Unmanned aerial vehicle for three-dimensional reconstruction of railway station grid structure and three-dimensional reconstruction algorithm
The three-dimensional reconstruction of the railway passenger station network structure is solved by combining the drone with a three-dimensional reconstruction algorithm, and the problems of low efficiency and unreal model in the existing technology are solved, achieving a more efficient and accurate three-dimensional reconstruction effect.
Patent Information
- Application Number
- CN202510058743.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-15
- Publication Date
- 2025-06-03
AI Technical Summary
In the prior art, when a three-dimensional laser scanner detects a large area of complex railway passenger station grid structure, the generated model is inefficient and difficult to truly simulate the interlaced structure of the grid.
The drone is combined with a three-dimensional reconstruction algorithm, and the data acquisition parts on the top and bottom of the body are covered in the air with panoramic views, combined with image processing and point cloud generation algorithm to form a three-dimensional model, and protect the hardware equipment and avoid complex grid structures through protective grids and ultrasonic sensors.
The efficiency of three-dimensional reconstruction of railway passenger station grid structure is improved, and the generated three-dimensional model more realistically simulates the interlaced structure of grid structure, and the drone can fly stably, reducing the risk of damage to hardware equipment.
Smart Images
Figure CN120084283A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of the grid structure detection of railway passenger stations. Specifically, it relates to an unmanned aerial vehicle (UAV) and a three-dimensional reconstruction algorithm for the three-dimensional reconstruction of the grid structure of railway passenger stations. Background Art
[0002] The detection of the grid structure of railway passenger stations mainly relies on manual visual inspection and manual measurement. Currently, ground laser scanning technology (3D laser scanner) or oblique photography technology on the market can generate three-dimensional data of the grid structure through laser scanning and high-definition images.
[0003] In the prior art, due to the limited scanning range of the 3D laser scanner, for the large-area and intricate grid structure of railway passenger stations, the operation efficiency of the 3D laser scanner is low, and the generated model is difficult to truly simulate the staggered structure of the grid due to the instrument angle problem. How to solve the above technical problems is what those skilled in the art need to consider. Summary of the Invention
[0004] This application provides an unmanned aerial vehicle and a three-dimensional reconstruction algorithm for the three-dimensional reconstruction of the grid structure of railway passenger stations to solve the problem of how to improve the efficiency of the three-dimensional reconstruction of the grid structure of railway passenger stations.
[0005] In a first aspect, an embodiment of this application provides an unmanned aerial vehicle for the three-dimensional reconstruction of the grid structure of railway passenger stations, including a fuselage and a plurality of rotors. The plurality of rotors are distributed circumferentially on the fuselage. The unmanned aerial vehicle for the three-dimensional reconstruction of the grid structure of railway passenger stations further includes a three-dimensional reconstruction module, an obstacle avoidance module, and a protection module. The three-dimensional reconstruction module includes a first data acquisition component disposed at the top of the fuselage and a second data acquisition component disposed at the bottom of the fuselage. The first data acquisition component and the second data acquisition component are respectively used to acquire data to form a panoramic image. The obstacle avoidance module includes an ultrasonic sensor disposed at the front end of the fuselage. The protection module includes a protection grid and a support rod. The protection grid is spherical, and the protection grid is disposed circumferentially around the rotors, the three-dimensional reconstruction module, and the obstacle avoidance module. One end of the support rod is connected to the fuselage, and the other end is connected to the protection grid.
[0006] Compared with the prior art, the unmanned aerial vehicle for the three-dimensional reconstruction of the grid structure of railway passenger stations provided in this embodiment achieves panoramic coverage in the air through the first data acquisition component at the top of the fuselage and the second data acquisition component at the bottom of the fuselage, and combines image processing and point cloud generation algorithms to form a three-dimensional model. The protection grid is used to protect the hardware devices to reduce the risk of damage, and the ultrasonic sensor is used to avoid the complex grid structure of railway passenger stations, enabling the fuselage to fly in the complex grid structure of railway passenger stations and acquire data, so as to achieve the effect of improving the efficiency of the three-dimensional reconstruction of the grid structure of railway passenger stations.
[0007] In a possible implementation, the airframe includes a chassis disposed in the middle region of the protective grid frame. There are at least two support rods. One side of the chassis is connected to one support rod, and the other side is connected to another support rod. A plurality of rotors are fixedly connected to the chassis respectively.
[0008] The drone for three-dimensional reconstruction of the grid structure of a railway passenger station is configured such that the chassis connects two support rods, and the two support rods are respectively connected to and support the protective grid frame. This is conducive to the protective grid frame surrounding the rotors, the three-dimensional reconstruction module, and the obstacle avoidance module circumferentially, thereby protecting each hardware device and enabling the drone for three-dimensional reconstruction of the grid structure of a railway passenger station to fly stably, so as to achieve the effect of improving the efficiency of three-dimensional reconstruction of the grid structure of a railway passenger station. The rotors are fixedly connected to the chassis respectively, which is conducive to the rotors driving the airframe to fly stably, so as to achieve the effect of improving the efficiency of three-dimensional reconstruction of the grid structure of a railway passenger station.
[0009] In a possible implementation, the airframe further includes a main control module fixedly connected to the top of the chassis. The main control module is electrically connected to the three-dimensional reconstruction module, the obstacle avoidance module, and the rotors respectively. The main control module is used to receive the induction signal of the ultrasonic sensor and the data collected by the first data acquisition component and the second data acquisition component, and control the movement of the rotors.
[0010] The main control module is fixedly connected to the top of the chassis, and the chassis carries the main control module to fly smoothly, so that the main control module operates stably, which is conducive to improving the efficiency of three-dimensional reconstruction of the grid structure of a railway passenger station.
[0011] In a possible implementation, the first data acquisition component includes a first vision camera and a pan-tilt head. The pan-tilt head is rotatably disposed on the main control module, and the first vision camera is movably disposed on the pan-tilt head. The pan-tilt head is used to horizontally rotate the first vision camera, and the first vision camera is used to collect image data.
[0012] The first vision camera is movably disposed on the pan-tilt head, and the pan-tilt head drives the first vision camera to rotate horizontally, thereby increasing the shooting range of the first vision camera, which is conducive to the first data acquisition component and the second data acquisition component to provide panoramic coverage in the air, thereby improving the efficiency of three-dimensional reconstruction of the grid structure of a railway passenger station.
[0013] In a possible implementation, the airframe further includes a battery module fixed to the bottom of the chassis; the second data acquisition component includes a second vision camera, and the second vision camera is movably disposed on the battery module. The battery module is used to provide power, and the second vision camera is used to collect image data.
[0014] The main control module is fixedly connected to the top of the chassis. The pan-tilt is rotatably arranged on the main control module. The first vision camera is movably arranged on the pan-tilt. The battery module is fixed to the bottom of the chassis. The second vision camera is movably arranged on the battery module. The battery module is used to provide power, so as to reasonably arrange the positions of each hardware device, which is beneficial to keep the body balanced, enabling the UAV for the three-dimensional reconstruction of the railway station roof truss structure to fly stably and improving the efficiency of the three-dimensional reconstruction of the railway station roof truss structure.
[0015] In a possible implementation manner, the main control module is arranged in the middle of the chassis; the body further includes a reinforcing plate, the reinforcing plate is arranged on the peripheral surface of the main control module, and the reinforcing plate is fixedly connected to the main control module and the chassis.
[0016] The UAV for the three-dimensional reconstruction of the railway station roof truss structure is fixedly connected to the main control module and the chassis through the reinforcing plate. On the one hand, the reinforcing plate makes the main control module firmly fixed, and on the other hand, it improves the strength of the chassis, which is beneficial to the stable operation of the main control module and improves the efficiency of the three-dimensional reconstruction of the railway station roof truss structure.
[0017] In a possible implementation manner, the protective grid includes a horizontal ring and at least three vertical rings. The three vertical rings are arranged at an angle. The horizontal ring is tightened around the circumference of the three vertical rings, and the support rod is fixedly connected to the horizontal ring.
[0018] By setting the horizontal ring and the vertical rings, the protective grid reduces its weight, which is beneficial to improving the flight speed of the UAV for the three-dimensional reconstruction of the railway station roof truss structure and extending the endurance; the large gap between the horizontal ring and the vertical rings is beneficial for the first data acquisition component and the second data acquisition component to collect data through the gap, thus improving the efficiency of the three-dimensional reconstruction of the railway station roof truss structure.
[0019] In a possible implementation manner, the protective grid is a carbon fiber grid.
[0020] The protective grid being a carbon fiber grid improves the strength of the protective grid and reduces its weight.
[0021] In a possible implementation manner, the first data acquisition component includes a first lidar, and the second data acquisition component includes a second lidar.
[0022] The second lidar is beneficial to generating a high-precision point cloud model, thereby providing the basic data for three-dimensional reconstruction and improving the efficiency of the three-dimensional reconstruction of the railway station roof truss structure.
[0023] Second aspect, an embodiment of the present application further provides a three-dimensional reconstruction algorithm, including providing a drone for three-dimensional reconstruction of the grid structure of a railway passenger station, integrating the data collected by the ultrasonic sensor, the first data acquisition component, and the second data acquisition component respectively through data fusion technology to form a panoramic image, and removing the image of the protection module from the panoramic image through an image processing algorithm to generate a three-dimensional model.
[0024] Compared with the prior art, the drone for three-dimensional reconstruction of the grid structure of a railway passenger station provided in this embodiment covers the air panoramically through the first data acquisition component at the top of the fuselage and the second data acquisition component at the bottom of the fuselage. The ultrasonic sensor penetrates the protection module, integrates through data fusion technology to form a panoramic image, removes the image of the protection module from the panoramic image through an image processing algorithm, and generates a three-dimensional model, so as to achieve the effect of improving the efficiency of three-dimensional reconstruction of the grid structure of a railway passenger station. Description of the Drawings
[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative efforts.
[0026] Figure 1 It is a three-dimensional schematic diagram of a drone for three-dimensional reconstruction of the grid structure of a railway passenger station according to an embodiment of the present application;
[0027] Figure 2 is Figure 1 a three-dimensional schematic diagram of the drone for three-dimensional reconstruction of the grid structure of a railway passenger station with the protection module hidden.
[0028] Main Component Symbol Description:
[0029] 1. Drone for three-dimensional reconstruction of the grid structure of a railway passenger station; 11. Fuselage; 111. Chassis; 112. Main control module; 113. Battery module; 114. Reinforcement plate; 12. Rotor; 13. First vision camera; 14. Cloud platform; 15. Second vision camera; 16. Ultrasonic sensor; 17. Protection module; 171. Protection grid; 172. Support rod; 173. Horizontal ring; 174. Vertical ring. Detailed Embodiments
[0030] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments.
[0031] Some embodiments of the present application will be described in detail. In the case of no conflict, the following embodiments and the features in the embodiments can be combined with each other.
[0032] Embodiment
[0033] Please refer to Figure 1 and Figure 2 As shown, this embodiment provides a drone 1 for three-dimensional reconstruction of the grid structure of a railway passenger station, which includes a fuselage 11 and a plurality of rotors 12. The plurality of rotors 12 are distributed circumferentially on the fuselage 11. The drone 1 for three-dimensional reconstruction of the grid structure of a railway passenger station further includes a three-dimensional reconstruction module, an obstacle avoidance module, and a protection module 17. The three-dimensional reconstruction module includes a first data acquisition component provided at the top of the fuselage 11 and a second data acquisition component provided at the bottom of the fuselage 11. The first data acquisition component and the second data acquisition component are respectively used to acquire data to form a panoramic image. The obstacle avoidance module includes an ultrasonic sensor 16 provided at the front end of the fuselage 11. The protection module 17 includes a protection grid 171 and a support rod 172. The protection grid 171 is spherical. The protection grid 171 is provided circumferentially around the rotors 12, the three-dimensional reconstruction module, and the obstacle avoidance module. One end of the support rod 172 is connected to the fuselage 11, and the other end is connected to the protection grid 171.
[0034] The drone 1 for three-dimensional reconstruction of the grid structure of a railway passenger station provided in this embodiment achieves panoramic coverage in the air through the first data acquisition component at the top of the fuselage 11 and the second data acquisition component at the bottom of the fuselage 11, and combines image processing and point cloud generation algorithms to form a three-dimensional model. The protection grid 171 is used to protect the hardware equipment to reduce the risk of damage. The ultrasonic sensor 16 is used to avoid the complex grid structure of the railway passenger station, enabling the fuselage 11 to fly in the complex grid structure of the railway passenger station and acquire data, so as to improve the efficiency of three-dimensional reconstruction of the grid structure of the railway passenger station.
[0035] In this embodiment, the ultrasonic sensor 16 is used to detect the distance of obstacles in the surrounding environment in real time and provide a short-distance obstacle avoidance function.
[0036] The first data acquisition component can be a lidar or a vision camera, and the second data acquisition component can be a lidar or a vision camera. The vision camera can capture clear images and videos, providing a high-quality panoramic data source for subsequent three-dimensional modeling. The lidar is conducive to generating a high-precision point cloud model, thereby providing basic data for three-dimensional reconstruction and improving the efficiency of three-dimensional reconstruction of the grid structure of the railway passenger station.
[0037] In a possible implementation manner, the fuselage 11 includes a chassis 111. The chassis 111 is provided in the middle area of the protection grid 171. There are at least two support rods 172. One side of the chassis 111 is connected to one support rod 172, and the other side is connected to another support rod 172. The plurality of rotors 12 are respectively fixedly connected to the chassis 111.
[0038] In this embodiment, the drone 1 for three-dimensional reconstruction of the grid structure of a railway passenger station is provided with a chassis 111 connecting two support rods 172. The two support rods 172 are respectively connected to and support a protective grid 171, which is conducive to the protective grid 171 surrounding the circumference of the rotor 12, the three-dimensional reconstruction module and the obstacle avoidance module, thereby protecting each hardware device and enabling the drone 1 for three-dimensional reconstruction of the grid structure of a railway passenger station to fly stably, so as to achieve the effect of improving the efficiency of three-dimensional reconstruction of the grid structure of a railway passenger station. The rotor 12 is fixedly connected to the chassis 111 respectively, which is conducive to the rotor 12 driving the airframe 11 to fly stably, so as to achieve the effect of improving the efficiency of three-dimensional reconstruction of the grid structure of a railway passenger station.
[0039] In a possible implementation manner, the airframe 11 further includes a main control module 112. The main control module 112 is fixedly connected to the top of the chassis 111. The main control module 112 is electrically connected to the three-dimensional reconstruction module, the obstacle avoidance module and the rotor 12 respectively. The main control module 112 is used to receive the induction signal of the ultrasonic sensor 16 and the data collected by the first data acquisition component and the second data acquisition component, and control the movement of the rotor 12.
[0040] In this embodiment, the main control module 112 has functions of motion control, positioning, data storage and communication. The main control module 112 processes the sensing data of the ultrasonic sensor 16, the first data acquisition component and the second data acquisition component in real time, and generates a flight instruction to control the movement of the rotor 12, which is conducive to accurately controlling the drone 1 for three-dimensional reconstruction of the grid structure of a railway passenger station. The main control module 112 is fixedly connected to the top of the chassis 111, and the chassis 111 carries the main control module 112 to fly smoothly, so that the main control module 112 operates stably, which is conducive to improving the efficiency of three-dimensional reconstruction of the grid structure of a railway passenger station.
[0041] In a possible implementation manner, the first data acquisition component includes a first vision camera 13 and a pan-tilt head 14. The pan-tilt head 14 is rotatably arranged on the main control module 112, and the first vision camera 13 is movably arranged on the pan-tilt head 14. The pan-tilt head 14 is used to horizontally rotate the first vision camera 13, and the first vision camera 13 is used to collect image data.
[0042] In this embodiment, the first vision camera 13 is movably arranged on the pan-tilt head 14, and the pan-tilt head 14 drives the first vision camera 13 to horizontally rotate, thereby increasing the shooting range of the first vision camera 13, which is conducive to the aerial panoramic coverage of the first data acquisition component and the second data acquisition component, thereby improving the efficiency of three-dimensional reconstruction of the grid structure of a railway passenger station.
[0043] In a possible implementation, the body 11 further includes a battery module 113, and the battery module 113 is fixed to the bottom of the chassis 111; the second data acquisition component includes a second vision camera 15, and the second vision camera 15 is movably arranged on the battery module 113. The battery module 113 is used to provide power, and the second vision camera 15 is used to acquire image data.
[0044] In this embodiment, the battery module 113 includes a lithium battery, thereby improving the flight endurance. The main control module 112 is fixedly connected to the top of the chassis 111. The gimbal 14 is rotatably arranged on the main control module 112. The first vision camera 13 is movably arranged on the gimbal 14. The battery module 113 is fixed to the bottom of the chassis 111. The second vision camera 15 is movably arranged on the battery module 113. The battery module 113 is used to provide power, so as to reasonably arrange the positions of each hardware device, which is beneficial to keeping the body 11 balanced, enabling the drone 1 for three-dimensional reconstruction of the grid structure of the railway passenger station to fly stably, and improving the efficiency of three-dimensional reconstruction of the grid structure of the railway passenger station.
[0045] In a possible implementation, the main control module 112 is arranged in the middle of the chassis 111; the body 11 further includes a reinforcing plate 114, and the reinforcing plate 114 is arranged on the circumferential surface of the main control module 112. The reinforcing plate 114 is fixedly connected to the main control module 112 and the chassis 111.
[0046] In this embodiment, the drone 1 for three-dimensional reconstruction of the grid structure of the railway passenger station is fixedly connected to the main control module 112 and the chassis 111 through the reinforcing plate 114. On the one hand, the reinforcing plate 114 makes the main control module 112 firmly fixed. On the other hand, the reinforcing plate 114 improves the strength of the chassis 111, which is beneficial to the stable operation of the main control module 112 and improves the efficiency of three-dimensional reconstruction of the grid structure of the railway passenger station.
[0047] In a possible implementation, the protective grid 171 includes a horizontal ring 173 and at least three vertical rings 174. The three vertical rings 174 are arranged at an angle. The horizontal ring 173 is tightened around the circumference of the three vertical rings 174. The support rod 172 is fixedly connected to the horizontal ring 173.
[0048] In this embodiment, by providing the horizontal ring 173 and the vertical rings 174, the weight of the protective grid 171 is reduced, which is beneficial to improving the flight speed of the drone 1 for three-dimensional reconstruction of the grid structure of the railway passenger station and extending the endurance; there are gaps between the horizontal ring 173 and the vertical rings 174, which is beneficial for the first data acquisition component and the second data acquisition component to acquire data through the gaps, thereby improving the efficiency of three-dimensional reconstruction of the grid structure of the railway passenger station.
[0049] In a possible implementation, the protective grid 171 is a carbon fiber grid.
[0050] In this embodiment, the protective grid 171 is a carbon fiber grid, thereby enhancing the strength of the protective grid 171 and reducing the weight of the protective grid 171. The horizontal ring 173 and the vertical ring 174 of the protective grid 171 are formed by die molding and hot pressing and curing processes. The carbon fiber prepreg is shaped into a strong and flexible grid structure, which can effectively resist external impacts while maintaining an extremely light mass, facilitating the improvement of the mobility of the drone. The protective grid 171 is designed for all-round (360-degree) protection, not only providing comprehensive protection for key components, but also its open structure contributing to maintaining good aerodynamic performance and sensor signal transmission.
[0051] In a second aspect, an embodiment of the present application further provides a three-dimensional reconstruction algorithm, including providing a drone 1 for three-dimensional reconstruction of the grid structure of a railway passenger station, integrating the data collected by the ultrasonic sensor 16, the first data acquisition component, and the second data acquisition component respectively through data fusion technology to form a panoramic image, and removing the image of the protection module 17 from the panoramic image through an image processing algorithm to generate a three-dimensional model.
[0052] The drone 1 for three-dimensional reconstruction of the grid structure of a railway passenger station provided in this embodiment provides panoramic coverage in the air through the first data acquisition component at the top of the fuselage 11 and the second data acquisition component at the bottom of the fuselage 11. The ultrasonic sensor 16 penetrates the protection module 17, and the data is integrated through data fusion technology to form a panoramic image. The image of the protection module 17 is removed from the panoramic image through an image processing algorithm to generate a three-dimensional model, so as to improve the efficiency of three-dimensional reconstruction of the grid structure of a railway passenger station.
[0053] In this embodiment, the drone 1 for three-dimensional reconstruction of the grid structure of a railway passenger station uses real-time environmental perception and multi-sensor fusion technology to obtain information about the surrounding environment in real time and generate an environmental map. An advanced dynamic obstacle avoidance algorithm is adopted to automatically adjust the flight path according to the real-time environmental information to avoid collisions. The algorithm can quickly respond to emergencies, which is beneficial to the safe flight of the drone in a complex grid environment. The drone is equipped with two visual cameras, one on the top and one on the bottom, which can take clear images and videos, providing high-quality data sources for subsequent three-dimensional modeling. By having the drone shuttle through the grid structure and collect data, it is beneficial to the comprehensiveness and accuracy of the data. Through data fusion technology, data from different sensors is integrated to improve the accuracy and consistency of the data. Image processing algorithms are used to preprocess the images taken by the drone, removing noise and redundant information and extracting useful feature points. Advanced three-dimensional reconstruction algorithms, such as structured light method, photogrammetry method, and point cloud registration algorithm, are used to generate a high-precision three-dimensional model. Through model optimization algorithms, the generated three-dimensional model is enhanced in details and corrected for errors.
[0054] In view of the characteristics of the carbon fiber grid, algorithm optimization can be achieved by adjusting the transmission frequency of the ultrasonic sensor 16 to a range not easily interfered by carbon fiber, and by using an adaptive filter and echo feature analysis technology to filter out the reflected signals from the protective net. At the same time, time difference technology is introduced, and a short-time window is set to exclude the quickly arriving reflected signals from the protective net, ensuring that the received information is the real information from more distant obstacles. Through machine learning model training, the system can learn to distinguish and ignore the false echoes caused by the protective grid 171, improving the detection accuracy. To achieve multi-sensor fusion, a visual camera can be relied on as the main sensing means because carbon fiber has less impact on optical sensors. The SLAM algorithm is combined to construct an environmental map and perform real-time positioning. Infrared or thermal imaging sensors are used as auxiliary to detect objects at different temperatures, while lidar (LiDAR) and millimeter-wave radar complement high-precision distance measurement and all-weather working capabilities, ensuring reliable obstacle information can be obtained even in complex environments. The intelligent fusion decision-making system will integrate the data of each sensor, dynamically adjust the weights, and output the optimal obstacle avoidance path, enhancing the safety and robustness of the UAV.
[0055] In summary, the UAV 1 provided in this embodiment for three-dimensional reconstruction of the grid structure of a railway passenger station achieves panoramic coverage in the air through the first data acquisition component at the top of the airframe 11 and the second data acquisition component at the bottom of the airframe 11, and forms a three-dimensional model by combining image processing and point cloud generation algorithms. The protective grid 171 is used to protect the hardware equipment to reduce the risk of damage. The ultrasonic sensor 16 is used to avoid the complex grid structure of the railway passenger station, enabling the airframe 11 to fly in the complex grid structure of the railway passenger station and collect data, so as to improve the efficiency of three-dimensional reconstruction of the grid structure of the railway passenger station.
[0056] The above embodiments are only used to illustrate the technical solutions of the present application and not to limit them. Although the present application has been described in detail with reference to the above preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present application can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present application.
Claims
1. An unmanned aerial vehicle for three-dimensional reconstruction of a railway passenger station grid structure, comprising an airframe and a plurality of rotors, wherein the plurality of rotors are distributed around the airframe, and characterized in that: The UAV used for three-dimensional reconstruction of the railway passenger station grid structure also includes: A three-dimensional reconstruction module, comprising a first data acquisition component disposed on the top of the body and a second data acquisition component disposed on the bottom of the body, wherein the first data acquisition component and the second data acquisition component are respectively used to acquire data to form a panoramic image; an obstacle avoidance module, comprising an ultrasonic sensor disposed at the front end of the body; The protection module includes a protection grid and a support rod. The protection grid is spherical. The protection net is set up around the rotor, the three-dimensional reconstruction module and the obstacle avoidance module. One end of the support rod is connected to the body and the other end is connected to the protection grid.
2. The unmanned aerial vehicle for three-dimensional reconstruction of railway passenger station grid structure according to claim 1, characterized in that: The body includes a chassis, which is arranged in the middle area of the protective grid. At least two support rods are provided, one side of the chassis is connected to one support rod, and the other side is connected to another support rod. The multiple rotors are respectively fixedly connected to the chassis.
3. The unmanned aerial vehicle for three-dimensional reconstruction of railway passenger station grid structure according to claim 2, characterized in that: The body also includes a main control module, which is fixedly connected to the top of the chassis. The main control module is electrically connected to the three-dimensional reconstruction module, the obstacle avoidance module and the rotor respectively. The main control module is used to receive the sensing signal of the ultrasonic sensor, the data collected by the first data acquisition component and the second data acquisition component, and control the movement of the rotor.
4. The unmanned aerial vehicle for three-dimensional reconstruction of railway passenger station grid structure according to claim 3, characterized in that: The first data acquisition component includes a first visual camera and a pan-tilt head. The pan-tilt head is rotatably arranged on the main control module, and the first visual camera is movably arranged on the pan-tilt head. The pan-tilt head is used to horizontally rotate the first visual camera, and the first visual camera is used to collect image data.
5. The unmanned aerial vehicle for three-dimensional reconstruction of railway passenger station grid structure according to claim 3, characterized in that: The body further includes a battery module, and the battery module is fixed to the bottom of the chassis; The second data acquisition component includes a second visual camera, which can be movably arranged on the battery module. The battery module is used to provide power, and the second visual camera is used to collect image data.
6. The unmanned aerial vehicle for three-dimensional reconstruction of railway passenger station grid structure according to claim 3, characterized in that: The main control module is arranged in the middle of the chassis; The machine body further comprises a reinforcing plate, which is arranged on the peripheral surface of the main control module and fixedly connects the main control module and the chassis.
7. The unmanned aerial vehicle for three-dimensional reconstruction of railway passenger station grid structure according to claim 1, characterized in that: The protective grid includes a horizontal circular ring and at least three vertical circular rings. The three vertical circular rings are arranged at an angle. The horizontal circular ring is clamped around the circumference of the three vertical circular rings. The support rod is fixedly connected to the horizontal circular ring.
8. The unmanned aerial vehicle for three-dimensional reconstruction of railway passenger station grid structure according to claim 1 or 7, characterized in that: The protective grid is a carbon fiber grid.
9. The unmanned aerial vehicle for three-dimensional reconstruction of railway passenger station grid structure according to claim 1, characterized in that: The first data acquisition component includes a first laser radar, and the second data acquisition component includes a second laser radar.
10. A three-dimensional reconstruction algorithm, characterized in that: include: A drone for three-dimensional reconstruction of a railway passenger station grid structure according to any one of claims 1 to 9 is provided, wherein the data collected by the ultrasonic sensor, the first data acquisition component and the second data acquisition component are respectively integrated through data fusion technology to form a panoramic image, and the image of the protection module is removed from the panoramic image through an image processing algorithm to generate a three-dimensional model.