CN104773296B - Aerial real-time tracking shooting micro unmanned plane - Google Patents
Aerial real-time tracking shooting micro unmanned plane Download PDFInfo
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- CN104773296B CN104773296B CN201510168741.5A CN201510168741A CN104773296B CN 104773296 B CN104773296 B CN 104773296B CN 201510168741 A CN201510168741 A CN 201510168741A CN 104773296 B CN104773296 B CN 104773296B
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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 MAV.
Background technology
At present, there is the product of various unmanned planes of taking photo by plane on the market, but generally existing is dangerous high, poor performance, function is uneven
Congruent problem.With scientific and technical development, the demand that people shoot to high-altitude is more and more universal, but due to taking photo by plane on market
Unmanned plane great majority are all that volume is big, and danger is higher.Though and incipient in the market small-sized taking photo by plane in unmanned plane volume
Reduce, can load capacity effectively it is impossible to complete image real-time tracking shoot function, manipulator can only carry out blind bat, much full
The foot not aerial photographing demand of people.
Content of the invention
It is an object of the invention to provide a kind of aerial real-time tracking shoots MAV.
The purpose of the present invention is achieved through the following channels: a kind of aerial real-time tracking shoots MAV, and it wraps
Include single-chip minimum system module, single-chip minimum system module respectively with barometer fixed high module, wireless remote control transport module,
Alarm module, LCD MODULE and gyroscope acceleration module connect, camera module respectively with wireless image transmission module
And image preserving module connects.
As the optimization further of this programme, the described two directions' inputing/outfan scl of single-chip minimum system module,
The two directions' inputing of the fixed high module of the sda and barometer/corresponding connection of outfan scl, sda, single-chip minimum system module two-way
The two directions' inputing of input/output terminal irq, mosi, csn, miso, ce, clk and wireless remote control transport module/outfan irq,
The corresponding connection of mosi, csn, miso, ce, clk, the outfan sysbuz of single-chip minimum system module and the input of alarm module
The corresponding connection of end sysbuz, outfan m1, m2, m3, m4 of single-chip minimum system module and the input of motor drive module
M1, m2, m3, m4 are corresponding to be connected, the two directions' inputing of single-chip minimum system module/outfan oled_cs, oled_dc, oled_
Rw, oled_rd, oled_d0, oled_d1, oled_d2, oled_d3, oled_d4, oled_d5, oled_d6, oled_d7 with
The two directions' inputing of LCD MODULE/outfan oled_cs, oled_dc, oled_rw, oled_rd, oled_d0, oled_d1,
Oled_d2, oled_d3, oled_d4, oled_d5, oled_d6, oled_d7 are corresponding to be connected, single-chip minimum system module
The two directions' inputing of two directions' inputing/outfan scl, sda and gyroscope acceleration module/outfan scl, sda is corresponding to be connected, monolithic
The outfan control of machine minimum systematic module is connected with the input control of image preserving module；Camera module defeated
Go out to hold image connection corresponding with the input image of wireless image transmission module, the outfan image of camera module and figure
Connect as the input image of preserving module is corresponding.
As the optimization further of this programme, described single-chip minimum system module includes chip u1；The foot of chip u1
24th, foot 36, foot 48 and foot 9 are all connected with regulated power supply end vcc, one end of the foot 20 of chip u1 and foot 44 and resistance r1 and resistance
One end of r2 is corresponding to be connected, and all digitally gnd is connected the other end of the other end of resistance r1 and resistance r2 with power supply, chip u1 foot
5 and foot 6 and crystal oscillator y1 foot 3 and foot 1 is corresponding connects, the foot 7 of chip u1 respectively with one end of resistance r3 and one end of electric capacity c1
Connect, all digitally gnd is connected with power supply for chip u1 foot 8, foot 23, foot 35 and foot 47, one end of resistance r3 and the one of switch k1
End connects, and the other end of resistance r3 is connected with regulated power supply end vcc, the other end of electric capacity c1 and switch the other end of k1 all with electric
Digitally gnd connects in source, the foot 1 of one end of one end of electric capacity c2 and electric capacity c3 and crystal oscillator y1 and the corresponding connection of foot 3, electric capacity c2's
All digitally gnd is connected the other end of the other end and electric capacity c3 with power supply, one end of electric capacity c4, electric capacity c5 and electric capacity c6 all with steady
Piezoelectricity source vcc connects, and all digitally gnd is connected the other end of electric capacity c4, electric capacity c5 and electric capacity c6 with power supply；
Two directions' inputing/outfan the scl of the two directions' inputing of chip u1/outfan scl, sda and the fixed high module of barometer,
Sda is corresponding to be connected, the two directions' inputing of chip u1/outfan irq, mosi, csn, miso, ce, clk and wireless remote control transport module
Two directions' inputing/outfan irq, mosi, csn, miso, ce, clk corresponding connect, the outfan sysbuz of chip u1 and warning
The corresponding connection of the input sysbuz of module, outfan m1, m2, m3, m4 of chip u1 and the input m1 of motor drive module,
M2, m3, m4 are corresponding to be connected, the two directions' inputing of chip u1/outfan oled_cs, oled_dc, oled_rw, oled_rd, oled_
D0, oled_d1, oled_d2, oled_d3, oled_d4, oled_d5, oled_d6, oled_d7 and LCD MODULE double
To input/output terminal oled_cs, oled_dc, oled_rw, oled_rd, oled_d0, oled_d1, oled_d2, oled_d3,
Oled_d4, oled_d5, oled_d6, oled_d7 are corresponding to be connected, the two directions' inputing of chip u1/outfan scl, sda and gyro
The two directions' inputing of instrument acceleration module/outfan scl, sda is corresponding to be connected, and the outfan control of chip u1 is preserved with image
The input control of module (10) connects.
As the optimization further of this programme, the fixed high module of described barometer includes barometer chip u8；Barometer core
The foot 1 of piece u8, foot 2, one end of electric capacity c21 are connected with regulated power supply end vcc, the foot 3 of barometer chip u8, foot 4, foot 5, electric capacity
The other end of c21 is connected with simulation ground gnd_m, the input scl of barometer chip u8 and single-chip minimum system module
Outfan scl connection, the two directions' inputing/outfan sda of barometer chip u8 and the two directions' inputing of single-chip minimum system module/
Outfan sda connects.
As the optimization further of this programme, described LCD MODULE includes display screen u4；The foot 1 of display screen u4,
Foot 8, foot 29, foot 30, one end of resistance r6, one end of resistance r10, one end of electric capacity c14, one end of electric capacity c15, electric capacity c16
One end, one end of electric capacity c17 be connected with digitally gnd, foot 6, foot 9, one end of resistance r7, one end of resistance r8, resistance r9
One end be connected with regulated power supply end vcc, foot 2 is connected with electric capacity c12 one end, and foot 3 is connected with electric capacity c12 other end, foot 4 with
Electric capacity c13 one end connects, and foot 5 is connected with electric capacity c13 other end, and foot 10 is connected with the other end of resistance r6, foot 11 and electric
The other end of resistance r7 connects, and foot 12 is connected with the other end of resistance r8, and the other end of resistance r9, electric capacity c17 are in addition
One end is connected with foot 14, and foot 26 is connected with the other end of resistance r10, and foot 27 is connected with the other end of electric capacity c14, electric capacity
The other end of c15, the other end of electric capacity c16 are connected with foot 28；The two directions' inputing of display screen u4/outfan oled_cs,
The two directions' inputing of oled_dc, oled_rw, oled_rd and single-chip minimum system module/outfan oled_cs, oled_dc,
The corresponding connection of oled_rw, oled_rd, the input oled_d0～oled_d7 of display screen u4 and single-chip minimum system module
Outfan oled_d0～oled_d7 corresponding connect.
As the optimization further of this programme, described gyroscope acceleration module includes conformability 6 axle motion process core
Piece u3；The foot 23 of conformability 6 axle motion process chip u3, foot 24, foot 13, one end of foot 20, foot 10 and foot 8 and resistance r20, electricity
One end of resistance r21, one end of electric capacity c27, one end of electric capacity c25, the connection corresponding with one end of electric capacity c28 of one end of electric capacity c26,
One end of electric capacity c27, one end of electric capacity c28, the other end of resistance r20 and resistance r21 the other end all with regulated power supply end vcc
Connect, conformability 6 axle motion process chip, the foot 9 of u3, foot 11, foot 18, foot 22, the other end of electric capacity c25, electric capacity c26 another
The other end of one end and electric capacity c27 is all simulated ground gnd_m and is connected with power supply, and digitally gnd connects for the other end of electric capacity c28 and power supply
Connect；The input scl of conformability 6 axle motion process chip u3 is connected with the outfan scl of single-chip minimum system module, integrates
Property 6 axle motion process chip u3 two directions' inputing/outfan sda and single-chip minimum system module two directions' inputing/outfan
Sda connects.
As the optimization further of this programme, described camera module includes photographic head processor u5；Photographic head is processed
The foot 1 of device u5 is connected with regulated power supply end vcc, and the foot 3 of photographic head processor u5 is connected with digitally gnd, image transmission module
Input image, the input image of image preserving module be connected with the foot 2 of photographic head processor u5.
As the optimization further of this programme, described image transmission module includes cpu process chip u6；Cpu processes core
The foot 40 of piece u6, foot 42 are all connected with digitally gnd, and the foot 44 of cpu process chip u6 is connected with regulated power supply end vcc, at cpu
The foot 37 of reason chip u6, foot 38, foot 35, foot 36, foot 33, foot 34, the foot 3 of foot 31, foot 32 and foot 46 and a/d processor u9, foot
4th, foot 5, foot 6, foot 7, foot 8, foot 9, foot 10 and foot 12 are corresponding connects, the foot 113 of cpu process chip u6, foot 111, foot 109, foot
107th, the foot 11 of foot 105, foot 103 and foot 101 and u10, foot 12, foot 10, foot 8, foot 6, foot 4 and foot 2 is corresponding connects, cpu process
The foot 1 of the foot 56 of chip u6, foot 97 and foot 54 and u11, foot 3 and foot 7 is corresponding connects, the foot 1 of a/d processor u9, foot 2, foot 24,
Foot 21 and foot 20 are all connected with digitally gnd, and the foot 11 of a/d processor u9 is with one end of regulated power supply end vcc and electric capacity c35 even
Connect, the foot 22 of a/d processor u9 and foot 23 are all connected with one end of electric capacity c29, the foot 16 of a/d processor u9 and foot 17 all with electricity
The one end holding c30 connects, and the foot 18 of a/d processor u9 is connected with one end of one end of resistance r24 and electric capacity c34, a/d processor
The foot 15 of u9 is connected with one end of one end of resistance r23 and electric capacity c33, one end of the foot of a/d processor u9 14 and resistance r25 and
One end of electric capacity c32 connects, and the foot 13 of a/d processor u9 is connected with one end of electric capacity c31, the other end of electric capacity c35, electric capacity
The other end of 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 is all connected with digitally gnd, and the other end of resistance r23, the other end of resistance r24 and resistance r25's is another
One end is all connected with regulated power supply end vcc, and the foot 1 of u10 is connected with regulated power supply end vcc, the foot 13 of u10 and the uniform numeral of foot 14
Ground gnd connect, the foot 8 of u11, foot 2 and foot 4 respectively with regulated power supply end vcc, one end of electric capacity c36 and digitally gnd corresponding company
Connect, the foot 6 of u11 is connected with one end of one end of electric capacity c37 and resistance r22, the other end of electric capacity c37 and resistance r22's is another
End is all connected with digitally gnd；The input image of outfan image and a/d processor u9 of camera module and electric capacity
The other end of c36 connects.
As the optimization further of this programme, described image preserving module includes memory processor u12；RAM (random access memory) card is processed
The foot vcc of device u12 is connected with regulated power supply end vcc, and the foot gnd of internal memory Card processor u12 is connected with digitally gnd, RAM (random access memory) card
The foot l16 of processor u12, foot l17, the foot 1 of foot l13, foot l14 and foot l15 and storage card u13, foot 2, foot 3, foot 7 and foot 8 are right
Should connect, the foot 5 of the foot k17 and storage card u13 of internal memory Card processor u12 is connected, foot 4 and the regulated power supply end of storage card u13
Vcc connects, and the foot 6 of storage card u13 is connected with digitally gnd；The outfan image of camera module and internal memory Card processor
The input image of u12 connects, the input of the outfan control of single-chip minimum system module and internal memory Card processor u12
End control connects.
The aerial real-time tracking of the present invention is carried out according to following key step when shooting MAV work:
Step s1: system initialization, main inclusion clock initialization, gyroscope initialization, accelerometer initialization, air pressure
Meter initialization, photographic head initialization, drive module initialization etc..
Step s2: detection aircraft battery voltage, process through ad and cpu calculate its voltage value, and by voltage value and
Tuning parameter is shown on liquid crystal display screen.
Step s3: send unlocking signal with remote control to winged control, process through single-chip microcomputer after reading, finally flight control system is entered
Row unblock.
Step s4: read the remote information that remote control sends, and carry out signal processing analysis and meter inside single-chip microcomputer
Calculate, its remote information is converted into spatial positional information.
Step s5: read camera image information.
Step s51: through wireless image transmission module, the camera image information of reading is sent to earth station, and in display screen
On carry out Real-time image display.
Step s52: by being analyzed to the remote information reading, judge whether to need the image information in winged control is entered
Row Locale Holding.
Step s6: check again for aircraft battery voltage, judge whether to need low pressure buzzer warning.
Step s7: read barometer, the respective signal of accelerometer and gyro sensor, and draw through algorithm process right
The elevation information answered and angle information.
Step s8: elevation information and angle information are blended with the remote signal that remote control sends, is fused into final
The target information that aircraft needs reach.
Step s9: final target information changes into the control signal pwm signal of motor, each road pwm information is given
To 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 MAV.And this is taken photo by plane no
Man-machine also have image to preserve function, can maintain the original image information of photographic head, greatly help people to obtain more
Clearly video information.Have the characteristics that safety is good, low cost, function are complete, performance is good, low in energy consumption and strong interference immunity, fit
Close travel enthusiasts using it is also possible to be applied in the fields such as military situation detection.
Brief description
Below in conjunction with the accompanying drawings 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 barometer 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 preserving module in the present invention；
In figure, the fixed high module 2 of single-chip minimum system module 1, barometer, 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 preserving module 10, frame 11.
Specific embodiment
As shown in figure 1, shooting MAV according to a kind of aerial real-time tracking that the present invention is implemented, it includes single-chip microcomputer
Minimum systematic module 1, single-chip minimum system module 1 fixed high module 2, wireless remote control transport module 3, warning with barometer respectively
Module 4, motor drive module 5, LCD MODULE 6 and gyroscope acceleration module 7 connect, camera module 8 respectively with no
Line image transport module 9 and image preserving module 10 connect.
As shown in Fig. 3-Figure 13, the two directions' inputing of described single-chip minimum system module 1/outfan scl, sda and gas
The two directions' inputing of the fixed high module 2 of pressure meter/outfan scl, sda is corresponding to be connected, and the two directions' inputing of single-chip minimum system module 1/
The two directions' inputing of outfan irq, mosi, csn, miso, ce, clk and wireless remote control transport module 3/outfan irq, mosi,
The corresponding connection of csn, miso, ce, clk, the outfan sysbuz of single-chip minimum system module 1 and the input of alarm module 4
The corresponding connection of sysbuz, outfan m1, m2, m3, m4 of single-chip minimum system module 1 and the input of motor drive module 5
M1, m2, m3, m4 are corresponding to be connected, the two directions' inputing of single-chip minimum system module 1/outfan oled_cs, oled_dc, oled_
Rw, oled_rd, oled_d0, oled_d1, oled_d2, oled_d3, oled_d4, oled_d5, oled_d6, oled_d7 with
The two directions' inputing of LCD MODULE 6/outfan oled_cs, oled_dc, oled_rw, oled_rd, oled_d0, oled_
D1, oled_d2, oled_d3, oled_d4, oled_d5, oled_d6, oled_d7 are corresponding to be connected, single-chip minimum system module
The two directions' inputing of 1 two directions' inputing/outfan scl, sda and gyroscope acceleration module 7/outfan scl, sda is corresponding to be connected,
The outfan control of single-chip minimum system module 1 is connected with the input control of image preserving module 10；Photographic head
The outfan image of module 8 is corresponding with the input image of wireless image transmission module 9 to be connected, the output of camera module 8
End image is corresponding with the input image of image preserving module 10 to be connected.
As shown in figure 4, described single-chip minimum system module 1 includes chip u1；The foot 24 of chip u1, foot 36, foot 48
All it is connected with regulated power supply end vcc with foot 9, the foot 20 of chip u1 and foot 44 are corresponding with one end of resistance r1 and one end of resistance r2
Connect, all digitally gnd is connected the other end of the other end of resistance r1 and resistance r2 with power supply, chip u1 foot 5 and foot 6 and crystal oscillator
The foot 3 of y1 and the corresponding connection of foot 1, the foot 7 of chip u1 is connected with one end of resistance r3 and one end of electric capacity c1 respectively, chip u1 foot
8th, all digitally gnd is connected with power supply for foot 23, foot 35 and foot 47, and one end of resistance r3 is connected with one end of switch k1, resistance r3
The other end be connected with regulated power supply end vcc, the other end of electric capacity c1 and switch k1 the other end all with power supply digitally gnd company
Connect, the foot 1 of one end of one end of electric capacity c2 and electric capacity c3 and crystal oscillator y1 and foot 3 is corresponding connects, the other end of electric capacity c2 and electric capacity
All digitally gnd is connected the other end of c3 with power supply, one end of electric capacity c4, electric capacity c5 and electric capacity c6 all with regulated power supply end vcc
Connect, all digitally gnd is connected the other end of electric capacity c4, electric capacity c5 and electric capacity c6 with power supply；
Two directions' inputing/outfan the scl of the two directions' inputing of chip u1/outfan scl, sda and the fixed high module 2 of barometer,
Sda is corresponding to be connected, the two directions' inputing of chip u1/outfan irq, mosi, csn, miso, ce, clk and wireless remote control transport module
The corresponding connection of 3 two directions' inputing/outfan irq, mosi, csn, miso, ce, clk, the outfan sysbuz of chip u1 and warning
The corresponding connection of the input sysbuz of module 4, outfan m1, m2, m3, m4 of chip u1 and the input of motor drive module 5
M1, m2, m3, m4 are corresponding to be connected, the two directions' inputing/outfan 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, oled_d7 and LCD MODULE
6 two directions' inputing/outfan oled_cs, oled_dc, oled_rw, oled_rd, oled_d0, oled_d1, oled_d2,
Oled_d3, oled_d4, oled_d5, oled_d6, oled_d7 are corresponding to be connected, the two directions' inputing/outfan scl of chip u1,
The two directions' inputing of sda and gyroscope acceleration module 7/outfan scl, sda is corresponding to be connected, the outfan control of chip u1
It is connected with the input control of image preserving module (10).
As shown in figure 5, the fixed high module 2 of described barometer includes barometer chip u8；The foot 1 of barometer chip u8, foot
2nd, one end of electric capacity c21 is connected with regulated power supply end vcc, the foot 3 of barometer chip u8, foot 4, foot 5, other the one of electric capacity c21
End is connected with simulation ground gnd_m, and the input scl of barometer chip u8 is connected with the outfan scl of single-chip minimum system module 1
Connect, the two directions' inputing/outfan sda of the barometer chip u8 and two directions' inputing/outfan sda of single-chip minimum system module 1
Connect.
As shown in figure 9, described LCD MODULE 6 includes display screen u4；The foot 1 of display screen u4, foot 8, foot 29, foot
30th, 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, electric capacity
One end of c17 is connected with digitally gnd, foot 6, foot 9, one end of resistance r7, one end of resistance r8, one end of resistance r9 and voltage stabilizing
Power end vcc connects, and foot 2 is connected with electric capacity c12 one end, and foot 3 is connected with electric capacity c12 other end, foot 4 and electric capacity c13 one end
Connect, foot 5 is connected with electric capacity c13 other end, and foot 10 is connected with the other end of resistance r6, foot 11 and other the one of resistance r7
End connects, and foot 12 is connected with the other end of resistance r8, and the other end of resistance r9, the other end of electric capacity c17 and foot 14 are even
Connect, foot 26 is connected with the other end of resistance r10, foot 27 is connected with the other end of electric capacity c14, the other end of electric capacity c15,
The other end of electric capacity c16 is connected with foot 28；The two directions' inputing of display screen u4/outfan oled_cs, oled_dc, oled_rw,
The two directions' inputing of oled_rd and single-chip minimum system module 1/outfan oled_cs, oled_dc, oled_rw, oled_rd
Corresponding connection, the input oled_d0～oled_d7 of the display screen u4 and outfan oled_d0 of single-chip minimum system module 1
～oled_d7 is corresponding to be connected.
As shown in Figure 10, described gyroscope acceleration module 7 includes conformability 6 axle motion process chip u3；Conformability 6
One end of the foot 23 of axle motion process chip u3, foot 24, foot 13, foot 20, foot 10 and foot 8 and resistance r20, one end of resistance r21,
One end of electric capacity c27, one end of electric capacity c25, the connection corresponding with one end of electric capacity c28 of one end of electric capacity c26, the one of electric capacity c27
End, the other end of one end of electric capacity c28, the other end of resistance r20 and resistance r21 are all connected with regulated power supply end vcc, conformability
6 axle motion process chips, the foot 9 of u3, foot 11, foot 18, foot 22, the other end of electric capacity c25, the other end of electric capacity c26 and electric capacity
The other end of c27 is all simulated ground gnd_m and is connected with power supply, and digitally gnd is connected the other end of electric capacity c28 with power supply；Conformability 6
The input scl of axle motion process chip u3 is connected with the outfan scl of single-chip minimum system module 1, and conformability 6 axle moves
The two directions' inputing of process chip u3/outfan sda is connected with the two directions' inputing/outfan sda of single-chip minimum system module 1.
As shown in figure 11, described camera module 8 includes photographic head processor u5；The foot 1 of photographic head processor u5 with
Regulated power supply end vcc connects, and the foot 3 of photographic head processor u5 is connected with digitally gnd, the input of image transmission module 9
Image, the input image of image preserving module 10 are connected with the foot 2 of photographic head processor u5.
As shown in figure 12, described image transmission module 9 includes cpu process chip u6；The foot 40 of cpu process chip u6,
Foot 42 is all connected with digitally gnd, and the foot 44 of cpu process chip u6 is connected with regulated power supply end vcc, cpu process chip u6
The foot 3 of foot 37, foot 38, foot 35, foot 36, foot 33, foot 34, foot 31, foot 32 and foot 46 and a/d processor u9, foot 4, foot 5, foot 6,
Foot 7, foot 8, foot 9, foot 10 and foot 12 are corresponding connects, the foot 113 of cpu process chip u6, foot 111, foot 109, foot 107, foot 105,
The foot 11 of foot 103 and foot 101 and u10, foot 12, foot 10, foot 8, foot 6, foot 4 and foot 2 is corresponding connects, the foot of cpu process chip u6
56th, the foot 1 of foot 97 and foot 54 and u11, foot 3 and foot 7 is corresponding connects, the foot 1 of a/d processor u9, foot 2, foot 24, foot 21 and foot 20
All it is connected with digitally gnd, the foot 11 of a/d processor u9 is connected with one end of regulated power supply end vcc and electric capacity c35, a/d process
The foot 22 of device u9 and foot 23 are all connected with one end of electric capacity c29, the foot 16 of a/d processor u9 and foot 17 all with electric capacity c30 one
End connects, and the foot 18 of a/d processor u9 is connected with one end of one end of resistance r24 and electric capacity c34, the foot 15 of a/d processor u9
It is connected with one end of resistance r23 and one end of electric capacity c33, one end of the foot of a/d processor u9 14 and resistance r25 and electric capacity c32
One end connect, the foot 13 of a/d processor u9 is connected with one end of electric capacity c31, the other end of electric capacity c35, electric capacity c34 another
End, 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 electric capacity c30's
The other end is all connected with digitally gnd, the other end of the other end of resistance r23, the other end of resistance r24 and resistance r25 all with
Regulated power supply end vcc connects, and the foot 1 of u10 is connected with regulated power supply end vcc, and the foot 13 of u10 and the uniform digitally gnd of foot 14 are even
Connect, the foot 8 of u11, foot 2 and foot 4 respectively with regulated power supply end vcc, one end of electric capacity c36 and digitally gnd corresponding connect, u11
Foot 6 be connected with one end of electric capacity c37 and one end of resistance r22, the other end of the other end of electric capacity c37 and resistance r22 all with
Digitally gnd connects；The input image's and electric capacity c36 of the outfan image and a/d processor u9 of camera module 8 is another
One end connects.
As shown in figure 13, described image preserving module 10 includes memory processor u12；The foot of internal memory Card processor u12
Vcc is connected with regulated power supply end vcc, and the foot gnd of internal memory Card processor u12 is connected with digitally gnd, internal memory Card processor u12
Foot l16, foot l17, the foot 1 of foot l13, foot l14 and foot l15 and storage card u13, foot 2, foot 3, foot 7 and foot 8 is corresponding connects, interior
The foot 5 depositing the foot k17 and storage card u13 of Card processor u12 is connected, and the foot 4 of storage card u13 is connected with regulated power supply end vcc, deposits
The foot 6 of card storage u13 is connected with digitally gnd；The input of the outfan image of camera module 8 and internal memory Card processor u12
Image connects, the input control of the outfan control of single-chip minimum system module 1 and internal memory Card processor u12
Connect.
The above, the only specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and any
Those of ordinary skill in the art disclosed herein technical scope in, the change that can expect without creative work or
Replace, all should be included within the scope of the present invention.Therefore, protection scope of the present invention should be limited with claims
Fixed protection domain is defined.
Claims (9)
1. a kind of aerial real-time tracking shoots MAV, comprising: frame (11), alarm module (4), motor drive module
(5), the fixed high module (2) of LCD MODULE (6), gyroscope acceleration module (7), camera module (8) and barometer；Its
It is characterised by: also include single-chip minimum system module (1), wireless image transmission module (9) and image preserving module (10), single
Piece machine minimum systematic module (1) fixed high module (2), wireless remote control transport module (3), alarm module (4), electricity with barometer respectively
Machine drive module (5), LCD MODULE (6), gyroscope acceleration module (7) and image preserving module (10) connect, shooting
Head module (8) is connected with wireless image transmission module (9) and image preserving module (10) respectively；Described single-chip minimum system
The two directions' inputing of the two directions' inputing of module (1)/outfan scl, sda and the fixed high module (2) of barometer/outfan scl, sda couple
Should connect, the two directions' inputing of single-chip minimum system module (1)/outfan irq, mosi, csn, miso, ce, clk and wireless remote
The two directions' inputing of control transport module (3)/outfan irq, mosi, csn, miso, ce, clk is corresponding to be connected, single-chip minimum system
The outfan sysbuz of module (1) is corresponding with the input sysbuz of alarm module (4) to be connected, single-chip minimum system module
(1) outfan m1, m2, m3, m4 is corresponding with input m1, m2, m3, m4 of motor drive module (5) to be connected, and single-chip microcomputer is minimum
The two directions' inputing of system module (1)/outfan oled_cs, oled_dc, oled_rw, oled_rd, oled_d0, oled_d1,
The two directions' inputing of oled_d2, oled_d3, oled_d4, oled_d5, oled_d6, oled_d7 and LCD MODULE (6)/defeated
Go out to hold oled_cs, oled_dc, oled_rw, oled_rd, oled_d0, oled_d1, oled_d2, oled_d3, oled_d4,
Oled_d5, oled_d6, oled_d7 are corresponding to be connected, the two directions' inputing of single-chip minimum system module (1)/outfan scl, sda
Corresponding with the two directions' inputing of gyroscope acceleration module (7)/outfan scl, sda connect, single-chip minimum system module (1)
Outfan control is connected with the input control of image preserving module (10)；The outfan image of camera module (8)
Connection corresponding with the input image of wireless image transmission module (9), the outfan image of camera module (8) is protected with image
The input image of storing module (10) is corresponding to be connected.
2. as claimed in claim 1 a kind of aerial real-time tracking shoot MAV it is characterised in that: described single-chip microcomputer
Minimum systematic module (1) includes chip u1；The foot 24 of chip u1, foot 36, foot 48 and foot 9 are all connected with regulated power supply end vcc, core
The foot 20 of piece u1 and foot 44 connection corresponding with one end of resistance r1 and one end of resistance r2, the other end of resistance r1 and resistance r2's
All digitally gnd is connected the other end with power supply, the foot 3 of chip u1 foot 5 and foot 6 and crystal oscillator y1 and foot 1 is corresponding connects, chip u1's
Foot 7 is connected with one end of resistance r3 and one end of electric capacity c1 respectively, and chip u1 foot 8, foot 23, foot 35 and foot 47 are all digital with power supply
Ground gnd connects, and one end of resistance r3 is connected with one end of switch k1, and the other end of resistance r3 is connected with regulated power supply end vcc, electricity
All digitally gnd is connected the other end of the other end of appearance c1 and switch k1 with power supply, one end of one end of electric capacity c2 and electric capacity c3
With foot 1 and the corresponding connection of foot 3 of crystal oscillator y1, all digitally gnd connects the other end of the other end of electric capacity c2 and electric capacity c3 with power supply
Connect, one end of electric capacity c4, electric capacity c5 and electric capacity c6 is all connected with regulated power supply end vcc, and electric capacity c4, electric capacity c5 and electric capacity c6's is another
All digitally gnd is connected with power supply for one end；
The two directions' inputing of the two directions' inputing of chip u1/outfan scl, sda and the fixed high module (2) of barometer/outfan scl, sda
Corresponding connect, the two directions' inputing of chip u1/outfan irq, mosi, csn, miso, ce, clk and wireless remote control transport module (3)
Two directions' inputing/outfan irq, mosi, csn, miso, ce, clk corresponding connect, the outfan sysbuz of chip u1 and warning
The input sysbuz of module (4) is corresponding to be connected, outfan m1, m2, m3, m4 of chip u1 and motor drive module (5) defeated
Enter to hold that m1, m2, m3, m4 are corresponding connects, the two directions' inputing of chip u1/outfan oled_cs, oled_dc, oled_rw, oled_
Rd, oled_d0, oled_d1, oled_d2, oled_d3, oled_d4, oled_d5, oled_d6, oled_d7 and liquid crystal display
The two directions' inputing of module (6)/outfan oled_cs, oled_dc, oled_rw, oled_rd, oled_d0, oled_d1, oled_
D2, oled_d3, oled_d4, oled_d5, oled_d6, oled_d7 are corresponding to be connected, the two directions' inputing/outfan of chip u1
The two directions' inputing of scl, sda and gyroscope acceleration module (7)/outfan scl, sda is corresponding to be connected, the outfan of chip u1
Control is connected with the input control of image preserving module (10).
3. as a kind of aerial real-time tracking of claim 1 or 2 shoots MAV it is characterised in that: described barometer
Fixed high module (2) includes barometer chip u8；The foot 1 of barometer chip u8, foot 2, one end of electric capacity c21 and regulated power supply end
Vcc connects, and the foot 3 of barometer chip u8, foot 4, foot 5, the other end of electric capacity c21 are connected with simulation ground gnd_m, barometer core
The input scl of piece u8 is connected with the outfan scl of single-chip minimum system module (1), and the two directions' inputing of barometer chip u8/
Outfan sda is connected with the two directions' inputing/outfan sda of single-chip minimum system module (1).
4. as a kind of aerial real-time tracking of claim 1 or 2 shoots MAV it is characterised in that: described liquid crystal
Show that module (6) includes display screen u4；The foot 1 of display screen u4, foot 8, foot 29, foot 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 are connected with digitally gnd, display screen
The foot 6 of u4, foot 9, one end of resistance r7, one end of resistance r8, one end of resistance r9 are connected with regulated power supply end vcc, display screen
The foot 2 of u4 is connected with electric capacity c12 one end, and the foot 3 of display screen u4 is connected with electric capacity c12 other end, foot 4 and electric capacity c13 one end
Connect, the foot 5 of display screen u4 is connected with electric capacity c13 other end, and the foot 10 of display screen u4 is connected with the other end of resistance r6,
The foot 11 of display screen u4 is connected with the other end of resistance r7, and the foot 12 of display screen u4 is connected with the other end of resistance r8, electricity
The other end of resistance r9, the other end of electric capacity c17 are connected with the foot 14 of display screen u4, foot 26 and the resistance r10 of display screen u4
Other end connect, the foot 27 of display screen u4 is connected with the other end of electric capacity c14, the other end of electric capacity c15, electric capacity
The other end of c16 is connected with the foot 28 of display screen u4；The two directions' inputing of display screen u4/outfan oled_cs, oled_dc,
The two directions' inputing of oled_rw, oled_rd and single-chip minimum system module (1)/outfan oled_cs, oled_dc, oled_
The corresponding connection of rw, oled_rd, the input oled_d0～oled_d7 of display screen u4 and single-chip minimum system module (1)
Outfan oled_d0～oled_d7 is corresponding to be connected.
5. as claim 1 or 2 kind of aerial real-time tracking shoot MAV it is characterised in that: described gyroscope acceleration
Degree module (7) includes conformability 6 axle motion process chip u3；The foot 23 of conformability 6 axle motion process chip u3, foot 24, foot 13,
One end of foot 20, foot 10 and foot 8 and resistance r20, one end of resistance r21, one end of electric capacity c27, one end of electric capacity c25, electric capacity
One end of c26 is corresponding with one end of electric capacity c28 to be connected, one end of electric capacity c27, one end of electric capacity c28, the other end of resistance r20
All it is connected with regulated power supply end vcc with the other end of resistance r21, the foot 9 of conformability 6 axle motion process chip u3, foot 11, foot
18th, foot 22, the other end of the other end of electric capacity c25, the other end of electric capacity c26 and electric capacity c27 all simulate ground gnd_m even with power supply
Connect, digitally gnd is connected the other end of electric capacity c28 with power supply；The input scl of conformability 6 axle motion process chip u3 and list
The outfan scl of piece machine minimum systematic module (1) connects, the two directions' inputing/outfan of conformability 6 axle motion process chip u3
Sda is connected with the two directions' inputing/outfan sda of single-chip minimum system module (1).
6. as a kind of aerial real-time tracking of claim 1 or 2 shoots MAV it is characterised in that: described photographic head
Module (8) includes photographic head processor u5；The foot 1 of photographic head processor u5 is connected with regulated power supply end vcc, photographic head processor
The foot 3 of u5 is connected with digitally gnd, the input image of image transmission module (9), the input of image preserving module (10)
Image is connected with the foot 2 of photographic head processor u5.
7. as a kind of aerial real-time tracking of claim 1 or 2 shoots MAV it is characterised in that: described image passes
Defeated module (9) includes cpu process chip u6；The foot 40 of cpu process chip u6, foot 42 are all connected with digitally gnd, cpu process
The foot 44 of chip u6 is connected with regulated power supply end vcc, the foot 37 of cpu process chip u6, foot 38, foot 35, foot 36, foot 33, foot 34,
The foot 3 of foot 31, foot 32 and foot 46 and a/d processor u9, foot 4, foot 5, foot 6, foot 7, foot 8, foot 9, foot 10 and foot 12 is corresponding connects,
The foot 113 of cpu process chip u6, foot 111, foot 109, foot 107, the foot 11 of foot 105, foot 103 and foot 101 and u10, foot 12, foot
10th, foot 8, foot 6, foot 4 and foot 2 are corresponding connects, the foot 1 of the foot 56 of cpu process chip u6, foot 97 and foot 54 and u11, foot 3 and foot 7
Corresponding connection, the foot 1 of a/d processor u9, foot 2, foot 24, foot 21 and foot 20 are all connected with digitally gnd, a/d processor u9's
Foot 11 is connected with one end of regulated power supply end vcc and electric capacity c35, the foot 22 of a/d processor u9 and foot 23 all with electric capacity c29 one
End connects, and the foot 16 of a/d processor u9 and foot 17 are all connected with one end of electric capacity c30, the foot 18 of a/d processor u9 and resistance
One end of one end of r24 and electric capacity c34 connects, foot 15 and one end of resistance r23 and one end of electric capacity c33 of a/d processor u9
Connect, the foot 14 of a/d processor u9 is connected with one end of one end of resistance r25 and electric capacity c32, the foot 13 of a/d processor u9 and
One end of electric capacity c31 connects, the other end of electric capacity c35, the other end of electric capacity c34, the other end of electric capacity c33, electric capacity c32 another
One end, the other end of the other end of electric capacity c31, the other end of electric capacity c29 and electric capacity c30 are all connected with digitally gnd, resistance
The other end of the other end of r23, the other end of resistance r24 and resistance r25 is all connected with regulated power supply end vcc, the foot of u10 1 with
Regulated power supply end vcc connects, the foot 13 of u10 and foot 14 uniformly digitally gnd connect, the foot 8 of u11, foot 2 and foot 4 respectively with surely
Piezoelectricity source vcc, the connection corresponding with digitally gnd of one end of electric capacity c36, the foot 6 of u11 and one end of electric capacity c37 and resistance r22
One end connect, the other end of the other end of electric capacity c37 and resistance r22 is all connected with digitally gnd；Camera module (8)
Outfan image is connected with the other end of the input image and electric capacity c36 of a/d processor u9.
8. as a kind of aerial real-time tracking of claim 1 or 2 shoots MAV it is characterised in that: described image is protected
Storing module (10) includes memory processor u12；The foot vcc of internal memory Card processor u12 is connected with regulated power supply end vcc, RAM (random access memory) card
The foot gnd of processor u12 is connected with digitally gnd, the foot l16 of internal memory Card processor u12, foot l17, foot l13, foot l14 and foot
The foot 1 of l15 and storage card u13, foot 2, foot 3, foot 7 and foot 8 is corresponding connects, the foot k17 of internal memory Card processor u12 and storage card
The foot 5 of u13 connects, and the foot 4 of storage card u13 is connected with regulated power supply end vcc, and the foot 6 of storage card u13 is connected with digitally gnd；
The outfan image of camera module (8) is connected with the input image of internal memory Card processor u12, single-chip minimum system mould
The outfan control of block (1) is connected with the input control of internal memory Card processor u12.
9. as claimed in claim 8 a kind of aerial real-time tracking shoot MAV it is characterised in that: this aerial real-time tracking is clapped
Carry out according to following key step when taking the photograph MAV work:
Step s1: at the beginning of system initialization, main inclusion clock initialization, gyroscope initialization, accelerometer initialization, barometer
Beginningization, photographic head initialization, drive module initialization；
Step s2: detection aircraft battery voltage, process through ad and cpu calculates its voltage value, and by voltage value and debugging
Parameter is shown on liquid crystal display screen；
Step s3: send unlocking signal with remote control to winged control, process through single-chip microcomputer after reading, finally flight control system is solved
Lock；
Step s4: read the remote information that remote control sends, and carry out signal processing analysis and calculating inside single-chip microcomputer, will
Its remote information is converted into spatial positional information；
Step s5: read camera image information；
Step s51: through wireless image transmission module, the camera image information of reading is sent to earth station, and enters on a display screen
Row Real-time image display；
Step s52: by being analyzed to the remote information reading, judge whether to need the image information in winged control is carried out now
Field preserves；
Step s6: check again for aircraft battery voltage, judge whether to need low pressure buzzer warning；
Step s7: read barometer, the respective signal of accelerometer and gyro sensor, and draw through algorithm process corresponding
Elevation information and angle information；
Step s8: elevation information and angle information are blended with the remote signal that remote control sends, is fused into final aircraft
Need the target information reaching；
Step s9: final target information changes into the control signal pwm signal of motor, each road pwm information is given each
In self-corresponding motor driving controling circuit.
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| CN105044672B (en) * | 2015-07-20 | 2018-01-19 | 天津大学 | Tracking and alignment system and method based on optical encoding |
| CN105346706B (en) * | 2015-11-13 | 2018-09-04 | 深圳市道通智能航空技术有限公司 | Flight instruments, flight control system and method |
| CN105843246A (en) * | 2015-11-27 | 2016-08-10 | 深圳市星图智控科技有限公司 | Unmanned aerial vehicle tracking method, unmanned aerial vehicle tracking system and unmanned aerial vehicle |
| CN109592023B (en) * | 2016-07-05 | 2022-01-07 | 王晓飞 | Intelligent unmanned aerial vehicle capable of realizing remote control communication and working method thereof |
| CN108496349B (en) * | 2017-04-22 | 2022-05-13 | 深圳市大疆灵眸科技有限公司 | Shooting control method and device |
| CN108876542A (en) * | 2018-06-21 | 2018-11-23 | 张卓先 | One kind sharing nobody with clapping service system and device |
| CN109745686A (en) * | 2019-01-24 | 2019-05-14 | 苏州哈度软件有限公司 | Artificial intelligence running method and its system based on information sharing and unmanned plane |
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