CN102745335A - Aerial shooting holder controller of aircraft and control method thereof - Google Patents
Aerial shooting holder controller of aircraft and control method thereof Download PDFInfo
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- CN102745335A CN102745335A CN2012101794803A CN201210179480A CN102745335A CN 102745335 A CN102745335 A CN 102745335A CN 2012101794803 A CN2012101794803 A CN 2012101794803A CN 201210179480 A CN201210179480 A CN 201210179480A CN 102745335 A CN102745335 A CN 102745335A
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Abstract
The invention discloses an aerial shooting holder controller of an aircraft and a control method thereof. The aerial shooting holder controller comprises a control module, a sensor, an X-axis adjusting motor, a Y-axis adjusting motor and a Z-axis adjusting motor, wherein the sensor samples gesture information of an aerial shooting holder of the aircraft and transmits the gesture information to the control module, the control module controls the X-axis adjusting motor, the Y-axis adjusting motor and the Z-axis adjusting motor to adjust the aerial shooting holder of the aircraft to always keep a horizontal gesture. The control method includes: the sensor samples the gesture information of the aerial shooting holder of the aircraft and transmits the information to the control module for processing, and the control module outputs control signals to the X-axis adjusting motor, the Y-axis adjusting motor and the Z-axis adjusting motor to adjust the gesture of the aerial shooting holder of the aircraft. The aerial shooting holder controller of the aircraft and the control method have the advantages of enabling a control platform to always keep horizontal under driving of a reducing motor, enabling heading adjusting to be accurate, integrating a continuous timed shooting function of cameras, and being high in timing accuracy and accurate and stable in shooting.
Description
[technical field]
The present invention relates to a kind of aircraft control field of taking photo by plane, especially a kind of aircraft take photo by plane cradle head control device and control method thereof.
[background technology]
In aerial photography, owing to advantages such as general purpose vehicle are high with cost performance, landing is flexible, and environmental conditions is wide; The The Cloud Terrace of taking photo by plane that with the general purpose vehicle is carrier is more and more, and corresponding controller also has nothing in common with each other, most of cradle head control devices; Control method is single; Can only realize artificial distant control function, can not realize full-automatic operation, the camera of taking photo by plane can't keep taking vertically downward all the time.Therefore, the quality of image of taking photo by plane conformability is relatively poor, and post-processed is difficulty relatively.
[summary of the invention]
The objective of the invention is to solve the deficiency that above-mentioned present technology exists, provide a kind of aircraft The Cloud Terrace of taking photo by plane that can make to remain level, regulate accurately, and take accurately the stable aircraft cradle head control device of taking photo by plane.
Another object of the present invention provides the take photo by plane control method of cradle head control device of a kind of aircraft.
For achieving the above object; Technical scheme of the present invention is: the aircraft cradle head control device of taking photo by plane; Comprise that control module, sensor, X axle are regulated motor, the Y axle regulates motor and the Z axle is regulated motor; The take photo by plane attitude information of The Cloud Terrace of said sensor sample aircraft is sent to said control module, and said control module controls that said X axle is regulated motor, the Y axle regulates motor and the Z axle is regulated motor, keeps horizontal attitude eventually to regulate the said aircraft The Cloud Terrace of taking photo by plane.Behind X axle, Y axle and the Z axle attitude information of said control module processes sensor feedback; Regulate motor, Y axle and regulate motor or Z axle and regulate the take photo by plane attitude of The Cloud Terrace of motor adjustment aircraft through starting the X axle; Make the aircraft The Cloud Terrace of taking photo by plane remain level, with accuracy and the picture quality that guarantees to take.
Said sensor is selected triaxial accelerometer for use, and the model that said triaxial accelerometer preferably has small size, slim, low-power consumption, advantage such as complete is the triaxial accelerometer of ADXL335.
Said control module is regulated motor, Y axle adjusting motor or Z axle through the said X axle of pulse width modulation (PWM) signal control and is regulated motor, makes that the adjusting in course is more accurate.
Said control module is integrated with the BR unit, and said BR unit can be timer, and said timer employing 0 repetition timing mode control shutter, and promptly regularly 2s, 200ms adopt a timer.
Said control module is high speed photo coupling isolation output and input X axle adjusting motor 7, Y axle adjusting motor 5 and the Z axle adjusting motor 6 of HP2630 or L298P through the chip for driving model, guarantees that motor-drive circuit can not influence control circuit.
The main control chip model of said control module is Atmega128L.
Said control module is provided with LCDs, is used to show the aircraft The Cloud Terrace attitude of taking photo by plane.
The take photo by plane control method of cradle head control device of aircraft; Its step comprises; The take photo by plane attitude information of The Cloud Terrace of sensor acquisition aircraft transfers to control module and handles; Control module to said X axle regulate motor, the Y axle regulates motor or the Z axle is regulated motor output control signal, the take photo by plane attitude of The Cloud Terrace of adjustment aircraft.
Said control module adopts the said X axle of PID controller (proportional plus integral plus derivative controller) control to regulate motor, Y axle adjusting motor, adopts the said Z axle of P controller (pi controller) control to regulate motor, makes that the attitude adjustment of The Cloud Terrace is timely.
Compared with prior art; The present invention has following advantage: control module can be controlled to three axial attitudes of The Cloud Terrace XYZ, by 3-axis acceleration sensor sampling camera platform attitude data, through AD sampling and subsequent treatment thereof; Controller inter-process chip calculates output DC speed-reducing control signal according to controlling models; Make control platform under the driving of reducing motor, remain level, the pulse duration modulation of PWM has been adopted in the adjusting in course, make that the adjusting in course is more accurate; The continuous BR function of camera that this controller is integrated simultaneously, timing accuracy is high, takes accurately stable.Adopt timer 0 to repeat timing mode control shutter, promptly regularly 2s, 200ms adopt a timer; Adopt high speed photo coupling HP2630 to isolate output and input, guarantee that motor-drive circuit can not influence control circuit; Adopted the reference voltage of the inner 2.56V of Atmega128L, guaranteed that the ADC reference voltage can not change with power source voltage, sampled data is more stable, and error is littler; The software modularity design, system is divided into motor-driven file, TFT display file (the convenient secondary development later on of part GUI function has been called in demonstration) and module initialization file, makes things convenient for software maintenance to upgrade.
[description of drawings]
Fig. 1 is the take photo by plane structural representation of cradle head control device of aircraft of the present invention;
Fig. 2 is the take photo by plane diagram of circuit of control method of cradle head control device of aircraft of the present invention;
Fig. 3 is the aircraft of the present invention diagram of circuit of taking pictures in the control method of cradle head control device of taking photo by plane.
[specific embodiment]
Below in conjunction with accompanying drawing and specific embodiment the present invention is carried out detailed explanation.
The aircraft cradle head control device of taking photo by plane; As shown in Figure 1; It comprises that control module 1, sensor 8, X axle are regulated motor 7, the Y axle regulates motor 5 and the Z axle is regulated motor 6; The said sensor sample aircraft The Cloud Terrace attitude information of taking photo by plane is sent to said control module 1, and the said X axle of said control module 1 control is regulated motor 7, the Y axle regulates motor 5 and the Z axle is regulated motor 6.The aircraft of said control module 1 processes sensor 8 feedbacks is taken photo by plane behind the The Cloud Terrace attitude information; Regulating motor 7, Y axle through control X axle regulates motor 5 or Z axle and regulates the take photo by plane attitude of The Cloud Terrace of motor 6 adjustment aircraft; Make the aircraft The Cloud Terrace of taking photo by plane remain level, with accuracy and the picture quality that guarantees to take.Said control module 1 can directly be regulated motor 7 with said X axle through lead, the Y axle is regulated motor 5 and is connected with Z axle adjusting motor 6, also can connect through wireless module.Said X axle is regulated motor 7, Y axle and is regulated motor 5 and Z axle and regulate motor 6 and is connected with the Z axle with the take photo by plane corresponding X axle of The Cloud Terrace, Y axle of said aircraft respectively, adjusts the take photo by plane attitude of The Cloud Terrace of aircraft through adjusting X axle, Y axle and Z axle.Wherein said sensor 8 is selected triaxial accelerometer for use, and the model that said triaxial accelerometer preferably has small size, slim, low-power consumption, advantage such as complete is the triaxial accelerometer of ADXL335.Said control module 8 is provided with LCDs 3, is used to show the aircraft The Cloud Terrace attitude of taking photo by plane.Said LCDs 3 is the TFT module of 240*320 for resolution.8 high-speed low-power-consumption chips of the employing Atmega128L of said control module 1, integrated control camera BR function and TFT interface display function; System provides good man-machine operation interface, makes things convenient for the attitude adjustment data and the timing setting of The Cloud Terrace.
And said control module 8 is integrated with BR unit 2, and said BR unit 2 can be timer, and said timer employing 0 repetition timing mode control shutter, and promptly regularly 2s, 200ms adopt a timer.Said control module 8 is regulated motor 7, Y axle adjusting motor 5 or Z axle through the said X axle of pulse width modulation (PWM) signal control and is regulated motor 6, makes that the adjusting in course is more accurate.Said control module is high speed photo coupling isolation output and input X axle adjusting motor 7, Y axle adjusting motor 5 and the Z axle adjusting motor 6 of HP2630 or L298P through the chip for driving model, guarantees that motor-drive circuit can not influence control circuit.
Control module of the present invention can be controlled to take photo by plane three axial attitudes of XYZ of The Cloud Terrace of aircraft; By 3-axis acceleration sensor sampling camera platform attitude data; Through AD sampling and subsequent treatment thereof, controller inter-process chip calculates output XYZ axle DC speed-reducing control signal according to controlling models, makes control platform under the driving of reducing motor, remain level; The pulse duration modulation of PWM has been adopted in the adjusting in course, made that the adjusting in course is more accurate; The continuous BR function of camera that this controller is integrated simultaneously, timing accuracy is high, takes accurately stable.
The take photo by plane control method of cradle head control device of aircraft; Its step comprises; Sensor 8 is gathered the take photo by plane attitude information of The Cloud Terrace of aircraft and is transferred to control module 1 and handle; Control module 1 to said X axle regulate motor 7, the Y axle regulates motor 5 or the Z axle is regulated motor 6 output control signals, the take photo by plane attitude of The Cloud Terrace of adjustment aircraft.Wherein, Said control module 8 adopts the said X axle of PID controller (proportional-integral derivative controller) control to regulate motor 7, Y axle adjusting motor 5; Adopt the said Z axle of P controller (pi controller) control to regulate 6 motors, make that the attitude adjustment of The Cloud Terrace is timely.
Concrete operation steps after system's energising starts, is carried out initialization earlier as shown in Figures 2 and 3; TFT shows static parameter; Start timer T0, D and A converter (ADC) starts conversion, and TFT shows dynamical parameter; PID controller recursive call XY axle drives self-equalizing, and P controller recursive call Z axle drives self-equalizing; The timer self-opening carries out BR continuously simultaneously; Up to the shutdown system power supply, finish to take photo by plane.
Wherein, the controlling schemes of said PID controller is implemented following program:
The above person; Be merely preferred embodiment of the present invention; When not limiting the scope that the present invention implements with this, the simple equivalent of promptly doing according to claim of the present invention and invention description generally changes and modifies, and all still belongs in the scope that patent of the present invention contains.
Claims (9)
1. the aircraft cradle head control device of taking photo by plane; It is characterized in that; Comprise that control module, sensor, X axle are regulated motor, the Y axle regulates motor and the Z axle is regulated motor; The take photo by plane attitude information of The Cloud Terrace of said sensor sample aircraft is sent to said control module, and said control module controls that said X axle is regulated motor, the Y axle regulates motor and the Z axle is regulated motor, keeps horizontal attitude eventually to regulate the said aircraft The Cloud Terrace of taking photo by plane.
2. the aircraft according to claim 1 cradle head control device of taking photo by plane is characterized in that said sensor is selected triaxial accelerometer for use, and said triaxial accelerometer model is ADXL335.
3. the aircraft according to claim 1 cradle head control device of taking photo by plane is characterized in that, said control module controls through pulse width modulating signal that said X axle is regulated motor, the Y axle regulates motor or the Z axle is regulated motor.
4. the aircraft according to claim 1 cradle head control device of taking photo by plane is characterized in that said control module is integrated with the BR unit.
5. the aircraft according to claim 1 cradle head control device of taking photo by plane; It is characterized in that said control module is high speed photo coupling isolation output and input X axle adjusting motor, Y axle adjusting motor and the Z axle adjusting motor of HP2630 or L298P through the chip for driving model.
6. the aircraft according to claim 1 cradle head control device of taking photo by plane is characterized in that the main control chip model of said control module is Atmega 128L.
7. the aircraft according to claim 1 cradle head control device of taking photo by plane is characterized in that said control module is provided with LCDs.
8. according to the take photo by plane control method of cradle head control device of the arbitrary described aircraft of claim 1-7; It is characterized in that; Its step comprises; The take photo by plane attitude information of The Cloud Terrace of sensor acquisition aircraft transfers to control module and handles, control module to said X axle regulate motor, the Y axle regulates motor or the Z axle is regulated motor output control signal, the take photo by plane attitude of The Cloud Terrace of adjustment aircraft.
9. the take photo by plane control method of cradle head control device of aircraft according to claim 8 is characterized in that, said control module adopts the PID controller to control that said X axle is regulated motor, the Y axle is regulated motor, adopts the P controller to control said Z axle and regulates motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101794803A CN102745335A (en) | 2012-06-01 | 2012-06-01 | Aerial shooting holder controller of aircraft and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012101794803A CN102745335A (en) | 2012-06-01 | 2012-06-01 | Aerial shooting holder controller of aircraft and control method thereof |
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| CN2012101794803A Pending CN102745335A (en) | 2012-06-01 | 2012-06-01 | Aerial shooting holder controller of aircraft and control method thereof |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104536242A (en) * | 2015-01-09 | 2015-04-22 | 廖易仑 | Real-time controllable motion camera stabilizer |
| CN106774406A (en) * | 2016-12-30 | 2017-05-31 | 武汉大势智慧科技有限公司 | A kind of unmanned plane image automated collection systems and method |
| CN108319094A (en) * | 2018-03-30 | 2018-07-24 | 五邑大学 | Simulation camera system and its visual test method based on controllable light according to the facts tryoff |
| CN116939339A (en) * | 2023-09-15 | 2023-10-24 | 中国海洋大学 | Triaxial holder and method for balancing camera posture of wave glider |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH1114354A (en) * | 1997-06-25 | 1999-01-22 | Mitsubishi Electric Corp | Photographing apparatus |
| CN201672918U (en) * | 2010-05-18 | 2010-12-15 | 中国地震局地球物理研究所 | Disaster situation obtaining system |
| CN202642104U (en) * | 2012-06-01 | 2013-01-02 | 广州市红鹏直升机遥感科技有限公司 | Aircraft aerial pan/ tilt/ zoom (PTZ) controller |
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2012
- 2012-06-01 CN CN2012101794803A patent/CN102745335A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1114354A (en) * | 1997-06-25 | 1999-01-22 | Mitsubishi Electric Corp | Photographing apparatus |
| CN201672918U (en) * | 2010-05-18 | 2010-12-15 | 中国地震局地球物理研究所 | Disaster situation obtaining system |
| CN202642104U (en) * | 2012-06-01 | 2013-01-02 | 广州市红鹏直升机遥感科技有限公司 | Aircraft aerial pan/ tilt/ zoom (PTZ) controller |
Non-Patent Citations (3)
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| 张小娟: "基于AVR单片机的航拍控制系统设计", 《新技术新工艺》, no. 5, 31 December 2011 (2011-12-31), pages 45 - 47 * |
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| 王德义等: "基于ATMEGA128的电动云台控制器设计", 《电力自动化设备》, vol. 30, no. 6, 30 June 2010 (2010-06-30), pages 140 - 142 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104536242A (en) * | 2015-01-09 | 2015-04-22 | 廖易仑 | Real-time controllable motion camera stabilizer |
| CN106774406A (en) * | 2016-12-30 | 2017-05-31 | 武汉大势智慧科技有限公司 | A kind of unmanned plane image automated collection systems and method |
| CN106774406B (en) * | 2016-12-30 | 2023-06-23 | 武汉大势智慧科技有限公司 | Unmanned aerial vehicle image automatic acquisition system and method |
| CN108319094A (en) * | 2018-03-30 | 2018-07-24 | 五邑大学 | Simulation camera system and its visual test method based on controllable light according to the facts tryoff |
| CN116939339A (en) * | 2023-09-15 | 2023-10-24 | 中国海洋大学 | Triaxial holder and method for balancing camera posture of wave glider |
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Application publication date: 20121024 |