Unmanned Aerial Spatial Scanning
Jack Blaes
ABSTRACT
This is a group project that will be developed by Jack Blaes and Emery Bacon. The goal is to create a sophisticated mapping drone capable of providing sufficient data to create a three dimensional model of the scanned environment. It combines my partner’s field of Computer Science with my field of Aerospace Engineering. My partner is able to supply the knowledge of computer programming and robotics to facilitate the development of the code required to create an autonomous vehicle capable of collecting and distributing large amounts of data. I am able to bring my knowledge of flight systems and robotics to help assemble the vehicle effectively. With our combined efforts we hope to create something truly innovative.
INTRODUCTION
In the 21st century, drones are being used in a variety of ways around the world. While the versatile flight capabilities of these machines have been exploited for everything from surveillance to delivery, they have not been used for precision mapping. There have been projects that use drones to survey areas for construction purposes, but this lacks the fine detail needed for certain applications. In this project, drones will be utilized to take precise distance measurements to map areas. The maps can be used to allow the user or the drone to locate specific points of interest. The applications of this system are promising. One could use the capabilities of these drones to autonomously map out an area that humans cannot easily access. For example, if a team of geologists were to send a drone into a cave, it could generate a map of the cave down to fine details before they even had to set foot inside, reducing the risks of going in without knowing anything about the structure. This project has a great deal of potential and will grow the abilities of drone technology to tackle everyday problems in the real world.
PROJECT DESCRIPTION
This project will seek to design and build an autonomous aircraft (a drone) capable of mapping out its environment in three dimensions using a series of measurements from proximity sensors. Using these measurements a program can then generate a model of the space. To accomplish this, a drone will be fitted with proximity sensors that will be taking measurements as it flies. The drone will be programmed to methodically make sweeps of the space that it is in, avoiding obstacles and measuring the distance between itself and walls and objects in the area. A base station located somewhere nearby–possibly at the center or entrance of the area–will keep track of the drone’s position relative to itself using triangulation with another receiver located a short distance from the base. This base station will communicate with the drone and assign it a set of 3-dimensional coordinates, with the base station being the origin. The base station will also receive incoming data from the drone as it takes measurements and transmits them. Combining the data from the proximity sensors on the drone with the coordinate data from the base station, each measured point can accurately be given coordinates relative to the base station. Using these coordinates, a program can generate a point cloud depicting the space that the drone mapped. This point cloud can then be turned into a wireframe model, which will be an accurate representation of the space. Ideally, the wireframe could then be converted into a more detailed mesh that would result in a sophisticated 3-dimensional model of the mapped space.
HISTORY
Aerospace Engineering has expanded rapidly in the short amount of time it has existed in the world. From ideas on paper, to gliders and other propulsionless aircraft, to the first actual sustained flight, Aerospace has focused on giving humans the ability to fly. This great dream of humanity having been realized, a great amount of focus in the field now shifts to allowing the removal of the human element from the sky. Unmanned Aerial Vehicles, drones, RC helicopters, these tools have become very popular over the course of their existence. The most well known example of this is the use of drones in the military. What started as the unsuccessful idea to create unmanned planes that could ram other aircraft has become an integral part of the United State's war on terror. As of 2015, the US Air Force has 150 predator drones in inventory to use against enemy targets (USAF, 2016). Each predator drone costs 50 million dollars making the total cost 7.5 billion dollars. However, drones' true success lies in the commercial arena. From top aerospace developers creating the latest breakthroughs in movement (Aurora, 2016) to simple hobby shops, commercial drone vendors gives ordinary citizens an extremely valuable tool. From children wanting to annoy each other to middle age hobbyists looking for something new in their life, drones allow people a remote extension of their will. This extension is the foundation of what makes drones so useful. They present one with ease of access to normally difficult to reach areas. Drones break down not only barriers created by obstacles that are taxing for humans to overcome, but also those of risk and danger. Humans are normally reluctant to risk life or limb for any cause and drones remove this risk from many activities. Whether it’s enemy airspace or, in the case of this project, an unmapped cave, the removal of the risk to human welfare makes drones very powerful tools. Finally, drone technology is far more precise and efficient when compared to human action. An autonomous drone can be made to move in such a way that data collection is methodical and efficient.
Having established the advantages of using drones, they seem like an obvious solution to the problem of precise 3D mapping. One may point to surveying projects like 3DR’s (3D Robotics, 2016). While drones have been used by many projects to survey vast areas for construction planning, precision point mapping seems like an unvisited area. It is not for lack of ability either. Aurora Flight Sciences has created a commercial drone that can sense obstacles and respond to them to avoid collision (Aurora, 2016). This implies the use of proximity sensors to gather data that the drone can process and react to in a timely matter. This shows that the technology that goes into this project is at play in the market. Despite this, very little is done in the way of mapping using this technique.
SIGNIFICANCE AND DISTINCTION
The biggest distinction between this project and the majority of laser scanning devices is that this scanner will move to see around corners and objects. While conventional laser scanning systems are powerful and effective for visualizing larger structures that are free of obstructions, they run into problems when there are objects in the way or if the structure has a shape such that the scanner does not have a good line of sight. There are also a number of aerial surveillance drones available capable of surveying landscapes and large structures from high above. The point where these two meet, however, is not widely explored. Combining the versatility of a helicopter drone with the power and accuracy of a laser scanner, we could send a drone into a space–for example, a cave or catacomb– and have it scan that space while moving to see around corners and objects. We could then use that data to create an accurate reconstruction of the space and everything in it without ever having to step foot inside. This is advantageous in the case of catacombs and caves, where there is the risk of getting lost or stuck. Someone might send the drone into a catacomb to scan the interior structure, with little risk to the person operating the drone. Additionally, 3D scanning technology is prohibitively expensive for most people–laser scanners often cost thousands of dollars. While not the primary aspect, this project will also distinguish itself by being a low-cost alternative to current methods of 3D scanning.
EXPERTISE AND SKILLS
As an Aerospace Engineering Major, I see this project as an opportunity to put my skills to use in an actual research setting. With my current experience, my skills are limited to those that I have learned in class. These skills include some proficiency in C++ and a general knowledge of how aircraft work.
APPROACH
The best suited approach for this project is very hands-on and science-oriented. Since our goal is to create a drone capable of scanning a space and creating an accurate spatial representation of that space using the data from the scan, we will attempt to do exactly that. The project will entail building the drone and running live tests. It will likely take a number of different iterations of the drone, so we will test the drone and modify it as needed depending on the outcome of the tests.
WORK PLAN AND TIMELINE
(See Attached PDF)
AUDIENCE
This project is going to be built with a number of different fields in mind, but will primarily be built for fields such as archaeology and geology. In these fields, scientists often need to create accurate 3-dimensional models of spaces. For example, an archaeologist might need to scan a series of catacombs too expansive for a stationary laser scanner. Currently there is no other way to do this than with stationary machinery or by hand. However, a UAV such as the one we intend to build could navigate the catacombs and generate an accurate 3D map as it flies.
BUDGET
(See Attached Spreadsheet)
OUTCOMES
This project will give me more hands on experience with flight systems and programming. Flight systems are something I will have to work with for the rest of my career. Garnering a deeper understanding of how things fly is essential to developing my ability as an Aerospace Engineer. Developing my knowledge of programming is also extremely valuable in my field. Being able to understand and cooperate with computer science partners will be very useful when working on projects. The actual project will not only expand my knowledge as it’s existence is something I should be able to take pride in. This development could even be moved to a more public venue. It all depends on the success of this project.
BIBLIOGRAPHY
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Academic:
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