CN110271685A - A kind of unmanned plane of taking photo by plane based on ARM and FPGA - Google Patents
A kind of unmanned plane of taking photo by plane based on ARM and FPGA Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- 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 present invention relates to a kind of unmanned planes of taking photo by plane based on ARM and FPGA, including image transducer subsystem, FPGA image procossing accelerates subsystem, ARM image application subsystem, power-supply management system, ARM flies control subsystem, motor control subsystem, GPS communication subsystem and WIFI subsystem, image transducer subsystem accelerates subsystem to connect with FPGA image procossing, FPGA image procossing accelerates subsystem to connect with ARM image application subsystem, ARM image application subsystem flies control subsystem with ARM and connect, one end connection ARM of motor control subsystem flies control subsystem, the other end connects holder, steering engine, WIFI subsystem is connect with ARM image application subsystem, GPS communication subsystem connects ARM and flies control subsystem, power-supply management system and difference Connecting FPGA image procossing accelerates subsystem, ARM image application subsystem and ARM to fly control subsystem.Compared with prior art, the calculating task that the present invention can be burdensome saves resource, realizes the real-time defrosting function of video, easy to operate, and automatic cruising.
Description
Technical field
It takes photo by plane unmanned plane the present invention relates to one kind, more particularly, to a kind of unmanned plane of taking photo by plane based on ARM and FPGA.
Background technique
As unmanned plane of more and more taking photo by plane is used for the video record of the shooting of film, recording and the important events of program
System etc., and ordinary people is also being continuously increased the consumption for unmanned plane of taking photo by plane.It is not only needed using the video that unmanned plane takes high quality
Excellent flight skill, photographic knowledge abundant, excellent Airborne Camera performance are wanted, while also needing good atmospheric condition.
Always want to that the video taken is clear, quality is high when being taken photo by plane using unmanned plane.But since the country pollutes
Aggravation, it is not high that haze weather, air quality often occurs in most domestic region, and haze sky becomes normality.Haze is by suspending
The particles such as small water droplet in an atmosphere, aerosol composition, can be to light absorption and scattering, to reduce the matter of Aerial Images
Amount.In order to obtain clearly Aerial Images, the personnel that take photo by plane are handled often through the image demisting that the end PC software carries out the later period, in this way
Timeliness is often lost, the personnel of taking photo by plane cannot view clearly Aerial Images in real time.
The parameters such as exposure mode, exposure compensating, ISO, white balance, focusing can only be arranged in existing unmanned plane of taking photo by plane, cannot
The processing such as demisting, brightening enhancing, denoising is carried out to video of taking photo by plane in real time.Demisting scheduling algorithm operation needs are carried out to video to disappear
Consume a large amount of computing resource, the calculating task that the CPU of general unmanned plane of taking photo by plane can not be burdensome, and to the compatibility of peripheral hardware
Poor, in addition, still not smart enough in the control of unmanned plane, inconvenient, stability is poor.
Summary of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind to be based on ARM and FPGA
Unmanned plane of taking photo by plane.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of unmanned plane of taking photo by plane based on ARM and FPGA, including imaging sensor being arranged on six rotor wing unmanned aerial vehicles
System, FPGA image procossing accelerate subsystem, ARM image application subsystem, power-supply management system, ARM to fly control subsystem, motor
Control subsystem, GPS communication subsystem and WIFI communication subsystem, the image transducer subsystem and FPGA image procossing
Accelerate subsystem connection, the FPGA image procossing accelerates subsystem to connect with ARM image application subsystem, the ARM
Image application subsystem flies control subsystem with ARM and connect, and one end connection ARM of the motor control subsystem flies control subsystem
System, the other end connect holder, steering engine, and the WIFI communication subsystem is connect with ARM image application subsystem, the GPS
Communication subsystem connects ARM and flies control subsystem, and the power-supply management system accelerates subsystem with FPGA image procossing is separately connected
System, ARM image application subsystem and ARM fly control subsystem.
Preferably, the ARM image application subsystem uses four core ARM CPU, four core ARM CPU connection 2GB
DDR3 dynamic memory, and accelerate subsystem to connect with FPGA image procossing by PCIE high-speed interface, four core ARM CPU are logical
WIFI communication subsystem is crossed to connect with earth station.
Preferably, the FPGA image procossing accelerates subsystem to use Kintex-7XC7K410T, Kintex-
7XC7K410T configures FPGA by the outer Nor Flash of piece, the external 2GB DDR3 memory of Kintex-7XC7K410T.
Preferably, the Kintex-7XC7K410T be equipped with DDR Controller module, HDMI RX IP module,
UART IP module, PCIe IP module and image demisting algorithmic block, the image demisting algorithmic block are equipped with multiclass image procossing
Accelerating algorithm IP.
Preferably, it includes ATSAME70Q21 processor, STM32F303 microcontroller, master that the ARM, which flies control subsystem,
CPU and Inertial Measurement Unit are controlled, the ATSAME70Q21 processor connects ARM image application subsystem by SPI interface,
The ATSAME70Q21 processor carries out data communication by SPI interface and STM32F303 microcontroller, described
STM32F303 microcontroller is connect with motor control subsystem, and the master cpu connects inertia measurement list by I2C bus
Member.
Preferably, the Inertial Measurement Unit include three-axis gyroscope, three axis accelerometer, three axis geomagnetic sensors,
Barometer and electronic compass.
Preferably, the motor control subsystem includes cradle head controllor and steering engine controller, the STM32F303
Cradle head controllor and steering engine controller are controlled respectively by three MP6536 chips.
Preferably, the WIFI communication subsystem uses AR1021X WIFI communication module.
Preferably, the power-supply management system includes as 11.4 volts of lithium batteries of power supply of the whole machine, to for each son
The LM26480 power management chip and the BQ25700 boost charge core to realize charging to lithium battery that system is powered
Piece, the power-supply management system are controlled by cpu chip STM32F30.
Preferably, the image transducer subsystem includes PLK310K holder camera and 3D sensor, PLK310K cloud
Platform camera, 3D sensor are separately connected Kintex-7XC7K410T, and PLK310K holder camera transmits picture number by HDMI interface
According to, and PLK301K holder is connected by UART interface, 3D sensor uses DCAM100 mould group, is schemed by USB interface and FPGA
As processing accelerates subsystem connection.
Compared with prior art, the invention has the following advantages that
One, the present invention uses heterogeneous polynuclear heart computing platform, is realized by the powerful computing capability that isomery core provides
Realtime graphic demisting algorithm and other realtime graphic algorithms, hardware use modular design method, externally provide standard
Image, sensor, the control standard interfaces such as signal, different peripheral hardware such as imaging sensor, 3D sensor etc. can be compatible with；
Two, the present invention realizes that ARM flies control subsystem, ARM image application subsystem using a variety of frameworks, various processor respectively
System, FPGA image procossing accelerate subsystem and power-supply management system, wherein FPGA image procossing accelerates subsystem to use
Kintex-7XC7K410T completes the acceleration task of image procossing, and PLK310K holder camera model passed by HDMI2.0 interface
Send realtime image data into fpga chip, fpga chip complete the acquisition of image, the adjustment of caching and image resolution ratio,
The work such as the acceleration of image algorithm, the present invention by the heavy algorithm task such as real time video processing independently of CPU except, can bear
Heavy calculating task saves resource；
Three, the present invention provides a kind of unmanned plane of taking photo by plane based on ARM+FPGA, the operation image application system on ARM chip
It unites and the image algorithm preferential based on dark is realized by FPGA, to realize the real-time defrosting function of video, while can be with
Using the reconfigurable feature of FPGA, the functions such as Aerial Images real-time de-noising sound, target identification and tracking are realized on FPGA,
Facilitate unmanned plane to take photo by plane under the bad environment of haze and atmosphere permeability, steady and audible figure of taking photo by plane in real time is provided
Picture；
Four, unmanned plane of the present invention is equipped with WIFI communication subsystem, and WIFI communication subsystem connects ARM and flies control subsystem, uses
Family can send flight control instruction to unmanned plane by earth station, fly the flight of control subsystem controls unmanned plane, behaviour by ARM
Make convenient, intelligence；
Five, unmanned plane of the invention is equipped with GPS communication subsystem, and GPS communication subsystem flies control subsystem with ARM and connect,
GPS communication subsystem can provide high-precision GPS positioning function, unmanned plane can be obtained by GPS position where unmanned plane,
The information such as the position of task and distance, ARM, which flies control subsystem, can set the target and homeposition of unmanned plane, and according to GPS number
Factually show automatic cruising；
Six, unmanned plane of the invention is six rotor wing unmanned aerial vehicles, and the load capacity of aircraft is improved by more rotor structures
And stability, there is better stability relative to traditional quadrotor structure, and then improve the stability for middle posture of taking photo by plane.
Detailed description of the invention
Fig. 1 is that the present invention is based on the structural block diagrams of the unmanned plane of taking photo by plane of ARM and FPGA；
Fig. 2 is the structural block diagram that FPGA image procossing accelerates subsystem in the present invention；
Fig. 3 is the primary structure block diagram of ARM image application subsystem in the present invention；
Fig. 4 is the structural block diagram that ARM flies control subsystem in the present invention.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.Obviously, described embodiment is this
A part of the embodiment of invention, rather than whole embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art exist
Every other embodiment obtained under the premise of creative work is not made, all should belong to the scope of protection of the invention.
As shown in Figure 1, the present invention relates to a kind of unmanned plane of taking photo by plane based on ARM and FPGA, including setting six rotors without
Image transducer subsystem, FPGA image procossing on man-machine accelerate subsystem, ARM image application subsystem, power management system
System, ARM fly control subsystem, motor control subsystem, GPS communication subsystem and WIFI communication subsystem.
Image transducer subsystem and FPGA image procossing accelerate subsystem connect, FPGA image procossing accelerate subsystem and
The connection of ARM image application subsystem, ARM image application subsystem fly control subsystem with ARM and connect；The one of motor control subsystem
End connection ARM flies control subsystem, and the other end connects holder, steering engine.WIFI communication subsystem and ARM image application subsystem connect
It connects；GPS communication subsystem connects ARM and flies control subsystem；Power-supply management system accelerates subsystem with FPGA image procossing is separately connected
System, ARM image application subsystem and ARM fly control subsystem.
ARM flies control subsystem hardware and is mainly made of two processors: a processor model is ATSAME70Q21, should
Chip be single core ARM chip, maximum dominant frequency be 300MHZ, chip internal program memory space 2MB, processing by SPI interface with
STM32F303 carries out data communication, and STM32F303 controls three MP6536 chip drives motor control by pwm signal
System, motor control subsystem includes cradle head controllor and steering engine controller, for driving the movement of holder and steering engine.Another
Processor is master cpu, connects Inertial Measurement Unit by I2C bus, Inertial Measurement Unit includes three-axis gyroscope, three axis
Accelerometer, three axis geomagnetic sensors, barometer and electronic compass composition.Three-axis gyroscope, three axis accelerometer, three axis earth magnetism
Sensor uses chip MPU9150, and barometer uses MS5611, and two kinds of chips are communicated by I2C and CPU.
ARM image application subsystem runs OPENCV cross-platform computer vision library and machine learning frame
Tensorflow for realizing the functions such as all kinds of image processing applications and target identification, and is accelerated by FPGA image procossing
Subsystem realizes the acceleration of all kinds of image applications, to reach real-time.Since ARM image application subsystem needs to run large size
Image processing program, so needing a powerful CPU to run the image application programs of all kinds of complexity, ARM image application
Subsystem uses four core ARM CPU, and system program is stored on EMMC, and 2GB DDR3 dynamic memory is deposited as program operation
The buffer storage of reservoir and image.ARM image application subsystem provides SATA interface and is permanently deposited with expanding large capacity image
Peripheral hardware is stored up, system accelerates subsystem communication by PCIE high-speed interface and FPGA image procossing, and it is logical that PCIE provides high-speed communication
Road, can carry the realtime image data of the various code streams of various resolution ratio, IMX6Q by AR1021X WIFI communication subsystem and
Earth station carries out the real-time Transmission of image, and IMX6Q is by programmable power supply managing chip MMPF0100 to ARM image application subsystem
The power management that system is refined.(SuSE) Linux OS is run on IMX6Q, for large-scale image library system OpenCV and
The programs such as machine learning frame Tensorflow provide platform, and operation image handles application program, Yi Jitu on linux system
Picture transmission application program, image processing application program, such as realizing various image procossings: image demisting, image sharpening, image
Denoising, target recognition and classification, target following etc..The transmission of image transmitting application program controlling image ground station.Video
The image processing algorithm that middle requirement of real-time is high, operand is big transfers to FPGA image procossing that subsystem is accelerated to complete.
Image transducer subsystem includes PLK310K holder camera and 3D sensor.PLK310K holder camera passes through HDMI
Interface transmits image data, and realizes cradle head control by UART interface.3D sensor uses DCAM100 mould group, is connect by USB
Mouth and FPGA image procossing accelerate subsystem communication, carry out the identification of object by deep vision algorithm and 3D is scanned to realize
Barrier avoiding function in-flight.
Traditional CPU either ARM framework or X86-based are unsuitable for carrying out a large amount of image operation, FPGA image
Processing acceleration subsystem completes the acceleration task of image procossing using Kintex-7XC7K410T, and XC7K410T passes through outside piece
Nor Flash configures FPGA.External 2GB DDR3 memory stores a large amount of image data and calculates pilot process
The data of middle generation.System transmits a large amount of data to IMX6Q by PCIE high-speed interface.PLK310K holder camera model is logical
HDMI2.0 interface transmission realtime image data is crossed into fpga chip, fpga chip completes the acquisition of image, caching, Yi Jitu
As work such as the adjustment of resolution ratio, the acceleration of image algorithm.In FPGA configured with DDR Controller, HDMI RX IP,
The IP module such as UART IP, PCIe IP.Occupy the most resources of FPGA is image demisting algorithmic block, which is equipped with all kinds of images
Accelerating algorithm IP is handled, load different image processing algorithms using the reconfigurable technology of dynamic can configure to what FPGA was delimited
Region.MicroBlaze Embedded Soft Core is configured in FPGA, for logic control simple inside FPGA.
Power-supply management system cooperates 4 using BQ25700 boost charge chip as power supply using 11.4 volts of lithium battery
Metal-oxide-semiconductor, realization are charged the battery by the charger of 5V.Power-supply management system passes through independent one 32 CPU cores
Piece STM32F303 is managed the power supply of entire UAV system, controls two LM26480 electricity by STM32F303
Source control chip is the power supply of each subsystem.Front and back program is run on STM32F303 chip, the main control chip of each subsystem is logical
Crossing GPIO maintains paced heart rate to reset if being not received by heartbeat signal to corresponding main control chip.
STM32F303 obtained the operating status of each unit every 10 seconds by SPI interface, tieed up inside power-supply management system CPU
The operating status machine for holding each unit, when the state of each subsystem enters idle, power management CPU is responsible for close portion and exceptionally sets
Power supply is to save power consumption, and when subsystem enters working condition, power-supply management system is responsible for peripheral hardware and opens power supply.Power management
The upper monitoring programme for running battery capacity simultaneously of CPU, to guarantee that systematization has sufficient power supply to make a return voyage, while power-supply management system
Need to manage the process of charging and discharging, the electricity for carrying out charge and discharge process calculates.
GPS communication subsystem provides high-precision GPS positioning function using SKG12D, and unmanned plane can pass through GPS data
The information such as position where unmanned plane, the position of task and distance are calculated, the winged control program setting of control subsystem can be flown by ARM
Then the target and homeposition of unmanned plane realize automatic cruising according to GPS data.The software that ARM flies control subsystem uses PX4
Open source flying-controlled box, operates on efficient real time operating system Nuttx, Nuttx provides portable operating system and connects
Mouth is to facilitate the integrated of flying-controlled box.Flying-controlled box every extremely short time interval obtain flight, the hovering of aircraft with
And the data of attitudes vibration, control instruction is assigned by operation and judgement, flight attitude adjustment is completed by steering engine controller.
WIFI communication subsystem connect ARM fly control subsystem, user can by earth station send flight control instruction to
Unmanned plane flies the flight of control subsystem controls unmanned plane by ARM.WIFI communication subsystem preferentially uses AR1021X WIFI logical
Believe module.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
The staff for being familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection scope subject to.
Claims (10)
1. a kind of unmanned plane of taking photo by plane based on ARM and FPGA, which is characterized in that including the image being arranged on six rotor wing unmanned aerial vehicles
Sensor subsystem, FPGA image procossing accelerate subsystem, ARM image application subsystem, power-supply management system, ARM to fly control
System, motor control subsystem, GPS communication subsystem and WIFI communication subsystem, the image transducer subsystem with
FPGA image procossing accelerates subsystem connection, and the FPGA image procossing accelerates subsystem and ARM image application subsystem to connect
It connects, the ARM image application subsystem flies control subsystem with ARM and connect, one end connection of the motor control subsystem
ARM flies control subsystem, and the other end connects holder, steering engine, and the WIFI communication subsystem and ARM image application subsystem connect
It connects, the described GPS communication subsystem connection ARM flies control subsystem, the power-supply management system and is separately connected FPGA image
Processing accelerates subsystem, ARM image application subsystem and ARM to fly control subsystem.
2. a kind of unmanned plane of taking photo by plane based on ARM and FPGA according to claim 1, which is characterized in that the ARM figure
Picture application subsystem uses four core ARM CPU, four core ARM CPU connection 2GB DDR3 dynamic memories, and passes through PCIE
High-speed interface accelerates subsystem to connect with FPGA image procossing, and four core ARM CPU pass through WIFI communication subsystem and earth station
Connection.
3. a kind of unmanned plane of taking photo by plane based on ARM and FPGA according to claim 2, which is characterized in that the FPGA
Image procossing accelerates subsystem that Kintex-7 XC7K410T, Kintex-7XC7K410T is used to pass through the outer Nor Flash couple of piece
FPGA is configured, the external 2GB DDR3 memory of Kintex-7 XC7K410T.
4. a kind of unmanned plane of taking photo by plane based on ARM and FPGA according to claim 3, which is characterized in that described
Kintex-7 XC7K410T is equipped with DDR Controller module, HDMI RX IP module, UART IP module, PCIe IP
Module and image demisting algorithmic block, the image demisting algorithmic block are equipped with multiclass image procossing accelerating algorithm IP.
5. a kind of unmanned plane of taking photo by plane based on ARM and FPGA according to claim 1, which is characterized in that the ARM flies
Control subsystem includes ATSAME70Q21 processor, STM32F303 microcontroller, master cpu and Inertial Measurement Unit, described
ATSAME70Q21 processor connects ARM image application subsystem by SPI interface, and the ATSAME70Q21 processor passes through
SPI interface and STM32F303 microcontroller carry out data communication, the STM32F303 microcontroller and motor control subsystem
System connection, the master cpu connect Inertial Measurement Unit by I2C bus.
6. a kind of unmanned plane of taking photo by plane based on ARM and FPGA according to claim 5, which is characterized in that the inertia
Measuring unit includes three-axis gyroscope, three axis accelerometer, three axis geomagnetic sensors, barometer and electronic compass.
7. a kind of unmanned plane of taking photo by plane based on ARM and FPGA according to claim 5, which is characterized in that the motor
Control subsystem includes cradle head controllor and steering engine controller, and the STM32F303 is controlled respectively by three MP6536 chips
Cradle head controllor and steering engine controller processed.
8. a kind of unmanned plane of taking photo by plane based on ARM and FPGA according to claim 2, which is characterized in that the WIFI
Communication subsystem uses AR1021X WIFI communication module.
9. a kind of unmanned plane of taking photo by plane based on ARM and FPGA according to claim 1, which is characterized in that the power supply
Management system includes 11.4 volts of lithium batteries as power supply of the whole machine, the LM26480 power supply to be powered for subsystems
Managing chip and the BQ25700 boost charge chip to realize charging to lithium battery, the power-supply management system is by CPU
Chip STM32F30 control.
10. a kind of unmanned plane of taking photo by plane based on ARM and FPGA according to claim 3, which is characterized in that the image
Sensor subsystem includes PLK310K holder camera and 3D sensor, and PLK310K holder camera, 3D sensor are separately connected
Kintex-7 XC7K410T, PLK310K holder camera transmits image data by HDMI interface, and is connected by UART interface
PLK301K holder, 3D sensor use DCAM100 mould group, accelerate subsystem to connect with FPGA image procossing by USB interface.
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