CN204578637U - Small-sized rotor patrol flight device visually-perceptible system - Google Patents

Abstract

The utility model relates to small-sized rotor patrol flight device visually-perceptible system, and we are with regard to quadrotor platform, propose a kind of method of low-power consumption, high efficiency radio transmitting image.IMAQ transmitting system adopts STM32F407 model M4 core A RM microprocessor, by DCMI camera special purpose interface and DMA data mode, High-Speed Automaticly by the data of OV7670 colour imagery shot stored in internal memory, aircraft can be controlled according to these data, can also be sent by NRF24L01 wireless module.The utility model is characterised in that and is incorporated in a microcontroller by IMAQ emission system and attitude flight control system, visually-perceptible system is incorporated in flying vehicles control program, avoid and interference is produced to flight control program, realize highly effective gathering and the wireless transmission of image, improve stability.

Description

Small-sized rotor patrol flight device visually-perceptible system

Technical field

The utility model relates to the research of visually-perceptible system regions, and especially for the image procossing that small aircraft carries and transmission system, we are with regard to quadrotor platform, propose a kind of method of low-power consumption, high efficiency radio transmitting image.Be divided into two systems, first systematic is IMAQ transmitting system, here we adopt STM32F407 model M4 core A RM microprocessor, by DCMI camera special purpose interface and DMA data mode, High-Speed Automaticly by the data of OV7670 colour imagery shot stored in internal memory, aircraft can be controlled according to these data, can also be sent by NRF24L01 wireless module; Second system is image-receptive display system, and utilize same microprocessor to receive wireless image data by NRF24L01, and enter TFT colorful display screen by FSMC mode fast brushing, timing upgrades the image that aircraft takes.The feature of this design is, under the accuracy prerequisite ensureing transmission data, can reduce power consumption as far as possible, promotes transmission speed.In addition, owing to being operated in closed network, two systems are not subject to other signal disturbing.

Background technology

Image wireless transmission comprises IMAQ and wireless transmission two kinds of technology, is an important component part in Internet of Things development epoch.By image wireless transmission, people or machine can obtain long-range real-time pictures information easily, meanwhile, use the equipment of this technology to have again good locomotivity, are convenient for people to debugging and control remote equipment.

For robot, its mechanical complexity and control method development in pluralism are relatively rapider, and the transducer that therefore robot relies on also urgently promotes.As everyone knows, compared with other information, information contained by image is the most vivid and abundant.At present, wired collection image technique is very ripe, comprises serial ports, USB, live wire, 100,000,000 nets and kilomega network, and wireless video tranmission techniques is also very advanced, has WLAN, GPRS etc.But for intelligent building, aircraft and cooperation multiple robots, we often need the wireless transmission system for images that a kind of volume is little, low in energy consumption, stable performance, to external world mesh dependence are low, strong interference immunity, cost are low.Along with the develop rapidly of microcontroller and digital signal processor, now than being easier to design the wireless transmission system for images with These characteristics.

The meaning of image wireless transmission is very great, and people are mainly difficult to the place observed or needs are observed for a long time, the transmission of the view data of collection are returned wirelessly by the fields such as it can be used in remote monitoring, carry-only to take photo by plane, medical imaging.Small-sized quadrotor platform herein, designs a kind of software and hardware and can be mounted in carry-on IMAQ emission system simultaneously, and image-receptive display system, is used for realizing the function of quick, stable transmission shooting picture.

Utility model content

As shown in Figure 1, be small-sized quadrotor platform model, namely the utility model is Platform Designing image perception system for this reason, aircraft is equipped with IMAQ and emission system, ground hand-held set, as image-receptive display system, realizes the picture transmission that aircraft is taken photo by plane.

The utility model is characterised in that and will be incorporated in a microcontroller with flight control system by IMAQ emission system, so native system has taken into full account the logical situations of utilization rate to aircraft microcontroller and program in the design process, under avoiding that the prerequisite of interference is produced to control program, realize highly effective gathering and the wireless transmission of image.

Consider the complexity of control algolithm, and image acquisition process is Statistical greatly, so need to use, high, the internal memory of dominant frequency is large, the single-chip microcomputer of stable performance realizes, through comparing, find that the stm32f407 single-chip microcomputer of STMicw Electronics meets the requirements, dominant frequency has 1M up to 168MHz, FLASH memory block, holds the frame data that lower OV7670 colour imagery shot obtains completely.In addition, radio communication selects the NRF24L01 wireless module of enhancement mode, because its long transmission distance, bit rate is high, is applicable to the transmission of image.In addition, computer or mobile phone can show the image of taking photo by plane as surface-based observing station, and therefore, position machine and mobile phone A PP application aspect have also been made some researchs on computers.

Image-receptive display system in a kind of visually-perceptible system of small-sized rotor patrol flight device, it is characterized in that utilizing and receive wireless image data with microprocessor by NRF24L01, and enter TFT colorful display screen by FSMC mode fast brushing, timing upgrades the image that aircraft takes, the advantage of the design is under the accuracy prerequisite ensureing transmission data, power consumption can be reduced as far as possible, promote transmission speed.

The visually-perceptible system of a kind of small-sized rotor patrol flight device described in the utility model, compared with prior art, the utility model is by being incorporated in visually-perceptible system in flying vehicles control program, and appropriate design realizes merging, and antijamming capability is strong.Image accepts the low-power consumption of display system energy and accepts data fast, and by design data Compress softwares algorithm, improves display speed.Reliable and stable in native system actual motion.The utility model can be used for the line walking small aircraft of power circuit, and compare existing patrol flight device, the design's cost is low, designs small and exquisite, stable and reliable operation.

Accompanying drawing explanation

Fig. 1 is small-sized quadrotor platform model of the present utility model

Fig. 2 is the framework of image emissions of the present utility model and receiving system

Fig. 3 is crystal oscillating circuit of the present utility model

Fig. 4 is mode selection circuit of the present utility model

Fig. 5 is reset circuit of the present utility model

Fig. 6 AMS1117-3.3V voltage stabilizing circuit of the present utility model

Fig. 7 LM2576-5V switch voltage-stabilizing circuit of the present utility model

The DCMI connecting circuit of Fig. 8 OV7670 camera of the present utility model

Fig. 9 TFT colorful display screen of the present utility model connecting circuit

The software flow of Figure 10 IMAQ emission system of the present utility model

The software flow of Figure 11 image receiving system of the present utility model

Figure 12 image compression decompress(ion) of the present utility model flow chart

Figure 13 image perception system of the present utility model is incorporated in the flow chart in aircraft

Embodiment

In order to enable those skilled in the art to implement the technical solution of the utility model, below in conjunction with accompanying drawing 2, further description is made to embodiment of the present utility model and detailed operating process.Design process is then divided into two stages, and first stage is that hardware makes, and comprises the making of circuit board, and the writing of bottom layer driving; Second stage is software development, comprises the realization of logic function and writing of host computer procedure.In terminal stage, will to all hardware and softwares, and the platform integrated application such as host computer, carry out uniting and adjustment test, to realize the requirement designed.After the design completes, merge with the control program of aircraft, and through practical flight experiment, can reach a conclusion: this image perception system achieves the wireless communication functions of image, and complete relevant image processing algorithm.

1 hardware circuit design

1.1 ware circuit entire block diagram

The design of this visually-perceptible system is divided into two parts, and a part is hardware circuit design, and another part designs for software program, and at this chapter, we according to debugging the side circuit passed through, will be described in detail the design process of hardware circuit.As shown in Figure 2, hardware circuit is divided into again two parts, be respectively aircraft and carry part and hand-held set part, aircraft lift-launch part is mainly connected to the colored COMS camera of OV7670,0.96 cun of OLED display screen, bluetooth module, NRF radio receiving transmitting module etc., and change plan gives the interface mode of connection simultaneously; Hand-held set part is then relatively simpler, mainly contains 2.4 cun of TFT colorful display screens and NRF radio receiving transmitting module etc.

1.2 ARM microprocessor minimum system designs

1.2.1 the brief introduction of STM32F407VGT microprocessor

The system of the design comprises image-receptive sending function, and the control program of aircraft is also by same microcontroller implementation, therefore, in microcontrolled type selecting, we compared for different single-chip microcomputer performances and cost, consider, we have selected STM32F407VGT microcontroller.It is more a lot of than the superior performance of common single-chip microcomputer, and have abundant peripheral functionality, meanwhile, it is lower than the TI microcontroller price of similar nature again, is suitable as very much low cost, high performance flying vehicles control chip.

Generally speaking, STM32F4 microprocessor has the feature of single-chip microcomputer and DSP simultaneously, namely the feature of the low threshold of single-chip microcomputer, C programming, high-performance interruption, low-power consumption is had, the monocycle again with DSP take advantage of add, the feature such as floating-point operation, saturation arithmetic, the design of wireless transmission system for images can well be met, be therefore selected as the core processor of the design

1.2.2 reset, crystal oscillator, model selection, power circuit

External clock reference can be provided by two parts, and one is high speed outer clock, and by accessing the passive crystal oscillator of 8MHz, single-chip microcomputer utilizes PLL frequency doubling technology that sum frequency is brought up to 168MHz, then controls the frequency of different ahb bus by frequency division.Another is low speed external clock, and the value of crystal oscillator used is 32.768kHz.

When designing crystal oscillating circuit, close chip pin crystal oscillator and electric capacity placed, can reduce the distortion exported like this, shorten the chip enable time simultaneously.Clock circuit as shown in Figure 3.Figure 4 shows that mode selection circuit, the start-up mode of STM32F407 has three kinds, and start pins by two and control, this function and mobile phone or launch computer Pattern Class seemingly, for installation system or brush firmware, facilitate exploitation after sale and the upgrading of product.The reset circuit of single-chip microcomputer is the same with circuit common, and the reset pin dragging down single-chip microcomputer makes monolithic processor resetting, as shown in Figure 5.

Supply power voltage due to this single-chip microcomputer is 3.3V, and we adopt AMS1117 voltage stabilizing chip, and in addition simple peripheral circuit and filter capacitor, make the 3.3V voltage of its stable output.The voltage stabilizing of 5V voltage can become 3.3V to export by this AMS1117, and 5V power supply can be obtained by downloader or battery voltage stabilizing.Circuit as shown in Figure 6.

1.2.3 minimum system PCB design

The design of schematic diagram and the design of PCB figure all complete with Altium Designer software, the schematic diagram of minimum system by analysis and determine errorless after, then can the encapsulation of each device be imported in PCB file, carry out place and route operation, last doing again drips tear and deposited Copper treatment, dripping tear can make pad be connected firmly, and deposited copper then can reduce signal disturbing.The PCB file made mails to factory, and factory returned circuit board within two day time, by simple running lamp testing system board, verifies errorless.

It is specifically intended that in the layout of this minimum system plate, 8 power filtering capacitors should be distributed in 6 VCC pin places respectively, farthest can reduce the impact that voltage fluctuation runs chip like this.

The hardware circuit design of 1.3 IMAQ emission systems

1.3.1 5V switching power circuit

When designing 5V power circuit, we consider LM7805 linear stabilized power supply and LM2576 switching power supply two kinds of methods, draw to draw a conclusion through contrast: linear power supply regulation is good, ripple is little, external interference is little, but conversion efficiency is low, unnecessary energy can change into heat energy, device lifetime is had a significant impact, has comparatively lossy to the battery power of aircraft in addition.The switching power circuit that LM2576 is formed, the BUCK circuit theory of utilization, provides the function of step-down switching regulator.This voltage stabilizing circuit heat production is few, and can provide the load current of 3A, Line and load regulation is functional, and its input voltage range is wide, is up to 40V-60V, can ensure that output error is within 4% in appointment input range.

The cell voltage considering aircraft may fluctuate by brushless electric machine affects, and the high efficiency of switching power circuit, quantity of heat production is a little few, we have selected LM2576 chip design 5V voltage stabilizing circuit, test through reality, 11.1V lithium battery voltage can export as 5V voltage by this switch voltage-stabilizing circuit preferably, and circuit as shown in Figure 7.

1.3.2 OV7670 camera circuit

Current camera chip is mainly divided into two kinds, one is CCD (charge-coupled device) transducer, it is made up of many light-sensitive elements, become the element of matrix type arrangement to convert the light be irradiated on CCD to electric charge, chip just can calculate the intensity of illumination of this point according to the quantity of electric charge size of certain point.Another kind is CMOS (complementary metal oxide semiconductors (CMOS)) transducer, and it is made up of electronegative and transistor that is positively charged, and the electric current that chip is produced by process two complementary effect pipes obtains image value.CMOS and CCD compares, and topmost feature is very power saving, because the static electric quantity consumption of cmos circuit is low especially, and when the circuit is on just can consumes power.

OV7670 belongs to CMOS color image sensor, and it is made up of imaging array, timing sequencer, analogue signal processor, analog to digital converter, test pattern generator, digital signal processor, image scaler, digital visual interface etc.Because it is low in energy consumption, can reduce the loss to aircraft battery electric energy, can export RGB565 color digital image, consistent with the display format of TFT color screen, therefore we select it as image capture device.Fig. 9 is the DCMI connecting circuit of OV7670 camera.

1.3.3 NRF24L01 wireless module circuit

The nRF24L01 chip that Nordic company manufactures belongs to single-chip transceiver chip, its working frequency range is 2.4 ~ 2.5GHz, and this frequency range belongs to general purpose I SM frequency range, has embedded link layer protocol, it is widely used, such as wireless mouse, keyboard, remote control, short distance audio video transmission etc.This chip data transmission speed has three kinds, 250K, 1M, 2Mbps; Low in energy consumption, when electric current when 0dBm sends is the reception of 11.3mA, 2Mbps speed, electric current is 12.3mA, and comprehensively these features, we select it as wireless communication module.

The hardware circuit design of 1.4 image-receptive display systems

1.4.1 ultralow pressure 3.3V circuit

For designed image receiving terminal and hand-held set, we need this equipment to try one's best lightness, miniaturization, are convenient for carrying.In view of battery of mobile phone volume is little, electricity is many, we select it as the power pack of hand-held set.A consequent problem is that battery of mobile phone voltage is about 3.7V, because the input and output pressure reduction of AMS1117-3.3 limits, cannot provide stable 3.3V voltage.Consult reference materials through online, we have found the TLV1117lv33 chip that TI company produces, as long as its input voltage is 2.0V-5.5V, and output 3.3V that can be stable, and the bringing onto load electric current of output is 1A to the maximum, this feature makes it can provide good power supply for low-voltage power supply system.

Encapsulate because this chip and AMS1117 belong to SOT223, so this voltage stabilizing circuit figure and Fig. 6 is consistent.

1.4.2 2.4 cun of colored TFT display screen circuit

For the ease of observing aircraft send the image of returning on the handset, we have selected 2.4 cun of TFT color touch display screens.This module adopts XPT2046 as touch function control chip, adopts ILI9325 as colored display driver chip.XPT2046 is a 4 wire touch screen controllers, is integrated with the Step wise approximation type A/D converter of 12 bit resolutions, and switching rate, can by process twice AD conversion determination screen by opsition dependent up to 125KHz.ILI9325 chip shows solution as LCD, supports RGB240 × 320 pixel, and is integrated with the figure internal memory of 172800 bytes.This display screen back is with the SD card slot of SPI interface in addition, can insert the TF card of 1-2G, as the expansion stored.Fig. 9 is TFT colorful display screen connecting circuit.

2.4.3 the circuit of bluetooth module connects

Bluetooth serial ports module can couple together computer and single-chip microcomputer very easily, shows very large help for what control the observation of curve of output and view data.Concrete operation is the host computer write by computer, and as (MFC, LABVIEW, MATLAB) etc., the serial ports of computer and the serial ports of single-chip microcomputer are coupled together by blue teeth wireless, serial ports belongs to duplex communication, therefore can transmit data mutually.In addition, the mobile phone for aircraft controls, and has also used bluetooth.

Certainly, on the general function plate done, include basic imput output circuit: four key circuits, four LED circuits, and 0.96 cun of OLED display screen.Simultaneously containing the MPU6050 sensor circuit used by aircraft, and the ethernet port of this single-chip microcomputer draws circuit.In addition, the hollow cup DC motor drive circuit be made up of switching tube with four above, can be used for driving DC micro-motor, provide machine power and expanded function.

2 software program designs

The rgb image data collection of 2.1 OV7670

Through the software merit rating to camera register, making image can export the RGB565 format color image of our needs, is next then gather this view data by the DCMI interface of STM32 microprocessor.First, we must have gained some understanding to the sequential that OV7670 camera exports, and export a frame signal (level changes, lower same) before this, being then row signal, is then the parallel transmission of N number of picture element signal.What we will do is say that the collection sequential of DCMI is configured to corresponding pattern, storing image data that so just can be correct.

After having understood the sequential of signal, and configure DCMI interface and DMA control program, then can collect correct image, as shown in figure 11, after STM32F4 microprocessor normally starts, first the initialization of some functions is completed, as DCMI interface, OV7670 initialization of register, the wireless initialization of NRF etc., then wait for that frame interrupts, often produce a frame and interrupt, image array data will be updated once, and we only need to access this array can real time processed images data.

After one frame data have stored by each DCMI interface, can produce an interrupt function, flag bit flag is added 1 by us in interrupt function, and judges whether to equal 2, when for 2 time close DMA passage and DCMI enable.When principal function detects that flag is 2, just can send new view data.Flag why is needed to equal 2 under explained later, when flag equals 1, the signal collecting a field interrupt pin is described, now we just acquire parts of images, can not ensure to have refreshed entire picture, and equaling for 1 to the flag moment equaling 2 from flag, DCMI interface can ensure to have refreshed entire picture.Flow chart as shown in Figure 10.

The program circuit of 2.2 image-receptive display systems

After configuring radio communication program, IMAQ emission system outwards will send view data by the preassigned cycle, meeting initialization SPI interface during hand-held set start, NRF24L01 wireless module, FSMC configuration and TFT display screen, after initialization success, the receiving mode of NRF24L01 can be entered, and the level of cycle criterion interrupt pin, interrupt producing and determining that interrupt source receives successfully if having, then can the 32 byte data bag process received be left in image array, if when processing packet corresponding to a frame complete image, the action of a TFT brush screen can be carried out, the aircraft shooting picture that real-time update obtains.Concrete program circuit as shown in figure 11.

According to Figure 11, as long as initialization success, wireless driving and display driver just can normally work, key is now the view data how correctly process receives, due to camera collection is RGB image formatted data, 16bit represents a pixel, and pixel data is unpacked into two bytes and sent by image emissions system, and before piece image, send the packet of several origin identification.In image-receptive display system, as long as we run into beginning flag packet, just the count value of ranks is reset, after next receiving packet, combination of bytes in packet is become 16bit pixel data by us, then successively stored in current ranks value, then ranks value is changed over the position of next pixel.Until the ranks value in hand-held set reaches the capacity of piece image, just data are brushed into TFT color screen by FSMC.Such communication protocol can make full use of each packet, if lost a packet, only can cause present image mistake, once can reset ranks value after beginning flag, refill the storage array of image on receiving.

The compression design of 2.3 view data

Image is converted to the form of bit stream by JPEG technology by the process such as interpolation, color space conversion of the discrete cosine transform of the conversion of color space, interlacing sampling, image array, quantification, coding, Gray code, inverse quantization, inverse discrete cosine transformation, image information, compression ratio is probably about 10 times.

Because digital color image is the pixel set be made up of 3 dimension color-vector spaces, vector space is divided into RGB or YCbCr usually, JPEG is the standard that compressed color photo is conventional, in order to improve the image transmitting speed of the design, we have employed the compress technique of image, improve transmission speed by reducing data volume.

Because NRF24L01 sends view data in units of 32 bytes, and JPEG technology finally can change into the form of position, and therefore, we only need consider the partial content of JPEG compress technique.Main thought is that picture number component to be slit into the pixel of 16*16 fast, when each block of pixels is processed, first RGB565 format conversion is become the form of RGB888, recycling color space conversion formula is by red R, green G, blue B three primary colors convert brightness Y and chrominance C b to, Cr, the ratio 4:1:1 divided according to aberration again extracts the 8*8 array of 4 brightness spaces, and the 8*8 array of 2 color spaces, data area is limited to-128 to+127 simultaneously, then dct transform is done, for different color blocks, with different quantization tables, it is quantized, in array after quantification, data major part is 0, so decrease the transmission quantity of data, improve transmission speed.Figure 12 is concrete Compress softwares flow chart.

Before digital image compression, need the region unit extracting specific size just can carry out correct computing, we utilize pointer to be extracted successively by the image block of 16*16 here.Due to the design's collection is coloured image, need to carry out color space conversion, rgb format is converted to YCrCb form, this color space is made up of brightness Y and chrominance C r, Cb, and the sensitivity specific luminance signal of human eye to carrier chrominance signal is much lower, so, during process coloured image, we adopt different sampling frequencys to extract brightness data and chroma data, and realize the compression of first time to data volume, ratio is Y:Cb:Cr=4: 1: 1.Color space conversion formula is shown below:

$\left\{\begin{array}{c}Y=(0.299R+0.587G+0.114B);\\ Cb=(-0.1687R-0.3133G+0.500B);\\ Cr=(0.500R-0.418G-0.0813B);\end{array}\right.---\left(1\right)$

In this compression design, the image array size of dct transform is 8*8, therefore, must the data of 3 color component 16*16 before carrying out discrete cosine transform, be separated into the 8*8 array that 4 8*8 arrays representing brightness and 2 represent CbCr, by the operation to pointer, realize by left-to-right, read the image subblock of 8x8 from top to bottom, recycling DCT converts respectively to 8*8 array.In addition it should be noted that after raw image data being divided into the matrix unit of 8*8, also need each value to deduct 128, be because discrete cosine transform requirement numeral is between-128 to 127, then data are substituted into DCT formula, realize dct transform.

Discrete cosine transform is the one conversion derived by discrete Fourier transform (DFT), its maximum feature has concentration of energy, and many signals are sound, image such as, and they are after discrete cosine transform, concentration of energy, in low frequency range, makes DCT be widely used in these Signal Compression.Discrete cosine transform publicity and reconstructed formula thereof are shown below:

$F_{(u,v)}=\frac{1}{4}{C}_{\left(u\right)}{C}_{\left(v\right)}\underset{i=0}{\overset{7}{\Σ}}\underset{j=0}{\overset{7}{\Σ}}{f}_{(i,j)}\×\cos \frac{(2i+1)u\mathrm{\π}}{16}\cos \frac{(2j+1)v\mathrm{\π}}{16}---\left(2\right)$

$f_{(i,j)}=\frac{1}{4}\underset{u=0}{\overset{7}{\Σ}}\underset{v=0}{\overset{7}{\Σ}}{C}_{\left(u\right)}{C}_{\left(v\right)}{F}_{(u,v)}\×cos\frac{(2i+1)u\mathrm{\π}}{16}cos\frac{(2j+1)v\mathrm{\π}}{16}---\left(3\right)$

Wherein:

The image array data of 8*8 is after dct transform, export the 8*8 coefficient matrix after for conversion, the each data of this coefficient matrix represent different implications, such as (u, v)=(0,0) mean value of data representation 64 data at place is also referred to as DC component, or is called DC coefficient.What coordinate u and v mapped is horizontal and vertical frequency component in plane space, the coefficient mapping that u and v is corresponding be the size of different frequency in domain space, great majority float near 0, are also referred to as AC and ac coefficient.Observe the matrix after dct transform, we can find that the data in the upper left corner represent low frequency component, and numerical value is comparatively large, and the numerical value in the lower right corner is 0 or close to 0 substantially, illustrates that high fdrequency component proportion is less.In addition, the research of biological aspect shows, human eye is insensitive to high fdrequency component, so, when we by those close to 0 high fdrequency component delete after, in human eye, do not produce too large distortion, therefore view data amount of redundancy reduces by dct transform, deletes the data volume that radio-frequency component also reduces image simultaneously.After these data receiving ends receive, then obtain original view data through inverse discrete cosine transformation, do like this to be with and serve distortion, but be in the scope that human eye accepts, not only have compressed data but also maintained the validity of image.

The merging of 2.4 IMAQ transmission program and flying vehicles control program

Because the design is based on small-sized quadrotor Platform Designing, therefore the most necessary, most difficult task is that this visually-perceptible system is incorporated in flying vehicles control program, and Figure 13 is the flow chart that image perception system is incorporated in aircraft.It is the part that can not interrupt that 9ms controls to interrupt, and all the other times are then operate in major cycle, and we can be placed on the transmission of image in major cycle and carry out, through actual fused, and image perception system and control system operational excellence.For responsible collection image and the part of transmitting data, the DCMI interface that we utilize STM32F4 processor to carry and built-in function, and make IMAQ can backstage by every frame interrupt function, make CPU free out completely.This feature, for the extremely strict control system (such as quadrotor control) of ask for something control cycle, can reduce the consideration of various interrupt priority level undoubtedly, reduces the complexity of Control System Design.

Above execution mode is only for illustration of the utility model; be not limitation of the utility model; every equivalent structure utilizing the utility model specification and accompanying drawing content to do, or directly apply to other association areas, be all in like manner included in scope of patent protection of the present utility model.

Claims (3)

1. a small-sized rotor patrol flight device visually-perceptible system, on aircraft, equipped section is divided and is comprised: the colored COMS camera of OV7670,0.96 cun of OLED display screen, bluetooth module, NRF radio receiving transmitting module; Hand-held set part then mainly contains 2.4 cun of TFT colorful display screens and NRF radio receiving transmitting module.

2. small-sized rotor patrol flight device visually-perceptible system according to claim 1, it is characterized in that its IMAQ emission system and attitude flight control system are incorporated in a microcontroller, namely visually-perceptible system is incorporated in flying vehicles control program.

3. small-sized rotor patrol flight device visually-perceptible system according to claim 1, is characterized in that its image-receptive display system uses Image Data Compression and the decompression algorithm of discrete cosine transform.