CN108052114A - The Image Acquisition and tracking control system of a kind of unmanned plane - Google Patents
The Image Acquisition and tracking control system of a kind of unmanned plane Download PDFInfo
- Publication number
- CN108052114A CN108052114A CN201711272338.2A CN201711272338A CN108052114A CN 108052114 A CN108052114 A CN 108052114A CN 201711272338 A CN201711272338 A CN 201711272338A CN 108052114 A CN108052114 A CN 108052114A
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- China
- Prior art keywords
- unmanned plane
- image
- sensor
- image acquisition
- storage device
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses the Image Acquisition and tracking control system of a kind of unmanned plane, including processor, image capture device, wireless telecom equipment, controller, interface equipment, the first storage device, the second storage device and the 3rd storage device interface, by setting highly sensitive 3 d pose adjusting apparatus, it is influenced by the camera lens of adjust automatically 3 d pose adjusting apparatus camera arrangement from unmanned aerial vehicle body attitudes vibration, so as to ensure the quality of image.Mutual real-time transmission information and control command with unmanned plane is realized by wireless telecom equipment.Image capture device sends the regional environment collected to processor, processor carries out trajectory planning by the perception to environment on image, and pass through processor and send order to unmanned plane, so as to control the flight path of unmanned plane and speed, effectively complete the tracking to target.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control fields, and in particular to the Image Acquisition and tracking control system of a kind of unmanned plane.
Background technology
With the continuous development of informationization technology, either the construction of digital city, smart city is still in face of great
Emergency guarantee service during natural calamity, using and monitoring and be required for timely, fine space also or to various resources
Geography information is as support.Therefore, all conglomeraties are more and more urgent to the demand of low latitude large scale high-resolution digital image,
Its real-time, stability and validity are required higher and higher.In general, the side of traditional acquisition large scale digital image information
Method relies primarily on satellite remote sensing and aeroplane photography.But satellite remote sensing technology is limited by meteorological, geomorphologic conditions, and the cycle of operation
Length, acquisition image resolution are low, it is impossible to meet the requirement to geo-information product real-time；Air photo technique then to airport and
The dependence of weather condition is larger, and use cost is higher.
In recent years, unmanned plane shooting be increasingly becoming obtain large scale digital image information main means, compared with
Upper two kinds of camera styles, unmanned plane have that small, at low cost, with strong points, flexibility is high, and it is excellent to obtain image resolution ratio height etc.
Point.But current unmanned plane also has the problem of easily being influenced by air force factor, in unmanned plane shooting process often by
In fuselage shake camera lens is caused to follow shake, and then the situation for causing shooting picture unclear, particularly needing " fine " image
Occasion, the influence of this shake is even more serious, this causes the simple camera system of traditional unmanned plane that can not meet people
Requirement.
The unmanned plane of traditional monitoring is controlled it by holding rechargeable rocking handle remote controler.This mode is deposited
It needs to use unmanned plane when being monitored the target of a certain complicated landform or movement, traditional unmanned plane cannot be real-time
Show the information such as unmanned plane during flying speed, course, geographical coordinate, specific objective can not lock and in real time automatically with
Track.The video collected is sent to by the present invention in real time by carrying out automatic identification, locking, tracking to specific target
Cell-phone customer terminal for the real-time monitoring objective of staff, has been more convenient the use of people.
The content of the invention
It is an object of the invention to：For solve unmanned aerial vehicle body effect of jitter take pictures quality, unmanned plane cannot be carried out it is real
When the problem of monitoring, provide the Image Acquisition and tracking control system of a kind of unmanned plane.
The technical solution adopted by the present invention is as follows：
The Image Acquisition and tracking control system of a kind of unmanned plane, set including processor, image capture device, wireless communication
Standby, controller, interface equipment, the first storage device, the second storage device and the 3rd storage device interface, described image acquisition are set
Standby to include five image acquiring sensors, one of image acquiring sensor is perpendicular to the ground, described image collecting device bag
Include attitude transducer, 3 d pose adjusting apparatus, the 3 d pose adjusting apparatus, attitude transducer, image acquiring sensor
It is connected with controller, first storage device, the second storage device and the 3rd storage device interface connect with the processor
It connects.
Further, the angle between remaining four image acquiring sensor and the above-mentioned vertical sensor shot be 40 °-
60 °, an image in front, rear, left and right direction of taking pictures is obtained respectively.
Further, described image collecting device further includes sensor attitude systems stabilisation, described image acquisition sensor
It is fixed in the 3 d pose adjusting apparatus, power output end and the 3 d pose of the sensor attitude systems stabilisation
Adjusting apparatus is fixedly connected, and the location-controlled of the 3 d pose adjusting apparatus is described in the sensor attitude systems stabilisation
Attitude stabilization system for compensate and correct in unmanned plane during flying sidewinder, pitching, yaw angle so that the image of vertical direction is adopted
Collect the optical axis of sensor in aerial flight always perpendicular to the ground, obtain the small image that distorts.
Further, the processor has DSP core and ARM kernels.
Further, the ARM kernels by the wireless telecom equipment and the unmanned plane carry out two-way data and
The transmission of order, and control the transmission of client and the data transmission of the unmanned plane and order.
Further, the attitude transducer is three-axis gyroscope.
Further, the 3 d pose adjusting apparatus is orthogonal formula three-dimensional movement platform.
In conclusion by adopting the above-described technical solution, the beneficial effects of the invention are as follows：
1st, in the present invention, by setting a highly sensitive 3 d pose adjusting apparatus, and image capture device is fixed
It is arranged in the 3 d pose adjusting apparatus；Unmanned aerial vehicle body attitudes vibration when being taken pictures by sensing, it is three-dimensional by adjust automatically
Device for adjusting posture cause the camera lens of camera arrangement from unmanned aerial vehicle body attitudes vibration influence, remain at same direction and
Angle so as to fulfill the stability of unmanned plane camera arrangement camera lens posture, ensures the quality of image.
2nd, in the present invention, the mutual real-time transmission information and control command of wireless telecom equipment and unmanned plane are passed through.Nothing
Image capture device on man-machine sends the regional environment collected to processor (DSP core), and processor (DSP core) is logical
The perception to environment on image is crossed to carry out trajectory planning, and passes through processor (ARM kernels) and sends order to unmanned plane, with
This controls the flight path of unmanned plane and speed, so as to more effectively to target into line trace.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that specific embodiment described herein is not used to limit only to explain the present invention
The fixed present invention.
Embodiment 1
The Image Acquisition and tracking control system of a kind of unmanned plane, set including processor, image capture device, wireless communication
Standby, controller, interface equipment, the first storage device, the second storage device and the 3rd storage device interface.Wherein, Image Acquisition
Equipment includes five image acquiring sensors, and one of image acquiring sensor is perpendicular to the ground, remaining four Image Acquisition
Angle between sensor and the above-mentioned vertical sensor shot is 40 ° -60 °, obtains a front, rear, left and right direction of taking pictures respectively
Image.Image capture device further includes three-axis gyroscope, orthogonal formula three-dimensional movement platform, sensor attitude stabilization system, orthogonal
Formula three-dimensional movement platform, three-axis gyroscope, image acquiring sensor and controller connect, and the first storage device, the second storage are set
Standby and the 3rd storage device interface is connected with processor, and wireless communication device is connected to processor by external interface device
On.Image acquiring sensor is fixed in orthogonal formula three-dimensional movement platform, the power output end of sensor attitude systems stabilisation with
Orthogonal formula three-dimensional movement platform is fixedly connected, and the location-controlled of orthogonal formula three-dimensional movement platform is in the sensor attitude stability series
System.Attitude stabilization system for compensate and correct in unmanned plane during flying sidewinder, pitching, yaw angle so that the figure of vertical direction
As acquisition sensor optical axis in aerial flight always perpendicular to the ground, obtain the small image that distorts.
Image capture device is fixed in the orthogonal formula three-dimensional movement platform, unmanned plane machine when being taken pictures by sensing
Body attitudes vibration, by the camera lens of adjust automatically orthogonal formula three-dimensional movement platform camera arrangement from unmanned aerial vehicle body posture
Variation influences, and remains at same direction and angle.Image capture device on unmanned plane passes the regional environment collected
Processor (DSP core) is given, processor (DSP core) carries out trajectory planning by the perception to environment on image, processing
Device (ARM kernels) carries out the transmission of two-way data and order by wireless telecom equipment and unmanned plane, and control client with
The data transmission of the unmanned plane and the transmission of order.Processor (ARM kernels) sends related command to unmanned plane, is come with this
Control the flight path and speed of unmanned plane, so as to more effectively to target into line trace.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (7)
1. the Image Acquisition and tracking control system of a kind of unmanned plane, it is characterised in that：Including processor, image capture device,
Wireless telecom equipment, controller, interface equipment, the first storage device, the second storage device and the 3rd storage device interface, it is described
Image capture device includes five image acquiring sensors, and one of image acquiring sensor is perpendicular to the ground, described image
Collecting device includes attitude transducer, 3 d pose adjusting apparatus, the 3 d pose adjusting apparatus, attitude transducer, image
Acquisition sensor is connected with controller, and first storage device, the second storage device and the 3rd storage device interface are and institute
State processor connection.
2. the Image Acquisition and tracking control system of a kind of unmanned plane according to claim 1, it is characterised in that：Remaining four
Angle between a image acquiring sensor and the above-mentioned vertical sensor shot is 40 ° -60 °, before acquisition is taken pictures a little respectively,
Afterwards, the image in left and right direction.
3. the Image Acquisition and tracking control system of a kind of unmanned plane according to claim 1, it is characterised in that：The figure
As collecting device further includes sensor attitude systems stabilisation, described image acquisition sensor is fixed on the 3 d pose adjustment dress
It puts, the power output end of the sensor attitude systems stabilisation is fixedly connected with the 3 d pose adjusting apparatus, and described three
The location-controlled of device for adjusting posture is tieed up in the sensor attitude systems stabilisation, the attitude stabilization system is used to compensate and repair
Sidewindered in positive unmanned plane during flying, pitching, yaw angle so that the optical axis of the image acquiring sensor of vertical direction is in aerial flight
In always perpendicular to the ground, obtain the small image that distorts.
4. the Image Acquisition and tracking control system of a kind of unmanned plane according to claim 1, it is characterised in that：The place
Reason utensil has DSP core and ARM kernels.
5. the Image Acquisition and tracking control system of a kind of unmanned plane according to claim 1, it is characterised in that：It is described
ARM kernels carry out the transmission of two-way data and order by the wireless telecom equipment and the unmanned plane, and control client
The transmission of the data transmission and order of end and the unmanned plane.
6. the Image Acquisition and tracking control system of a kind of unmanned plane according to claim 1, it is characterised in that：The appearance
State sensor is three-axis gyroscope.
7. the Image Acquisition and tracking control system of a kind of unmanned plane according to claim 1, it is characterised in that：Described three
Dimension device for adjusting posture is orthogonal formula three-dimensional movement platform.
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| CN201711272338.2A CN108052114A (en) | 2017-12-06 | 2017-12-06 | The Image Acquisition and tracking control system of a kind of unmanned plane |
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| CN201711272338.2A CN108052114A (en) | 2017-12-06 | 2017-12-06 | The Image Acquisition and tracking control system of a kind of unmanned plane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112334854A (en) * | 2019-11-22 | 2021-02-05 | 深圳市大疆创新科技有限公司 | Flight control method and system, unmanned aerial vehicle, remote controller and storage medium |
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Application publication date: 20180518 |