微小型球形飞行器设计与三维场景重建

Design of micro-sized spherical aircraft and its application of scene reconstruction

结合多旋翼飞行器控制简单易操作、飞行平稳、支持垂直起降等特点,以七星瓢虫通过鞘翅开合控制后翅收放为灵感,设计了一种结构小巧、操作灵活、便于携带的可折叠式球形飞行器。对该飞行器的整体结构及重要零部件进行优化设计,利用3D打印技术进行样机制造,并完成了室内外验证飞行,证明该球形飞行器具有飞行稳定易操控的特点,并且利用单个相机采集序列图像对小型场景进行三维重建测试,为后期球形飞行器集成视觉系统提供硬件选型依据及算法理论基础。

Multi-rotor aircraft with a simple control flight stability supports vertical takeoff and landing and other characteristics.Taking seven-star ladybug through the coiled wing opening and closing to control the thin wings retract as the inspiration,it designs a compact and flexible,collapsible spherical aircraft.The overall structure and the important parts of the aircraft is optimized with 3D printing technology for prototype manufacturing.The 3D reconstruction of the small scene is carried out by with a single camera acquisition sequence image.Which provides the hardware selection basis and algorithm foundation for the spherical aircraft integrated vision system in the next step.