Protector and accident scene three-dimensional scene modeling system and method

Abstract

The invention discloses a protector and an accident scene three-dimensional scene modeling system and method, and belongs to the technical field of scene restoration. The accident scene three-dimensional scene modeling method comprises the following steps: determining position information of at least three aircrafts in real time by taking a putting position of a reference positioning device as a ground origin; modeling positioning devices arranged on the at least three aircrafts are matched with a modeling positioning matching device, so that the position information of the worker when the environment information is acquired is accurately positioned, and then the position information of the worker is acquired according to the position information of the at least three aircrafts and the position information of the worker; the environment information obtained by the modeling shooting device is spliced to form the three-dimensional scene of the accident scene, equivalently, the obtained environment information is spliced in the same coordinate system, so that the position information of the material evidence can be accurately restored, the relative position information between the associated material evidence can be determined, and the efficiency and accuracy of material investigation are improved. According to the protector, team cooperation can be realized, and the evidence investigation efficiency and accuracy can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of on-site restoration, and particularly to protective equipment, a three-dimensional scene modeling system and method for an accident scene. Background Art

[0002] Currently, when investigating and collecting evidence at a wild accident scene, usually, staff use photographing devices such as cameras to take photos or videos of the scene, and then splice the taken photos or videos to form a three-dimensional scene of the accident scene, so as to retain and restore physical evidence and the like at the accident scene, which is beneficial to accurately analyzing the cause of the accident.

[0003] However, in the prior art, it is impossible to determine the position of the staff when taking photos or videos, and the relative positions between multiple staff cannot be determined either. The accident scene pictures taken do not achieve unified coordinate systems, and all scenes of the accident scene cannot be completely spliced, which brings great difficulties to subsequent scene photography, resulting in a large error or even distortion of the spliced three-dimensional scene, and is not conducive to accident analysis. Summary of the Invention

[0004] One object of the present invention is to provide a three-dimensional scene modeling system and method for an accident scene, which can accurately restore the three-dimensional scene of the accident scene and improve the efficiency and accuracy of evidence inspection.

[0005] Another object of the present invention is to provide a protective equipment, which can be used to accurately restore the three-dimensional scene of the accident scene and improve the efficiency and accuracy of evidence inspection.

[0006] To achieve the above objects, the following technical solutions are provided:

[0007] In the first aspect, a three-dimensional scene modeling method for an accident scene is provided, including the following steps:

[0008] A reference positioning device is airdropped to the accident scene;

[0009] At least three aircrafts are set in the air of the accident scene. Each of the at least three aircrafts is provided with a reference positioning cooperation device, and the position information of the at least three aircrafts is obtained by the cooperation of the reference positioning cooperation device and the reference positioning device; each of the at least three aircrafts is provided with a modeling positioning device;

[0010] Staff are allowed to enter the accident scene, and the staff wear protective equipment. The protective equipment is provided with a modeling photographing device and a modeling positioning cooperation device. The environmental information of the position where the staff are located is obtained by the modeling photographing device; and the position information of the staff is obtained by the cooperation of the modeling positioning cooperation device and the modeling positioning device of the at least three aircrafts;

[0011] According to the position information of the at least three aircraft and the position information of the staff, the environmental information obtained by the modeling and photographing device is spliced to form a three-dimensional scene of the accident site.

[0012] As an alternative to the accident site three-dimensional scene modeling method, before a reference positioning device is airdropped to the accident site, the following steps are further included:

[0013] Enable a drone or a robot to enter the accident site, and equip the drone or the robot with a survey and photographing device, and obtain the environmental information of the accident site through the survey and photographing device;

[0014] Splice the environmental information obtained by the survey and photographing device to form a survey three-dimensional scene of the accident site, and determine the dropping position of the reference positioning device, as well as the entrance position of the staff entering the accident site and the travel route after entering the accident site according to the survey three-dimensional scene.

[0015] As an alternative to the accident site three-dimensional scene modeling method, before the staff enter the accident site, the following steps are further included:

[0016] Enable a robot to enter the accident site, and equip the robot with a preliminary modeling and photographing device and a preliminary modeling positioning and cooperation device, and obtain the environmental information of the position where the robot is located through the preliminary modeling and photographing device; and cooperate with the modeling positioning device of the at least three aircraft through the preliminary modeling positioning and cooperation device to obtain the position information of the robot;

[0017] According to the position information of the at least three aircraft and the position information of the robot, splice the environmental information obtained by the preliminary modeling and photographing device to form a preliminary three-dimensional scene of the accident site, and determine the entrance position of the staff entering the accident site and the travel route after entering the accident site according to the preliminary three-dimensional scene.

[0018] As an alternative to the accident site three-dimensional scene modeling method, when the staff enter the accident site, the following steps are further included:

[0019] There are multiple staff members, and multiple staff members enter the accident site simultaneously or in sequence.

[0020] As an alternative to the accident site three-dimensional scene modeling method, in the process of obtaining the position information of the staff by cooperating the modeling positioning and cooperation device with the modeling positioning device of the at least three aircraft, the following steps are further included:

[0021] Record the position where the reference positioning device is located as the ground origin. The at least three aircraft can form a reference plane, and a three-dimensional coordinate system is formed by the reference plane and the ground origin;

[0022] Correct the reference plane in real time according to the position information of the at least three aircraft;

[0023] Determine the coordinates of the staff in the three-dimensional coordinate system by the cooperation of the modeling and positioning cooperation device and the modeling and positioning devices of the at least three aircraft.

[0024] As an alternative solution of the three-dimensional scene modeling method for the accident site, in the process of obtaining the position information of the staff by the cooperation of the modeling and positioning cooperation device and the modeling and positioning devices of the at least three aircraft, the following steps are further included:

[0025] The at least three aircraft are all equipped with positioning trackers, and the position information of the at least three aircraft is obtained through the positioning trackers;

[0026] Establish a three-dimensional coordinate system according to the position information of the at least three aircraft obtained by the positioning trackers;

[0027] Determine the coordinates of the staff in the three-dimensional coordinate system by the cooperation of the modeling and positioning cooperation device and the modeling and positioning devices of the at least three aircraft.

[0028] As an alternative solution of the three-dimensional scene modeling method for the accident site, the environmental information is the image captured by the modeling and shooting device;

[0029] In the process of stitching the environmental information obtained by the modeling and shooting device to form the three-dimensional scene of the accident site according to the position information of the at least three aircraft and the position information of the staff, the following steps are further included:

[0030] Determine the relative position information between the staff at the time of shooting of the images according to the images captured by the modeling and shooting devices carried by multiple staff and the coordinates of the multiple staff in the three-dimensional coordinate system;

[0031] Stitch the images to form the three-dimensional scene of the accident site according to the coordinates of the multiple staff in the three-dimensional coordinate system and the relative position information between the staff.

[0032] As an alternative solution of the three-dimensional scene modeling method for the accident site, in the process of allowing the staff to enter the accident site, the following steps are further included:

[0033] Allow the staff to wear communication equipment;

[0034] In the process of allowing the staff to enter the accident scene, the following steps are further included:

[0035] Equip the staff with smart glasses that can display images and / or texts;

[0036] In the process of allowing the staff to enter the accident scene, the following steps are further included:

[0037] Equip the staff with protective gear, and the modeling and photographing device, the modeling and positioning cooperation device, the communication device, and the smart glasses are all installed on the protective gear.

[0038] As an alternative solution to the three-dimensional scene modeling method for the accident scene, at least three aircraft are set in the air of the accident scene, and the following steps are further included:

[0039] Suspend the at least three aircraft in the air of the accident scene;

[0040] The aircraft is an airship or a drone.

[0041] As an alternative solution to the three-dimensional scene modeling method for the accident scene, the reference positioning cooperation device includes a reference graphic marker or a reference optical marker, the reference optical marker includes a reference light-emitting element and / or a reference reflective element, the reference positioning device is a reference positioning photographing device, and the reference positioning photographing device can photograph the reference graphic marker or the reference optical marker to obtain the position information of the corresponding aircraft; or, the reference positioning cooperation device is one of a reference signal generator and a reference signal receiver, the reference positioning device is the other of the reference signal generator and the reference signal receiver, and the reference signal receiver can receive the signal generated by the reference signal generator to obtain the position information of the corresponding aircraft; and / or,

[0042] The modeling and positioning cooperation device includes a modeling graphic marker or a modeling optical marker, the modeling optical marker includes a modeling light-emitting element and / or a modeling reflective element, the modeling positioning device is a modeling positioning photographing device, and the modeling positioning photographing device can photograph the modeling graphic marker or the modeling optical marker to obtain the position information of the staff; or, the modeling and positioning cooperation device is one of a modeling signal generator and a modeling signal receiver, the modeling positioning device is the other of the modeling signal generator and the modeling signal receiver, and the modeling signal receiver can receive the signal generated by the modeling signal generator to obtain the position information of the staff.

[0043] In a second aspect, a protective gear is provided, including:

[0044] A protective gear body for protecting the body of the staff;

[0045] The protective device further includes:

[0046] A modeling and photographing device capable of taking pictures or videos;

[0047] A modeling positioning and matching device provided on the main body of the protective device; the modeling positioning and matching device includes a modeling graphic mark or a modeling optical mark, and the modeling optical mark includes a modeling light-emitting part and / or a modeling light-reflecting part; or the modeling positioning and matching device includes a modeling signal generator capable of generating and sending radio frequency signals; or the modeling positioning and matching device includes a modeling signal receiver capable of receiving signals generated by a signal generator.

[0048] As an optional solution of the protective device, the protective device further includes a data transmission device capable of transmitting the pictures or videos taken by the modeling and photographing device to a control center in real time; and / or,

[0049] The main body of the protective device is a helmet;

[0050] The protective device further includes a communication device provided on the helmet; and / or,

[0051] The protective device further includes smart glasses provided on the helmet and capable of displaying images and / or texts.

[0052] In a third aspect, a three-dimensional scene modeling system for an accident site is provided, including:

[0053] A reference origin structure for being placed at the accident site;

[0054] A reference positioning device provided on the reference origin structure;

[0055] At least three aircrafts, each of the at least three aircrafts is provided with a reference positioning and matching device, and the position information of the at least three aircrafts can be obtained by the cooperation of the reference positioning and matching devices of the at least three aircrafts with the reference positioning device;

[0056] A network terminal provided on the reference origin structure, and the network terminal can provide a network for the accident site.

[0057] As an optional solution of the three-dimensional scene modeling system for an accident site, the three-dimensional scene modeling system for an accident site further includes the above-mentioned protective device; each of the at least three aircrafts is provided with a modeling positioning device;

[0058] When the staff wearing the protective gear enters the accident scene, the modeling and positioning cooperation device of the protective gear can cooperate with the modeling and positioning devices of the at least three aircraft to obtain the position information of the staff wearing the protective gear.

[0059] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0060] In the three-dimensional scene modeling method for the accident scene of the present invention, taking the position where the reference positioning device is placed as the ground origin, the position information of at least three aircraft is determined in real time; and through the cooperation between the modeling and positioning devices provided on the at least three aircraft and the modeling and positioning cooperation device, the position information of the staff when the environmental information is acquired is accurately positioned. Then, according to the position information of the at least three aircraft and the position information of the staff, the environmental information obtained by the modeling and photographing device is spliced to form a three-dimensional scene of the accident scene, which is equivalent to splicing the obtained environmental information in the same coordinate system. Furthermore, the position information of the physical evidence can be accurately restored, and the relative position information between the associated physical evidence can be determined, improving the efficiency and accuracy of physical evidence investigation.

[0061] The three-dimensional scene modeling system for the accident scene of the present invention can take the position where the reference positioning device is placed as the ground origin, determine the position information of at least three aircraft in real time, and thus establish a three-dimensional coordinate system for the accident scene. Furthermore, the images of the accident scene obtained can be spliced in the same coordinate system, the position information of the physical evidence can be accurately restored, and the relative position information between the associated physical evidence can be determined, improving the efficiency and accuracy of physical evidence investigation.

[0062] On the basis of protecting the staff, the protective gear of the present invention can also obtain the position information of the staff when taking pictures or videos through the modeling and positioning cooperation device, and transmit the taken pictures or videos to the control center in real time, which is beneficial to realizing teamwork, accurately restoring the three-dimensional scene of the accident scene, and improving the efficiency and accuracy of physical evidence investigation. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 It is a schematic structural diagram of the protective gear in the embodiment of the present invention;

[0064] Figure 2 It is a schematic diagram of the three-dimensional coordinate system construction model of the three-dimensional scene modeling method for the accident scene in the embodiment of the present invention;

[0065] Figure 3 It is a brief flow chart of the three-dimensional scene modeling method for the accident scene in the embodiment of the present invention;

[0066] Figure 4 It is a detailed flow chart of the three-dimensional scene modeling method for the accident scene in the embodiment of the present invention.

[0067] Reference Signs:

[0068] 1. Protective gear body; 2. Modeling positioning and matching device; 3. Modeling and photographing device; 4. Communication device; 5. Smart glasses; 6. Reference positioning device; 7. Aircraft. Specific embodiments

[0069] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. The components of the embodiments of the present invention usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0070] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0071] It should be noted that: Similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0072] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present invention is usually placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0073] In the description of the present invention, it should also be noted that unless otherwise clearly defined and limited, the terms "installed" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0074] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may include direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0075] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0076] As Figure 1-2 shown, this embodiment provides a protective device and a three-dimensional scene modeling system for an accident site. The three-dimensional scene modeling system for an accident site includes a protective device, a reference origin structure, a reference positioning device 6, at least three aircrafts 7 and a network terminal. The reference origin structure is used to be placed at the accident site; the reference positioning device 6 is arranged on the reference origin structure; at least three aircrafts 7 are each provided with a reference positioning cooperation device. By the cooperation of the reference positioning cooperation devices of at least three aircrafts 7 and the reference positioning device 6, the position information of at least three aircrafts 7 can be obtained.

[0077] It should be noted that the ground at the accident site is usually not flat and is not convenient to be used as a reference benchmark. Therefore, a reference plane is established first by at least three aircrafts 7. Exemplarily, three aircrafts 7 can form a reference plane, and the reference plane can cover the accident site; and the placement position of the reference origin structure is used as the ground origin, that is, the reference positioning device 6 is used as the ground origin, and a three-dimensional coordinate system is formed with this reference plane.

[0078] Since the positions of the aircrafts 7 are changing in real time, in order to ensure the accuracy of the three-dimensional coordinate system, the position information of at least three aircrafts 7 is obtained through the cooperation of the reference positioning cooperation devices of at least three aircrafts 7 and the reference positioning device 6, and then the reference plane is corrected in real time according to the position information of at least three aircrafts 7.

[0079] Optionally, the reference positioning cooperation device includes a reference graphic mark or a reference optical mark. The reference graphic mark is a specific and easily recognizable pattern. For example, the reference graphic mark can be a regular pattern such as a triangle or a pentagram, or it can be other irregular patterns. The reference optical mark includes a reference light emitter and a reference reflector. The reference positioning device 6 is a reference positioning shooting device such as a binocular stereo camera, and the reference positioning shooting device can shoot the reference graphic mark or the reference optical mark to obtain the position information of the corresponding aircraft 7. It should be noted that the specific method of shooting the reference graphic mark or the reference optical mark by the reference positioning shooting device to obtain the position information of the corresponding aircraft 7 is prior art and will not be elaborated here.

[0080] It can be understood that the reference light emitter can emit light, the reference reflector can reflect the light emitted by the reference light emitter, and the reference reflector can also reflect the light in the environment such as sunlight and lamp light. Exemplarily, the reference reflector is a reflective ball.

[0081] In other embodiments, the reference optical mark may also only include the reference light emitter. Of course, the reference optical mark may also only include the reference reflector. It should be noted that by using the reference positioning shooting device to only shoot the reference light emitter or the reference reflector, the position information of the staff can also be obtained. However, compared with the form where the reference optical mark includes both the reference light emitter and the reference reflector, dead angles are likely to occur, resulting in the light emitted by the reference light emitter or the light reflected by the reference reflector not being captured by the reference positioning shooting device, affecting the positioning accuracy.

[0082] Of course, in other embodiments, the reference positioning cooperation device may also be a reference signal generator, and the reference positioning device 6 is a reference signal receiver, or the reference positioning cooperation device is a reference signal receiver, and the reference positioning device 6 is a reference signal generator. The reference signal receiver can receive the signal generated by the reference signal generator to obtain the position information of the corresponding aircraft 7. It should be noted that the specific method of receiving the signal generated by the reference signal generator by the reference signal receiver to obtain the position information of the staff is prior art and will not be elaborated here.

[0083] At least three aircrafts 7 are provided with modeling and positioning devices. The protective gear includes a protective gear body 1, a modeling and positioning matching device 2, a modeling and shooting device 3 and a data transmission device. The protective gear body 1 is used to protect the body of the staff; the modeling and shooting device 3 can take pictures or videos; illustratively, the modeling and shooting device 3 uses a 3D depth panoramic camera. The data transmission device can transmit the pictures or videos taken by the modeling and shooting device 3 to the control center in real time; the modeling and positioning matching device 2 is arranged on the protective gear body 1; the modeling and positioning matching device 2 includes a modeling graphic mark or a modeling optical mark, and the modeling graphic mark is a specific and easy-to-identify pattern, such as a regular pattern such as a triangle or a pentagonal star, or other irregular patterns; the modeling optical mark includes a modeling luminous part and a modeling reflective part, the modeling luminous part can emit light, the modeling reflective part can reflect the light emitted by the modeling luminous part, and the modeling reflective part can also reflect the light in the environment such as sunlight, lamplight, etc.

[0084] In this embodiment, the modeling positioning device is a modeling positioning shooting device, and the modeling graphic mark or the modeling optical mark can be shot by the modeling positioning shooting device to obtain the position information of the staff. Exemplarily, the modeling positioning shooting device can be a binocular stereo camera or a specific spectrum positioning camera, and the modeling optical mark is a flash ball and a reflective ball. There are five flash balls. Of course, the flash balls can also be set to one, two, three, four or more, which is not limited here; the number of reflective balls can also be selected according to needs, which is not limited here; the five flash balls can emit flashes of different bands, and the reflective balls can reflect the flashes emitted by the flash balls. The specific spectrum positioning camera can obtain the flashes emitted by the flash balls and the flashes reflected by the reflective balls. The reflective surface area of the reflective ball is larger, and it can reflect light at 360°, which is easier to be recognized by the modeling positioning shooting device to improve the positioning accuracy of the staff. It should be noted that the specific method of shooting the modeling graphic mark or the modeling optical mark by the modeling positioning shooting device to obtain the position information of the staff is a prior art and will not be repeated here.

[0085] When a worker wearing protective gear enters the accident scene, the modeling positioning coordination device 2 of the protective gear can coordinate with the modeling positioning devices of at least three aircraft 7 to obtain the position information of the worker wearing the protective gear.

[0086] It should be noted that when investigating the accident scene, the staff can wear the protective gear of this embodiment to protect the staff. At the same time, through the cooperation of the modeling positioning matching device 2 of the protective gear and the modeling positioning devices of at least three aircraft 7, the position of the staff in the three-dimensional coordinate system can be accurately located by triangulation, which is conducive to accurately restoring the position information of the physical evidence and improving the investigation efficiency.

[0087] The protective gear in this embodiment can, on the basis of protecting the staff, also capture modeling graphic markers or modeling optical markers through the modeling positioning and shooting device to obtain the position information of the staff when taking pictures or videos, and transmit the pictures or videos taken by the modeling shooting device 3 to the control center in real time, which is conducive to realizing teamwork, accurately restoring the three-dimensional scene of the accident site, and improving the efficiency and accuracy of evidence inspection.

[0088] In other embodiments, the modeling optical marker may also only include a modeling light-emitting component, or the modeling optical marker may also only include a modeling reflective component. It should be noted that when using the modeling positioning and shooting device to only capture the modeling light-emitting component or the modeling reflective component, it is easy to have dead angles, resulting in the light emitted by the modeling light-emitting component or the light reflected by the modeling reflective component not being captured by the modeling positioning and shooting device. Therefore, setting the modeling optical marker to include both a modeling light-emitting component and a modeling reflective component can reduce or avoid the occurrence of shooting dead angles.

[0089] Of course, in other embodiments, the modeling positioning and coordinating device 2 may also be a modeling signal generator, which can generate and transmit radio frequency signals, and the modeling positioning device is a modeling signal receiver. By receiving the radio frequency signal through the modeling signal receiver, the purpose of obtaining the position information of the staff can be achieved. Of course, the modeling positioning and coordinating device 2 may also be a modeling signal receiver, and the modeling positioning device is a modeling signal generator, which can also achieve the purpose of obtaining the position information of the staff. It should be noted that the specific method of obtaining the position information of the staff by receiving the signal generated by the modeling signal generator through the modeling signal receiver is a prior art and will not be elaborated here.

[0090] Optionally, the protective gear further includes a communication device 4 to communicate with the outside of the accident site, such as the control center, through the communication device 4. At the same time, multiple staff members can also communicate with each other through the communication device 4 for timely communication.

[0091] Optionally, the protective gear further includes smart glasses 5, such as AR / AI glasses, to display the original image of the physical evidence (i.e., the image before the physical evidence was damaged) or text information through the smart glasses 5, facilitating the staff to compare the physical evidence at the accident site (such as the remains of the physical evidence) with the original pictures of the physical evidence for easy inspection.

[0092] In this embodiment, the protective gear body 1 is a helmet, and the communication device 4 and the smart glasses 5 are both provided on the helmet, facilitating the staff to wear all the equipment at one time.

[0093] Optionally, the protective gear further includes a power source, which is electrically connected to the modeling shooting device 3, the data transmission device, the modeling positioning and coordinating device 2, the communication device 4, and the smart glasses 5 respectively. Exemplarily, the power source is a lithium battery.

[0094] Optionally, the modeling positioning cooperation device 2 is arranged at the top of the helmet to facilitate the cooperation between the modeling positioning device and the modeling positioning cooperation device 2. With this arrangement, on the one hand, it plays a protective role for the staff, and on the other hand, it facilitates teamwork and improves the efficiency and accuracy of evidence investigation.

[0095] Furthermore, the network terminal is arranged at the reference origin structure. The network terminal can provide a network for the accident scene to realize communication and information transmission between the staff and between the staff and the control center. Exemplarily, the network terminal is a device with Wi-Fi transmission function such as a maritime satellite terminal or an outdoor wireless base station.

[0096] As Figure 3 shown, this embodiment also provides a method for three-dimensional scene modeling of an accident scene, including the following steps:

[0097] S1. Airdrop the reference positioning device 6 to the accident scene;

[0098] S2. Set at least three aircraft 7 in the air at the accident scene. At least three aircraft 7 are all provided with reference positioning cooperation devices. Through the cooperation between the reference positioning cooperation devices and the reference positioning device 6, the position information of at least three aircraft 7 is obtained; at least three aircraft 7 are all provided with modeling positioning devices;

[0099] S3. Let the staff enter the accident scene and let the staff wear protective gear. The protective gear is provided with a modeling shooting device 3 and a modeling positioning cooperation device 2. The environmental information of the position where the staff is located is obtained through the modeling shooting device 3; and through the cooperation between the modeling positioning cooperation device 2 and the modeling positioning devices of at least three aircraft 7, the position information of the staff is obtained;

[0100] S4. According to the position information of at least three aircraft 7 and the position information of the staff, the environmental information obtained by the modeling shooting device 3 is spliced to form a three-dimensional scene of the accident scene.

[0101] The method for three-dimensional scene modeling of the accident scene in this embodiment takes the dropping position of the reference positioning device 6 as the ground origin, and determines the position information of at least three aircraft 7 in real time; and through the cooperation between the modeling positioning devices arranged on at least three aircraft 7 and the modeling positioning cooperation device 2, the position information of the staff when the environmental information is obtained is accurately positioned. Then, according to the position information of at least three aircraft 7 and the position information of the staff, the environmental information obtained by the modeling shooting device 3 is spliced to form a three-dimensional scene of the accident scene, which is equivalent to splicing the obtained environmental information in the same coordinate system, and then can accurately restore the position information of the physical evidence and determine the relative position information between the associated physical evidence, improving the efficiency and accuracy of evidence investigation.

[0102] Figure 4The following is a detailed flowchart of the accident scene three-dimensional scene modeling method of this embodiment. Refer to Figure 4 , and introduce in detail the accident scene three-dimensional scene modeling method of this embodiment. Based on the accident scene three-dimensional scene modeling system as described above, the detailed steps of the accident scene three-dimensional scene modeling method of this embodiment are as follows:

[0103] S11. Airdrop the reference origin structure to the accident scene;

[0104] The reference positioning device 6 and the network terminal are both fixedly arranged on the reference origin structure. In other words, the reference positioning device 6 and the network terminal are both bound to the reference origin structure and airdropped to the accident scene together.

[0105] S12. Set at least three flying vehicles 7 in the air at the accident scene, and cooperate with the reference positioning device 6 through the reference positioning cooperation device to obtain the position information of at least three flying vehicles 7;

[0106] Optionally, make at least three flying vehicles 7 hover in the air at the accident scene to minimize the position change of the flying vehicles 7, which is beneficial to more accurately restore the scene.

[0107] Exemplarily, the flying vehicle 7 is an airship. Compared with other flying vehicles 7 such as airplanes, it has a longer hovering time and meets the requirements of working at the accident scene for a long time. Of course, the flying vehicle 7 can also be a drone.

[0108] S13. Make the robot enter the accident scene, and equip the robot with a preliminary modeling shooting device and a preliminary modeling positioning cooperation device. Obtain the environmental information of the position where the robot is located through the preliminary modeling shooting device; and cooperate with the modeling positioning devices of at least three flying vehicles 7 through the preliminary modeling positioning cooperation device to obtain the position information of the robot;

[0109] Exemplarily, the preliminary modeling shooting device uses a 3D depth panoramic camera.

[0110] It should be noted that the structure of the preliminary modeling positioning cooperation device is the same as that of the modeling positioning cooperation device 2 on the protective gear, and the working principle of the cooperation between the preliminary modeling positioning cooperation device and the modeling positioning devices of at least three flying vehicles is the same as that of the cooperation between the modeling positioning cooperation device 2 on the protective gear and the modeling positioning devices of at least three flying vehicles, which will not be elaborated here.

[0111] S14. According to the position information of at least three flying vehicles 7 and the position information of the robot, splice the environmental information obtained by the preliminary modeling shooting device to form a preliminary three-dimensional scene of the accident scene, and determine the entrance position of the staff entering the accident scene and the travel route after entering the accident scene according to the preliminary three-dimensional scene;

[0112] With such a setting, the robot can generally understand the current situation of the accident scene, which is not only convenient for formulating the investigation plan, but also conducive to ensuring the personal safety of the staff.

[0113] Exemplarily, a robot dog is used as the robot, which has a low cost.

[0114] Of course, in other embodiments, steps S13 and S14 may not be set, and the following steps may be added before step S11:

[0115] Make the unmanned aerial vehicle or the robot enter the accident scene, and equip the unmanned aerial vehicle or the robot with a survey and shooting device such as a high-definition scanning camera, and obtain the environmental information of the accident scene through the survey and shooting device;

[0116] Stitch the environmental information obtained by the survey and shooting device to form a three-dimensional survey scene of the accident scene;

[0117] According to the three-dimensional survey scene, determine the dropping position of the reference positioning device 6, as well as the entrance position of the staff entering the accident scene and the traveling route after entering the accident scene.

[0118] In this way, the reference origin structure can be dropped to the optimal position, and the staff can enter the accident scene at the optimal position and travel in the accident scene along the optimal route. On the one hand, it protects the safety of the staff, and on the other hand, it is more convenient to investigate the accident scene.

[0119] S15. Make the staff enter the accident scene, and equip the staff with the protective gear as described above, and obtain the environmental information of the position where the staff is located through the modeling and shooting device 3; cooperate with the modeling and positioning device 2 and the modeling and positioning devices of at least three aircraft 7 to obtain the position information of the staff;

[0120] In this embodiment, the environmental information is an image captured by the modeling and shooting device 3 of the protective gear, and the image includes videos and pictures.

[0121] In other embodiments, the reference positioning device 6 may not be set, and the position information of the staff may be obtained through the following steps:

[0122] Equip at least three aircraft 7 with positioning trackers, and obtain the position information of at least three aircraft 7 through the positioning trackers;

[0123] Establish a three-dimensional coordinate system according to the position information of at least three aircraft 7 obtained by the positioning trackers;

[0124] Cooperate with the modeling and positioning device 2 and the modeling and positioning devices of at least three aircraft 7 to determine the coordinates of the staff in the three-dimensional coordinate system.

[0125] In other embodiments, a reference positioning device 6 may also be provided, and it is cooperated with the reference positioning device 6 through a reference positioning cooperation device to obtain the position information of at least three aircraft 7; at the same time, at least three aircraft are each provided with a positioning tracker, and the position information of at least three aircraft is obtained through the positioning tracker. The two methods are redundant to each other, which is beneficial to more accurately determine the position information of the staff.

[0126] Optionally, there are multiple staff members, and the multiple staff members enter the accident scene simultaneously or in sequence to ensure the survey efficiency.

[0127] S16. Denote the position where the reference positioning device 6 is located as the ground origin. At least three aircraft 7 can form a reference plane, and a three-dimensional coordinate system is formed through the reference plane and the ground origin.

[0128] S17. Correct the reference plane in real time according to the position information of at least three aircraft 7.

[0129] S18. Determine the coordinates of the staff in the three-dimensional coordinate system by cooperating the modeling positioning device 2 with the modeling positioning devices of at least three aircraft 7.

[0130] S19. Determine the relative position information between the staff at the time of image shooting according to the images taken by the modeling shooting devices 3 of the protective gear worn by the multiple staff members and the coordinates of the multiple staff members in the three-dimensional coordinate system.

[0131] The relative position information between the staff at the time of image shooting includes the relative position, relative distance, relative angle, etc. between the staff.

[0132] S20. Stitch the images to form a three-dimensional scene of the accident scene according to the coordinates of the multiple staff members in the three-dimensional coordinate system and the relative position information between the staff.

[0133] The method for modeling the three-dimensional scene of the accident scene in this embodiment can perform coordinate system conversion on the videos or pictures transmitted back by different staff members, stitch and photograph the panoramic image of the accident scene while ensuring the unity of the coordinate system, accurately restore the position information of the physical evidence, and determine the relative position information between the associated physical evidence, improving the efficiency and accuracy of physical evidence survey.

[0134] Note that the above is only a preferred embodiment of the present invention and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A three-dimensional scene modeling method for an accident site, characterized in that It includes the following steps: A reference positioning device is airdropped to the accident site; At least three aircraft are set in the air at the accident site. Each of the at least three aircraft is provided with a reference positioning cooperation device, and the position information of the at least three aircraft is obtained by the cooperation of the reference positioning cooperation device and the reference positioning device; each of the at least three aircraft is provided with a modeling positioning device; Let the staff enter the accident site, and let the staff wear protective gear. The protective gear is provided with a modeling shooting device and a modeling positioning cooperation device. The environmental information of the position where the staff is located is obtained through the modeling shooting device; and the position information of the staff is obtained by the cooperation of the modeling positioning cooperation device and the modeling positioning device of the at least three aircraft; According to the position information of the at least three aircraft and the position information of the staff, the environmental information obtained by the modeling shooting device is spliced to form a three-dimensional scene of the accident site.

2. The three-dimensional scene modeling method for the accident site according to claim 1, wherein Before airdropping the reference positioning device to the accident site, it also includes the following steps: Let a drone or a robot enter the accident site, and let the drone or the robot wear a surveying and shooting device. The environmental information of the accident site is obtained through the surveying and shooting device; The environmental information obtained by the surveying and shooting device is spliced to form a survey three-dimensional scene of the accident site, and according to the survey three-dimensional scene, the dropping position of the reference positioning device, the entrance position of the staff entering the accident site, and the traveling route after entering the accident site are determined.

3. The three-dimensional scene modeling method for accident scenes according to claim 1, wherein, Before letting the staff enter the accident site, it also includes the following steps: Let a robot enter the accident site, and let the robot wear a preliminary modeling shooting device and a preliminary modeling positioning cooperation device. The environmental information of the position where the robot is located is obtained through the preliminary modeling shooting device; and the position information of the robot is obtained by the cooperation of the preliminary modeling positioning cooperation device and the modeling positioning device of the at least three aircraft; According to the position information of the at least three aircraft and the position information of the robot, the environmental information obtained by the preliminary modeling shooting device is spliced to form a preliminary three-dimensional scene of the accident site, and according to the preliminary three-dimensional scene, the entrance position of the staff entering the accident site and the traveling route after entering the accident site are determined.

4. The three-dimensional scene modeling method for accident scenes according to claim 1, wherein During the process of letting the staff enter the accident site, it also includes the following steps: There are multiple staff members, and the multiple staff members enter the accident site simultaneously or in sequence.

5. The three-dimensional scene modeling method for accident scenes according to claim 4, wherein During the process of obtaining the position information of the staff by the cooperation of the modeling positioning cooperation device and the modeling positioning device of the at least three aircraft, it also includes the following steps: The position where the reference positioning device is located is recorded as the ground origin. The at least three aircraft can form a reference plane, and a three-dimensional coordinate system is formed by the reference plane and the ground origin; According to the position information of the at least three aircraft, the reference plane is corrected in real time; By cooperating the modeling positioning and matching device with the modeling positioning devices of the at least three aircraft, the coordinates of the staff in the three-dimensional coordinate system are determined.

6. The three-dimensional scene modeling method for accident scenes according to claim 4, wherein Among the steps of obtaining the position information of the staff by cooperating the modeling positioning and matching device with the modeling positioning devices of the at least three aircraft, the following steps are further included: Each of the at least three aircraft is provided with a positioning tracker, and the position information of the at least three aircraft is obtained through the positioning tracker; A three-dimensional coordinate system is established according to the position information of the at least three aircraft obtained by the positioning tracker; By cooperating the modeling positioning and matching device with the modeling positioning devices of the at least three aircraft, the coordinates of the staff in the three-dimensional coordinate system are determined.

7. The three-dimensional scene modeling method for accident scenes according to claim 5 or 6, characterized in that, The environmental information is the image captured by the modeling and photographing device; Among the steps of splicing the environmental information obtained by the modeling and photographing device to form a three-dimensional scene of the accident site according to the position information of the at least three aircraft and the position information of the staff, the following steps are further included: According to the images captured by the modeling and photographing devices worn by multiple staff members and the coordinates of multiple staff members in the three-dimensional coordinate system, the relative position information between the staff members at the time of image capture is determined; According to the coordinates of multiple staff members in the three-dimensional coordinate system and the relative position information between the staff members, the images are spliced to form a three-dimensional scene of the accident site.

8. The three-dimensional scene modeling method for accident scenes according to claim 1, wherein, Among the steps of allowing the staff to enter the accident site, the following steps are further included: Allow the staff to wear communication equipment; Among the steps of allowing the staff to enter the accident site, the following steps are further included: Allow the staff to wear smart glasses, and the smart glasses can display images and / or texts; Among the steps of allowing the staff to enter the accident site, the following steps are further included: Allow the staff to wear protective gear, and the modeling and photographing device, the modeling positioning and matching device, the communication equipment and the smart glasses are all installed on the protective gear.

9. The three-dimensional scene modeling method for accident scenes according to claim 1, wherein Among the steps of arranging at least three aircraft in the air at the accident site, the following steps are further included: Suspend the at least three aircraft in the air at the accident site; The aircraft is an airship or a drone.

10. The three-dimensional scene modeling method for accident scenes according to claim 1, characterized in that, The reference positioning and matching device includes a reference graphic mark or a reference optical mark, the reference optical mark includes a reference light-emitting element and / or a reference reflective element, the reference positioning device is a reference positioning and photographing device, and the reference positioning and photographing device can photograph the reference graphic mark or the reference optical mark to obtain the position information of the corresponding aircraft; Or, the reference positioning and matching device is one of a reference signal generator and a reference signal receiver, the reference positioning device is the other of the reference signal generator and the reference signal receiver, and the reference signal receiver can receive the signal generated by the reference signal generator to obtain the position information of the corresponding aircraft; And / or The modeling positioning and cooperating device includes a modeling graphic marker or a modeling optical marker. The modeling optical marker includes a modeling light-emitting component and / or a modeling reflective component. The modeling positioning device is a modeling positioning photographing device, and the modeling positioning photographing device can photograph the modeling graphic marker or the modeling optical marker to obtain the position information of the staff member; or, the modeling positioning and cooperating device is one of a modeling signal generator and a modeling signal receiver, and the modeling positioning device is the other of the modeling signal generator and the modeling signal receiver. The modeling signal receiver can receive the signal generated by the modeling signal generator to obtain the position information of the staff member.

11. Protective gear, comprising: A protective gear body for protecting the body of the staff member; Characterized in that the protective gear further includes: A modeling photographing device capable of photographing pictures or videos; A modeling positioning and cooperating device provided on the protective gear body; the modeling positioning and cooperating device includes a modeling graphic marker or a modeling optical marker, and the modeling optical marker includes a modeling light-emitting component and / or a modeling reflective component; or the modeling positioning and cooperating device includes a modeling signal generator capable of generating and transmitting a radio frequency signal; or the modeling positioning and cooperating device includes a modeling signal receiver capable of receiving the signal generated by the signal generator.

12. The protective device according to claim 11, characterized in that, The protective gear further includes a data transmission device capable of transmitting the pictures or videos photographed by the modeling photographing device to the control center in real time; and / or, The protective gear body is a helmet; The protective gear further includes a communication device provided on the helmet; and / or, The protective gear further includes smart glasses provided on the helmet and capable of displaying images and / or texts.

13. Three-dimensional scene modeling system for accident site, characterized in that, Comprising: A reference origin structure for being placed at the accident scene; A reference positioning device provided on the reference origin structure; At least three aircrafts, each of the at least three aircrafts is provided with a reference positioning and cooperating device. By the cooperation of the reference positioning and cooperating devices of the at least three aircrafts with the reference positioning device, the position information of the at least three aircrafts can be obtained; A network terminal provided on the reference origin structure, and the network terminal can provide a network for the accident scene.

14. The three-dimensional scene modeling system for accident sites according to claim 13, wherein The accident scene three-dimensional scene modeling system further includes the protective gear as claimed in claim 11 or 12; each of the at least three aircrafts is provided with a modeling positioning device; When the staff member wearing the protective gear enters the accident scene, the modeling positioning and cooperating device of the protective gear can cooperate with the modeling positioning devices of the at least three aircrafts to obtain the position information of the staff member wearing the protective gear.

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