CN116107325A - Inspection control system for carrying cradle head camera on unmanned aerial vehicle - Google Patents
Inspection control system for carrying cradle head camera on unmanned aerial vehicle Download PDFInfo
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- CN116107325A CN116107325A CN202211535026.7A CN202211535026A CN116107325A CN 116107325 A CN116107325 A CN 116107325A CN 202211535026 A CN202211535026 A CN 202211535026A CN 116107325 A CN116107325 A CN 116107325A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
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Abstract
The application provides an unmanned aerial vehicle carries on inspection control system of cloud platform camera belongs to the control technical field that takes photo by plane. The unmanned aerial vehicle flight control system comprises an unmanned aerial vehicle flight control system, a camera and a flight system wireless control terminal, wherein the unmanned aerial vehicle flight control system comprises an image receiving unit and an unmanned aerial vehicle flight controller connected with the output end of the image receiving unit; the camera is connected with the unmanned aerial vehicle flight controller and can transmit aerial photographing information to the image receiving unit; the unmanned aerial vehicle flight controller is respectively connected with the remote control system and the mobile phone in a communication way, and a monitoring platform is arranged in the mobile phone and used for feeding back or early warning aerial photographing information. The unmanned aerial vehicle is difficult to make marks with the comparison analysis of original picture with the picture of taking among the prior art and upload to the problem that monitor platform carried out the early warning has been solved to this application, does benefit to the rear personnel in time and makes remedial measure.
Description
Technical Field
The application relates to the field of aerial photography monitoring, in particular to a patrol control system for an unmanned aerial vehicle carrying a cradle head camera.
Background
Unmanned aerial vehicles are aircraft equipped with the necessary data processing units, sensors, automatic controllers, and communication systems, capable of completing autonomous flight tasks without human intervention. With the rapid development of related fields such as sensing technology, micro-electromechanical systems, intelligent control technology, wireless communication and the like, unmanned aerial vehicles are widely valued worldwide, and are widely applied to military and civil fields.
When the unmanned aerial vehicle is patrolled, the camera is usually required to be used for shooting the object to be appointed, in order to improve the shooting stability of the camera, a cradle head is usually installed on the unmanned aerial vehicle, and then the camera is installed on the cradle head.
After the existing unmanned aerial vehicle shoots an object to be appointed, the acquired picture cannot be timely compared with the original picture to analyze and mark, and the marked picture is timely uploaded and fed back to the platform to perform early warning work, so that the personnel behind the platform cannot take measures timely to remedy the situation.
How to invent a patrol control system for an unmanned aerial vehicle carrying a pan-tilt camera to improve the problems becomes a problem to be solved urgently by the person skilled in the art.
Disclosure of Invention
In order to make up the defects, the application provides a patrol control system for a cradle head camera carried by an unmanned aerial vehicle, and aims to solve the problem that the unmanned aerial vehicle in the prior art is difficult to quickly compare a shot picture with an original picture, mark the picture and upload the picture to a monitoring platform for early warning.
The embodiment of the application provides an unmanned aerial vehicle carries on inspection control system of cloud platform camera, include
The unmanned aerial vehicle flight control system comprises an image receiving unit and an unmanned aerial vehicle flight controller connected with the output end of the image receiving unit;
the camera is connected with the unmanned aerial vehicle flight controller and can transmit aerial photographing information to the image receiving unit;
the unmanned aerial vehicle flight controller is respectively connected with the remote control system and the mobile phone in a communication way, and a monitoring platform is arranged in the mobile phone and used for feeding back or early warning aerial photographing information.
In a specific embodiment, the inspection control system of the unmanned aerial vehicle carrying the pan-tilt camera further comprises a pan-tilt aerial photographing controller, wherein the pan-tilt aerial photographing controller is electrically connected with the unmanned aerial vehicle flight controller through an RS232 serial port, and is used for stabilizing the camera to photograph and is connected with a shutter of the camera through a camera interface of the camera.
In the implementation process, the main control chip adopted by the cradle head aerial photography controller is an AVR chip, RS232 serial communication is carried out between the cradle head aerial photography controller and the unmanned aerial vehicle flight controller through the serial port driving chip, meanwhile, the cradle head aerial photography controller is electrically connected with a remote control system on the ground, after receiving an instruction of the unmanned aerial vehicle ground remote control system, the AVR chip carries out instruction analysis, related operation of the instruction is executed, and the cradle head aerial photography controller controls the photographing frequency and the shutter half-stroke time of a camera through controlling square wave frequency and duty cycle output by a camera interface (namely an I/O interface).
In a specific embodiment, the image receiving unit is used for receiving aerial object picture information and performing pre-processing.
In a specific embodiment, the mobile phone is specifically an android mobile phone, the unmanned aerial vehicle flight control system further comprises a repeater, a serial port Wi F i module is arranged in the repeater and used for establishing connection with the mobile phone, and a display screen of the mobile phone is configured as a picture display unit and used for displaying the aerial photo-collected object pictures.
In the implementation process, the serial port Wi F i module built in the repeater is utilized to conveniently transmit the aerial specified object picture to the mobile phone in time, the aerial specified object picture is displayed through the display screen of the mobile phone, meanwhile, the picture processor is arranged in the mobile phone, key identification is conveniently carried out on the transmitted picture, and namely the analysis and comparison change position can be identified.
In a specific embodiment, the monitoring platform is specifically set as a third party APP in the mobile phone.
In the implementation process, the third party APP is internally provided with the picture uploading function, and the monitoring window is utilized to facilitate the third party APP rear end operators to timely perceive the early warning information uploaded by the unmanned aerial vehicle in an aerial way, so that a solution is timely made.
In a specific embodiment, the unmanned aerial vehicle flight control system further comprises a flight attitude acquisition module and a wireless transceiver module, and the wireless transceiver module can receive the data information acquired by the flight attitude acquisition module and processed by the unmanned aerial vehicle flight controller through a remote control system and can reversely control the data information.
In the implementation process, the wireless transceiver module adopts a 2.4G wireless transceiver module, is widely applied to wireless remote control, wireless earphone, unmanned aerial vehicle, wireless keyboard, wireless monitoring, non-contact RF smart card, small wireless data terminal, safe fireproof system, wireless remote control system, biological signal acquisition and hydrological monitoring industry, and is used for connecting unmanned aerial vehicle flight controller and remote control system, so that an operator can conveniently control the flight direction and speed of unmanned aerial vehicle.
In a specific embodiment, the flight attitude acquisition module includes a gyroscopic sensor and an encoder, the gyroscopic sensor being located above the encoder, the gyroscopic sensor and the encoder both being electrically connected to the unmanned aerial vehicle flight controller.
In the implementation process, the gyroscope sensor and the encoder are both angular velocity sensors, and are used for sensing velocity signals and acceleration signals, the gyroscope sensor is an angular motion detection device which uses a momentum moment sensitive shell of a high-speed revolving body to rotate around one or two axes orthogonal to a rotation shaft relative to an inertia space, the angular motion detection device manufactured by utilizing other principles plays a role of a gyroscope, and the gyroscope sensor and the encoder are matched to facilitate auxiliary control of stable flight of the unmanned aerial vehicle.
In a specific embodiment, the inspection control system of the unmanned aerial vehicle-mounted tripod head camera further comprises a blade driving module, wherein the blade driving module is electrically connected with the unmanned aerial vehicle flight controller and used for controlling the movement gesture of the unmanned aerial vehicle.
In the implementation process, the flight command of the unmanned aerial vehicle flight controller can be executed by using the blade driving module.
In a specific embodiment, the blade driving module comprises an electronic speed regulator and a motor which are electrically connected, the electronic speed regulator is connected with the output end of the unmanned aerial vehicle flight controller, and the encoder is connected with the motor through a shaft.
In the implementation process, the electronic speed regulator can be divided into a brush electric regulator and a brushless electric regulator according to different motors, and adjusts the rotating speed of the motors according to control signals, so that the flying speed of the unmanned aerial vehicle is adjusted.
In a specific embodiment, the inspection control system of the unmanned aerial vehicle-mounted pan-tilt camera further comprises a battery electrically connected to the unmanned aerial vehicle flight controller for supplying power thereto.
In the implementation process, the battery can be a 6S 22.8V 22000MAH unmanned aerial vehicle battery, and the lithium battery can be customized, so that power supply for the unmanned aerial vehicle can be realized.
The beneficial effects are that:
the utility model provides an unmanned aerial vehicle carries on inspection control system of cloud platform camera, after arriving the different angular position of appointed article through remote control system control unmanned aerial vehicle, cloud platform controller control camera is aimed at the article and is shot, obtain the picture of appointed article different angles from this, and pass through the picture receiving unit with the picture and transmit unmanned aerial vehicle flight controller, rethread unmanned aerial vehicle flight controller control repeater is with picture Wi F i transmission to the picture processor in the cell-phone, the manual work carries out the analysis contrast with the original picture that stores in the cell-phone, judge whether appointed article removes or is damaged, and mark with former picture region that stores the picture differently, log in monitor platform through the cell-phone, shoot the picture with the unmanned aerial vehicle that makes the mark and upload the feedback, make the early warning that the article changes promptly, unmanned aerial vehicle is difficult to make mark with the analysis of original picture contrast fast among the prior art and upload to monitor platform and carry out the early warning problem, do benefit to the rear personnel in time make the remedial measure.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some examples of the present application and therefore should not be considered as limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a block diagram of an inspection control system of an unmanned aerial vehicle-mounted pan-tilt camera according to an embodiment of the present application;
fig. 2 is a block diagram of a flight attitude acquisition module according to an embodiment of the present application;
fig. 3 is a block diagram of a blade driving module according to an embodiment of the present application.
In the figure: 100-unmanned aerial vehicle flight control system; 110-an image receiving unit; 120-unmanned aerial vehicle flight controller; 140-a repeater; 160-a flight attitude acquisition module; 161-a gyroscopic sensor; 162-encoder; 170-a wireless transceiver module; 180-blade drive module; 181-an electronic governor; 182-motor; 190-cell; 200-a cradle head aerial photographing controller; 300-camera; 400-a flight system wireless control terminal; 410-a remote control system; 420-mobile phone; 421-monitoring platform.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some of the embodiments of the present application, but not all of the embodiments. All other embodiments, based on the embodiments herein, which would be apparent to one of ordinary skill in the art without undue burden are within the scope of the present application.
Accordingly, the following detailed description of the embodiments of the present application, provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, based on the embodiments herein, which would be apparent to one of ordinary skill in the art without undue burden are within the scope of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
Examples
Referring to fig. 1-3, the present application provides an inspection control system for a pan-tilt camera of an unmanned aerial vehicle, including
The unmanned aerial vehicle flight control system 100, unmanned aerial vehicle flight control system 100 includes image receiving element 110 and unmanned aerial vehicle flight controller 120 that links to each other with its output, unmanned aerial vehicle flight controller 120 optional model is AT32F413C8T7 or ZZCX2K02, unmanned aerial vehicle flight controller 120 is unmanned aerial vehicle's core control part, its task is to receive the data from flight gesture collection module 160, convert into the control signal that the electronic governor needs through specific flight control algorithm, thereby change and control unmanned aerial vehicle's gesture (pitch/roll/course condition), geographical position and altitude, therefore utilize unmanned aerial vehicle flight controller 120 main function is the normal flight gesture of automatic maintenance aircraft.
The camera 300, the camera 300 is connected with the unmanned aerial vehicle flight controller 120, and can transmit aerial photographing information to the image receiving unit 110; the camera 300 is essentially an image capturing unit, and the image receiving unit 110 is utilized to facilitate receiving a picture taken by the camera 300 in real time.
The flight system wireless control terminal 400, the flight system wireless control terminal 400 includes a remote control system 410 and a mobile phone 420, the unmanned aerial vehicle flight controller 120 is respectively connected with the remote control system 410 and the mobile phone 420 in a communication way, and a monitoring platform 421 is arranged in the mobile phone 420 and is used for feeding back or early warning aerial photographing information. The remote control system 410 is used for controlling the flight direction and speed of the unmanned aerial vehicle, the mobile phone 420 is used for receiving aerial photos of the specified object, and the original photos of the specified object are stored in the aerial photos of the unmanned aerial vehicle, so that the new and old photos can be conveniently and timely compared and analyzed manually, and the monitoring platform 421 is an early warning window for receiving the changes of the photos at the highest speed, so that the following personnel can take the next step of measures conveniently.
This unmanned aerial vehicle carries on inspection control system of cloud platform camera still includes cloud platform controller 200 that takes photo by plane, and cloud platform controller 200 takes photo by plane through RS232 serial ports and unmanned aerial vehicle flight controller 120 electric connection for stabilize the camera 300 and shoot, and be connected with the shutter of camera 300 through its camera interface. Specifically, the main control chip adopted by the pan-tilt aerial controller 200 is an AVR chip, RS232 serial communication is performed between the pan-tilt aerial controller 200 and the unmanned aerial vehicle flight controller 120 through a serial port driving chip, meanwhile, the pan-tilt aerial controller 200 is electrically connected with the ground remote control system 410, after receiving an instruction of the unmanned aerial vehicle ground remote control system 410, the AVR chip performs instruction analysis, performs related operation of the instruction, and the pan-tilt aerial controller 200 controls the photographing frequency and shutter half-stroke time of the camera 300 through controlling square wave frequency and duty cycle output by an interface (i.e. an I/O interface) of the camera 300.
The image receiving unit 110 is configured to receive aerial object picture information and perform preprocessing. Specifically, the image receiving unit 110 includes an information processing module and a main control module, the information processing module is configured to receive image information collected by the camera 300 and convert the image information into data information, and the main control module sends the data information to the unmanned aerial vehicle flight controller 120, so that the unmanned aerial vehicle flight controller 120 can perform subsequent correct transmission.
The mobile phone 420 is specifically an android mobile phone, the unmanned aerial vehicle flight control system 100 further comprises a repeater 140, a serial port Wi F i module is arranged in the repeater 140 and used for establishing connection with the mobile phone 420, and a display screen of the mobile phone 420 is configured as a picture display unit and used for displaying the aerial photo collected object pictures. The serial Wi F i module built in the repeater 140 is used for conveniently transmitting the aerial specified object picture to the mobile phone 420 in time, and displaying the aerial specified object picture on a screen through the mobile phone 420, meanwhile, the mobile phone 420 is internally provided with a picture processor, the picture processor has an identification function, so that the transmitted picture is conveniently identified in a key way, namely, the analyzed and compared change position can be identified.
The monitoring platform 421 is specifically set as a third party APP in the mobile phone 420. The function is uploaded by the picture from taking in the third party APP, utilizes it to make things convenient for third party APP rear end operating personnel to in time perceive unmanned aerial vehicle take photo by plane's early warning information for monitoring window, in time makes the solution.
The unmanned aerial vehicle flight control system 100 further comprises a flight attitude acquisition module 160 and a wireless transceiver module 170, and the remote control system 410 can receive data information acquired by the flight attitude acquisition module 160 and processed by the unmanned aerial vehicle flight controller 120 through the wireless transceiver module 170 and can reversely control the data information. The wireless transceiver module 170 is a 2.4G wireless transceiver module, and is widely applied to wireless remote control, wireless earphone, unmanned aerial vehicle, wireless keyboard, wireless monitoring, non-contact RF smart card, small wireless data terminal, safe fireproof system, wireless remote control system, biological signal acquisition and hydrological weather monitoring industry, and is used for connecting the unmanned aerial vehicle flight controller 120 and the remote control system 410, so as to facilitate the operator to control the flight direction and speed of the unmanned aerial vehicle.
The flight attitude acquisition module 160 includes a gyro sensor 161 and an encoder 162, the gyro sensor 161 is located above the encoder 162, and the gyro sensor 161 and the encoder 162 are electrically connected to the unmanned aerial vehicle flight controller 120. The gyro sensor 161 and the encoder 162 are angular velocity sensors, and are used for sensing velocity signals and acceleration signals, the gyro sensor 161 is an angular motion detection device which uses a momentum moment sensitive shell of a high-speed revolving body to rotate around one or two axes orthogonal to a rotation shaft relative to an inertia space, the angular motion detection device manufactured by using other principles plays a role of a gyroscope, and the gyro sensor 161 and the encoder 162 are matched to facilitate auxiliary control of stable flight of the unmanned aerial vehicle.
In addition, it should be further noted that the flight attitude acquisition module 160 further includes an accelerometer, a magnetometer, a barometer, a thermometer and a voltmeter in the prior art, so that risk status information of the unmanned aerial vehicle can be acquired more accurately, and a ground operator can make an adjustment instruction in time.
The unmanned aerial vehicle flight control system 100 of the inspection control system of the unmanned aerial vehicle carried with the pan-tilt camera further comprises a blade driving module 180, wherein the blade driving module 180 is electrically connected with the unmanned aerial vehicle flight controller 120 and used for controlling the movement gesture of the unmanned aerial vehicle. Flight instructions of the unmanned aerial vehicle flight controller 120 may be executed using the blade drive module 180.
The blade driving module 180 includes an electronic speed regulator 181 and a motor 182 that are electrically connected, the electronic speed regulator 181 is connected with the output end of the unmanned aerial vehicle flight controller 120, and the encoder 162 is designed with a shaft connected with the motor 182. The electronic speed regulator 181 can be divided into a brush electric power regulator and a brushless electric power regulator according to different motors, and adjusts the rotating speed of the motor 182 according to a control signal, and the electronic speed regulator 181 in the application selects an astronaut 80A brushless electric power regulator, a built-in switch hidden pressure mode BEC, and the highest rotating speed is 12-level motor 35000 revolutions per minute, so that the flying speed of the unmanned aerial vehicle is conveniently accelerated.
The unmanned aerial vehicle flight control system 100 of the inspection control system of the unmanned aerial vehicle-mounted cradle head camera further comprises a battery 190, wherein the battery 190 is electrically connected to the unmanned aerial vehicle flight controller 120 and is used for supplying power to the unmanned aerial vehicle flight controller. In this application, battery 190 can be a 6S 22.8V 22000MAH unmanned aerial vehicle battery, also can customize lithium cell, can all realize supplying power for unmanned aerial vehicle.
The application is operated according to the following steps:
s1, a remote control system 410 is connected with an unmanned aerial vehicle flight controller 120 through a wireless transceiver module 170, so that the remote control system 410 can conveniently control unmanned aerial vehicle flight;
s2, a mobile phone 420 provided with an android system is prepared to be connected with a serial port Wi F i module of the repeater 140, so that aerial video data of the unmanned aerial vehicle can be conveniently acquired to a mobile phone terminal through Wi F i;
s3, establishing connection between the holder aerial controller 200 and the unmanned aerial vehicle flight controller 120 through an RS232 serial port, and establishing connection between the holder aerial controller and the camera 300 through a camera interface;
the steps S1-S3 are for realizing the preparation work before the unmanned aerial vehicle shoots.
S4, controlling the unmanned aerial vehicle flight controller 120 to send out a command through the remote control system 410, indirectly enabling the blade driving module 180 to drive the unmanned aerial vehicle to fly, and simultaneously, in the flying process, acquiring the flying state in real time through the flying attitude acquisition module 160 and reporting the flying state to the unmanned aerial vehicle flight controller 120, and feeding back to the remote control system 410 for adjustment and control;
when the unmanned aerial vehicle arrives above the appointed object to be shot, the unmanned aerial vehicle flight controller 120 issues an instruction, and the cradle head aerial photography controller 200 controls the camera 300 to shoot the appointed object;
thereby realizing shooting of the specified object by the camera 300 at a plurality of angles under the control of the remote control system 410;
s5, the camera 300 acquires pictures, receives the pictures by the picture receiving unit 110 and transmits the pictures to the unmanned aerial vehicle flight controller 120;
s6, the unmanned aerial vehicle flight controller 120 controls the relay 140 to transmit the picture Wi F i to a picture processor in the mobile phone 420;
s7, manually analyzing and comparing the picture with an original picture stored in the mobile phone 420, judging whether a specified object is moved or damaged, and marking a picture area different from the original stored picture;
s8, logging in a monitoring platform through the mobile phone 420, uploading and feeding back the marked unmanned aerial vehicle shooting pictures, namely, early warning of object change is carried out.
Therefore, aerial photographing and later feedback early warning of the unmanned aerial vehicle are completed in time.
The foregoing is merely exemplary embodiments of the present application and is not intended to limit the scope of the present application, and various modifications and variations may be suggested to one skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
Claims (10)
1. Unmanned aerial vehicle carries on inspection control system of cloud platform camera, its characterized in that includes
The unmanned aerial vehicle flight control system (100), the unmanned aerial vehicle flight control system (100) comprises an image receiving unit (110) and an unmanned aerial vehicle flight controller (120) connected with the output end of the image receiving unit;
a camera (300), the camera (300) being connected to the unmanned aerial vehicle flight controller (120) and being capable of transmitting aerial information to the image receiving unit (110);
the unmanned aerial vehicle flight controller (120) is respectively connected with the remote control system (410) and the mobile phone (420) in a communication way, and a monitoring platform (421) is arranged in the mobile phone (420) and used for feeding back or early warning aerial photographing information.
2. The inspection control system for carrying a pan-tilt camera on an unmanned aerial vehicle according to claim 1, further comprising a pan-tilt aerial controller (200), wherein the pan-tilt aerial controller (200) is electrically connected to the unmanned aerial vehicle flight controller (120) through an RS232 serial port, so as to stabilize the shooting of the camera (300), and is connected to a shutter of the camera (300) through a camera interface thereof.
3. The inspection control system of an unmanned aerial vehicle-mounted pan-tilt camera according to claim 1, wherein the image receiving unit (110) is configured to receive aerial object picture information and perform preprocessing.
4. The inspection control system of the unmanned aerial vehicle-mounted cradle head camera according to claim 1, wherein the mobile phone (420) is specifically an android mobile phone, the unmanned aerial vehicle flight control system (100) further comprises a repeater (140), a serial port WiFi module is arranged in the repeater (140) and used for establishing connection with the mobile phone (420), and a display screen of the mobile phone (420) is configured as a picture display unit and used for displaying an aerial acquired object picture.
5. The unmanned aerial vehicle-mounted cradle head camera inspection control system according to claim 1, wherein the monitoring platform (421) is specifically set as a third party APP in the mobile phone (420).
6. The inspection control system of the unmanned aerial vehicle-mounted pan-tilt camera according to claim 1, wherein the unmanned aerial vehicle flight control system (100) further comprises a flight attitude acquisition module (160) and a wireless transceiver module (170), and the data information acquired by the flight attitude acquisition module (160) and processed by the unmanned aerial vehicle flight controller (120) can be received by the wireless transceiver module (170) through a remote control system (410) and can be reversely controlled.
7. The unmanned aerial vehicle-mounted pan-tilt camera inspection control system according to claim 6, wherein the flight attitude acquisition module (160) comprises a gyro sensor (161) and an encoder (162), the gyro sensor (161) is located above the encoder (162), and the gyro sensor (161) and the encoder (162) are electrically connected with the unmanned aerial vehicle flight controller (120).
8. The inspection control system of the unmanned aerial vehicle-mounted pan-tilt camera according to claim 7, wherein the unmanned aerial vehicle flight control system (100) further comprises a blade driving module (180), and the blade driving module (180) is electrically connected with the unmanned aerial vehicle flight controller (120) and is used for controlling the movement posture of the unmanned aerial vehicle.
9. The unmanned aerial vehicle-mounted pan-tilt camera inspection control system according to claim 8, wherein the blade driving module (180) comprises an electronic speed regulator (181) and a motor (182) which are electrically connected, the electronic speed regulator (181) is connected with the output end of the unmanned aerial vehicle flight controller (120), and the encoder (162) is designed in a connecting shaft with the motor (182).
10. The unmanned aerial vehicle-mounted pan-tilt camera inspection control system according to claim 1, wherein the unmanned aerial vehicle flight control system (100) further comprises a battery (190), the battery (190) being electrically connected to the unmanned aerial vehicle flight controller (120) for powering the same.
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| CN202211535026.7A CN116107325A (en) | 2022-12-02 | 2022-12-02 | Inspection control system for carrying cradle head camera on unmanned aerial vehicle |
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| CN202211535026.7A CN116107325A (en) | 2022-12-02 | 2022-12-02 | Inspection control system for carrying cradle head camera on unmanned aerial vehicle |
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2022
- 2022-12-02 CN CN202211535026.7A patent/CN116107325A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103139459A (en) * | 2011-11-25 | 2013-06-05 | 中国科学院沈阳自动化研究所 | Aerial photo camera and video camera controller applied to electric transmission line routing inspection |
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