CN1780359A - CMOS imaging and information processing system for unmanned apparatus remote platform - Google Patents
CMOS imaging and information processing system for unmanned apparatus remote platform Download PDFInfo
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- CN1780359A CN1780359A CN 200410009819 CN200410009819A CN1780359A CN 1780359 A CN1780359 A CN 1780359A CN 200410009819 CN200410009819 CN 200410009819 CN 200410009819 A CN200410009819 A CN 200410009819A CN 1780359 A CN1780359 A CN 1780359A
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Abstract
The system includes CMOS imaging unit, data storage module and image processor. The imaging unit captures image data, and makes process for it. The processed image is stored in data storage module, and is inputted into the image processor to make compensation. The CMOS imaging unit includes CMOS image sensor, MCU, dedicating chip for image processing, memory and logic gate circuit. The MCU is used to initialize the state of CMOS image sensor and dedicating chip, and to make shutter test, power control and data transmission control. The CMOS sensor is used to make process for the part of signals obtained by auto exposure and auto gain, and sends the acquired image to the dedicating chip for image processing; the dedicating chip for image processing compresses the image signal, and saves it in memory.
Description
Technical field
The present invention relates to cmos imaging and information processing system in a kind of unmanned aerial vehicle remote sensing platform.
Background technology
Unmanned plane can be applied to for a long time flight round the clock in the air and dangerous flight operation, as the condition of a disaster supervision, meteorological detection, environmental monitoring, geological prospecting, border control and Military Application etc., has the vast market demand.Because unmanned plane is extensive in each department and Application for Field, the unmanned plane potential demand is huge, and the technology and the equipment of low cost, high flexibility, high-resolution detection image will be used in digital city, Application of Spatial Information Technology etc., this demand has been satisfied in the research and development of this project just, not only can improve unmanned plane monitoring and homing capability, and can produce good social benefit and economic benefit.
Imaging and information processing system are to obtain remote sensing images in the space remote sensing platform and handle one of critical component of spatial information, but existing digital imaging system adopts CCD as imageing sensor more, because CCD is a kind of special microelectric technique, it is made needs special manufacturing process, can not be integrated with its peripheral circuit, and cause integrated level low, volume and weight are relatively large, and the signal reading speed is slow, the power consumption height, and product price is relatively costly.
Should reduce during the remote sensing system imaging to change and shake suffered influence because of the attitude of carrier platform as far as possible, at present generally all be that the stabilized platform that adopts gyrosensor and servo-control system to constitute carries out steady picture, shortcomings such as the volume intrinsic owing to servo system is big, cost is high, consumed power is big often are difficult to satisfy the further requirement of military and civilian equipment in a lot of occasions.
Passing and deposit in the memory dual mode under can adopting in real time after the obtaining of unmanned aerial vehicle remote sensing data handles.Wireless telecommunications are limit by bandwidth, and transmission rate is limited, and for high-resolution remote sensing image, because data volume is big, the Real-time Transmission difficulty is big, the cost height; And the mode that adopts memory stores generally adopts special-purpose storage medium, the cost height, and volume is big, uses inconvenient.
Summary of the invention
At above-mentioned existing unmanned plane imaging and the existing problem and shortage of information processing system, the purpose of this invention is to provide a kind of low-power consumption, low cost and can further improve cmos imaging and information processing system in the unmanned aerial vehicle remote sensing platform of video image display effect.
The present invention is achieved in that cmos imaging and the information processing system in a kind of unmanned aerial vehicle remote sensing platform, comprise the cmos imaging module, data memory module and image information processing module, the cmos imaging module is obtained view data and to its processing, image data storage after will handling then is in data memory module and input to image information processing module and proofread and correct, the cmos imaging module comprises cmos image sensor, microcontroller, the image processing special chip, memory and logic gates, wherein, microcontroller is used for the initialization of cmos image sensor and image processing special chip, setting state, and responsible shutter detects, power supply control and Data Transmission Controlling; Cmos image sensor is used for the part signal of automatic exposure, automatic gain to be handled, and will obtain image and transfer to the image processing special chip; The image processing special chip obtains after the picture signal that cmos image sensor transmits data compression, is temporary in memory.
Further, described memory module is made up of USB HOST chip and dual port RAM, is connected with image-forming module by an IDE socket, and its external manifestation is a dual port RAM; And visit by address bus by the microcontroller of image-forming module, the image file that generated can be conveyed into USB by its USB interface and move in the peripheral hardware and store.
Further, described message processing module adopts the electronic steady image technology, and in conjunction with process in remote sensing digital image processing technology and information integration technology, the non-image information that image information and other airborne sensor that obtains obtains is carried out spatial information fusion and processing.
Further, described memory is portable hard drive or USB flash disk.
Further, described memory can also be a flash card.
The present invention has realized low-power consumption, low cost CMOS digital imaging system, and adopted the electronic steady image technology, can surely further improve the video image display effect in conjunction with machinery as platform, it is little that the storage mode of unique design has a volume, easy to use, the characteristics that cost is low can be gone into the storage that imaging system is gathered in the big capacity mobile memory, alleviate the pressure of wireless data communication.
Concrete beneficial effect of the present invention is: (1) adopts cmos sensor, system combination height, stable performance and cheap; (2) which kind of storage mode multimode design can select as required, whether adopts message processing module, and is easy to use flexible; (3) function and usage is wide, can be applicable to the real-time monitoring, traffic monitoring of vehicle among digital image-forming product and the ITS (intelligent transportation system) etc. after the present invention improves, and has good follow-up exploitation and application potential.
Description of drawings
Below in conjunction with accompanying drawing, the present invention is made detailed description.
Fig. 1 is a user mode schematic diagram of the present invention;
Fig. 2 is that the present invention uses structural representation;
Fig. 3 is an image-forming module structural representation of the present invention;
Fig. 4 is a data memory module structural representation of the present invention;
Fig. 5 is a hardware core part interface schematic diagram of the present invention;
Fig. 6 is the flow chart of image acquisition of the present invention and storage;
Fig. 7 is the flow chart that image information processing module of the present invention is handled view data.
Embodiment
As shown in Figure 1, in unmanned plane, embed the present invention after, can be directly used in obtaining of remote sensing images, remote sensing images are compressed processing after, be stored in memory module of the present invention.Certainly, in conjunction with GPS, satellite communication, space remote sensing etc., realize the unmanned plane monitoring, survey and navigation when the present invention uses, can be applied to the condition of a disaster supervision, meteorological testing environment monitoring, geological prospecting, border control and Military Application etc. better.
As shown in Figure 2, application system of the present invention comprises control module, cmos imaging module, data memory module, image information processing module and ground control station, control module receives the control command that is transmitted by the ground control centre by the wireless signal data-interface, realization is controlled the correlation module of system, comprise the startup of control cmos imaging module and imaging constantly, exposure time delay, gain controlling etc., the parameter of image compression chip is set, and with the remote sensing image data that obtains by storing in the data-interface input solid-state memory.For utilizing the present invention better, can increase the wireless data transmission interface in addition, ground control station is monitored and information processing with reaching under the image data, so that the image that receives is assessed, if do not reach requirement, then make corresponding adjustment order, be transferred to the control module of system by the wireless signal data-interface.Control module is the core of whole system, and control program writes in the microcontroller, coordinates the work between each module.
As shown in Figure 3, image-forming module of the present invention is made up of microcontroller, imageing sensor, image processor, memory storage SDRAM, in addition, can increase flash card as required on microcontroller, to adapt to the requirement of storage.In the image-forming module of the present invention, microcontroller is coordinated the work between each device as core parts.After system powers on, by microcontroller imageing sensor and image processor are carried out initialization, according to task needs (as flight time, image resolution ratio, the long-pending weight requirement of overall system etc.), be set by the user storage mode, promptly select flash card storage (GB level capacity for use, volume is little in light weight) or USB move peripheral hardware storage (hundred GB level capacities), and set parameters such as IMAQ frame rate, image resolution ratio.Control desk sends instruction (comprising attitude control, route setting, parameter setting, mode of operation control etc.) by wireless signal, if image-forming module receives and the double instruction that measures the beginning images acquired, then send instruction to cmos image sensor, trigger electronic shutter, images acquired, carry out encoding compression processing by picture processing chip then, generate image file, go in the corresponding memory according to user-selected pattern storage.
As shown in Figure 4, the core technology of memory module of the present invention is the realization of USB main equipment in the embedded system, provides the manufacturer of USB main control chip to have much at present, as Cypress, Philips etc., corresponding functional modules is also arranged, as the BM5100 of Broadmaking.The read-write flag bit is set in dual port RAM, by the USB main control chip this flag bit is scanned, in the time of need moving peripheral hardware and carry out read-write operation USB, the microcontroller of image-forming module be provided with flag bit.When carrying out write operation, microcontroller writes file data in the dual port RAM, and will read and write the mark position for writing state, by the USB main control chip data in the dual port RAM is write in the mobile peripheral hardware then; When carrying out read operation, by the USB main control chip data are read and write the dual port RAM from mobile peripheral hardware, send interruption to microcontroller then, notice microcontroller sense data.
As shown in Figure 5, be hardware core part interface schematic diagram of the present invention.Wherein YUV is the vision signal that CMOS exports to image processor, and the internal register of CMOS passes through I
2The C bus is by the single-chip microcomputer setting.CMOS also provides pixel clock PCLK, horizontal synchronization HS and vertical synchronization VS signal for image processor in addition.The signal triggering circuit sends data acquisition signal and gives single-chip microcomputer, makes the cmos imaging unit finish obtaining of a two field picture.Image processor is connected by address/data (DATA/ADD) bus with microcontroller, and by sheet choosing (CS), interruption (INT) and read/write signal controlling such as (RD/WR).Microcontroller is connected as previously mentioned with memory module, be to connect by address/data bus equally, consider that the resource of address/data bus is limit, the present invention uses logic gates to expand the bus resource of chip, and with image processor and memory module isolation, control respectively.
As shown in Figure 6, be image acquisition of the present invention and stored program flow chart.Single-chip microcomputer is after finishing initial work, enter in the circulation of data acquisition state-detection, if receive the instruction of beginning data acquisition, then trigger electronic shutter, the beginning images acquired, and image is conveyed into image processing device compresses processing, create image file then, the memory module set according to the user deposits the image of being gathered in the corresponding memory in, whether last detection system is set to suspended state (reducing power consumption), as being in suspended state, waiting system activates again, otherwise reenters the state that the data acquisition instruction accepting detects.
As shown in Figure 7, be the workflow diagram of message processing module of the present invention.After the data that image-forming module is gathered are received by ground control station, handle by message processing module, be specially, this module is the software systems that operate in PC or server end, the image that obtains at first passes through the brightness adjustment, avoid the luminance difference between each two field picture excessive, carry out the correction of lens distortion again.After the image process electronic steady image algorithm process of overcorrect, obtain the image of steady and continuous, as the data input of image splicing.At first set benchmark image, adjust the position of coupling registration point, carry out the automatic splicing of image then, splicing effect is carried out visually rank,, then export complete panoramic picture if satisfactory for result, otherwise reselect benchmark image and datum mark, splice once more.In the process of splicing automatically, there is pseudo-match point as finding, then manually revise match point, carry out manual splicing, export panoramic picture at last.
Claims (5)
1, cmos imaging and information processing system in a kind of unmanned aerial vehicle remote sensing platform, comprise the cmos imaging module, data memory module and image information processing module, the cmos imaging module is obtained view data and to its processing, image data storage after will handling then is in data memory module and input to image information processing module and proofread and correct, it is characterized in that, described cmos imaging module comprises cmos image sensor, microcontroller, the image processing special chip, memory and logic gates, wherein, microcontroller is used for the initialization of cmos image sensor and image processing special chip, setting state, and responsible shutter detects, power supply control and Data Transmission Controlling; Cmos image sensor is used for the part signal of automatic exposure, automatic gain to be handled, and will obtain image and transfer to the image processing special chip; The image processing special chip obtains after the picture signal that cmos image sensor transmits data compression, is temporary in memory.
2, cmos imaging and the information processing system in the unmanned aerial vehicle remote sensing platform as claimed in claim 1, it is characterized in that, described memory module is made up of USB HOST chip and dual port RAM, is connected with image-forming module by an IDE socket, and its external manifestation is a dual port RAM; And visit by address bus by the microcontroller of image-forming module, the image file that generated can be conveyed into USB by its USB interface and move in the peripheral hardware and store.
3, cmos imaging and the information processing system in the unmanned aerial vehicle remote sensing platform as claimed in claim 1, it is characterized in that, described view data is proofreaied and correct is that message processing module adopts the electronic steady image technology, and, the non-image information that image information and other airborne sensor that obtains obtains is carried out spatial information fusion and processing in conjunction with process in remote sensing digital image processing technology and information integration technology.
As cmos imaging and information processing system in the described unmanned aerial vehicle remote sensing platform of arbitrary claim in the claim 1 to 3, it is characterized in that 4, described memory is portable hard drive or USB flash disk.
As cmos imaging and information processing system in the described unmanned aerial vehicle remote sensing platform of arbitrary claim in the claim 1 to 3, it is characterized in that 5, described memory can also be a flash card.
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| CN 200410009819 CN1780359A (en) | 2004-11-18 | 2004-11-18 | CMOS imaging and information processing system for unmanned apparatus remote platform |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101594533B (en) * | 2009-06-30 | 2010-12-29 | 华中科技大学 | Method suitable for compressing sequence images of unmanned aerial vehicle |
| CN101296368B (en) * | 2007-04-28 | 2011-07-06 | 长春奥普光电技术股份有限公司 | Image recognition tracking apparatus of television tracking machine |
| CN102117252A (en) * | 2010-01-06 | 2011-07-06 | 原相科技股份有限公司 | Portable electronic equipment, serial transmission interface and data transmission method thereof |
| CN101247474B (en) * | 2007-05-18 | 2011-08-17 | 北京思比科微电子技术有限公司 | Image processing device and method |
| CN103179401A (en) * | 2013-03-19 | 2013-06-26 | 燕山大学 | Processing method and device for multi-agent cooperative video capturing and image stitching |
| CN103763474A (en) * | 2014-01-23 | 2014-04-30 | 徐鹏 | Photography platform controller with high-speed data storage function |
| CN105242574A (en) * | 2014-06-24 | 2016-01-13 | 中国科学院沈阳自动化研究所 | Real-time USB storage device and real-time USB storage method for IMU (Inertial Measurement Unit) data |
| CN106572288A (en) * | 2016-10-19 | 2017-04-19 | 广东容祺智能科技有限公司 | Unmanned aerial vehicle image transmission integrated camera |
| CN109417594A (en) * | 2017-11-29 | 2019-03-01 | 深圳市大疆创新科技有限公司 | Image processing method, capture apparatus, unmanned plane and ground end equipment |
-
2004
- 2004-11-18 CN CN 200410009819 patent/CN1780359A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101296368B (en) * | 2007-04-28 | 2011-07-06 | 长春奥普光电技术股份有限公司 | Image recognition tracking apparatus of television tracking machine |
| CN101247474B (en) * | 2007-05-18 | 2011-08-17 | 北京思比科微电子技术有限公司 | Image processing device and method |
| CN101594533B (en) * | 2009-06-30 | 2010-12-29 | 华中科技大学 | Method suitable for compressing sequence images of unmanned aerial vehicle |
| CN102117252A (en) * | 2010-01-06 | 2011-07-06 | 原相科技股份有限公司 | Portable electronic equipment, serial transmission interface and data transmission method thereof |
| CN103179401A (en) * | 2013-03-19 | 2013-06-26 | 燕山大学 | Processing method and device for multi-agent cooperative video capturing and image stitching |
| CN103763474A (en) * | 2014-01-23 | 2014-04-30 | 徐鹏 | Photography platform controller with high-speed data storage function |
| CN105242574A (en) * | 2014-06-24 | 2016-01-13 | 中国科学院沈阳自动化研究所 | Real-time USB storage device and real-time USB storage method for IMU (Inertial Measurement Unit) data |
| CN106572288A (en) * | 2016-10-19 | 2017-04-19 | 广东容祺智能科技有限公司 | Unmanned aerial vehicle image transmission integrated camera |
| CN109417594A (en) * | 2017-11-29 | 2019-03-01 | 深圳市大疆创新科技有限公司 | Image processing method, capture apparatus, unmanned plane and ground end equipment |
| WO2019104558A1 (en) * | 2017-11-29 | 2019-06-06 | 深圳市大疆创新科技有限公司 | Image processing method, photography equipment, unmanned aerial vehicle and ground end device |
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