CN100465845C - Follow-up control apparatus of miniature airborne cradle head - Google Patents
Follow-up control apparatus of miniature airborne cradle head Download PDFInfo
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- CN100465845C CN100465845C CNB2006101163618A CN200610116361A CN100465845C CN 100465845 C CN100465845 C CN 100465845C CN B2006101163618 A CNB2006101163618 A CN B2006101163618A CN 200610116361 A CN200610116361 A CN 200610116361A CN 100465845 C CN100465845 C CN 100465845C
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Abstract
This invention relates to a small load trace and control device, whose circuit is to adopt SPI series connection between one main control single machine and one assistant single machine, wherein, the four series mouths are through RS-232 level conversion chip with one connected to electron panel and other three as outer series communication interfaces separately connecting one image process module, one wireless remote communication module and one load machine; there is also one angle sensor composed of three circuit single axis speed with output signals orderly through one high band filter and one low band wave as signal amplifier into main control single machine.
Description
Technical field
The present invention relates to a kind of follow-up control apparatus of miniature airborne cradle head, particularly relate to the The Cloud Terrace follow-up control apparatus of a kind of airborne small-sized, multisensor, many serial ports.
Background technology
Miniature unmanned vehicle carries camera and can be used for ground region monitoring or movable object tracking, this just requires and can need control the camera sight line according to system exactly, to obtain the image of monitoring area or tracked target, yet the fuselage shaking of aircraft and body attitude are difficult to accomplish accurate control, it is infeasible that camera directly is fixed on the body, this has two or three degree-of-freedom cradle heads with regard to one of needs and carries camera, accurate control by The Cloud Terrace realizes the adjustment within the specific limits of camera sight line, and stable camera, guarantee that the camera sight line can obtain the stabilized image of monitoring area or tracked target, thereby reach the purpose of area monitoring or target following.
The The Cloud Terrace follow-up control apparatus is indispensable for above-mentioned application system, have at being applied to miniature unmanned vehicle that load capacity is little, external environment condition disturbs big, peripheral equipment often to adopt characteristics such as serial communication, require The Cloud Terrace with the control device miniaturization, the sensor response is fast and accurate, serial ports is abundant, stronger calculation process ability is with the adaptive system application need.More existing control device are difficult to satisfy these requirements owing to do not have corresponding sensor or do not have enough serial ports.
Summary of the invention
Problem of Ying Yonging and technical requirement in view of the above, the object of the present invention is to provide a kind of airborne tripod head follow-up control apparatus, not only volume is little, in light weight for it, the sensor response is fast and information is reliable, and have four serial ports for system's use, the minute vehicle environment is had adaptability preferably.
Design of the present invention is: device adopts digital integrated circuit, double-sided PCB, when selecting a high performance single-chip microcomputer with two serial ports for use as main control chip, other adopts the single-chip microcomputer of cheapness of a pair of serial ports as serial ports expansion and auxiliary process, in the expansion serial ports, for main control chip reduces the heavy burdens, use synchronous serial interface (SPI) communication of the high speed that both all have between two machines; Sensor adopts angular-rate sensor, wherein angular-rate sensor is made of three single shaft rate gyros, output signal by after the filter amplification circuit by main control chip A/D sampling processing, can reach very high response frequency, electronic compass provides three attitude angle of aircraft by serial ports to main control chip, its low-response, but relatively accurately, so it is mainly the rate information that is obtained by angular rate gyroscope and compensates and revise, to obtain aircraft attitude information accurately and reliably; Other three serial ports of device are respectively applied for airborne tripod head, image processing module as the external series communication interface communicates by letter with the wireless remote control communication module.
According to above-mentioned design, the present invention adopts following technical scheme:
A kind of follow-up control apparatus of miniature airborne cradle head, comprise housing, be installed in wiring board and external interface in the housing, it is characterized in that circuit structure is: have a main control singlechip and an assistant SCM to adopt high-speed synchronous serial ports SPI to link to each other, after 4 serial ports process RS-232 level transferring chip of this two single-chip microcomputer, one is connected to an electronic compass, other three as the external series communication interface, link to each other with an airborne tripod head with an image processing module, a wireless remote control communication module respectively; Also have an angular-rate sensor to be made of three all identical individual axis velocity gyros of circuit structure, its output signal inserts described main control singlechip through Hi-pass filter, the low-pass filtering signal amplifier of holding concurrently successively; Described image processing module is delivered to assistant SCM with the target image result of camera picked-up by serial ports; Described assistant SCM is main control singlechip expansion serial ports and auxiliary process, delivers to main control singlechip after the target image signal wherethrough reason of input; Described electronic compass offers main control singlechip with three attitude angle data of aircraft; Described angular-rate sensor is experienced three angular velocity of aircraft, amplifies the back by main control singlechip A/D sampling processing through high-pass filtering, low-pass filtering and signal successively; Described main control singlechip merges the attitude angle and the angular velocity information of tracking target image information, aircraft, calculates move angle or speed on the airborne tripod head all directions, and through serial ports control command is sent to The Cloud Terrace, thereby finishes periodic Control one time; Described wireless remote control communication module is during system works, the maintenance system communicates by letter with ground control station, when sending real-time tracking data earthward, also accept the telecommand that send on ground, thereby realize operated from a distance and the manual intervention of terrestrial operation personnel airborne tracker.
Above-mentioned single shaft rate gyro adopts ENC-03M type piezoelectricity rate gyro sensor.
Above-mentioned RS-232 level transferring chip adopts two MAX232 level transferring chip.
Above-mentioned electronic compass adopts EZ-COMPASS-3 type electrical compass module.
Above-mentioned Hi-pass filter is made of three electric capacity and three resistance.
The above-mentioned low-pass filtering signal amplifier of holding concurrently is made of three amplifiers and three electric capacity, six resistance.
Above-mentioned main control singlechip adopts C8051F021 type single-chip microcomputer.
Above-mentioned assistant SCM adopts ATmega162 type single-chip microcomputer.
The present invention compared with prior art, have following conspicuous outstanding substantive distinguishing features and remarkable advantage: the present invention adopts main control singlechip to link to each other with assistant SCM, have four serial ports and use, the minute vehicle environment is had adaptability preferably for system.Device volume provided by the invention is little, in light weight, the sensor response is fast and information is reliable, guarantees camera tracking on a surface target.
Description of drawings
Fig. 1 is the applied environment figure of one embodiment of the present of invention.
Fig. 2 is the circuit block diagram of Fig. 1 example.
Fig. 3 is the circuit theory diagrams of Fig. 1 example.
Embodiment
A preferred embodiment of the present invention accompanying drawings is as follows:
Referring to Fig. 1, this follow-up control apparatus of miniature airborne cradle head 2 is applied to miniature unmanned vehicle 1 and carries camera mobile surface targets 4 is followed the tracks of.This device 2, airborne tripod head 3, image processing module 6 and wireless remote control communication module 7 all are loaded on the miniature unmanned vehicle 1.But the motion of airborne tripod head 3 two-freedoms, its integrate motor drives, and has camera and RS-232 control interface.Wherein, 5 is ground control station.The effect of this device 2 is exactly the attitude angle and the angular velocity information of acquisition process aircraft, the tracking target image information that transmits of fused images processing module 6 then, through certain tracking control algorithm, calculate move angle or speed on the airborne tripod head both direction, and control command is sent to The Cloud Terrace through serial ports, thereby realize control to airborne tripod head 3; Stablize and adjust the camera sight line by angle on the The Cloud Terrace both direction or speed control, thereby guarantee tracked target in the camera sight line, and obtain the stabilized image of tracked target.
Referring to Fig. 2, be this follow-up control apparatus of miniature airborne cradle head 2 in the frame of broken lines, wherein: angular-rate sensor 8 output signals enter Hi-pass filter group 9, enter the low-pass filtering signal amplifier group 10 of holding concurrently after the signal of filtering low frequency and the DC component, main control singlechip 11 will be input to after the high-frequency cacophony filtering, carry out the A/D sampling processing, obtain three angular velocity of aircraft; Assistant SCM 12 and main control singlechip 11 link to each other by high-speed synchronous serial port (SPI) separately, two serial ports of main control singlechip 11 are after level conversion, wherein one the tunnel links to each other with electronic compass 13, another road links to each other with airborne tripod head 3 as the external series communication interface, and main control singlechip 11 can obtain three attitude angle data of aircraft from electronic compass 13; Two serial ports of assistant SCM 12 after level conversion all as the external series communication interface, one the tunnel is connected with image processing module 6, another road is connected with wireless remote control communication module 7, and it will send main control singlechip 11 to from the processing result image that image processing module 6 obtains assistant SCM 12; Like this, main control singlechip 11 merges the attitude angle and the angular velocity information of tracking target image information, aircraft, through certain tracking control algorithm, calculate move angle or speed on the The Cloud Terrace both direction, and control command is sent to The Cloud Terrace through serial ports, thereby realize control to airborne tripod head 3; Simultaneously, communicate by letter with ground control station 5, when sending real-time tracking data earthward, also accept the telecommand that send on ground, thereby realize operated from a distance and the manual intervention of terrestrial operation personnel airborne tracker by the wireless remote control communication module.
The physical circuit of present embodiment at first by the power interface access+5V voltage of external interface 14, obtains 3.3V voltage, obtains 2.5V voltage through 2.5V voltage reference 16 through 3.3V source of stable pressure 15 referring to Fig. 3.Angular-rate sensor 8 is made of three ENC-03M individual axis velocity gyro U1, U2, U3, its analog quantity output is passed to Hi-pass filter group 9 respectively, the i.e. Hi-pass filter that constitutes with capacitor C 1 and resistance R 1, with the Hi-pass filter of capacitor C 4 and resistance R 4 formations, with the Hi-pass filter of capacitor C 7 and resistance R 7 formations; And then respectively through the low-pass filter signal amplifier group 10 of holding concurrently, the i.e. low-pass filtering that constitutes with A1, R2, R3, the C3 signal amplifier of holding concurrently, the low-pass filtering that constitutes with A2, R5, R6, the C6 signal amplifier of holding concurrently, the low-pass filtering that constitutes with A3, R8, R9, the C9 signal amplifier of holding concurrently; Signal PITCH, ROLL after low-pass filtering and the voltage amplification, the YAW passage 0～2 that just is input to the analog to digital conversion mouth ADC0 of main control singlechip 11 respectively carries out the A/D sampling and handles like this.Main control singlechip 11 links to each other by high-speed synchronous serial port (SPI) 19 with assistant SCM 12, two machines can switch SPI communication pattern (main frame or slave) according to the program needs, and JTAG debug port 18,20 is carried out program debug and code download usefulness to main control singlechip 11 and assistant SCM 12 respectively.Receive electronic compass 7 after the serial ports 1 of main control singlechip 11 (P0.0 and P0.1) the process MAX232 level transferring chip 21, serial ports 2 (P0.6 and P0.7), is used for linking to each other with airborne tripod head 3 as the RS-232 serial ports in the external interface 14 (TX1 and RX1) through MAX232 level transferring chip 21 backs; The serial ports 1 of assistant SCM 16 (TXD0 and RXD0) and serial ports 2 (TXD1 and RXD1), are respectively applied for image processing module 6 and link to each other with wireless remote control communication module 7 as RS-232 serial ports in the external interface 14 (TX2 and RX2) and RS-232 serial ports (TX3 and RX3) through MAX232 level conversion 17.
Claims (8)
1. follow-up control apparatus of miniature airborne cradle head, comprise housing, be installed in wiring board and external interface in the housing, it is characterized in that circuit structure is: have a main control singlechip (11) and an assistant SCM (12) to adopt high speed serial port SPI to link to each other, this two single-chip microcomputer (11,12) after four serial ports process RS-232 level transferring chip, one is connected to an electronic compass (13), other three as the external series communication interface, respectively with an image processing module (6), a wireless remote control communication module (7) links to each other with an airborne tripod head (3); Also have an angular-rate sensor (8) to be made of three all identical individual axis velocity gyros of circuit structure, its output signal inserts described main control singlechip (11) through a Hi-pass filter (9) and low-pass filtering signal amplifier (10) of holding concurrently successively;
Described image processing module (6) is handled the back with the target image of camera picked-up and is delivered to described assistant SCM (12) by serial ports;
Described assistant SCM (12) is main control singlechip (11) expansion serial ports and auxiliary process, and input target image signal is delivered to main control singlechip (11) after its auxiliary process;
Described electronic compass (13) offers main control singlechip (11) with (1) three attitude angle data of aircraft;
Described angular-rate sensor (8) is experienced three angular velocity of aircraft, successively after high-pass filtering, low-pass filtering and signal amplify by main control singlechip A/D sampling processing;
Described main control singlechip (11) merges the attitude angle or the angular velocity of tracking target, aircraft (1), calculates move angle or speed on airborne tripod head (3) all directions, and through serial ports control command is sent to The Cloud Terrace, thereby finishes periodic Control one time;
Described wireless remote control communication module (7) is during system works, and the communication of maintenance system and ground control station when sending real-time tracking data earthward, is also accepted the telecommand that send on ground.
2. follow-up control apparatus of miniature airborne cradle head according to claim 1 is characterized in that described individual axis velocity gyro adopts ENC-03M type piezoelectricity rate gyro pickup.
3. follow-up control apparatus of miniature airborne cradle head according to claim 1 is characterized in that described RS-232 level transferring chip adopts two MAX232 level transferring chip.
4. follow-up control apparatus of miniature airborne cradle head according to claim 1 is characterized in that described electronic compass (13) adopts EZ-COMPASS-3 type electrical compass module.
5. follow-up control apparatus of miniature airborne cradle head according to claim 1 is characterized in that described Hi-pass filter (9) is made of three electric capacity and three resistance.
6. follow-up control apparatus of miniature airborne cradle head according to claim 1 is characterized in that the described low-pass filtering signal amplifier (10) of holding concurrently is made of three amplifiers and three electric capacity, six resistance.
7. follow-up control apparatus of miniature airborne cradle head according to claim 1 is characterized in that described main control singlechip (11) adopts C8051F021 type single-chip microcomputer.
8. follow-up control apparatus of miniature airborne cradle head according to claim 1 is characterized in that described assistant SCM (12) adopts ATmega162 type single-chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101163618A CN100465845C (en) | 2006-09-21 | 2006-09-21 | Follow-up control apparatus of miniature airborne cradle head |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2006101163618A CN100465845C (en) | 2006-09-21 | 2006-09-21 | Follow-up control apparatus of miniature airborne cradle head |
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| CN1952827A CN1952827A (en) | 2007-04-25 |
| CN100465845C true CN100465845C (en) | 2009-03-04 |
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| CNB2006101163618A Expired - Fee Related CN100465845C (en) | 2006-09-21 | 2006-09-21 | Follow-up control apparatus of miniature airborne cradle head |
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Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009004749A1 (en) | 2007-07-04 | 2009-01-08 | Mitsubishi Electric Corporation | Navigation system |
| CN101872198B (en) * | 2010-05-10 | 2012-05-23 | 北京航天控制仪器研究所 | Vehicle-mounted pick-up stable platform |
| CN102355574B (en) * | 2011-10-17 | 2013-12-25 | 上海大学 | Image stabilizing method of airborne tripod head moving target autonomous tracking system |
| CN102506277A (en) * | 2011-11-11 | 2012-06-20 | 桂林电子科技大学 | Underwater cloud platform servo system based on electronic compass |
| CN103336529B (en) * | 2013-06-27 | 2016-05-11 | 深圳市沈氏彤创航天模型有限公司 | Model flight autostabilizer wireless setting regulates the method and apparatus of parameter |
| CN104281114B (en) * | 2013-07-12 | 2018-03-06 | 上海弼智仿生高科技有限公司 | Smart machine kinetic control system |
| WO2015186214A1 (en) | 2014-06-04 | 2015-12-10 | 株式会社小松製作所 | Attitude computing device for operating machine, operating machine, and attitude computing method for operating machine |
| CN105004266A (en) * | 2015-06-26 | 2015-10-28 | 哈尔滨工程大学 | Multiple-launch rocket firing accuracy measuring instrument provided with filter |
| CN105867436B (en) * | 2015-11-27 | 2018-11-09 | 深圳市星图智控科技有限公司 | Unmanned vehicle and its clouds terrace system |
| CN105739544B (en) * | 2016-03-24 | 2020-02-04 | 北京臻迪机器人有限公司 | Course following method and device of holder |
| CN105892498B (en) * | 2016-04-01 | 2018-11-13 | 南京工程学院 | Target based on three axis holders is stared and pan control system |
| CN106375720A (en) * | 2016-09-12 | 2017-02-01 | 中国科学院自动化研究所 | Smart visual holder system and realization method thereof |
| CN106325309A (en) * | 2016-11-02 | 2017-01-11 | 兰州大学 | Control device for wireless body-feeling holder |
| CN107219863B (en) * | 2017-06-16 | 2020-04-10 | 中国科学院长春光学精密机械与物理研究所 | Control method and control system for stabilizing rotation of cradle head and stabilizing cradle head |
| WO2020087392A1 (en) * | 2018-10-31 | 2020-05-07 | 深圳市大疆创新科技有限公司 | Circuit board system, photographing device, gimbal assembly, and movable platform |
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| JP2002135766A (en) * | 2000-10-26 | 2002-05-10 | Fuji Photo Optical Co Ltd | Automatic tracking device |
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