CN109901611A - It is a kind of for search for monitoring high-altitude monitoring system - Google Patents
It is a kind of for search for monitoring high-altitude monitoring system Download PDFInfo
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- CN109901611A CN109901611A CN201711287817.1A CN201711287817A CN109901611A CN 109901611 A CN109901611 A CN 109901611A CN 201711287817 A CN201711287817 A CN 201711287817A CN 109901611 A CN109901611 A CN 109901611A
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Abstract
The invention discloses a kind of for searching for the high-altitude monitoring system of monitoring, including unmanned plane, the holder being mounted below unmanned plane and the supervision equipment being arranged on holder, the unmanned plane is controlled by control system, the control system includes state of flight detection unit, signal receiving unit, execution unit and control unit, described control unit includes control module, signal acquisition module and the motor control output module using two-loop system, and the state of flight detection unit includes the sensor unit for survey aircraft flight status parameter.The present invention uses unmanned plane to be adjusted and control by the state of flight to unmanned plane for monitor supervision platform, realizes and acquires to the high quality of monitoring area image.
Description
Technical field
It is the present invention relates to technical field of security guard, in particular to a kind of for searching for the high-altitude monitoring system of monitoring.
Background technique
With the development of science and technology security facilities and monitoring device have also obtained quick development, with unmanned plane in recent years
Fast development, the use cost of unmanned plane is lower and lower, and unmanned plane is in civil field to being widely applied.Unmanned equipment
There is the features such as manipulation is convenient, mobility is good, the visual field is wide, low latitude high-definition picture and other information near the ground can be obtained in time,
Human and material resources consumption is reduced, security and monitoring technology field can be advantageously applied to, but there is also answer in a particular application
It is more complex with environment, the inadequate problem of adaptability.
Summary of the invention
The purpose of the present invention is to provide a kind of for searching for the high-altitude monitoring system of monitoring, can solve to deposit in the prior art
Above-mentioned technical problem.
In order to solve the above technical problems, the invention adopts the following technical scheme:
It is a kind of for search for monitoring high-altitude monitoring system, including unmanned plane, the holder being mounted below unmanned plane and set
The supervision equipment on holder is set, the unmanned plane is controlled by control system, and the control system includes state of flight
Detection unit, signal receiving unit, execution unit and control unit, described control unit include using two-loop system
Control module, signal acquisition module and motor control output module, the state of flight detection unit include being used for survey aircraft
The sensor unit of flight status parameter, the parameter that the data resolution module is used to acquire state of flight detection unit carry out
Operation transfers data to control module, and the motor control output module connects execution unit, and execution unit includes that control flies
The motor and motor adjustment module of row state, the motor adjustment module connect motor, for being controlled according to instruction to motor
System；The signal receiving unit is used to receive the command signal of ground control centre, and signal receiving unit passes received signal
After the defeated signal acquisition module to control unit is parsed, the data after parsing are transferred to control module.
Further, described control unit is connected to cradle head control unit, and the cradle head control unit is for controlling holder
Rotation direction, to supervision equipment carry out angle be adjusted.
Further, the sensor includes three axis accelerometer, three-axle magnetic field meter, three-axis gyroscope.
Further, the motor control module uses electron speed regulator, is adjusted according to control signal to motor speed
Section, each motor are connect with motor control module respectively.
The present invention uses unmanned plane to be adjusted and control by the state of flight to unmanned plane for monitor supervision platform, realization pair
The high quality of monitoring area image acquires.
Detailed description of the invention
Fig. 1 is structural block diagram of the embodiment of the present invention.
Specific embodiment
The present invention is further illustrated in the following with reference to the drawings and specific embodiments.
As shown in Figure 1, in the present embodiment for search for the high-altitude monitoring system monitored, including unmanned plane, be mounted on nothing
The holder of man-machine lower section and the supervision equipment being arranged on holder, the unmanned plane are controlled by control system.
Control system includes state of flight detection unit, signal receiving unit, execution unit and control unit, the control
Unit includes control module, signal acquisition module and the motor control output module using two-loop system, the flight shape
State detection unit includes the sensor unit for survey aircraft flight status parameter, and the data resolution module is used for flight
The parameter of state detection unit acquisition carries out operation, transfers data to control module, the motor control output module connection
Execution unit, execution unit include the motor and motor adjustment module for controlling state of flight, the motor adjustment module connection electricity
Machine, for being controlled according to instruction motor；The signal receiving unit is used to receive the command signal of ground control centre,
After signal receiving unit is parsed the signal acquisition module that received signal is transferred to control unit, by the data after parsing
It is transferred to control module.
Control unit is connected to cradle head control unit, and cradle head control unit is used to control the rotation direction of holder, to monitoring
Equipment carries out angle and is adjusted.
Control module is the minimum control system formed using STM32F407 chip and its peripheral circuit.
State of flight detection unit includes three axis accelerometer, three-axle magnetic field meter and three-axis gyroscope, for detecting flight
Attitude parameter transfers data to after state of flight detection unit carries out operation by parameter of the data resolution module to acquisition
Control module.State of flight detection unit uses six axis motion sensor MPU6050 and three-axle magnetic field meter AK8975.
MPU6050 is integrated with MEMS three-axis gyroscope and 3-axis acceleration sensor, for measuring body angular speed and acceleration
Degree has expansible digital moving processor.AK8975 is the magnetometer chip for measuring body three-axle magnetic field.
Motor control output module connects execution unit, and execution unit includes the motor and control motor for controlling each rotor
Motor adjustment module；Motor control module uses electron speed regulator, and motor speed is adjusted according to control signal, described each
Motor is connect with a motor control module respectively.
Signal receiving unit receives the control signal of ground control centre, and received signal is transferred to by signal receiving unit
After the signal acquisition module of main control unit is parsed, the data after parsing are transferred to control module.
Control system uses powerful controller and multisensor, is flown by two-loop system mode
Control parameter makes platform have self-stabilization control ability, can adjust control ginseng when generating state changes in control process in time
Number, enhances anti-interference ability.Unmanned plane is used to be adjusted and control by the state of flight to unmanned plane for monitor supervision platform,
It realizes and the high quality of monitoring area image is acquired.
The description and the appended drawings of the invention be considered as it is illustrative and not restrictive, on the basis of the present invention, ability
According to disclosed technology contents, some of technical characteristics can be made field technique personnel by not needing creative labor
Some replacements and deformation, are within the scope of the invention.
Claims (4)
1. a kind of for searching for the high-altitude monitoring system of monitoring, it is characterised in that: including unmanned plane, be mounted below unmanned plane
Holder and the supervision equipment being arranged on holder, the unmanned plane are controlled by control system, and the control system includes
State of flight detection unit, signal receiving unit, execution unit and control unit, described control unit include using two close cycles
Control module, signal acquisition module and the motor control output module of PID control, the state of flight detection unit include being used for
The sensor unit of survey aircraft flight status parameter, what the data resolution module was used to acquire state of flight detection unit
Parameter carries out operation, transfers data to control module, and the motor control output module connects execution unit, execution unit packet
The motor and motor adjustment module of control state of flight are included, the motor adjustment module connects motor, is used for according to instruction to electricity
Machine is controlled；The signal receiving unit is used to receive the command signal of ground control centre, and signal receiving unit will receive
Signal be transferred to control unit signal acquisition module parsed after, the data after parsing are transferred to control module.
2. according to claim 1 for searching for the high-altitude monitoring system of monitoring, it is characterised in that: described control unit connects
Be connected to cradle head control unit, the cradle head control unit is used to control the rotation direction of holder, to supervision equipment carry out angle into
Row adjustment.
3. according to claim 1 for search for the high-altitude monitoring system monitored, it is characterised in that: the sensor includes
Three axis accelerometer, three-axle magnetic field meter, three-axis gyroscope.
4. according to claim 1 for searching for the high-altitude monitoring system of monitoring, it is characterised in that: the motor control mould
Block use electron speed regulator, according to control signal motor speed is adjusted, each motor respectively with motor control module
Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711287817.1A CN109901611A (en) | 2017-12-07 | 2017-12-07 | It is a kind of for search for monitoring high-altitude monitoring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711287817.1A CN109901611A (en) | 2017-12-07 | 2017-12-07 | It is a kind of for search for monitoring high-altitude monitoring system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109901611A true CN109901611A (en) | 2019-06-18 |
Family
ID=66939543
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711287817.1A Pending CN109901611A (en) | 2017-12-07 | 2017-12-07 | It is a kind of for search for monitoring high-altitude monitoring system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109901611A (en) |
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2017
- 2017-12-07 CN CN201711287817.1A patent/CN109901611A/en active Pending
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190618 |