mounted on the other end of the splint, a motor is fixedly mounted on one end of the mounting frame, and the output end of the motor passes through the mounting frame and is fixedly connected to one end of the round rod.

[0007] Preferably, vertical tubes are fixedly installed on both sides of the bottom of the supporting plate, vertical rods are movably installed inside the vertical tubes, longitudinal buffer springs located inside the vertical tubes are fixedly installed between the vertical rods and the supporting plate, the outer surface of the longitudinal buffer spring is movably connected to the inner surface of the vertical tubes, and support plates are fixedly installed on the bottoms of the vertical rods.

[0008] Preferably, slide grooves are provided on opposite surfaces of the vertical tubes, connecting rods located between the slide grooves are fixedly installed between the vertical rods, the outer surface of the connecting rod is movably connected to the inner surface of the slide groove, and an extrusion block is fixedly installed on the top of the connecting rod.

[0009] Preferably, cross bars are fixedly installed on both sides of the bottom of the supporting plate, strip grooves are opened at the bottom of the cross bars, and fixing rods are fixedly installed inside the strip grooves.

[0010] Preferably, both ends of the surface of the fixed rod are movably sleeved with sliders, the bottom of the slider is fixedly installed with a fixed block, a transverse buffer spring is fixedly installed between the slider and the strip groove, and the inner surface of the transverse buffer spring is movably connected to the outer surface of the fixed rod.

[0011] Preferably, vertical plates are fixedly installed at both ends of the bottom of the cross bar, a guide rod is fixedly installed at one end of the fixed block, one end of the guide rod passes through the vertical plate and extends to the back of the vertical plate, a circular plate is fixedly installed at one end of the guide rod, a return spring is fixedly installed between the circular plate and the vertical plate, and the inner surface of the return spring is movably connected to the outer surface of the guide rod.

[0012] Preferably, a computer is fixedly installed on the top of the base station, and an image processing module and a map construction module are fixedly installed on one end of the computer.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] During daily use of the drone image processing and mapping system, the operator can use the drone to drive the carrier plate and the optical camera underneath it to slide, and then start the motor. The operation of the motor will cause the round rod to rotate, and then the round rod will drive the rotating shaft to rotate. At this time, the rotating shaft will drive the belt to rotate, and then the belt will drive the roller to rotate, and then the roller will drive the round shaft to rotate, and then the round shaft will drive the rotating gear to rotate, and at the same time the rotating gear will drive the driven gear to rotate, and then the driven gear will drive the rotating rod to rotate, and then the rotating rod will drive the adjusting plate to rotate, and then drive the optical camera under the adjusting plate to rotate, so that the angle of image acquisition can be adjusted to quickly capture pictures at different angles, thereby improving shooting flexibility.

[0015] The UAV image processing and mapping system, during daily use, when the UAV needs to return after collecting images, the support plate will first contact the landing ground, and then the support plate will drive the vertical rod to slide inside the vertical tube, and then the vertical rod will squeeze and compress the longitudinal buffer spring, at this time the vertical rod will drive the connecting rod to slide inside the slide groove, and then the connecting rod will drive the extrusion block to slide, and then the outer surface of the extrusion block will squeeze the outer surface of the fixed block, and at the same time the fixed block will drive the slider to slide inside the strip groove and on the surface of the fixed rod, and then the slider will squeeze and compress the transverse buffer spring, and then the fixed block will drive the guide rod to slide inside the vertical plate, and then the guide rod will drive the circular plate to slide, and then the circular plate will stretch the reset spring, so as to buffer the impact force of landing, thereby reducing the damage to the UAV and important components, and thus ensuring the integrity of the collected image. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a front view of the present invention;

[0017] Figure 2 is a side sectional view of the present invention;

[0018] Figure 3 For the present invention Figure 2 A partial enlarged view of the middle part;

[0019] Figure 4 For the present invention Figure 2 A partial enlarged view of point B in the middle;

[0020] Figure 5 It is a cross-sectional view of a vertical pipe of the present invention;

[0021] Figure 6 For the present invention Figure 5 A partial enlarged view of point C in the middle.

[0022] In the figure: 1. base station; 2. drone; 3. load-bearing plate; 4. splint; 5. rotating rod; 6. adjusting plate; 7. driven gear; 8. circular shaft; 9. rotating gear; 10. optical camera; 11. image acquisition module; 12. data transmission module; 13. roller; 14. rotating shaft; 15. belt; 16. circular rod; 17. mounting frame; 18. motor; 19. vertical tube; 20. vertical rod; 21. longitudinal buffer spring; 22. support plate; 23. slide; 24. connecting rod; 25. extrusion block; 26. cross bar; 27. strip groove; 28. fixed rod; 29. ​​slider; 30. fixed block; 31. transverse buffer spring; 32. vertical plate; 33. guide rod; 34. circular plate; 35. reset spring; 36. computer; 37. image processing module; 38. map construction module. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] See also Figure 1-6The present invention provides a technical solution: a UAV image processing and map building system, including a base station 1 and a UAV 2, a bearing plate 3 is fixedly installed at the bottom of the UAV 2, the UAV 2 will drive the bearing plate 3 to slide when it is running, and clamps 4 are fixedly installed at both ends of the bottom of the bearing plate 3, the bearing plate 3 will drive the clamps 4 to slide when it slides, a rotating rod 5 is rotatably installed between the clamps 4, an adjusting plate 6 is fixedly sleeved on the surface of the rotating rod 5, and the rotating rod 5 will drive the adjusting plate 6 to rotate when it rotates, a circular shaft 8 is rotatably installed between the clamps 4, and a driven shaft 8 is rotatably installed at one end of the clamp 4 The gear 7 is connected to the rotating gear 9, one end of the rotating rod 5 passes through the clamping plate 4 and is fixedly connected to one end of the driven gear 7. When the driven gear 7 rotates, the rotating rod 5 is driven to rotate. One end of the circular shaft 8 passes through the clamping plate 4 and is fixedly connected to one side of the rotating gear 9. When the circular shaft 8 rotates, it drives the rotating gear 9 to rotate. The outer surface of the driven gear 7 is meshed with the outer surface of the rotating gear 9. When the rotating gear 9 rotates, it drives the driven gear 7 to rotate. The bottom of the adjustment plate 6 is fixedly installed with an optical camera 10, an image acquisition module 11 and a data transmission module 12. The adjustment plate 6 When rotating, the optical camera 10, the image acquisition module 11 and the data transmission module 12 will be driven to rotate. The image acquisition module 11 can capture high-resolution visible light images through the optical camera 10 and complete the image acquisition. The data transmission module 12 can transmit the acquired image data back to the computer 36 in real time or in batches through a wireless communication link to ensure the timeliness of data circulation and enable subsequent processing to be carried out quickly. A roller 13 and a rotating shaft 14 are rotatably installed at one end of the splint 4. The outer surfaces of the roller 13 and the rotating shaft 14 are movably sleeved with a belt 15. The rotating shaft 14 will bring The driving belt 15 rotates, thereby driving the roller 13 to rotate. The other end of the circular shaft 8 passes through the splint 4 and is fixedly connected to one end of the roller 13. When the roller 13 rotates, it will drive the circular shaft 8 to rotate. A round rod 16 is fixedly installed at one end of the rotating shaft 14. When the round rod 16 rotates, it will drive the rotating shaft 14 to rotate. A mounting frame 17 is fixedly installed at the other end of the splint 4. A motor 18 is fixedly installed at one end of the mounting frame 17, and the output end of the motor 18 passes through the mounting frame 17 and is fixedly connected to one end of the round rod 16. When the motor 18 is running, it will cause the round rod 16 to rotate.

[0025] Vertical tubes 19 are fixedly installed on both sides of the bottom of the bearing plate 3, and vertical rods 20 are movably installed inside the vertical tubes 19. The outer surface of the vertical rod 20 and the inner surface of the vertical tube 19 are smooth, so that the vertical rod 20 can slide more smoothly inside the vertical tube 19 and reduce the occurrence of jamming. A longitudinal buffer spring 21 located inside the vertical tube 19 is fixedly installed between the vertical rod 20 and the bearing plate 3. The outer surface of the longitudinal buffer spring 21 is movably connected to the inner surface of the vertical tube 19. When the vertical rod 20 slides inside the vertical tube 19, the longitudinal buffer spring 21 is squeezed and compressed, and a support plate 22 is fixedly installed at the bottom of the vertical rod 20. When the support plate 22 slides, the vertical rod 20 is driven to slide. The opposite surface of the vertical tube 19 is provided with a slide groove 23. The vertical rod 2 0 are fixedly installed with a connecting rod 24 located between the slide grooves 23, the outer surface of the connecting rod 24 is movably connected to the inner surface of the slide groove 23, the outer surface of the connecting rod 24 and the inner surface of the slide groove 23 are both smooth, so that the connecting rod 24 can slide more smoothly on the surface of the slide groove 23, reducing the occurrence of jams, and the vertical rod 20 will drive the connecting rod 24 to slide inside the slide groove 23 when sliding, and the top of the connecting rod 24 is fixedly installed with an extrusion block 25, and the connecting rod 24 will drive the extrusion block 25 to slide when sliding, and the bottom of the carrying plate 3 is fixedly installed with a cross bar 26, and the bottom of the cross bar 26 is provided with a strip groove 27, and the inside of the strip groove 27 is fixedly installed with a fixing rod 28, and the inner surface of the fixing rod 28 is connected to the strip groove 27. The outer surface of the strip groove 27 is smooth, which can make the fixing rod 28 slide more smoothly on the surface of the strip groove 27, reducing the occurrence of jamming. Both ends of the surface of the fixing rod 28 are movably sleeved with sliders 29, and the bottom of the slider 29 is fixedly installed with a fixing block 30. When sliding, the fixing block 30 will drive the slider 29 to slide inside the strip groove 27 and on the surface of the fixing rod 28. A transverse buffer spring 31 is fixedly installed between the slider 29 and the strip groove 27, and the inner surface of the transverse buffer spring 31 is movably connected to the outer surface of the fixing rod 28. When sliding, the slider 29 squeezes and compresses the transverse buffer spring 31. Both ends of the bottom of the cross bar 26 are fixedly installed with vertical plates 32, and one end of the fixed block 30 is fixedly installed with a guide rod 33. When the fixed block 30 slides, it will drive the guide rod 33 to slide. One end of the guide rod 33 passes through the vertical plate 32 and extends to the back of the vertical plate 32. The outer surface of the guide rod 33 and the inner surface of the vertical plate 32 are both smooth. A circular plate 34 is fixedly installed at one end of the guide rod 33. When the guide rod 33 slides, it will drive the circular plate 34 to slide. A return spring 35 is fixedly installed between the circular plate 34 and the vertical plate 32, and the inner surface of the return spring 35 is movably connected to the outer surface of the guide rod 33. When the circular plate 34 slides, it will stretch the return spring 35. A computer 36 is fixedly installed on the top of the base station 1. The computer 36 and the image processing module 37 can process the data collected by the optical camera 10 and the image acquisition module 11. It uses professional software.First, the image is preprocessed by reducing noise and enhancing contrast; then feature extraction is performed to lock the key landforms, contours and other feature points in the image, laying the foundation for subsequent splicing and matching. An image processing module 37 and a map construction module 38 are fixedly installed at one end of the computer 36. The map construction module 38 uses photogrammetry algorithms such as SIFT scale-invariant feature transformation and SFM motion recovery structure based on the processed image to calculate the relative position and posture between images, restore the three-dimensional scene, and splice to generate a two-dimensional orthophoto map, a three-dimensional point cloud map, and a grid model map.

[0026] Working principle: the operator can drive the carrying plate 3 and the optical camera 10 below it to slide through the drone 2, and then collect images through the carrying plate 3 and the image acquisition module 11, and then transmit the collected data to the computer 36 through the data transmission module 12, and process it by the image processing module 37 and construct the map through the map construction module 38, then start the motor 18, the operation of the motor 18 will cause the round rod 16 to rotate, and then the round rod 16 will drive the rotating shaft 14 to rotate, at this time the rotating shaft 14 will drive the belt 15 to rotate, and then the belt 15 will drive the roller 13 to rotate, and then the roller 13 will drive the round shaft 8 to rotate, and then drive the rotating gear 9 to rotate through the round shaft 8, and at the same time the rotating gear 9 will drive the driven gear 7 to rotate, and then the driven gear 7 will drive the rotating rod 5 to rotate, and then the rotating rod 5 will drive the adjusting plate 6 to rotate, and then drive the optical camera 10 below the adjusting plate 6 to rotate, that is The angle of image acquisition can be adjusted to quickly capture images at different angles. Finally, when the drone needs to return after acquiring images, the support plate 22 will first contact the landing ground, and then the support plate 22 will drive the vertical rod 20 to slide inside the vertical tube 19, and then the vertical rod 20 will squeeze and compress the longitudinal buffer spring 21. At this time, the vertical rod 20 will drive the connecting rod 24 to slide inside the slide groove 23, and then the connecting rod 24 will drive the extrusion block 25 to slide, and then the outer surface of the extrusion block 25 will squeeze the outer surface of the fixed block 30. At the same time, the fixed block 30 will drive the slider 29 to slide inside the strip groove 27 and on the surface of the fixed rod 28, and then the slider 29 will squeeze and compress the transverse buffer spring 31, and then the fixed block 30 will drive the guide rod 33 to slide inside the vertical plate 32, and then the guide rod 33 will drive the circular plate 34 to slide, and then the circular plate 34 will stretch the reset spring 35, so as to buffer the impact force of landing.

[0027] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An unmanned aerial vehicle image processing and map building system, comprising a base station (1) and an unmanned aerial vehicle (2), characterized in that: A supporting plate (3) is fixedly mounted on the bottom of the drone (2), and clamping plates (4) are fixedly mounted on both ends of the bottom of the supporting plate (3). A rotating rod (5) is rotatably mounted between the clamping plates (4), and an adjusting plate (6) is fixedly sleeved on the surface of the rotating rod (5). A circular shaft (8) is rotatably mounted between the clamping plates (4), and a driven gear (7) and a rotating gear (9) are rotatably mounted on one end of the clamping plate (4). One end of the rotating rod (5) passes through the clamping plate (4) and is fixedly connected to one end of the driven gear (7), and one end of the circular shaft (8) passes through the clamping plate (4) and is fixedly connected to one side of the rotating gear (9). The outer surface of the driven gear (7) is meshedly connected to the outer surface of the rotating gear (9), and an optical camera (10), an image acquisition module (11) and a data transmission module (12) are fixedly mounted on the bottom of the adjusting plate (6).

2. The UAV image processing and map building system according to claim 1, characterized in that: A roller (13) and a rotating shaft (14) are rotatably mounted on one end of the clamping plate (4); a belt (15) is movably sleeved on the outer surfaces of the roller (13) and the rotating shaft (14); the other end of the round shaft (8) passes through the clamping plate (4) and is fixedly connected to one end of the roller (13); a round rod (16) is fixedly mounted on one end of the rotating shaft (14); a mounting frame (17) is fixedly mounted on the other end of the clamping plate (4); a motor (18) is fixedly mounted on one end of the mounting frame (17); and an output end of the motor (18) passes through the mounting frame (17) and is fixedly connected to one end of the round rod (16).

3. The UAV image processing and map building system according to claim 1, characterized in that: Vertical tubes (19) are fixedly mounted on both sides of the bottom of the bearing plate (3); vertical rods (20) are movably mounted inside the vertical tubes (19); longitudinal buffer springs (21) located inside the vertical tubes (19) are fixedly mounted between the vertical rods (20) and the bearing plate (3); the outer surface of the longitudinal buffer spring (21) is movably connected to the inner surface of the vertical tubes (19); and a support plate (22) is fixedly mounted on the bottom of the vertical rods (20).

4. The UAV image processing and map building system according to claim 3, characterized in that: The opposite surfaces of the vertical tube (19) are provided with a slide groove (23), and the vertical rods (20) are fixedly installed with a connecting rod (24) located between the slide grooves (23), the outer surface of the connecting rod (24) is movably connected to the inner surface of the slide groove (23), and the top of the connecting rod (24) is fixedly installed with an extrusion block (25).

5. The UAV image processing and map building system according to claim 1, characterized in that: Cross bars (26) are fixedly installed on both sides of the bottom of the bearing plate (3), and strip grooves (27) are opened at the bottom of the cross bars (26), and fixing bars (28) are fixedly installed inside the strip grooves (27).

6. The UAV image processing and map building system according to claim 5, characterized in that: Both ends of the surface of the fixed rod (28) are movably sleeved with sliders (29), the bottom of the slider (29) is fixedly installed with a fixing block (30), a transverse buffer spring (31) is fixedly installed between the slider (29) and the strip groove (27), and the inner surface of the transverse buffer spring (31) is movably connected to the outer surface of the fixed rod (28).

7. The UAV image processing and map building system according to claim 5, characterized in that: Both ends of the bottom of the cross bar (26) are fixedly mounted with vertical plates (32), one end of the fixed block (30) is fixedly mounted with a guide rod (33), one end of the guide rod (33) passes through the vertical plate (32) and extends to the back of the vertical plate (32), one end of the guide rod (33) is fixedly mounted with a circular plate (34), a return spring (35) is fixedly mounted between the circular plate (34) and the vertical plate (32), and the inner surface of the return spring (35) is movably connected to the outer surface of the guide rod (33).

8. The UAV image processing and map building system according to claim 1, characterized in that: A computer (36) is fixedly installed on the top of the base station (1), and an image processing module (37) and a map construction module (38) are fixedly installed on one end of the computer (36).

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