CN110109478A - A kind of miniature drone based on AI vision - Google Patents
A kind of miniature drone based on AI vision Download PDFInfo
- Publication number
- CN110109478A CN110109478A CN201910394128.3A CN201910394128A CN110109478A CN 110109478 A CN110109478 A CN 110109478A CN 201910394128 A CN201910394128 A CN 201910394128A CN 110109478 A CN110109478 A CN 110109478A
- Authority
- CN
- China
- Prior art keywords
- miniature drone
- chip
- pin
- miniature
- drone
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- 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
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Abstract
The invention discloses a kind of miniature drone based on AI vision, have been directed to the problem to be improved of UAV Intelligentization in the prior art.The invention includes miniature drone flight system, miniature drone wireless communication system, miniature drone global positioning system and miniature drone image delivering system, power module, rack, blade, motor and PC host computer, symmetrically placed four motors with blade on the rack quadrangle, central rack is equipped with miniature drone flight system, miniature drone wireless communication system, miniature drone global positioning system, miniature drone image delivering system and power module, it is powered by power module for it, and remote manipulator system is located inside remote controler.The device can be understood the scenery in automatic identification unmanned plane remote image, disaster-stricken people is identified and records the geographical coordinate of current miniature drone by remote controlled unmanned machine, AI vision system.
Description
Technical field
The present invention relates to unmanned plane fields, more particularly to a kind of miniature drone based on AI vision.
Background technique
With the continuous destruction of natural environment, the anti-disaster ability of ecological environment becomes more and more weaker, such as soil erosion
The soft extent of the destruction that can seriously aggravate the natural calamities such as flood, earthquake in caused soil, when big natural calamity occurs,
How to catch up in first time search and rescue is a particularly significant problem.That traditional search and rescue relies primarily on is people
Power, when remote sites occur major natural disasters or earthquake occurs, flood etc. the road of search and rescue is all destroyed it is great
When natural calamity, traditional method by manpower search and rescue just seems inefficiency.Remote place or serious
The devastated of destruction makes rescue personnel be difficult searching or rescuing at the first time, it is difficult to grasp the tool in disaster area
Body situation has delayed the prime time of disaster assistance, causes huge personnel and damage to property.
In face of the serious stern form of major natural disasters rescue, scientific research personnel has carried out long-term exploration, miniature in recent years
Unmanned plane industry development is swift and violent and the maturation that is gradually improved, and also rapidly landing generates huge economic value to relevant industry, micro-
Type unmanned air vehicle technique has been widely used in every field.Disaster is explored and rescues search field, due to miniature nothing
The advantages that man-machine fly in the sky is not restricted by ground environment, its is at low cost in addition, deployment block, light structure can be extensive
Ground is applied to the disaster relief task such as exploration and rescue of taking photo by plane of disaster-stricken scene.
Since devastated is with a varied topography, situation is changeable, only is manually searched by miniature drone video of taking photo by plane
Target-seeking method has seemed inefficiency.Disaster area environment is complicated, and the environment of disaster affected people is usually very dangerous, passes through human eye
Identification find mode lagged behind the AI system based on deep learning from far away, along with rescue worker for a long time, it is high-strength
The tense working of degree, so that the efficiency manually searched of taking photo by plane more reduces.It is opposite using the AI intelligence system based on deep learning
For eye recognition, possess higher and faster recognition efficiency in the case where environment complexity, and not by working time, work
Make the influence of the factors such as intensity and mood, the efficiency of disaster assistance can be improved to greatest extent.
Miniature drone technology and AI intelligent identification technology are combined so that unmanned plane do not restricted by ground environment,
At low cost, deployment block and possess in the case where environment is complicated with AI intelligent identification technology the advantages that light structure higher and faster
Recognition efficiency, the advantages that not influenced by factors such as working time, working strength and moods combine, using being based on AI vision
The rescue efficiency of disaster can be significantly increased in the exploration and seeking of the miniature drone progress disaster field of system, reduce people
The loss of member, property have boundless application prospect.
Summary of the invention
The present invention overcomes in the prior art, based on UAV Intelligentization problem to be improved, a kind of exploration energy is provided
Power is strong, the high-efficient miniature drone based on AI vision of disaster assistance.
The technical solution of the invention is as follows, provides a kind of miniature drone based on AI vision having following structure:
Including miniature drone flight system, miniature drone wireless communication system, miniature drone global positioning system and miniature nothing
Man-machine image delivering system, power module, rack, blade, motor and PC host computer, symmetrically placed four on the rack quadrangle
Motor with blade, central rack are equipped with miniature drone flight system, miniature drone wireless communication system, miniature drone
Global positioning system, miniature drone image delivering system and power module, power module are miniature drone flight system, micro-
Type unmanned plane wireless communication system, miniature drone global positioning system and the power supply of miniature drone image delivering system, remote control
Device system is located inside remote controler；Wherein miniature drone flight system is responsible for rising and falling, fly, hovering, soaring surely for unmanned plane
Row and fixed point flight；Miniature drone wireless communication system is responsible for miniature drone remote control and miniature drone distance flight
The transmission of data；Miniature drone global positioning system is responsible for the acquisition of location position information；Miniature drone image transmitting system
The real-time Transmission united between responsible live image and PC host computer；Remote manipulator system is responsible for miniature drone wireless communication system work
Make the switching, control and monitoring of state
The miniature drone flight system contains main control chip STM32F411, nine axle sensor chip MPU9250, barometer
Chip BMP280, laser range sensor VL53L01 and optical tracking sensor PWM3901 and 4 High-speed DC motors, wherein
The iic bus of main control chip STM32F411 connects the pin 23 of nine axle sensor chip MPU9250 by pin 45, pin 46
With pin 24, main control chip STM32F411 is separately connected 4 High-speed DCs by pin 43, pin 42, pin 21 and pin 15
Motor；Pin 21, the pin 7 of nine axle sensor chip MPU9250 is separately connected pin 3, the pin of barometer chip BMP280
4；Main control chip STM32F411 is separately connected the pipe of optical tracking sensor PWM3901 by pin 28, pin 27 and pin 26
Foot 16, pin 18 and pin 17；The iic bus of main control chip STM32F411 passes through pin 41, pin 40 and laser ranging sensing
Pin 10, the pin 9 of device VL53L01 is connected, wherein optical tracking sensor PWM3901 and laser range sensor
The luminous flux module of VL53L01 composition is installed perpendicular to ground.
The miniature drone wireless communication system contains main control chip STM32F411 and unmanned plane wirelessly transferred chip
NRF2401, main control chip STM32F411 are led to by spi bus and unmanned plane with wirelessly transferred chip NRF24L01 chip
Letter sends unmanned plane motor status, flight with the data transmission channel of wirelessly transferred chip NRF24L01 using unmanned plane respectively
State and location information, main control chip STM32F411 receive unmanned plane wirelessly transferred chip by the way of interrupting
The data of NRF24L01, main control chip STM32F411 are passed for configuring unmanned plane with wireless by a GPIO connection CE pin
The operating mode of defeated chip NRF24L01, unmanned plane wirelessly transferred chip NRF24L01 determine it is currently to send by CE pin
Or reception pattern, when CE is low level, chip is sending mode, and chip is written in the data of transmission by spi bus, works as core
One IRQ of meeting automatic trigger is interrupted after piece is sent completely, and main control chip STM32F411 has been sent by the response of external interrupt program
At interruption, and chip is emptied by spi bus and sends status register；When CE is high level, chip is reception pattern, when having
When data arrive, automatic trigger one interruption of IRQ meeting, main control chip STM32F411 receives number by the response of external interrupt program
According to interruption, received data are read by spi bus, read status register is emptied after the completion of reading.
The miniature drone global positioning system contains main control chip STM32F411 and positioning chip ATGM332D Beidou
GPS dual mode receiver, wherein main control chip STM32F411 passes through universal serial bus and positioning chip ATGM332D beidou GPS dual mode
Receiver connection, positioning chip ATGM332D beidou GPS dual mode receiver constantly send NMEA-0183 agreement by serial ports
Location data is sent to the position the PC machine in a distant place after parsing.
The remote manipulator system contains remote controler main control chip STM32F103, remote controler wireless communication chips NRF2401+
And OLED display screen, remote controler main control chip STM32F103 are matched remote controler wireless communication chips NRF24L01 by spi bus
It is set to reception pattern, when receiving the data that long-range miniature drone sends over, decoding data simultaneously shows data
Above OLED display screen, when detecting Joystick sliding by AD, NRF24L01 is switched to transmission state, and will control
Information is sent to long-range miniature drone, is switched to reception pattern again later, and real-time reception is simultaneously shown current micro-unmanned
The state of flight of machine, wherein remote controler main control chip STM32F103 will be controlled by remote controler wireless communication chips NRF24L01
Signal is sent to long-range miniature drone, and OLED display screen shows course angle, pitch angle, the roll angle that miniature drone postbacks
With miniature drone remaining capacity.
The miniature drone image delivering system contains miniature drone Image Acquisition sending device and miniature drone
Distance host reception device, wherein miniature drone Image Acquisition sending device contains camera, control template and antenna, control
Camera and antenna are connected in module；Miniature drone distance host reception device contains the reception of miniature drone distance host
Device and PC host computer, wherein miniature drone distance host receiver and miniature drone Image Acquisition sending device carry out channel
After matching, the data received can be decoded and be re-encoded as the figure of MJPEG format by miniature drone distance host receiver
Picture, and PC host computer is transferred to by USB interface and provides image data for AI vision rescue system.
Compared with prior art, the present invention is based on the miniature drone of AI vision to have the advantage that miniature drone
Technology is applied to the rescue of natural calamity, in the first time that disaster occurs, can not be restricted by many natural conditions, first
Time rushes to disaster field, carries out the detecting of environment and the search and rescue of personnel.It is combined by miniature drone technology and with AI technology,
Can intelligence identification record disaster scene, search casualty, and by the result of identification and data quickly pass back commander scene,
Strong decision-making foundation is provided for rescue.
The device combines unmanned air vehicle technique and AI technology, studies and devises the miniature drone based on AI vision and rescues
System is helped, which can understand the scape in automatic identification unmanned plane remote image by remote controlled unmanned machine, AI vision system
Disaster-stricken people is identified and records the geographical coordinate of current miniature drone by object.
Detailed description of the invention
Fig. 1 is that the present invention is based on the peripheral circuit diagrams of main control chip STM32F411 in the miniature drone of AI vision；
Fig. 2 is that the present invention is based on nine axle sensor chip MPU9250 and barometer chips in the miniature drone of AI vision
The peripheral circuit diagram of BMP280；
Fig. 3 is that the present invention is based on optical tracking sensor PWM3901 and main control chips in the miniature drone of AI vision
The SPI interface circuitry figure of STM32F411；
Fig. 4 is that the present invention is based on the peripheral circuit diagrams of optical tracking sensor PWM3901 in the miniature drone of AI vision；
Fig. 5 is that the present invention is based on the peripheral circuit diagrams of laser ranging chip VL53L01 in the miniature drone of AI vision；
Fig. 6 is that the present invention is based on the electric operation control circuit figures of direct current generator in the miniature drone of AI vision；
Fig. 7 is that the present invention is based on main control chip STM32F411 in the miniature drone of AI vision and unmanned plane wireless transmission core
The SPI interface circuitry figure of piece NRF24L01；
Fig. 8 is that the present invention is based on laser ranging modules in the miniature drone of AI vision and the IIC of main control chip STM32F411 to connect
Mouth circuit diagram；
Fig. 9 is that the present invention is based on main control chip STM32F411 in the miniature drone of AI vision and laser ranging module and optics
The interface circuit figure of tracing sensor module；
Figure 10 is that the present invention is based on the peripheral circuit diagrams of wirelessly transferred chip NRF24L01 in the miniature drone of AI vision；
Figure 11 is the peripheral circuit diagram of main control chip STM32F103 in the micro-unmanned set remote-controller the present invention is based on AI vision；
Figure 12 is the peripheral circuit of wirelessly transferred chip NRF24L01 in the micro-unmanned set remote-controller the present invention is based on AI vision
Figure；
Figure 13 is the peripheral circuit diagram of OLED display screen in the micro-unmanned set remote-controller the present invention is based on AI vision；
Figure 14 is the peripheral circuit diagram of Joystick in the micro-unmanned set remote-controller the present invention is based on AI vision.
Specific embodiment
With reference to the accompanying drawings and detailed description to the present invention is based on the miniature drone of AI vision to be described further:
As shown, the present embodiment includes miniature drone flight system, miniature drone wireless communication system, the miniature drone whole world
Positioning system and miniature drone image delivering system, power module, rack, blade, motor and PC host computer, the rack four
Symmetrically placed four motors with blade on angle, central rack are equipped with miniature drone flight system, miniature drone channel radio
Letter system, miniature drone global positioning system, miniature drone image delivering system and power module, power module are miniature
Unmanned plane during flying system, miniature drone wireless communication system, miniature drone global positioning system and miniature drone image
Transmission system power supply, remote manipulator system are located inside remote controler；Wherein miniature drone flight system be responsible for the rising and falling of unmanned plane,
Flight, hovering, height-lock control and fixed point flight；Miniature drone wireless communication system is responsible for miniature drone remote control and micro-
The transmission of type unmanned plane distance flight data；Miniature drone global positioning system is responsible for the acquisition of location position information；It is miniature
Unmanned plane image delivering system is responsible for the real-time Transmission between live image and PC host computer；Remote manipulator system is responsible for micro-unmanned
Switching, control and the monitoring of machine wireless communication system working condition
The miniature drone flight system contains main control chip STM32F411, nine axle sensor chip MPU9250, barometer
Chip BMP280, laser range sensor VL53L01 and optical tracking sensor PWM3901 and 4 High-speed DC motors, wherein
The iic bus of main control chip STM32F411 connects the pin 23 of nine axle sensor chip MPU9250 by pin 45, pin 46
With pin 24, main control chip STM32F411 is separately connected 4 High-speed DCs by pin 43, pin 42, pin 21 and pin 15
Motor；Pin 21, the pin 7 of nine axle sensor chip MPU9250 is separately connected pin 3, the pin of barometer chip BMP280
4；Main control chip STM32F411 is separately connected the pipe of optical tracking sensor PWM3901 by pin 28, pin 27 and pin 26
Foot 16, pin 18 and pin 17；The iic bus of main control chip STM32F411 passes through pin 41, pin 40 and laser ranging sensing
Pin 10, the pin 9 of device VL53L01 is connected, wherein optical tracking sensor PWM3901 and laser range sensor
The luminous flux module of VL53L01 composition is installed perpendicular to ground.
The miniature drone wireless communication system contains main control chip STM32F411 and unmanned plane wirelessly transferred chip
NRF2401, main control chip STM32F411 are led to by spi bus and unmanned plane with wirelessly transferred chip NRF24L01 chip
Letter sends unmanned plane motor status, flight with the data transmission channel of wirelessly transferred chip NRF24L01 using unmanned plane respectively
State and location information, main control chip STM32F411 receive unmanned plane wirelessly transferred chip by the way of interrupting
The data of NRF24L01, main control chip STM32F411 are passed for configuring unmanned plane with wireless by a GPIO connection CE pin
The operating mode of defeated chip NRF24L01, unmanned plane wirelessly transferred chip NRF24L01 determine it is currently to send by CE pin
Or reception pattern, when CE is low level, chip is sending mode, and chip is written in the data of transmission by spi bus, works as core
One IRQ of meeting automatic trigger is interrupted after piece is sent completely, and main control chip STM32F411 has been sent by the response of external interrupt program
At interruption, and chip is emptied by spi bus and sends status register；When CE is high level, chip is reception pattern, when having
When data arrive, automatic trigger one interruption of IRQ meeting, main control chip STM32F411 receives number by the response of external interrupt program
According to interruption, received data are read by spi bus, read status register is emptied after the completion of reading.
The miniature drone global positioning system contains main control chip STM32F411 and positioning chip ATGM332D Beidou
GPS dual mode receiver, wherein main control chip STM32F411 passes through universal serial bus and positioning chip ATGM332D beidou GPS dual mode
Receiver connection, positioning chip ATGM332D beidou GPS dual mode receiver constantly send NMEA-0183 agreement by serial ports
Location data is sent to the position the PC machine in a distant place after parsing.
The remote manipulator system contains remote controler main control chip STM32F103, remote controler wireless communication chips NRF2401+
And OLED display screen, remote controler main control chip STM32F103 are matched remote controler wireless communication chips NRF24L01 by spi bus
It is set to reception pattern, when receiving the data that long-range miniature drone sends over, decoding data simultaneously shows data
Above OLED display screen, when detecting Joystick sliding by AD, NRF24L01 is switched to transmission state, and will control
Information is sent to long-range miniature drone, is switched to reception pattern again later, and real-time reception is simultaneously shown current micro-unmanned
The state of flight of machine, wherein remote controler main control chip STM32F103 will be controlled by remote controler wireless communication chips NRF24L01
Signal is sent to long-range miniature drone, and OLED display screen shows course angle, pitch angle, the roll angle that miniature drone postbacks
With miniature drone remaining capacity.
The miniature drone image delivering system contains miniature drone Image Acquisition sending device and miniature drone
Distance host reception device, wherein miniature drone Image Acquisition sending device contains camera, control template and antenna, control
Camera and antenna are connected in module；Miniature drone distance host reception device contains the reception of miniature drone distance host
Device and PC host computer, wherein miniature drone distance host receiver and miniature drone Image Acquisition sending device carry out channel
After matching, the data received can be decoded and be re-encoded as the figure of MJPEG format by miniature drone distance host receiver
Picture, and PC host computer is transferred to by USB interface and provides image data for AI vision rescue system.
Be described in detail below and how to realize above-described embodiment: miniature drone passes through 4 using STM32F411 as main control chip
Road PWM wave controls 4 High-speed DC motors.Miniature drone uses gyroscope, acceleration of the MPU9250 as miniature drone
Meter and magnetometer, pitch angle, course angle and the roll angle of current miniature drone are calculated by Attitude Algorithm, and pass through PID
The stabilized flight of algorithm control unmanned plane.Unmanned plane uses BMP280 as barometer, calculates current unmanned plane by air pressure
Height, cooperate laser range finder and luminous flux tracker, miniature drone height-lock control, the function such as fixed point flight may be implemented
Energy.Miniature drone, as GPS receiver, uses the position of the available miniature drone of GPS receiver using ATGM332D
Position, and send it to host computer.Miniature drone, as wirelessly transferred chip, utilizes NRF24L01's using NRF24L01
6 data transmission channels send unmanned plane motor status, state of flight, location information etc. respectively, miniature drone uses
FPV5.8G camera sends remote image information.
Miniature drone AI vision decision system, as deep learning library, is handled using FaserRCNN and is schemed using Caffe
Piece passes through AI system automatic identification and record data.Host computer is developed using MatlabGUI, is obtained by serial ports miniature
Unmanned plane global positioning information calls Caffe to realize the functions such as identification and the record data of AI vision system.
The main control chip of miniature drone is calculated current micro- by attitude transducers such as gyroscope, accelerometer and magnetometers
3 attitude angles of type unmanned plane obtain the state of flight of current miniature drone, and adjust in the above manner and control 4 electricity
The revolving speed of machine realizes that miniature drone takes off, lands, rotating in place, direction is flown and the basic functions such as steadily hovering.
Miniature drone flight system is the core system of miniature drone flight, it is mainly responsible for miniature drone and rises
Drop, flight, hovering and fixed high fixed point flight.Miniature drone uses STM32F411 as controller, real-time by MPU9250
Obtain miniature drone X, Y, Z axis acceleration, angular speed and magnetic field strength, and by posture blending algorithm calculate currently it is micro-
Pitch angle, course angle and the roll angle of type unmanned plane simultaneously control flying for 4 DC MOTOR CONTROL miniature drone by 4 road PWM
Row posture realizes the function of miniature drone landing, flight.Miniature drone passes through BMP280 atmospheric pressure meter, PWM3901 light
It learns tracing sensor and VL53L01 laser range sensor realizes the function of the hovering of miniature drone, Ding Gao and fixed point flight,
It is installed by the luminous flux module that PWM3901 optical tracking sensor and VL53L01 laser range sensor form perpendicular to ground,
Start distance of the VL53L01 laser range sensor real-time measurement miniature drone away from ground when flying height is less than 2m, and
The flying height of unmanned plane is adjusted, in real time by pid algorithm to realize surely winged function.When flying height is higher than 2m, use
The BMP280 of unmanned machine face installation measures the atmospheric pressure of current miniature drone position, calculates the flight of miniature drone
Highly, determine to soar when and adjusting the flying height of miniature drone in real time by pid algorithm to realize that flying height is greater than 2m
Row function.When flying height be less than 2m when, can enable PWM3901 optical tracking sensor record in real time miniature drone X,
The offset of Y-axis, and pass through the flight position that pid algorithm corrects miniature drone in real time, to realize that the fixed point of miniature drone flies
Row function.
The wireless transmitting system of miniature drone is mainly responsible for the long-range control and miniature drone flight of miniature drone
The display of information, it is made of 2 parts of miniature drone wireless transmitting system and remote manipulator system.Miniature drone wirelessly passes
Defeated system is using NRF24L01 chip as wireless communication chips.NRF24L01 wireless communication chips use onboard antenna, are protecting
Under the premise of demonstrate,proving communication quality, the size and weight of unmanned plane are reduced as far as possible.Controller passes through spi bus and NRF24L01
Chip is communicated, and in order to guarantee the real-time of communication, controller receives the data of NRF24L01 by the way of interrupting, and is guaranteed
The higher communication quality of miniature drone.
Remote manipulator system, as master control, uses the NRF24L01 with antenna gain as wireless communication using STM32F103
Chip.STM32F103 master control obtains the control information of miniature drone, and lead to by the AD information of acquisition rocking bar both direction
It crosses NRF24L01 and is sent to long-range miniature drone.Remote controler is also configured with one 0.96 cun of OLED display screen, for showing
Show the flight information that miniature drone postbacks, course angle, pitch angle, roll angle and miniature drone including miniature drone are surplus
The information such as remaining electricity.
Miniature drone global positioning system is used to obtain the flight position of miniature drone, which uses ATGM332D
Beidou GPS dual mode receiver.Controller is connect by serial ports with ATGM332D beidou GPS dual mode receiver.Receiver is obtaining
To after enough location informations, the continuous data that NMEA-0183 agreement is sent by serial ports.When miniature drone needs to obtain
When current location information, controller obtains the location data when the NMEA-0183 format of previous frame receiver transmission, and parsing is concurrent
Give the host in a distant place.
Miniature drone image delivering system uses 5.8G image delivering system, it is by miniature drone Image Acquisition and hair
Sending end and distance host receiver composition.Miniature drone Image Acquisition and transmitting terminal are by camera, control template and antenna sets
At.Miniature drone Image Acquisition is connected with transmitting terminal with the 3.7V lithium battery of miniature drone, passes through the electricity of miniature drone
Source master switch can control the start-stop of Image Acquisition Yu transmitting terminal and miniature drone simultaneously, when miniature drone Image Acquisition with
Transmitting terminal can start the acquisition and transmission of image after powering on.
The distance host receiver of miniature drone is described below, when distance host receiver and miniature drone image
After acquisition carries out channel matching with transmitting terminal, the data received can be decoded and be re-encoded as by distance host receiver
The image of MJPEG format, and PC is transferred to by USB interface and provides image data for AI vision rescue system.Miniature drone
After actuation, the video information of miniature drone acquisition can be watched in real time by long-range PC, and remotely controlled by remote controler
The flight path of miniature drone can send order when needing to obtain miniature drone and being remotely located information and obtain current nothing
Man-machine global positioning information.
Miniature drone is using the STM32F411 of ST Microelectronics's production as main control chip.STM32F411 is one
The chip of 32 risc core of the money based on ARMCortexM4 kernel.Its work dominant frequency is 100MHz.STM32F411 possesses
Two APB enhancing I/O and peripheral bus, two ahb bus and 32 ahb bus matrixes.STM32F411 possesses 100MHz
Dominant frequency, the SRAM of the Flash and 128KB of 512KB.Possess 78 quick I/O.3 I2C interfaces support SMBus and PMBus,
3 serial ports and 5 high speed SPIs, are very suitable to do the main control chip of miniature drone.
Miniature drone is using the MPU9250 of TDK company production as motion perception chip.MPU9250 is a 9 axis
Posture sensing chip, it contains the magnetometer of the acceleration transducer of 3 axis, the angular-rate sensor of 3 axis and 3 axis.
3 axis accelerometers of MPU9250 are the AD numeral output accelerometers of 16 precision, optional output range is ±
2g, ± 4g, ± 8g and ± 16g.The angular-rate sensor of 3 axis of MPU9250 is the AD numeral output gyroscope of 16 precision, can
The output range of choosing is ± 250deg/s, ± 500deg/s, ± 1000deg/s and ± 2000deg/s.The magnetometer of MPU9250
It is high-precision magnetometer, possesses the AD of 14 precision, the resolution ratio of data output is 0.6uT/LSB, maximum output range
For ± 4800uT.
The atmospheric pressure meter of miniature drone uses the BMP280 of Bosch's production.BMP280 is a high-precision big
Gas pressure gage, its range ability are 300-1100hPa, and absolute precision is ± 1hPa, support two kinds of digital interfaces of I2C and SPI,
It is the ideal chose of miniature drone atmospheric pressure meter.
The laser ranging chip of miniature drone uses the VL53L01 chip of ST Microelectronics's production.VL53L01 is
The laser ranging chip for a 940nm wavelength that ST Microelectronics releases, built-in advanced embeded processor, uses
The advanced laser ranging algorithm of STMicw Electronics, can measure the absolute distance of maximum 2m, it is total as communication using I2C bus
Line supports quick, standard and over long distances 3 kinds of measurement patterns.The laser beam that chip uses human eye can't see, can effectively guarantee
Using safe.
Miniature drone is using PWM3901 as optical tracking sensor.PWM3901 is a being used for of PixArt release
The GPS module of the direction X-Y positioning, it possesses the identification range of 80mm to infinity, built-in 16 exercise data registers, can be with
The effective motion information for obtaining object.
STM32F411 is main control chip, connects MPU9250 and BM280 with IMUSDA by IMUSCL, due to
MPU9250 and BMP280 support floating address, so their floating address pin is grounded, the address that they are arranged is
0xD2 and 0xEC.PMW3901 is connect by spi bus with main control chip STM32F411, and VL53L01 passes through E_SCL and E_SDA
It is connected with the iic bus of main control chip.
Miniature drone controls motor operation by the way of pulse width modulation.Miniature drone possesses 4 direct currents
Machine M1, M2, M3 and M4.Miniature drone needs to obtain the flight attitude of current miniature drone in real time, to adjust 4 motors
PWM miniature drone keeps balance.Miniature drone obtains the X, Y, Z axis of miniature drone current flight by MPU9250
Angular speed, acceleration and magnetic field, and pass through the DMP(digital moving processor engine inside MPU9250) calculate it is current miniature
Course angle, pitch angle and the roll angle of unmanned plane.
MPU9250 is communicated by I2C bus with STM32F411 main control chip.STM32F411 main control chip uses soft
The mode of part simulation iic bus is communicated with Temperature Humidity Sensor.IIC is the abbreviation of IC bus, and the bus is by NXP
Company designs and formulates standard.The bus is for master-slave communication between host and slave, volume of transmitted data is small, transmission range is short
Under conditions of be applicable in.Iic bus has two data lines, and one is SDA, and another is SCL.Iic bus is half-duplex operation, right
In the slave that each is connected to iic bus, host can be communicated by a unique address and the slave.
Within the time that SCL is high level, SDA keeps stablizing, and when SCL is low level, SDA can according to need progress
The change of level.In the communication of IIC, when setting high level for SCL, SDA is considered as logical by high level to low level jump
The initial conditions of letter.It is high level by SCL, SDA is considered as the stop condition of communication by the jump of low level to high level.It communicates
Beginning signal and termination signal are controlled and are issued by host.
When host has sent the data of a byte to slave, host needs to obtain the answer signal of slave transmission.When
The answer signal that host receives slave transmission indicates that slave is successfully received data.It is low for the answer signal of slave
Level indicates response, and high level indicates non-response.
On iic bus, after host has sent initial signal, 7 address of devices of a slave, address of devices need to be sent
The 8th expression data direction of transfer, 0 indicate host send data, 1 indicate host receiving data.The transmission of address is by leading
Machine controls and the termination signal generated terminates, and since IIC slave addresses can be arranged by AD0 in MPU9250, the design is by AD0
The address of devices of ground connection setting MPU9250 is 0xD2.
MPU9250 resets first, closes all interruptions, then enables accelerometer, angular speed meter and magnetometer, Zhi Houshe
Gyroscope and accelerometer rate are counted, accelerometer and gyroscope FIFO are configured, sample rate is set, finally load DMP frame and is enabled
DMP。
After obtaining miniature drone attitude angle, need to adjust unmanned plane 4 PWM output, enable unmanned plane according to
Specified posture flight.Miniature drone pose adjustment is adjusted using pid algorithm.Miniature drone inputs expectation first and flies
Capable attitude angle, and the PWM output for 4 motors is converted by pid algorithm, it is got by MPU9250 current miniature
The attitude angle of unmanned plane, and pid algorithm is fed back to, the duty ratio of 4 motor PWMs is adjusted, miniature drone posture is adjusted, to realize
Miniature drone specifies the flight of posture.
When flying height is lower than 2m, fixed point flight is may be implemented in miniature drone.For fixed point flight by optical tracking
Sensor and laser range sensor are completed jointly, and wherein laser range sensor is responsible for the stabilization of miniature drone Z axis flight,
Realize the height-lock control of miniature drone, realization principle is consistent with mode with height-lock control.The X of miniature drone, Y-axis it is steady
It is fixed to be completed by optical tracking sensor.
STM32F411 main control chip is connected by spi bus with optical tracking sensor PWM3901.
Spi bus is the communication bus of a kind of high speed, full duplex.For the spi bus of standard, it only takes up four
Communication can be completed in a GPIO, has greatly saved the GPIO resource of chip.On this miniature drone, optical tracking sensing
Device chip is connect with main control chip by 4 line SPI of standard, they are respectively as follows: SCLK, MISO, MOSI and CS.SCLK is string
Row clock pin, for providing bus clock.MISO is that host inputs slave output pin, which inputs the data of host
Pin is connected with the data out pin of slave.MOSI is that host exports slave input pin, and the pin is by the data of host
Output pin is connected with the data in pin of slave.CS is chip-select pin, what host was communicated every time by dragging down CS selection
Slave.
The operating mode of SPI is master-slave mode, it is by a host and multiple slave machines.Host is by dragging down CS
Chip-select pin, selection need the equipment communicated.Host and slave have one 8 serial shift registers.Host every time into
When row communication, the data sent will be needed to be put into serial register, SPI controller can initiate once to transmit later.SPI control
Device processed sends the data to slave by MOSI pin, and slave can also post oneself displacement under the control of SCLK pin at this time
Content in storage is sent to host by MISO pin.The write operation of spi bus and read operation synchronously complete.If main
Machine only carries out write operation, and host can ignore the data for receiving slave.As soon as necessary if host will read the byte of slave
A null byte is sent to obtain the data of slave, when the optical tracking sensor of miniature drone gets X, Y direction
When offset, the PWM that 4 direct current generators can be controlled by pid algorithm is exported, so that entire miniature drone remains at one
The top of fixed point.
Miniature drone wireless transmitting system is made of main control chip STM32F411 and NRF24L01 chip, such as Figure 10 institute
Show.Main control chip is connected by spi bus with NRF24L01, and NRF24L01 is currently to send or connect by CE pin configuration chip
Receipts mode, main control chip STM32F411 are used to configure the operating mode of chip by a GPIO connection CE pin.In order to improve
Communication quality, chip pass through the INT pin of a GPIO connection NRF24L01, and the transmitting-receiving of data is carried out by interrupt mode,
Increase substantially the quality of unmanned plane wireless communication.
When CE is low level, chip is sending mode, and chip is written in the data of transmission by spi bus, works as chip
One IRQ of meeting automatic trigger is interrupted after being sent completely, and STM32F411 is sent completely interruption by the response of external interrupt program, and
Chip, which is emptied, by spi bus sends status register.When CE is high level, chip is reception pattern, when there is data arrival
When, automatic trigger one interruption of IRQ meeting, STM32F411 receives data outage by the response of external interrupt program, total by SPI
Line reads received data, and read status register is emptied after the completion of reading.
NRF24L01 first determines whether mode, when for sending mode, drags down CE and detects whether to have data to send, when having
When data will be sent, the data sent are written by spi bus and IRQ is waited to be sent completely interruption, empty transmission state later
Register.When being to draw high CE for reception pattern, when there is IRQ interruption, data are read by spi bus, and remove reception state
Register.
Remote manipulator system is using STMF103 as main control chip, and for NRF24L01 as wireless transport module, main control chip is logical
The movement position of 2 road AD acquisition Joystick is crossed, and is connected with an OLED display screen.
Remote controler main control chip passes through spi bus first and configures reception pattern for NRF24L01, long-range micro- when receiving
When the data that type unmanned plane sends over, decoding data simultaneously shows data on OLED display screen.It is detected when by AD
When Joystick is slided, NRF24L01 is switched to transmission state, and send control information to long-range miniature drone, it
It is switched to reception pattern, real-time reception and the state of flight for showing current miniature drone again afterwards.
Miniature drone global positioning system uses ATGM332D beidou GPS dual mode receiver.ATGM332D is Vimicro
A Beidou and GPS dual mode receiver that collective releases.It supports A-GNSS, is cold-started acquisition sensitivity are as follows: -148dBm, it is fixed
Position precision is 2.5 meters, and primary positioning time is 32 seconds, is very suitable to miniature drone and uses as GPS receiver.Main control chip
STM32F411 obtains the data that ATGM332D beidou GPS dual mode receiver is sent by universal serial bus.It is micro-unmanned for this
Machine, the universal serial bus parameter setting of main control chip and GPS receiver chip are as follows: baud rate 9600, data bits 8, stop position 1
Position, no parity.
ATGM332D beidou GPS dual mode receiver exports the location data of NMEA0183 agreement by serial ports.NMEA0183
It is the reference format that National Marine Electronics association is formulated for sea with electronic equipment.Have become GPS navigation equipment system now
One standard agreement.The common sentence of NMEA-0183 agreement includes $ GPGGA, $ GPGSA, $ GPGSV, $ GPRMC, $ GPVTG, $
GPGLL, domestic multimode rake receiver output statement increase $ BD and $ GN for BEI-DOU position system according to the difference of station-keeping mode
The output format of prefix.
Miniature drone image delivering system is by miniature drone Image Acquisition and transmitting terminal and distance host receiver group
At miniature drone image delivering system is the image delivering system based on 5.8G carrier wave.
Miniature drone Image Acquisition and transmitting terminal are mounted on the front of miniature drone, make jointly with miniature drone
With the lithium battery power supply of 3.7V.Miniature drone Image Acquisition and transmitting terminal possess 48 channel sending points in total, and support PAL
It is exported with the video of NTSC format.
Miniature drone Image Acquisition and transmitting terminal start when miniature drone is powered, and carry out Image Acquisition and long-range number
According to transmission.This miniature drone sets channel 8 with transmitting terminal for miniature drone Image Acquisition and sends, and PAL format is sent.
Distance host receiver receives channel, distance host by the configuration of Automatic-searching CPCH reception point first when in use
Receiver converts data to MJPEG format when receiving channel acquisition and arriving data, and by usb bus to PC transmission.PC can
To call camera program to obtain in real time and show data.
Host computer GPS receiver system, as master control, passes through NRF24L01 wireless chip and remotely micro- using STM32F407
Type unmanned plane is communicated.STM32F407 master control is communicated by spi bus with NRF24L01 module, and STM32F407 passes through
CH340 serial ports turns USB chip and is connected for receiving the acquisition inquiry miniature drone position coordinates order and return that host computer is sent
Pass miniature drone location coordinate information.Its specific workflow are as follows: when host computer needs to obtain GPS data, host computer
Turn serial port chip by USB, sends " Get " order to host computer, host computer GPS receiver system receives after order to long-range
UAV system sends GPS and obtains order, and after receiving GPS data, GPS data is sent to host computer by serial ports.
Image Acquisition is an individual module, is worked independently, main control chip STM32F411 is unrelated with its work, image
Acquisition module possesses the power switch of oneself, can choose and is turned on or off in unmanned plane during flying.Image capture module with
Unmanned plane during flying system, which works independently, to be run.
Claims (6)
1. a kind of miniature drone based on AI vision, it is characterised in that: including miniature drone flight system, miniature drone
Wireless communication system, miniature drone global positioning system and miniature drone image delivering system, power module, rack, paddle
Leaf, motor and PC host computer, symmetrically placed four motors with blade on the rack quadrangle, central rack are equipped with micro-unmanned
Machine flight system, miniature drone wireless communication system, miniature drone global positioning system, miniature drone image transmitting system
System and power module, power module are that miniature drone flight system, miniature drone wireless communication system, miniature drone are complete
Ball positioning system and the power supply of miniature drone image delivering system, remote manipulator system are located inside remote controler；It is wherein micro-unmanned
Machine flight system is responsible for the rising and falling, fly, hovering of unmanned plane, height-lock control and fixed point flight；Miniature drone wireless communication system
It unites and is responsible for the transmission of miniature drone remote control and miniature drone distance flight data；Miniature drone global positioning system
It is responsible for the acquisition of location position information；Miniature drone image delivering system is responsible for real-time between live image and PC host computer
Transmission；Remote manipulator system is responsible for the switching, control and monitoring of miniature drone wireless communication system working condition.
2. the miniature drone according to claim 1 based on AI vision, it is characterised in that: the miniature drone flight
System contains main control chip STM32F411, nine axle sensor chip MPU9250, barometer chip BMP280, laser ranging sensing
Device VL53L01 and optical tracking sensor PWM3901 and 4 High-speed DC motors, the wherein IIC of main control chip STM32F411
Bus connects the pin 23 and pin 24 of nine axle sensor chip MPU9250, main control chip by pin 45, pin 46
STM32F411 is separately connected 4 High-speed DC motors by pin 43, pin 42, pin 21 and pin 15；Nine axle sensor cores
Pin 21, the pin 7 of piece MPU9250 is separately connected the pin 3 of barometer chip BMP280, pin 4；Main control chip
STM32F411 is separately connected pin 16, the pin of optical tracking sensor PWM3901 by pin 28, pin 27 and pin 26
18 with pin 17；The iic bus of main control chip STM32F411 passes through pin 41, pin 40 and laser range sensor VL53L01
Pin 10, pin 9 be connected, wherein optical tracking sensor PWM3901 and laser range sensor VL53L01 composition light
Flow module is installed perpendicular to ground.
3. the miniature drone according to claim 1 based on AI vision, it is characterised in that: the miniature drone is wireless
Communication system contains main control chip STM32F411 and unmanned plane wirelessly transferred chip NRF2401, main control chip STM32F411
It is communicated by spi bus and unmanned plane with wirelessly transferred chip NRF24L01 chip, utilizes unmanned plane wireless transmission core
The data transmission channel of piece NRF24L01 sends unmanned plane motor status, state of flight and location information, main control chip respectively
STM32F411 receives the data of unmanned plane wirelessly transferred chip NRF24L01, main control chip by the way of interrupting
STM32F411 is used to configure the Working mould of unmanned plane wirelessly transferred chip NRF24L01 by a GPIO connection CE pin
Formula, unmanned plane wirelessly transferred chip NRF24L01 are currently to send or receive mode by the decision of CE pin, when CE is low electricity
Usually, chip is sending mode, and chip is written in the data of transmission by spi bus, can be touched automatically after chip is sent completely
It sends out an IRQ to interrupt, main control chip STM32F411 is sent completely interruption by the response of external interrupt program, and passes through spi bus
It empties chip and sends status register；When CE is high level, chip is reception pattern, and when there is data arrival, IRQ can be automatic
An interruption is triggered, main control chip STM32F411 receives data outage by the response of external interrupt program, reads by spi bus
Received data are taken, read status register is emptied after the completion of reading.
4. the miniature drone according to claim 1 based on AI vision, it is characterised in that: the miniature drone whole world
Positioning system contains main control chip STM32F411 and positioning chip ATGM332D beidou GPS dual mode receiver, wherein main control chip
STM32F411 is connect by universal serial bus with positioning chip ATGM332D beidou GPS dual mode receiver, positioning chip ATGM332D
Beidou GPS dual mode receiver constantly sends the location data of NMEA-0183 agreement by serial ports, is sent to a distant place after parsing
PC machines.
5. the miniature drone according to claim 1 based on AI vision, it is characterised in that: the remote manipulator system contains
Remote controler main control chip STM32F103, remote controler wireless communication chips NRF2401+ and OLED display screen, remote controler main control chip
STM32F103 configures reception pattern for remote controler wireless communication chips NRF24L01 by spi bus, long-range micro- when receiving
When the data that type unmanned plane sends over, decoding data simultaneously shows data on OLED display screen, detects when by AD
When Joystick is slided, NRF24L01 is switched to transmission state, and send control information to long-range miniature drone, it
It is switched to reception pattern, real-time reception and the state of flight for showing current miniature drone again afterwards, wherein remote controler master control core
Piece STM32F103 sends control signals to long-range miniature drone by remote controler wireless communication chips NRF24L01,
OLED display screen shows course angle, pitch angle, roll angle and the miniature drone remaining capacity that miniature drone postbacks.
6. the miniature drone according to claim 1 based on AI vision, it is characterised in that: the miniature drone image
Transmission system contains miniature drone Image Acquisition sending device and miniature drone distance host reception device, wherein miniature nothing
Man-machine Image Acquisition sending device contains camera, control template and antenna, is connected with camera and antenna in control module；It is micro-
Type unmanned plane distance host reception device contains miniature drone distance host receiver and PC host computer, wherein miniature drone
After distance host receiver and miniature drone Image Acquisition sending device carry out channel matching, miniature drone distance host is connect
Receiving device can decode the data received and be re-encoded as the image of MJPEG format, and it is upper by USB interface to be transferred to PC
Machine provides image data for AI vision rescue system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910394128.3A CN110109478A (en) | 2019-05-13 | 2019-05-13 | A kind of miniature drone based on AI vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910394128.3A CN110109478A (en) | 2019-05-13 | 2019-05-13 | A kind of miniature drone based on AI vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110109478A true CN110109478A (en) | 2019-08-09 |
Family
ID=67489655
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910394128.3A Pending CN110109478A (en) | 2019-05-13 | 2019-05-13 | A kind of miniature drone based on AI vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110109478A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111711465A (en) * | 2020-06-17 | 2020-09-25 | 湖南光亚腾信互联科技有限公司 | Small-size KTV wireless calling transmission system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206696178U (en) * | 2017-04-18 | 2017-12-01 | 南昌航空大学 | A kind of gas probing system based on flying platform |
| KR20180058106A (en) * | 2016-11-23 | 2018-05-31 | 전남대학교산학협력단 | System for searching honeycomb using unmanned aerial vehicle |
| CN108706101A (en) * | 2018-06-04 | 2018-10-26 | 苏州亨允晟机电科技有限公司 | A kind of medical treatment dedicated unmanned machine |
| CN109324638A (en) * | 2018-12-05 | 2019-02-12 | 中国计量大学 | Quadrotor drone Target Tracking System based on machine vision |
| CN109656260A (en) * | 2018-12-03 | 2019-04-19 | 北京采立播科技有限公司 | A kind of unmanned plane geographic information data acquisition system |
-
2019
- 2019-05-13 CN CN201910394128.3A patent/CN110109478A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20180058106A (en) * | 2016-11-23 | 2018-05-31 | 전남대학교산학협력단 | System for searching honeycomb using unmanned aerial vehicle |
| CN206696178U (en) * | 2017-04-18 | 2017-12-01 | 南昌航空大学 | A kind of gas probing system based on flying platform |
| CN108706101A (en) * | 2018-06-04 | 2018-10-26 | 苏州亨允晟机电科技有限公司 | A kind of medical treatment dedicated unmanned machine |
| CN109656260A (en) * | 2018-12-03 | 2019-04-19 | 北京采立播科技有限公司 | A kind of unmanned plane geographic information data acquisition system |
| CN109324638A (en) * | 2018-12-05 | 2019-02-12 | 中国计量大学 | Quadrotor drone Target Tracking System based on machine vision |
Non-Patent Citations (1)
| Title |
|---|
| 姜成平: "一种四旋翼无人机控制系统的设计与实现研究", 《中国优秀硕士学位论文全文数据库》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111711465A (en) * | 2020-06-17 | 2020-09-25 | 湖南光亚腾信互联科技有限公司 | Small-size KTV wireless calling transmission system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104808675B (en) | Body-sensing flight control system and terminal device based on intelligent terminal | |
| CN107438804B (en) | It is a kind of for controlling the wearable device and UAV system of unmanned plane | |
| CN106970651A (en) | A kind of the autonomous flight system and control method of four rotor wing unmanned aerial vehicles of view-based access control model navigation | |
| CN108062108A (en) | A kind of intelligent multi-rotor unmanned aerial vehicle and its implementation based on airborne computer | |
| CN110488850A (en) | A kind of quadrotor drone vision navigation system and method based on raspberry pie | |
| CN206532142U (en) | A kind of rotor wing unmanned aerial vehicle tenacious tracking of view-based access control model moves the control system of target | |
| CN108965124A (en) | A kind of unmanned aerial vehicle control system | |
| CN103529465A (en) | Indoor and outdoor person seamless positioning device | |
| CN105974456A (en) | Autonomous underwater robot combined navigation system | |
| CN108845587A (en) | Unmanned plane real-time control system and unmanned plane | |
| CN106325289A (en) | Renesas R5F100LEA master control-based four-rotor flight controller and control method thereof | |
| CN105589467A (en) | Low-cost expansion flight attitude sensor module | |
| CN109945861A (en) | Small drone is directed at tracking device and method with ground surface end uni-directional wireless optic communication | |
| CN103795921A (en) | Automatic testing photography control device | |
| CN107896317A (en) | Aircraft Aerial Images Integrated Processing Unit | |
| CN107193380A (en) | A kind of low-cost and high-precision virtual reality positioning and interactive system | |
| CN110109478A (en) | A kind of miniature drone based on AI vision | |
| CN108267753A (en) | The method, system and device that a kind of UAV Landing point automatically configures | |
| CN110309883A (en) | A kind of unmanned plane autonomic positioning method of view-based access control model SLAM | |
| CN206892666U (en) | A kind of autonomous flight system of four rotor wing unmanned aerial vehicles of view-based access control model navigation | |
| CN104515522A (en) | Underwater magnetic field and six-axis inertia combined positioning system | |
| CN204623845U (en) | Be applicable to the sky eye aircraft investigated | |
| CN208188678U (en) | Unmanned machine positioning device and unmanned plane | |
| CN212623993U (en) | Intelligent interactive pen and virtual reality system | |
| CN108107905A (en) | A kind of scenic spot is taken photo by plane flight system and its control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190809 |
|
| WD01 | Invention patent application deemed withdrawn after publication |