CN204808048U - Digital control system that takes photo by plane - Google Patents
Digital control system that takes photo by plane Download PDFInfo
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- CN204808048U CN204808048U CN201520435086.0U CN201520435086U CN204808048U CN 204808048 U CN204808048 U CN 204808048U CN 201520435086 U CN201520435086 U CN 201520435086U CN 204808048 U CN204808048 U CN 204808048U
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Abstract
The utility model discloses a to prior art, provide a digital control system that takes photo by plane, its characterized in that contains the machine portion of carrying, the portion of taking photo by plane and ground control portion. Ground satellite station's control part include ground watch -dog, ground wireless data transmission ware and remote controller. The machine portion of carrying contains flight control module, sensor module, machine year wireless data transmission ware, remote control receiver and flight control portion. The portion of taking photo by plane is including the multichannel remote control receiver and the camera wireless remote control module of taking photo by plane.
Description
Technical field
The utility model relates to the aerial camera technique field of digitizing of Miniature Unmanned Helicopter, particularly relates to a kind of digitizing on-air radio of a kind of microminiature remote aerial photography control system.
Background technology
Unmanned plane photography of taking photo by plane is using unpiloted aircraft as aerial platform, carries the process that picture pick-up device performs aerial photographing task.Along with the develop rapidly that Digitalization in China is built, build the demand of aspect for digital informations such as city, territory, forestry, environmental protection, public security, the energy, satnav, tourisms, urgent all the more to the demand of various data of taking photo by plane.
At present, unmanned plane of taking photo by plane has been broken away from unmanned plane and have been taken photo by plane the predicament of photography " blind bat ", and by the image returned in real time, the angle of adjustment UAV Attitude or The Cloud Terrace, makes the theme taken definitely.But, before unmanned plane takes off, need the video camera be mounted on unmanned plane to carry out to start shooting, adjusting focal length, parameters, the operation such as unlatching video recording, and, once unmanned plane takes off, just cannot operate video camera.And current had camera remote controller, most bluetooth, technology such as infrared of adopting, remote control distance is too near, cannot use in actual applications.Therefore, exploitation one be suitable for using in practice, and be simple and easy to control system of taking photo by plane seem very important.
In addition, Miniature Unmanned Helicopter is a very complicated high-order control object, and it has nonlinearity and complicated dynamics, strong to inter-axis coupling in length and breadth, open-loop unstable, these bring no small difficulty all to the control of Miniature Unmanned Helicopter.The instability of helicopter dynamic characteristic, causes it more much bigger than other aircraft to the degree of dependence of control system, and therefore, computing machine flight control system has become the indispensable important component part of Miniature Unmanned Helicopter autonomous flight.
In sum, at present SUAV (small unmanned aerial vehicle) is taken photo by plane, there is no the system that flight controls and photography has concurrently, be substantially all controlled by wireless remote control and airborne electronic equipment control system by the operator of specialty, thus complete aerial mission.This is higher to the technical requirement of operator, and can only fly in limited distance, greatly limit the range of application of Miniature Unmanned Helicopter.For just controlling the flight of aircraft and two kinds of functions of taking photo by plane very easily integratedly, use to make being suitable for ordinary people, head it off just seems very important.
Summary of the invention
Technical problem to be solved in the utility model is for problem involved in background technology, and provide a kind of digitizing to take photo by plane control system, it is suitable for easy use to control flight and to take photo by plane simultaneously.
The utility model is for solving the problems of the technologies described above by the following technical solutions:
A kind of digitizing is taken photo by plane control system, it is characterized in that:
Comprise airborne portion, take photo by plane portion and ground control part.
Described ground station control portion comprises ground monitoring device, terrestrial wireless number passes device and telepilot, and described ground monitoring device and terrestrial wireless number pass device and telepilot is all electrically connected.
Described airborne portion comprises flight control modules, sensor assembly, airborne wireless number biography device, remote-control receiver and flight control part.
Described sensor assembly comprises flight baroceptor, surveys high sensor, speed of a ship or plane sensor, horizontal attitude sensor and satnav sensor.
Described flight control modules respectively with flight baroceptor, survey high sensor, speed of a ship or plane sensor, horizontal attitude sensor and satnav sensor, airborne wireless number pass device, remote-control receiver and flight control part be electrically connected, for receiving aircraft state information and ground control signal, and after calculating, export control signal to flight control part, for controlling flight.
Described remote-control receiver is used for the remote signal of the reception telepilot when wireless remote control pattern and is passed to flight control modules.
Described airborne wireless number passes device and passes device based on wireless signal to communicate mutually with terrestrial wireless number.
The described portion of taking photo by plane comprises multi-channel remote receiver and aerial camera Wireless remote control module.
Described aerial camera Wireless remote control module comprises multi-channel PWM testing circuit, MCU, level shifting circuit and I/O port protection circuit.
Described multi-channel remote receiver receive Multichannel remote controller Remote signal and to described PWM testing circuit outputting multiplex signals.
The signal output part of described PWM testing circuit is connected with described MCU.
Described MCU outputs signal to described level shifting circuit after completing PWM counting, signal transacting, protocol conversion; the signal output part of described level shifting circuit is connected with the input end of described I/O port protection circuit, and the output terminal of described I/O port protection circuit connects by interface is corresponding with aerial camera.
Aforesaid digitizing on-air radio remote aerial photography control system, is characterized in that, described flight control modules adopts DSP module.
Aforesaid digitizing on-air radio remote aerial photography control system, is characterized in that, described flight control modules also has the DAC expanded circuit coordinating DSP module.
Aforesaid digitizing on-air radio remote aerial photography control system, it is characterized in that, described flight control part comprises a motor and four steering wheels, and described motor is for controlling gyroplane rotate speed, and described four steering wheels control total distance, tailrotorpiston, horizontal feathering, longitudinal feathering respectively.
Described flight control part comprises a motor and eight steering wheels, and described motor is for controlling gyroplane rotate speed, and described eight steering wheels control total distance, tailrotorpiston, horizontal feathering, longitudinal feathering, pitching, roll, driftage, highly respectively.
Described PWM testing circuit at least comprises PWM detecting unit, and this PWM detecting unit at least comprises the main detecting unit of PWM and the PWM redundant detection unit with reserve battery.
Accompanying drawing explanation
Fig. 1 is flight portion schematic diagram of the present utility model;
Fig. 2 is flight portion inside modules part schematic diagram of the present utility model;
Fig. 3 is ground of the present utility model control part schematic diagram.
Wherein 1 is airborne portion, and 2 is the portion of taking photo by plane, and 3 is rotor, 4 is aircraft module portion, and 5 is flight control modules, and 6 is sensor assembly, 7 is airborne wireless number biography device, and 8 is remote-control receiver, and 9 is flight control part, 10 is multi-channel remote receiver, 11 is aerial camera Wireless remote control module, and 12 is ground control part, and 13 is ground monitoring device, 14 is terrestrial wireless number biography device, and 15 is telepilot.
Embodiment
Below the technical solution of the utility model is described in further detail:
A kind of digitizing is taken photo by plane control system, it is characterized in that:
It is characterized in that, comprise airborne portion, take photo by plane portion and ground control part;
Described ground station control portion comprises ground monitoring device, terrestrial wireless number passes device and telepilot, and described ground monitoring device and terrestrial wireless number pass device and telepilot is all electrically connected;
Described airborne portion comprises flight control modules, sensor assembly, airborne wireless number biography device, remote-control receiver and flight control part;
Described sensor assembly comprises flight baroceptor, surveys high sensor, speed of a ship or plane sensor, horizontal attitude sensor and satnav sensor;
Described flight control modules respectively with flight baroceptor, survey high sensor, speed of a ship or plane sensor, horizontal attitude sensor and satnav sensor, airborne wireless number pass device, remote-control receiver and flight control part be electrically connected, for receiving aircraft state information and ground control signal, and after calculating, export control signal to flight control part, for controlling flight;
Described remote-control receiver is used for the remote signal of the reception telepilot when wireless remote control pattern and is passed to flight control modules;
Described airborne wireless number passes device and passes device based on wireless signal to communicate mutually with terrestrial wireless number.
The described portion of taking photo by plane comprises multi-channel remote receiver and aerial camera Wireless remote control module;
Described aerial camera Wireless remote control module comprises multi-channel PWM testing circuit, MCU, level shifting circuit and I/O port protection circuit;
Described multi-channel remote receiver receive Multichannel remote controller Remote signal and to described PWM testing circuit outputting multiplex signals;
The signal output part of described PWM testing circuit is connected with described MCU;
Described MCU outputs signal to described level shifting circuit after completing PWM counting, signal transacting, protocol conversion; the signal output part of described level shifting circuit is connected with the input end of described I/O port protection circuit, and the output terminal of described I/O port protection circuit connects by interface is corresponding with aerial camera.
Aforesaid digitizing on-air radio remote aerial photography control system, is characterized in that, described flight control modules adopts DSP module.
Aforesaid digitizing on-air radio remote aerial photography control system, is characterized in that, described flight control modules also has the DAC expanded circuit coordinating DSP module.
Aforesaid digitizing on-air radio remote aerial photography control system, it is characterized in that, described flight control part comprises a motor and four steering wheels, and described motor is for controlling gyroplane rotate speed, and described four steering wheels control total distance, tailrotorpiston, horizontal feathering, longitudinal feathering respectively.
Can use DSP module during Wireless remote control flying pattern, remote-control receiver receives remote controller signal and transfers to DSP module, and DSP module controls topworks's work to exporting control signal after the signal transacting received respectively;
During multi-modal self-control offline mode, attitude data, altitude information, the speed data of described sensor assembly Real-time Collection helicopter, and the data collected are sent to DSP module; Described PC control desk sends data to DSP module by wireless transport module; Described DSP module real-time reception sensing data and PC parametric controller data, and output control signals to topworks respectively to after the signal transacting received, control topworks's work.
Described record portion and the portion of taking photo by plane all are positioned on aircraft, and aircraft comprises four passages: pitching, roll, driftage, highly, corresponding rudder face is the longitudinal feathering of modulation, horizontal feathering, tailrotorpiston, total distance respectively.Helicopter adopts CCPM electronic control type pitch mixing system, control signal be access to control cross plate do six-freedom motion elevating rudder, aileron rudder and these three steering wheels of pitch, control the course steering wheel of tail-rotor and control the electro-motor of gyroplane rotate speed.Aircraft has 4,6,8 horizontal flying rotor.
Whole flight control system is divided into airborne portion and ground station control part.Ground control station can have two kinds of modes with communicating of airborne portion, and the FUTABA telepilot radio communication of 2.4GHz communicates with 900MHz wireless transport module.FUTABA telepilot is a Digiplex, supports the use with this brand receiver.Operator by stirring the driving lever on telepilot, can produce each passage remote control pwm signal with distinct pulse widths.The core of flight control panel is DSP, primary responsibility reads the data of baroceptor, ultrasonic height meter, boat appearance sensor and GPS module, read telepilot control command, generate steering wheel control command, Wireless Data Transmission is carried out with land station, data are resolved, and Flight Control Law is resolved, and export the work such as control signal.Also other on sale other telepilots with multiple driving lever on the market can be used.
Airborne portion of the present utility model comprises DSP module, rotor motor, cross plate steering wheel, the boat appearance sensor with MEMS gyro instrument and three axis accelerometer and interface circuit, GPS and interface circuit thereof, elevation carrection sensor and interface circuit, reset circuit, small voltage difference linear voltage regulator, jtag interface, wireless transport module and interface circuit, power supply, and described DSP module comprises single-polarity PWM output driving circuit, PWM catches driving circuit; Wherein rotor motor is connected with the single-polarity PWM output driving circuit of DSP with steering wheel, boat appearance sensor is connected with the UART serial ports of DSP by level shifting circuit, GPS, height sensor are also connected with the UART serial ports of DSP, speed pickup, baroceptor are connected with the common I/O port of DSP, wireless transport module is connected with the serial ports of DSP by Transistor-Transistor Logic level interface, the wireless transport module of ground control station part and the wireless transport module mutual data transmission of airborne portion, the receiver of telepilot is connected with the eCAP trapping module of DSP.
Main control chip can adopt the dsp chip of TI company, such as TMS320F28335 chip; TMS320F28335 control effects is good, and arithmetic capability is strong, is the representative of superior performance in this series DSP, therefore the function only enough realizing navigation with a piece and fly control.Below flight control computer is described in detail.
In flight-control computer, DSP is main control chip, and all signals read in, and resolve, resolving of Flight Control Law, and control signal exports all has it to complete.DSP has in completing: sensor signal process, remote information receive, navigation calculates, control law resolves, servo driving, land station's communication etc.
DSP is control core, and all work completed constitutes the closed-loop control of band feedback.Its processes sensor information, for flight control system provides feed back input; Receive remote control or autonomous steering order, adopt different control modes according to concrete instruction; Export control signal and control steering wheel, thus control aircraft flight.Its navigation feature of easily extensible on this basis, completes the function of trajectory planning and voyage reckoning, completes autonomous flight according to navigation information according to the path of land station's planning.Thus integrate the novel flight-control computer of high speed, high precision and miniaturization for the design of unmanned plane amount body.
Flying control plate uses High-performance lithium battery independently-powered, need use step-down chip, provide these four kinds of direct supplys of 5V, 3.3V, 1.2V and 1.8V to meet the demand of main control chip; Can DC/DC be selected, also can select LDO; The requirement that step-down DC/DC converts is, meets the requirement of system to number of power sources and volt value; Make conversion efficiency enough high; Meet the requirement of Signal Matching; Make device power consumption minimum.Select the switching mode DC/DC converters such as the small modules of high conversion efficiency to reduce to low pressure with the high pressure realizing lithium battery ,+the 12V of outer input is from battery and as the input voltage of 5V power reference, 5V is as the VCC of digital circuit.The advantage of DC/DC converter be efficiency high, can big current be exported, quiescent current is little.Select this LDO voltage stabilizer of LM1117 to realize 5V → 3.3V, the low pressure drop of 3.3V → 1.2V, 3.3V → 1.8V, can reach very high efficiency, and cost is low, noise is low, and quiescent current is little, and circuit structure is simple.
TMS320F28335 is the floating type dsp processor that TI company newly releases, it adds floating-point operation kernel in existing DSP platform, namely the advantage of original dsp chip is maintained, can perform again complicated floating-point operation, can save code execution time and storage space, precision is high, cost is low, power consumption is little, and peripheral hardware integrated level is high, data and program memory space large.Utilize TMS320F28335 to develop, required peripheral chip is relatively less, system architecture simple optimizing, and cost is lower, and reliability is high.
The utility model comprehensively realizes above each several part, through taking a flight test debugging, obtains best controling parameters and effect.And the utility model achievement reaches the object of expection: Miniature Unmanned Helicopter can be enable to realize keeping isotype from steady, automatic hovering and attitude, finally possessed autonomous flight ability, solved the unmanageable problem of Miniature Unmanned Helicopter.Meanwhile, design of hardware and software of the present utility model can apply to, on multiple small-sized depopulated helicopter, to possess certain practicality and versatility.
Above-described embodiment is preferred embodiment of the present utility model; it is not the restriction to technical solutions of the utility model; as long as without the technical scheme that creative work can realize on the basis of above-described embodiment, all should be considered as falling within the scope of the rights protection of the utility model patent.
Claims (1)
1. digitizing is taken photo by plane a control system, it is characterized in that:
Comprise airborne portion, take photo by plane portion and ground control part;
Described ground control part comprises ground monitoring device, terrestrial wireless number passes device and telepilot, and described ground monitoring device and terrestrial wireless number pass device and telepilot is all electrically connected;
Described airborne portion comprises flight control modules, sensor assembly, airborne wireless number biography device, remote-control receiver and flight control part;
Described sensor assembly comprises flight baroceptor, surveys high sensor, speed of a ship or plane sensor, horizontal attitude sensor and satnav sensor;
Described flight control modules respectively with flight baroceptor, survey high sensor, speed of a ship or plane sensor, horizontal attitude sensor and satnav sensor, airborne wireless number pass device, remote-control receiver and flight control part be electrically connected, for receiving aircraft state information and ground control signal, and after calculating, export control signal to flight control part, for controlling flight;
Described remote-control receiver is used for the remote signal of the reception telepilot when wireless remote control pattern and is passed to flight control modules;
Described airborne wireless number passes device and passes device based on wireless signal to communicate mutually with terrestrial wireless number;
The described portion of taking photo by plane comprises multi-channel remote receiver and aerial camera Wireless remote control module;
Described aerial camera Wireless remote control module comprises multi-channel PWM testing circuit, MCU, level shifting circuit and I/O port protection circuit;
Described multi-channel remote receiver receive Multichannel remote controller Remote signal and to described PWM testing circuit outputting multiplex signals;
The signal output part of described PWM testing circuit is connected with described MCU;
Described MCU outputs signal to described level shifting circuit after completing PWM counting, signal transacting, protocol conversion, the signal output part of described level shifting circuit is connected with the input end of described I/O port protection circuit, and the output terminal of described I/O port protection circuit connects by interface is corresponding with aerial camera;
Described flight control modules adopts DSP module, and has the DAC expanded circuit coordinating DSP module;
Described flight control part comprises a motor and eight steering wheels, and described motor is for controlling gyroplane rotate speed, and described eight steering wheels control total distance, tailrotorpiston, horizontal feathering, longitudinal feathering, pitching, roll, driftage, highly respectively;
Described PWM testing circuit at least comprises PWM detecting unit, and this PWM detecting unit at least comprises the main detecting unit of PWM and the PWM redundant detection unit with reserve battery.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520435086.0U CN204808048U (en) | 2015-06-18 | 2015-06-18 | Digital control system that takes photo by plane |
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| CN201520435086.0U CN204808048U (en) | 2015-06-18 | 2015-06-18 | Digital control system that takes photo by plane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106503695A (en) * | 2016-12-02 | 2017-03-15 | 汕头大学 | A kind of tobacco plant identification and method of counting based on Aerial Images |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106503695A (en) * | 2016-12-02 | 2017-03-15 | 汕头大学 | A kind of tobacco plant identification and method of counting based on Aerial Images |
| CN106503695B (en) * | 2016-12-02 | 2019-07-09 | 汕头大学 | A kind of tobacco plant identification and method of counting based on Aerial Images |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151125 Termination date: 20180618 |
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| CF01 | Termination of patent right due to non-payment of annual fee |