Get Optimal Point Cloud of Eaves of Sino Ancient Buildings with Mini VTOL

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1 Get Optimal Point Cloud of Eaves of Sino Ancient Buildings with Mini VTOL Placement of Targets/Marks for photogrammetry Li Zhe, Li Yan Architecture School,Tianjin University National Key Lab of Surveying Tech Research for Architectural Heritages Manmade targets on eaves is necessary for photogrammetry. Difficulty of targets placement on eaves of Chinese ancient Buildings. Several tests and analysis for finding the optimum way. topic2(if I have enough time): Data Comparison of twice Vibration tests for turbine helicopter

2 Topic 1: Placement of Targets/Marks for photogrammetry SCHOOL OF ARCHITECTURE TIANJIN UNIVERSITY

3 How to get high-quality Survey Drawings? In the ages of manual: rulers, courage and high-quality rough drawings in field-work by students in Architecture college Sketch is the key to final results In the new period with high-techs: UAVs, laser scanners replace rulers skills, knowledges are added to courage What replace the beautiful sketch? Point mesh Dangerous climbing

4 Quality of pointmesh define the quality of survey We met different troubles with laser scanning: circle turn to ellipse(for exampe:column) drift or deviation of signal reflection(paper turn to book) blank space (holes) in the point mesh

5 Roof---Terrestrial scanning's problem Camera caliberation(students) Gas engine helicopter with SLR Photogrammetry with VTOLs low vibration helicopter platform high quality camera with fixed- zoom lens stabilized Gimbal camera caliberation (Do everything for high quality Point mesh) 2stage turbine helicopter with large-size camera Drones with compact camera for decoration recording

6 TIANJIN UNIVERSITY SCHOOL OF ARCHITECTURE Usage of manmade targets combine pointmeshs of several base lines (different diection) combine pointmeshs in different levels (entire eave and details) speed up marking, referencing,orientation at least four base lines for a roof Details and decorations need much more photos difficult to find the same point from different direction(natural textue) 3D decoration details

7 Manmade targets are much more important in North-West China(less texture on eaves) Mosque of Tong Xin-----A famous Mosque building in Chinese wooden structure Requirements of Targets Placement: without damage of roof parts fixed or fastened agains strong wind enough quantity and well distributed on the whole roof not block decorations and other useful details easy to be placed and removed enough targets visible in all photos which belong to different base line

8 Toy dart with soft sucker head (1) By Throwing Toy Darts reliable, high rate of success, especially with lower buildings Placement is not high speed, difficult for high buildings. Difficult to remove Sponges double side adhesive with target Throwing toy is not nice-looking, especially in site of cultural heritages. Test in a hotel of East Royal Tomb of Qing Dynasty Throw it! Vivid targets and blocked dart

9 (2) By Throwing Iron Coins with helicopter not very reliable, some (2/10) will jump back to ground coins with silicon glue, can be fixed on the roof again wind Not well distributed most are invisible in grooves of tiles Iron coins with glue under electric-magnets

10 (3) By Throwing Colorful Granules can be well distributed in just seconds not reliable, not fixed against wind, maybe move under turbulence of helicopters all in the groove of tiles, difficult to be visible in different directions Not well distributed (4) Long board with coded targets can be well distributed, reference automatically should use remote controlled chucking appliance under the board block details on the roof, remove in point mesh is impossible (Sketch by PhotoShop)

11 (5) Mini balls on tightened wire: (Meet all the Requirements of Targets Placement): without damage of roof parts------without glue and nothing remained fixed or fastened agains strong wind------wire tighten with 2 heavys enough quantity and well distributed on the whole roof not block decorations and other useful details------balls are off the roof easy to be placed and removed------can be placed with VTOLs and removed from roofs and also in the pointmesh enough targets visible in all photos which belong to different base line----- balls are higher than normal marks, can be seen in most pictures. can be painted into different colors easy for transportation (Sketch by PhotoShop)

12 Could you show me better ideas?

13 Topic2: Data Comparison of twice Vibration tests for turbine helicopter SCHOOL OF ARCHITECTURE TIANJIN UNIVERSITY

14 Develop twin-stage turbine helicopter for imaging at night SCHOOL OF ARCHITECTURE TIANJIN UNIVERSITY Compared with piston engines, turbine engines and electrical motors have advantage of lower vibration. We chose turbine but not motor as the power plant of our helicopter after analysis and discussion.

15 First Vibration Test(2010) SCHOOL OF ARCHITECTURE TIANJIN UNIVERSITY helicopter Gas-heli Jet-heli Turbine- heli(1000r /min) Turbine helicopter 900r/min Test positio n front back Main frame front back front back Vibrational acceleration(g) times Fro-bak Up-down Left-right 三 向 合 成 average

16 Second Vibration Test (2012) SCHOOL OF ARCHITECTURE TIANJIN UNIVERSITY +X (g) +Y (g) +Z (g) RMS Main frame Gimbal g 5.70 g 5.80 g Amplitude 0.00 Amplitude 0.00 Amplitude Hz Hz Hz F F F AutoPower 机 架 :+Z AutoPower 机 架 :+Y AutoPower 机 架 :+X 1.00 Amplitude Amplitude Amplitude 0.00

17 Thanks! SCHOOL OF ARCHITECTURE TIANJIN UNIVERSITY

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