CN104773296A - Aerial real-time tracking shooting micro unmanned plane - Google Patents
Aerial real-time tracking shooting micro unmanned plane Download PDFInfo
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- CN104773296A CN104773296A CN201510168741.5A CN201510168741A CN104773296A CN 104773296 A CN104773296 A CN 104773296A CN 201510168741 A CN201510168741 A CN 201510168741A CN 104773296 A CN104773296 A CN 104773296A
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Abstract
The invention relates to an aerial real-time tracking shooting micro unmanned plane, and belongs to the field of aerial photograph unmanned planes. The aerial real-time tracking shooting micro unmanned plane comprises a singlechip microcomputer minimum system module, wherein the singlechip microcomputer minimum system module is connected with a barometer height fixing module, a wireless remote control transmission module, an alarming module, a liquid crystal display module and a gyroscope acceleration module respectively; a camera module is connected with a wireless image transmission module and an image storage module respectively. The aerial real-time tracking shooting micro unmanned plane has the characteristics of high safety, low cost, complete functions, good performances, low power consumption and strong interference resistance, is suitable for being used by a travel enthusiast and can be also applied to the field of military situation detection.
Description
Technical field
The present invention relates to unmanned plane field of taking photo by plane, particularly a kind of aerial real-time tracking shooting Micro Aerial Vehicle.
Background technology
At present, have the product of various unmanned plane of taking photo by plane on the market, but ubiquity danger is high, poor performance, the uneven congruent problem of function.Along with the development of science and technology, the demand that people take high-altitude is more and more general, but due to the unmanned plane great majority of taking photo by plane on market be all that volume is large, danger is higher.And in the market though incipient small-sized unmanned plane volume of taking photo by plane reduces, can load-carrying capacity is effective, cannot complete image real-time tracking shoot function, operator can only carry out blind bat, can not meet the aerial photographing demand of people far away.
Summary of the invention
The object of the present invention is to provide a kind of aerial real-time tracking shooting Micro Aerial Vehicle.
The object of the invention is to be realized by following approach: a kind of aerial real-time tracking shooting Micro Aerial Vehicle, it comprises single-chip minimum system module, single-chip minimum system module respectively high module, wireless remote control transport module, alarm module, LCD MODULE and gyroscope acceleration module fixed with weather gauge is connected, camera module respectively with wireless image transmission module and Image Saving model calling.
As the further optimization of this programme, the two directions' inputing/mouth SCL of described single-chip minimum system module, two directions' inputing/mouth the SCL of SDA and the fixed high module of weather gauge, SDA correspondence connects, the two directions' inputing/mouth IRQ of single-chip minimum system module, MOSI, CSN, MISO, CE, two directions' inputing/mouth the IRQ of CLK and wireless remote control transport module, MOSI, CSN, MISO, CE, CLK correspondence connects, and the mouth SYSBUZ of single-chip minimum system module is corresponding with the input end SYSBUZ of alarm module to be connected, the mouth M1 of single-chip minimum system module, M2, M3, the input end M1 of M4 and motor drive module, M2, M3, M4 correspondence connects, the two directions' inputing/mouth OLED_CS of single-chip minimum system module, OLED_DC, OLED_RW, OLED_RD, OLED_D0, OLED_D1, OLED_D2, OLED_D3, OLED_D4, OLED_D5, OLED_D6, two directions' inputing/mouth the OLED_CS of OLED_D7 and LCD MODULE, OLED_DC, OLED_RW, OLED_RD, OLED_D0, OLED_D1, OLED_D2, OLED_D3, OLED_D4, OLED_D5, OLED_D6, OLED_D7 correspondence connects, the two directions' inputing/mouth SCL of single-chip minimum system module, two directions' inputing/mouth the SCL of SDA and gyroscope acceleration module, SDA correspondence connects, and the mouth Control of single-chip minimum system module is connected with the input end Control of Image Saving module, the mouth IMAGE of camera module is corresponding with the input end IMAGE of wireless image transmission module to be connected, and the mouth IMAGE of camera module is corresponding with the input end IMAGE of Image Saving module to be connected.
As the further optimization of this programme, described single-chip minimum system module comprises chip U1, the pin 24 of chip U1, pin 36, pin 48 and pin 9 are all connected with constant voltage power suspply end VCC, the pin 20 of chip U1 and pin 44 and one end of resistance R1 and one end of resistance R2 is corresponding is connected, the other end of resistance R1 and the other end of resistance R2 all with power supply digitally GND be connected, the pin 3 of chip U1 pin 5 and pin 6 and crystal oscillator Y1 and pin 1 is corresponding is connected, the pin 7 of chip U1 is connected with one end of resistance R3 and one end of electric capacity C1 respectively, chip U1 pin 8, pin 23, pin 35 and pin 47 all with power supply digitally GND be connected, one end of resistance R3 is connected with one end of K switch 1, the other end of resistance R3 is connected with constant voltage power suspply end VCC, the other end of electric capacity C1 and the other end of K switch 1 all with power supply digitally GND be connected, the pin 1 of one end of electric capacity C2 and one end of electric capacity C3 and crystal oscillator Y1 and pin 3 is corresponding is connected, the other end of electric capacity C2 and the other end of electric capacity C3 all with power supply digitally GND be connected, electric capacity C4, electric capacity C5 is all connected with constant voltage power suspply end VCC with one end of electric capacity C6, electric capacity C4, the other end of electric capacity C5 and electric capacity C6 all with power supply digitally GND be connected,
Two directions' inputing/mouth the SCL of chip U1, two directions' inputing/mouth the SCL of SDA and the fixed high module of weather gauge, SDA correspondence connects, the two directions' inputing/mouth IRQ of chip U1, MOSI, CSN, MISO, CE, two directions' inputing/mouth the IRQ of CLK and wireless remote control transport module, MOSI, CSN, MISO, CE, CLK correspondence connects, and the mouth SYSBUZ of chip U1 is corresponding with the input end SYSBUZ of alarm module to be connected, the mouth M1 of chip U1, M2, M3, the input end M1 of M4 and motor drive module, M2, M3, M4 correspondence connects, the two directions' inputing/mouth OLED_CS of chip U1, OLED_DC, OLED_RW, OLED_RD, OLED_D0, OLED_D1, OLED_D2, OLED_D3, OLED_D4, OLED_D5, OLED_D6, two directions' inputing/mouth the OLED_CS of OLED_D7 and LCD MODULE, OLED_DC, OLED_RW, OLED_RD, OLED_D0, OLED_D1, OLED_D2, OLED_D3, OLED_D4, OLED_D5, OLED_D6, OLED_D7 correspondence connects, the two directions' inputing/mouth SCL of chip U1, two directions' inputing/mouth the SCL of SDA and gyroscope acceleration module, SDA correspondence connects, and the mouth Control of chip U1 is connected with the input end Control of Image Saving module (10).
As the further optimization of this programme, the fixed high module of described weather gauge comprises weather gauge chip U8; One end of the pin 1 of weather gauge chip U8, pin 2, electric capacity C21 is connected with constant voltage power suspply end VCC, other one end of the pin 3 of weather gauge chip U8, pin 4, pin 5, electric capacity C21 is connected with GND_M in analog, the input end SCL of weather gauge chip U8 is connected with the mouth SCL of single-chip minimum system module, and the two directions' inputing/mouth SDA of weather gauge chip U8 is connected with the two directions' inputing/mouth SDA of single-chip minimum system module.
As the further optimization of this programme, described LCD MODULE comprises read-out U4, the pin 1 of read-out U4, pin 8, pin 29, pin 30, one end of resistance R6, one end of resistance R10, one end of electric capacity C14, one end of electric capacity C15, one end of electric capacity C16, one end of electric capacity C17 is connected with digitally GND, pin 6, pin 9, one end of resistance R7, one end of resistance R8, one end of resistance R9 is connected with constant voltage power suspply end VCC, pin 2 is connected with electric capacity C12 one end, pin 3 is connected with the other one end of electric capacity C12, pin 4 is connected with electric capacity C13 one end, pin 5 is connected with the other one end of electric capacity C13, pin 10 is connected with other one end of resistance R6, pin 11 is connected with other one end of resistance R7, pin 12 is connected with other one end of resistance R8, other one end of resistance R9, other one end of electric capacity C17 is connected with pin 14, pin 26 is connected with other one end of resistance R10, pin 27 is connected with other one end of electric capacity C14, other one end of electric capacity C15, other one end of electric capacity C16 is connected with pin 28, the two directions' inputing of read-out U4/mouth OLED_CS, OLED_DC, OLED_RW, OLED_RD and single-chip minimum system module two directions' inputing/mouth OLED_CS, OLED_DC, OLED_RW, OLED_RD are corresponding connects, the input end OLED_D0 ~ OLED_D7 of read-out U4 is corresponding with the mouth OLED_D0 ~ OLED_D7 of single-chip minimum system module to be connected.
As the further optimization of this programme, described gyroscope acceleration module comprises conformability 6 axle motion process chip U3, the pin 23 of conformability 6 axle motion process chip U3, pin 24, pin 13, pin 20, one end of pin 10 and pin 8 and resistance R20, one end of resistance R21, one end of electric capacity C27, one end of electric capacity C25, one end of electric capacity C26 is connected with one end correspondence of electric capacity C28, one end of electric capacity C27, one end of electric capacity C28, the other end of resistance R20 is all connected with constant voltage power suspply end VCC with the other end of resistance R21, conformability 6 axle motion process chip, the pin 9 of U3, pin 11, pin 18, pin 22, the other end of electric capacity C25, the other end of electric capacity C26 and the other end of electric capacity C27 all with power supply in analog GND_M be connected, the other end of electric capacity C28 and power supply digitally GND are connected, the input end SCL of conformability 6 axle motion process chip U3 is connected with the mouth SCL of single-chip minimum system module, and the two directions' inputing/mouth SDA of conformability 6 axle motion process chip U3 is connected with the two directions' inputing/mouth SDA of single-chip minimum system module.
As the further optimization of this programme, described camera module comprises camera treater U5; The pin 1 of camera treater U5 is connected with constant voltage power suspply end VCC, and the pin 3 of camera treater U5 is connected with digitally GND, and the input end IMAGE of image transmission module, the input end IMAGE of Image Saving module are connected with the pin 2 of camera treater U5.
As the further optimization of this programme, described image transmission module comprises CPU process chip U6, the pin 40 of CPU process chip U6, pin 42 is all connected with digitally GND, and the pin 44 of CPU process chip U6 is connected with constant voltage power suspply end VCC, the pin 37 of CPU process chip U6, pin 38, pin 35, pin 36, pin 33, pin 34, pin 31, the pin 3 of pin 32 and pin 46 and A/D treater U9, pin 4, pin 5, pin 6, pin 7, pin 8, pin 9, pin 10 is connected with pin 12 correspondence, the pin 113 of CPU process chip U6, pin 111, pin 109, pin 107, pin 105, the pin 11 of pin 103 and pin 101 and U10, pin 12, pin 10, pin 8, pin 6, pin 4 is connected with pin 2 correspondence, the pin 56 of CPU process chip U6, the pin 1 of pin 97 and pin 54 and U11, pin 3 is connected with pin 7 correspondence, the pin 1 of A/D treater U9, pin 2, pin 24, pin 21 and pin 20 are all connected with digitally GND, the pin 11 of A/D treater U9 is connected with one end of constant voltage power suspply end VCC and electric capacity C35, the pin 22 of A/D treater U9 is all connected with one end of electric capacity C29 with pin 23, the pin 16 of A/D treater U9 is all connected with one end of electric capacity C30 with pin 17, the pin 18 of A/D treater U9 is connected with one end of one end of resistance R24 and electric capacity C34, the pin 15 of A/D treater U9 is connected with one end of one end of resistance R23 and electric capacity C33, the pin 14 of A/D treater U9 is connected with one end of one end of resistance R25 and electric capacity C32, the pin 13 of A/D treater U9 is connected with one end of electric capacity C31, the other end of electric capacity C35, the other end of electric capacity C34, the other end of electric capacity C33, the other end of electric capacity C32, the other end of electric capacity C31, the other end of electric capacity C29 and the other end of electric capacity C30 are all connected with digitally GND, the other end of resistance R23, the other end of resistance R24 is all connected with constant voltage power suspply end VCC with the other end of resistance R25, and the pin 1 of U10 is connected with constant voltage power suspply end VCC, and the pin 13 of U10 is connected with the even digitally GND of pin 14, the pin 8 of U11, pin 2 and pin 4 respectively with constant voltage power suspply end VCC, one end of electric capacity C36 is connected with digitally GND correspondence, and the pin 6 of U11 is connected with one end of one end of electric capacity C37 and resistance R22, and the other end of electric capacity C37 and the other end of resistance R22 are all connected with digitally GND, the mouth IMAGE of camera module is connected with the input end IMAGE of A/D treater U9 and the other end of electric capacity C36.
As the further optimization of this programme, described Image Saving module comprises memory processor U12; The pin VCC of RAM (random access memory) card treater U12 is connected with constant voltage power suspply end VCC, the pin GND of RAM (random access memory) card treater U12 is connected with digitally GND, pin 1, pin 2, pin 3, the pin 7 of pin L16, the pin L17 of RAM (random access memory) card treater U12, pin L13, pin L14 and pin L15 and storage card U13 and pin 8 is corresponding is connected, the pin K17 of RAM (random access memory) card treater U12 is connected with the pin 5 of storage card U13, the pin 4 of storage card U13 is connected with constant voltage power suspply end VCC, and the pin 6 of storage card U13 is connected with digitally GND; The mouth IMAGE of camera module is connected with the input end IMAGE of RAM (random access memory) card treater U12, and the mouth Control of single-chip minimum system module is connected with the input end Control of RAM (random access memory) card treater U12.
Carry out according to following key step during aerial real-time tracking shooting Micro Aerial Vehicle work of the present invention:
Step S1: system initialization, mainly comprises clock initialization, gyroscope initialization, accelerometer initialization, weather gauge initialization, camera initialization, driver module initialization etc.
Step S2: detect aircraft battery voltage, calculate its voltage value through AD process and CPU, and voltage value and tuning parameter are presented on liquid crystal display.
Step S3: sending unlocking signal with remote controller to flying control, through micro controller system process after reading, finally flight control system being unlocked.
Step S4: read the remote information that remote controller sends, and carry out signal processing analysis and calculating in micro controller system inside, its remote information is converted into spatial positional information.
Step S5: read camera image information.
Step S51: through wireless image transmission module, is sent to ground station by the camera image information of reading, and carries out Real-time image display on a display screen.
Step S52: by analyzing the remote information read, judges whether to need the graphicinformation to flying to control to carry out Locale Holding.
Step S6: again check aircraft battery voltage, judge whether to need low pressure buzzer warning.
Step S7: read weather gauge, the respective signal of accelerometer and gyro sensor, and draw corresponding elevation information and angle information through algorithm process.
Step S8: the remote signal that elevation information and angle information and remote controller send merged mutually, is fused into the target information that final aircraft needs to reach.
Step S9: by final target information, changes into the control signal pwm signal of motor, by given for each road PWM information in each self-corresponding motor driving controling circuit.
Thus, the present invention puts forth effort on and produces a kind of aerial real-time tracking shooting Micro Aerial Vehicle.And this is taken photo by plane, unmanned plane also has Image Saving function, can maintain the original image information of camera, has helped people to obtain video information more clearly greatly.Have that safety is good, cost is low, function is complete, performance is good, low in energy consumption and the feature of strong interference immunity, be applicable to travel enthusiasts and use, also can be applied in the fields such as military situation detection.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is described in further detail:
Fig. 1 is frame structure schematic diagram of the present invention;
Fig. 2 is workflow diagram of the present invention;
Fig. 3 is electrical block diagram of the present invention;
Fig. 4 is the circuit diagram of single-chip minimum system module in the present invention;
Fig. 5 is the circuit diagram of the fixed high module of weather gauge in the present invention;
Fig. 6 is the circuit diagram of wireless remote control transport module in the present invention;
Fig. 7 is the circuit diagram of alarm module in the present invention;
Fig. 8 is the circuit diagram of motor drive module in the present invention;
Fig. 9 is the circuit diagram of LCD MODULE in the present invention;
Figure 10 is the circuit diagram of gyroscope acceleration module in the present invention;
Figure 11 is the circuit diagram of camera module in the present invention
Figure 12 is the circuit diagram of wireless image transmission module in the present invention;
Figure 13 is the circuit diagram of Image Saving module in the present invention;
In figure, single-chip minimum system module 1, weather gauge fixed high module 2, wireless remote control transport module 3, alarm module 4, motor drive module 5, LCD MODULE 6, gyroscope acceleration module 7, camera module 8, wireless image transmission module 9, Image Saving module 10, frame 11.
Detailed description of the invention
As shown in Figure 1, according to one of the invention process aerial real-time tracking shooting Micro Aerial Vehicle, it comprises single-chip minimum system module 1, single-chip minimum system module 1 respectively high module 2, wireless remote control transport module 3, alarm module 4, motor drive module 5, LCD MODULE 6 and gyroscope acceleration module 7 fixed with weather gauge is connected, and camera module 8 is connected with wireless image transmission module 9 and Image Saving module 10 respectively.
As shown in Fig. 3-Figure 13, the two directions' inputing/mouth SCL of described single-chip minimum system module 1, two directions' inputing/mouth the SCL of SDA and the fixed high module 2 of weather gauge, SDA correspondence connects, the two directions' inputing/mouth IRQ of single-chip minimum system module 1, MOSI, CSN, MISO, CE, two directions' inputing/mouth the IRQ of CLK and wireless remote control transport module 3, MOSI, CSN, MISO, CE, CLK correspondence connects, and the mouth SYSBUZ of single-chip minimum system module 1 is corresponding with the input end SYSBUZ of alarm module 4 to be connected, the mouth M1 of single-chip minimum system module 1, M2, M3, the input end M1 of M4 and motor drive module 5, M2, M3, M4 correspondence connects, the two directions' inputing/mouth OLED_CS of single-chip minimum system module 1, OLED_DC, OLED_RW, OLED_RD, OLED_D0, OLED_D1, OLED_D2, OLED_D3, OLED_D4, OLED_D5, OLED_D6, two directions' inputing/mouth the OLED_CS of OLED_D7 and LCD MODULE 6, OLED_DC, OLED_RW, OLED_RD, OLED_D0, OLED_D1, OLED_D2, OLED_D3, OLED_D4, OLED_D5, OLED_D6, OLED_D7 correspondence connects, the two directions' inputing/mouth SCL of single-chip minimum system module 1, two directions' inputing/mouth the SCL of SDA and gyroscope acceleration module 7, SDA correspondence connects, and the mouth Control of single-chip minimum system module 1 is connected with the input end Control of Image Saving module 10, the mouth IMAGE of camera module 8 is corresponding with the input end IMAGE of wireless image transmission module 9 to be connected, and the mouth IMAGE of camera module 8 is corresponding with the input end IMAGE of Image Saving module 10 to be connected.
As shown in Figure 4, described single-chip minimum system module 1 comprises chip U1, the pin 24 of chip U1, pin 36, pin 48 and pin 9 are all connected with constant voltage power suspply end VCC, the pin 20 of chip U1 and pin 44 and one end of resistance R1 and one end of resistance R2 is corresponding is connected, the other end of resistance R1 and the other end of resistance R2 all with power supply digitally GND be connected, the pin 3 of chip U1 pin 5 and pin 6 and crystal oscillator Y1 and pin 1 is corresponding is connected, the pin 7 of chip U1 is connected with one end of resistance R3 and one end of electric capacity C1 respectively, chip U1 pin 8, pin 23, pin 35 and pin 47 all with power supply digitally GND be connected, one end of resistance R3 is connected with one end of K switch 1, the other end of resistance R3 is connected with constant voltage power suspply end VCC, the other end of electric capacity C1 and the other end of K switch 1 all with power supply digitally GND be connected, the pin 1 of one end of electric capacity C2 and one end of electric capacity C3 and crystal oscillator Y1 and pin 3 is corresponding is connected, the other end of electric capacity C2 and the other end of electric capacity C3 all with power supply digitally GND be connected, electric capacity C4, electric capacity C5 is all connected with constant voltage power suspply end VCC with one end of electric capacity C6, electric capacity C4, the other end of electric capacity C5 and electric capacity C6 all with power supply digitally GND be connected,
Two directions' inputing/mouth the SCL of chip U1, two directions' inputing/mouth the SCL of SDA and the fixed high module 2 of weather gauge, SDA correspondence connects, the two directions' inputing/mouth IRQ of chip U1, MOSI, CSN, MISO, CE, two directions' inputing/mouth the IRQ of CLK and wireless remote control transport module 3, MOSI, CSN, MISO, CE, CLK correspondence connects, and the mouth SYSBUZ of chip U1 is corresponding with the input end SYSBUZ of alarm module 4 to be connected, the mouth M1 of chip U1, M2, M3, the input end M1 of M4 and motor drive module 5, M2, M3, M4 correspondence connects, the two directions' inputing/mouth OLED_CS of chip U1, OLED_DC, OLED_RW, OLED_RD, OLED_D0, OLED_D1, OLED_D2, OLED_D3, OLED_D4, OLED_D5, OLED_D6, two directions' inputing/mouth the OLED_CS of OLED_D7 and LCD MODULE 6, OLED_DC, OLED_RW, OLED_RD, OLED_D0, OLED_D1, OLED_D2, OLED_D3, OLED_D4, OLED_D5, OLED_D6, OLED_D7 correspondence connects, the two directions' inputing/mouth SCL of chip U1, two directions' inputing/mouth the SCL of SDA and gyroscope acceleration module 7, SDA correspondence connects, and the mouth Control of chip U1 is connected with the input end Control of Image Saving module (10).
As shown in Figure 5, the fixed high module 2 of described weather gauge comprises weather gauge chip U8; One end of the pin 1 of weather gauge chip U8, pin 2, electric capacity C21 is connected with constant voltage power suspply end VCC, other one end of the pin 3 of weather gauge chip U8, pin 4, pin 5, electric capacity C21 is connected with GND_M in analog, the input end SCL of weather gauge chip U8 is connected with the mouth SCL of single-chip minimum system module 1, and the two directions' inputing/mouth SDA of weather gauge chip U8 is connected with the two directions' inputing/mouth SDA of single-chip minimum system module 1.
As shown in Figure 9, described LCD MODULE 6 comprises read-out U4, the pin 1 of read-out U4, pin 8, pin 29, pin 30, one end of resistance R6, one end of resistance R10, one end of electric capacity C14, one end of electric capacity C15, one end of electric capacity C16, one end of electric capacity C17 is connected with digitally GND, pin 6, pin 9, one end of resistance R7, one end of resistance R8, one end of resistance R9 is connected with constant voltage power suspply end VCC, pin 2 is connected with electric capacity C12 one end, pin 3 is connected with the other one end of electric capacity C12, pin 4 is connected with electric capacity C13 one end, pin 5 is connected with the other one end of electric capacity C13, pin 10 is connected with other one end of resistance R6, pin 11 is connected with other one end of resistance R7, pin 12 is connected with other one end of resistance R8, other one end of resistance R9, other one end of electric capacity C17 is connected with pin 14, pin 26 is connected with other one end of resistance R10, pin 27 is connected with other one end of electric capacity C14, other one end of electric capacity C15, other one end of electric capacity C16 is connected with pin 28, the two directions' inputing of read-out U4/mouth OLED_CS, OLED_DC, OLED_RW, OLED_RD and single-chip minimum system module 1 two directions' inputing/mouth OLED_CS, OLED_DC, OLED_RW, OLED_RD are corresponding connects, the input end OLED_D0 ~ OLED_D7 of read-out U4 is corresponding with the mouth OLED_D0 ~ OLED_D7 of single-chip minimum system module 1 to be connected.
As shown in Figure 10, described gyroscope acceleration module 7 comprises conformability 6 axle motion process chip U3, the pin 23 of conformability 6 axle motion process chip U3, pin 24, pin 13, pin 20, one end of pin 10 and pin 8 and resistance R20, one end of resistance R21, one end of electric capacity C27, one end of electric capacity C25, one end of electric capacity C26 is connected with one end correspondence of electric capacity C28, one end of electric capacity C27, one end of electric capacity C28, the other end of resistance R20 is all connected with constant voltage power suspply end VCC with the other end of resistance R21, conformability 6 axle motion process chip, the pin 9 of U3, pin 11, pin 18, pin 22, the other end of electric capacity C25, the other end of electric capacity C26 and the other end of electric capacity C27 all with power supply in analog GND_M be connected, the other end of electric capacity C28 and power supply digitally GND are connected, the input end SCL of conformability 6 axle motion process chip U3 is connected with the mouth SCL of single-chip minimum system module 1, and the two directions' inputing/mouth SDA of conformability 6 axle motion process chip U3 is connected with the two directions' inputing/mouth SDA of single-chip minimum system module 1.
As shown in figure 11, described camera module 8 comprises camera treater U5; The pin 1 of camera treater U5 is connected with constant voltage power suspply end VCC, and the pin 3 of camera treater U5 is connected with digitally GND, and the input end IMAGE of image transmission module 9, the input end IMAGE of Image Saving module 10 are connected with the pin 2 of camera treater U5.
As shown in figure 12, described image transmission module 9 comprises CPU process chip U6, the pin 40 of CPU process chip U6, pin 42 is all connected with digitally GND, and the pin 44 of CPU process chip U6 is connected with constant voltage power suspply end VCC, the pin 37 of CPU process chip U6, pin 38, pin 35, pin 36, pin 33, pin 34, pin 31, the pin 3 of pin 32 and pin 46 and A/D treater U9, pin 4, pin 5, pin 6, pin 7, pin 8, pin 9, pin 10 is connected with pin 12 correspondence, the pin 113 of CPU process chip U6, pin 111, pin 109, pin 107, pin 105, the pin 11 of pin 103 and pin 101 and U10, pin 12, pin 10, pin 8, pin 6, pin 4 is connected with pin 2 correspondence, the pin 56 of CPU process chip U6, the pin 1 of pin 97 and pin 54 and U11, pin 3 is connected with pin 7 correspondence, the pin 1 of A/D treater U9, pin 2, pin 24, pin 21 and pin 20 are all connected with digitally GND, the pin 11 of A/D treater U9 is connected with one end of constant voltage power suspply end VCC and electric capacity C35, the pin 22 of A/D treater U9 is all connected with one end of electric capacity C29 with pin 23, the pin 16 of A/D treater U9 is all connected with one end of electric capacity C30 with pin 17, the pin 18 of A/D treater U9 is connected with one end of one end of resistance R24 and electric capacity C34, the pin 15 of A/D treater U9 is connected with one end of one end of resistance R23 and electric capacity C33, the pin 14 of A/D treater U9 is connected with one end of one end of resistance R25 and electric capacity C32, the pin 13 of A/D treater U9 is connected with one end of electric capacity C31, the other end of electric capacity C35, the other end of electric capacity C34, the other end of electric capacity C33, the other end of electric capacity C32, the other end of electric capacity C31, the other end of electric capacity C29 and the other end of electric capacity C30 are all connected with digitally GND, the other end of resistance R23, the other end of resistance R24 is all connected with constant voltage power suspply end VCC with the other end of resistance R25, and the pin 1 of U10 is connected with constant voltage power suspply end VCC, and the pin 13 of U10 is connected with the even digitally GND of pin 14, the pin 8 of U11, pin 2 and pin 4 respectively with constant voltage power suspply end VCC, one end of electric capacity C36 is connected with digitally GND correspondence, and the pin 6 of U11 is connected with one end of one end of electric capacity C37 and resistance R22, and the other end of electric capacity C37 and the other end of resistance R22 are all connected with digitally GND, the mouth IMAGE of camera module 8 is connected with the input end IMAGE of A/D treater U9 and the other end of electric capacity C36.
As shown in figure 13, described Image Saving module 10 comprises memory processor U12; The pin VCC of RAM (random access memory) card treater U12 is connected with constant voltage power suspply end VCC, the pin GND of RAM (random access memory) card treater U12 is connected with digitally GND, pin 1, pin 2, pin 3, the pin 7 of pin L16, the pin L17 of RAM (random access memory) card treater U12, pin L13, pin L14 and pin L15 and storage card U13 and pin 8 is corresponding is connected, the pin K17 of RAM (random access memory) card treater U12 is connected with the pin 5 of storage card U13, the pin 4 of storage card U13 is connected with constant voltage power suspply end VCC, and the pin 6 of storage card U13 is connected with digitally GND; The mouth IMAGE of camera module 8 is connected with the input end IMAGE of RAM (random access memory) card treater U12, and the mouth Control of single-chip minimum system module 1 is connected with the input end Control of RAM (random access memory) card treater U12.
The above; be only the specific embodiment of the present invention; but protection scope of the present invention is not limited thereto; any those of ordinary skill in the art are in the technical scope disclosed by the present invention; the change can expected without creative work or replacement, all should be encompassed within protection scope of the present invention.Therefore, the protection domain that protection scope of the present invention should limit with claims is as the criterion.
Claims (10)
1. an aerial real-time tracking shooting Micro Aerial Vehicle, comprising: the fixed high module (2) of frame (11), alarm module (4), motor drive module (5), LCD MODULE (6), gyroscope acceleration module (7), camera module (8) and weather gauge), it is characterized in that: also comprise single-chip minimum system module (1), wireless image transmission module (9) and Image Saving module (10), single-chip minimum system module (1) is the fixed high module (2) with weather gauge respectively, wireless remote control transport module (3), alarm module (4), motor drive module (5), LCD MODULE (6), gyroscope acceleration module (7) and Image Saving module (10) connect, camera module (8) is connected with wireless image transmission module (9) and Image Saving module (10) respectively.
2. a kind of aerial real-time tracking shooting Micro Aerial Vehicle as claimed in claim 1, is characterized in that: the two directions' inputing/mouth SCL of described single-chip minimum system module (1), two directions' inputing/mouth the SCL of SDA and the fixed high module (2) of weather gauge, SDA correspondence connects, the two directions' inputing/mouth IRQ of single-chip minimum system module (1), MOSI, CSN, MISO, CE, two directions' inputing/mouth the IRQ of CLK and wireless remote control transport module (3), MOSI, CSN, MISO, CE, CLK correspondence connects, and the mouth SYSBUZ of single-chip minimum system module (1) is corresponding with the input end SYSBUZ of alarm module (4) to be connected, the mouth M1 of single-chip minimum system module (1), M2, M3, the input end M1 of M4 and motor drive module (5), M2, M3, M4 correspondence connects, the two directions' inputing/mouth OLED_CS of single-chip minimum system module (1), OLED_DC, OLED_RW, OLED_RD, OLED_D0, OLED_D1, OLED_D2, OLED_D3, OLED_D4, OLED_D5, OLED_D6, two directions' inputing/mouth the OLED_CS of OLED_D7 and LCD MODULE (6), OLED_DC, OLED_RW, OLED_RD, OLED_D0, OLED_D1, OLED_D2, OLED_D3, OLED_D4, OLED_D5, OLED_D6, OLED_D7 correspondence connects, the two directions' inputing/mouth SCL of single-chip minimum system module (1), two directions' inputing/mouth the SCL of SDA and gyroscope acceleration module (7), SDA correspondence connects, and the mouth Control of single-chip minimum system module (1) is connected with the input end Control of Image Saving module (10), the mouth IMAGE of camera module (8) is corresponding with the input end IMAGE of wireless image transmission module (9) to be connected, and the mouth IMAGE of camera module (8) is corresponding with the input end IMAGE of Image Saving module (10) to be connected.
3. a kind of aerial real-time tracking shooting Micro Aerial Vehicle as claimed in claim 1 or 2, is characterized in that: described single-chip minimum system module (1) comprises chip U1, the pin 24 of chip U1, pin 36, pin 48 and pin 9 are all connected with constant voltage power suspply end VCC, the pin 20 of chip U1 and pin 44 and one end of resistance R1 and one end of resistance R2 is corresponding is connected, the other end of resistance R1 and the other end of resistance R2 all with power supply digitally GND be connected, the pin 3 of chip U1 pin 5 and pin 6 and crystal oscillator Y1 and pin 1 is corresponding is connected, the pin 7 of chip U1 is connected with one end of resistance R3 and one end of electric capacity C1 respectively, chip U1 pin 8, pin 23, pin 35 and pin 47 all with power supply digitally GND be connected, one end of resistance R3 is connected with one end of K switch 1, the other end of resistance R3 is connected with constant voltage power suspply end VCC, the other end of electric capacity C1 and the other end of K switch 1 all with power supply digitally GND be connected, the pin 1 of one end of electric capacity C2 and one end of electric capacity C3 and crystal oscillator Y1 and pin 3 is corresponding is connected, the other end of electric capacity C2 and the other end of electric capacity C3 all with power supply digitally GND be connected, electric capacity C4, electric capacity C5 is all connected with constant voltage power suspply end VCC with one end of electric capacity C6, electric capacity C4, the other end of electric capacity C5 and electric capacity C6 all with power supply digitally GND be connected,
Two directions' inputing/mouth the SCL of chip U1, two directions' inputing/mouth the SCL of SDA and the fixed high module (2) of weather gauge, SDA correspondence connects, the two directions' inputing/mouth IRQ of chip U1, MOSI, CSN, MISO, CE, two directions' inputing/mouth the IRQ of CLK and wireless remote control transport module (3), MOSI, CSN, MISO, CE, CLK correspondence connects, and the mouth SYSBUZ of chip U1 is corresponding with the input end SYSBUZ of alarm module (4) to be connected, the mouth M1 of chip U1, M2, M3, the input end M1 of M4 and motor drive module (5), M2, M3, M4 correspondence connects, the two directions' inputing/mouth OLED_CS of chip U1, OLED_DC, OLED_RW, OLED_RD, OLED_D0, OLED_D1, OLED_D2, OLED_D3, OLED_D4, OLED_D5, OLED_D6, two directions' inputing/mouth the OLED_CS of OLED_D7 and LCD MODULE (6), OLED_DC, OLED_RW, OLED_RD, OLED_D0, OLED_D1, OLED_D2, OLED_D3, OLED_D4, OLED_D5, OLED_D6, OLED_D7 correspondence connects, the two directions' inputing/mouth SCL of chip U1, two directions' inputing/mouth the SCL of SDA and gyroscope acceleration module (7), SDA correspondence connects, and the mouth Control of chip U1 is connected with the input end Control of Image Saving module (10).
4. the aerial real-time tracking shooting of the one as claim 1 or 2 Micro Aerial Vehicle, is characterized in that: the fixed high module (2) of described weather gauge comprises weather gauge chip U8; One end of the pin 1 of weather gauge chip U8, pin 2, electric capacity C21 is connected with constant voltage power suspply end VCC, other one end of the pin 3 of weather gauge chip U8, pin 4, pin 5, electric capacity C21 is connected with GND_M in analog, the input end SCL of weather gauge chip U8 is connected with the mouth SCL of single-chip minimum system module (1), and the two directions' inputing/mouth SDA of weather gauge chip U8 is connected with the two directions' inputing/mouth SDA of single-chip minimum system module (1).
5. the aerial real-time tracking shooting of the one as claim 1 or 2 Micro Aerial Vehicle, is characterized in that: described LCD MODULE (6) comprises read-out U4, the pin 1 of read-out U4, pin 8, pin 29, pin 30, one end of resistance R6, one end of resistance R10, one end of electric capacity C14, one end of electric capacity C15, one end of electric capacity C16, one end of electric capacity C17 is connected with digitally GND, the pin 6 of read-out U4, pin 9, one end of resistance R7, one end of resistance R8, one end of resistance R9 is connected with constant voltage power suspply end VCC, the pin 2 of read-out U4 is connected with electric capacity C12 one end, the pin 3 of read-out U4 is connected with the other one end of electric capacity C12, pin 4 is connected with electric capacity C13 one end, the pin 5 of read-out U4 is connected with the other one end of electric capacity C13, and the pin 10 of read-out U4 is connected with other one end of resistance R6, and the pin 11 of read-out U4 is connected with other one end of resistance R7, the pin 12 of read-out U4 is connected with other one end of resistance R8, other one end of resistance R9, other one end of electric capacity C17 is connected with the pin 14 of read-out U4, and the pin 26 of read-out U4 is connected with other one end of resistance R10, and the pin 27 of read-out U4 is connected with other one end of electric capacity C14, other one end of electric capacity C15, other one end of electric capacity C16 is connected with the pin 28 of read-out U4, the two directions' inputing of read-out U4/mouth OLED_CS, OLED_DC, OLED_RW, OLED_RD and single-chip minimum system module (1) two directions' inputing/mouth OLED_CS, OLED_DC, OLED_RW, OLED_RD are corresponding connects, the input end OLED_D0 ~ OLED_D7 of read-out U4 is corresponding with the mouth OLED_D0 ~ OLED_D7 of single-chip minimum system module (1) to be connected.
6., as claim 1 or 2 kind of aerial real-time tracking shooting Micro Aerial Vehicle, it is characterized in that: described gyroscope acceleration module (7) comprises conformability 6 axle motion process chip U3, the pin 23 of conformability 6 axle motion process chip U3, pin 24, pin 13, pin 20, one end of pin 10 and pin 8 and resistance R20, one end of resistance R21, one end of electric capacity C27, one end of electric capacity C25, one end of electric capacity C26 is connected with one end correspondence of electric capacity C28, one end of electric capacity C27, one end of electric capacity C28, the other end of resistance R20 is all connected with constant voltage power suspply end VCC with the other end of resistance R21, the pin 9 of conformability 6 axle motion process chip U3, pin 11, pin 18, pin 22, the other end of electric capacity C25, the other end of electric capacity C26 and the other end of electric capacity C27 all with power supply in analog GND_M be connected, the other end of electric capacity C28 and power supply digitally GND are connected, the input end SCL of conformability 6 axle motion process chip U3 is connected with the mouth SCL of single-chip minimum system module (1), and the two directions' inputing/mouth SDA of conformability 6 axle motion process chip U3 is connected with the two directions' inputing/mouth SDA of single-chip minimum system module (1).
7. the aerial real-time tracking shooting of the one as claim 1 or 2 Micro Aerial Vehicle, is characterized in that: described camera module (8) comprises camera treater U5; The pin 1 of camera treater U5 is connected with constant voltage power suspply end VCC, the pin 3 of camera treater U5 is connected with digitally GND, and the input end IMAGE of image transmission module (9), the input end IMAGE of Image Saving module (10) are connected with the pin 2 of camera treater U5.
8. the aerial real-time tracking shooting of the one as claim 1 or 2 Micro Aerial Vehicle, is characterized in that: described image transmission module (9) comprises CPU process chip U6, the pin 40 of CPU process chip U6, pin 42 is all connected with digitally GND, and the pin 44 of CPU process chip U6 is connected with constant voltage power suspply end VCC, the pin 37 of CPU process chip U6, pin 38, pin 35, pin 36, pin 33, pin 34, pin 31, the pin 3 of pin 32 and pin 46 and A/D treater U9, pin 4, pin 5, pin 6, pin 7, pin 8, pin 9, pin 10 is connected with pin 12 correspondence, the pin 113 of CPU process chip U6, pin 111, pin 109, pin 107, pin 105, the pin 11 of pin 103 and pin 101 and U10, pin 12, pin 10, pin 8, pin 6, pin 4 is connected with pin 2 correspondence, the pin 56 of CPU process chip U6, the pin 1 of pin 97 and pin 54 and U11, pin 3 is connected with pin 7 correspondence, the pin 1 of A/D treater U9, pin 2, pin 24, pin 21 and pin 20 are all connected with digitally GND, the pin 11 of A/D treater U9 is connected with one end of constant voltage power suspply end VCC and electric capacity C35, the pin 22 of A/D treater U9 is all connected with one end of electric capacity C29 with pin 23, the pin 16 of A/D treater U9 is all connected with one end of electric capacity C30 with pin 17, the pin 18 of A/D treater U9 is connected with one end of one end of resistance R24 and electric capacity C34, the pin 15 of A/D treater U9 is connected with one end of one end of resistance R23 and electric capacity C33, the pin 14 of A/D treater U9 is connected with one end of one end of resistance R25 and electric capacity C32, the pin 13 of A/D treater U9 is connected with one end of electric capacity C31, the other end of electric capacity C35, the other end of electric capacity C34, the other end of electric capacity C33, the other end of electric capacity C32, the other end of electric capacity C31, the other end of electric capacity C29 and the other end of electric capacity C30 are all connected with digitally GND, the other end of resistance R23, the other end of resistance R24 is all connected with constant voltage power suspply end VCC with the other end of resistance R25, and the pin 1 of U10 is connected with constant voltage power suspply end VCC, and the pin 13 of U10 is connected with the even digitally GND of pin 14, the pin 8 of U11, pin 2 and pin 4 respectively with constant voltage power suspply end VCC, one end of electric capacity C36 is connected with digitally GND correspondence, and the pin 6 of U11 is connected with one end of one end of electric capacity C37 and resistance R22, and the other end of electric capacity C37 and the other end of resistance R22 are all connected with digitally GND, the mouth IMAGE of camera module (8) is connected with the input end IMAGE of A/D treater U9 and the other end of electric capacity C36.
9. the aerial real-time tracking shooting of the one as claim 1 or 2 Micro Aerial Vehicle, is characterized in that: described Image Saving module (10) comprises memory processor U12; The pin VCC of RAM (random access memory) card treater U12 is connected with constant voltage power suspply end VCC, the pin GND of RAM (random access memory) card treater U12 is connected with digitally GND, pin 1, pin 2, pin 3, the pin 7 of pin L16, the pin L17 of RAM (random access memory) card treater U12, pin L13, pin L14 and pin L15 and storage card U13 and pin 8 is corresponding is connected, the pin K17 of RAM (random access memory) card treater U12 is connected with the pin 5 of storage card U13, the pin 4 of storage card U13 is connected with constant voltage power suspply end VCC, and the pin 6 of storage card U13 is connected with digitally GND; The mouth IMAGE of camera module (8) is connected with the input end IMAGE of RAM (random access memory) card treater U12, and the mouth Control of single-chip minimum system module (1) is connected with the input end Control of RAM (random access memory) card treater U12.
10. a kind of aerial real-time tracking shooting Micro Aerial Vehicle as claimed in claim 9, is characterized in that: carry out according to following key step during this aerial real-time tracking shooting Micro Aerial Vehicle work:
Step S1: system initialization, mainly comprises clock initialization, gyroscope initialization, accelerometer initialization, weather gauge initialization, camera initialization, driver module initialization etc.
Step S2: detect aircraft battery voltage, calculate its voltage value through AD process and CPU, and voltage value and tuning parameter are presented on liquid crystal display.
Step S3: sending unlocking signal with remote controller to flying control, through micro controller system process after reading, finally flight control system being unlocked.
Step S4: read the remote information that remote controller sends, and carry out signal processing analysis and calculating in micro controller system inside, its remote information is converted into spatial positional information.
Step S5: read camera image information.
Step S51: through wireless image transmission module, is sent to ground station by the camera image information of reading, and carries out Real-time image display on a display screen.
Step S52: by analyzing the remote information read, judges whether to need the graphicinformation to flying to control to carry out Locale Holding.
Step S6: again check aircraft battery voltage, judge whether to need low pressure buzzer warning.
Step S7: read weather gauge, the respective signal of accelerometer and gyro sensor, and draw corresponding elevation information and angle information through algorithm process.
Step S8: the remote signal that elevation information and angle information and remote controller send merged mutually, is fused into the target information that final aircraft needs to reach.
Step S9: by final target information, changes into the control signal pwm signal of motor, by given for each road PWM information in each self-corresponding motor driving controling circuit.
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