CN205450783U - Unmanned aerial vehicle flight control and shooting device - Google Patents

Unmanned aerial vehicle flight control and shooting device Download PDF

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Publication number
CN205450783U
CN205450783U CN201620008758.4U CN201620008758U CN205450783U CN 205450783 U CN205450783 U CN 205450783U CN 201620008758 U CN201620008758 U CN 201620008758U CN 205450783 U CN205450783 U CN 205450783U
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unit
control
chip
filming
flight control
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CN201620008758.4U
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杨建军
王浩
李军
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Zerotech Beijing Intelligence Robot Co Ltd
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Zerotech Beijing Intelligence Robot Co Ltd
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Priority claimed from US15/141,835 external-priority patent/US10139822B2/en
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Abstract

The utility model discloses an unmanned aerial vehicle flight control and shooting device. The device transfers the unit, shoots unit and cell including the electricity, still includes integrated unit and power management chip, shoot unit, electricity transfer unit and power management chip respectively and integrated unit connection, cell connects power management chip does integrated unit power supply, integrated unit is used for sending control signal extremely the electricity transfers the unit with the flight of control unmanned aerial vehicle, and is simultaneously right the image that the shooting unit acquireed goes on surely like the processing. The utility model provides an unmanned aerial vehicle flight control and shooting device for unmanned aerial vehicle's volume reduces, the weight loss, and the power supply is stable, and steady picture is efficient simultaneously, surely like respond well.

Description

A kind of UAV Flight Control and filming apparatus
Technical field
This utility model relates to unmanned air vehicle technique, particularly relates to a kind of UAV Flight Control and filming apparatus.
Background technology
Unmanned plane is the abbreviation of UAV, at present taking photo by plane, agricultural plant protection, multiple fields such as mapping are all used widely.Along with the continuous maturation of unmanned air vehicle technique, its volume tapers into, and weight is lighter, and performance is more perfect than front simultaneously.
Existing UAV Flight Control and filming apparatus are as it is shown in figure 1, include flying to control unit, cradle head control unit, shooting unit, image relay unit, electricity tune unit, battery unit and power supply circuits.Wherein fly to control unit and connect electricity tune unit to control unmanned plane during flying.Shooting unit is used for obtaining image information, and cradle head control unit is the most stable to guarantee the image shooting unit acquisition for controlling The Cloud Terrace.Image relay unit is for sending the image information that shooting unit obtains.Battery unit is powered through other unit that power supply circuits are device.
In such scheme, the image using The Cloud Terrace to obtain shooting unit carries out steady picture, and steady picture effect is poor.Increase owing to the use of The Cloud Terrace makes unmanned plane overall volume increase weight, be unfavorable for that flight controls the most not readily portable.Meanwhile, by power supply circuits be each unit power increase fly control plate area unmanned plane overall volume is increased and power supply instability further.
Utility model content
The UAV Flight Control of this utility model offer and filming apparatus so that the volume-diminished of unmanned plane, weight saving, power supply is stable, and the most steady picture efficiency is high, surely as respond well.
This utility model embodiment provides a kind of UAV Flight Control and filming apparatus, unit, shooting unit and battery unit is adjusted including electricity, also include integrated unit and power management chip, described shooting unit, electricity adjust unit and power management chip to connect with described integrated unit respectively, it is that described integrated unit is powered that described battery unit connects described power management chip, described integrated unit is used for sending a control signal to described electricity and adjusts unit to control unmanned plane during flying, and the image simultaneously obtained described shooting unit carries out steady as processing.
This utility model will shoot unit, electricity adjusts unit and power management chip to connect with integrated unit respectively, connecting power management chip by battery unit is that integrated unit is powered, integrated unit is used for sending a control signal to electricity and adjusts unit to control unmanned plane during flying, and the image simultaneously obtained shooting unit carries out steady as processing.This programme need not use the The Cloud Terrace of the big Heavy Weight of volume to carry out steady picture, it is not required that use the power supply circuits accounting for plate area big to realize function of supplying power so that the volume-diminished of unmanned plane, weight saving, power stable, the most steady as efficiency height, surely as respond well.
Accompanying drawing explanation
Fig. 1 is UAV Flight Control and the structural representation of filming apparatus in prior art;
Fig. 2 is UAV Flight Control and the structural representation of filming apparatus of this utility model embodiment one offer;
Fig. 3 is UAV Flight Control and the structural representation of filming apparatus of this utility model embodiment two offer;
Fig. 4 is UAV Flight Control and the structural representation of filming apparatus of this utility model embodiment three offer;
Fig. 5 is UAV Flight Control and the structural representation of filming apparatus of this utility model embodiment four offer;
Fig. 6 is the LC1860C control chip annexation schematic diagram that this utility model embodiment four provides.
Detailed description of the invention
The utility model is described in further detail with embodiment below in conjunction with the accompanying drawings.It is understood that specific embodiment described herein is used only for explaining this utility model, rather than to restriction of the present utility model.It also should be noted that, for the ease of describing, accompanying drawing illustrate only the part relevant to this utility model rather than entire infrastructure.
Embodiment one
UAV Flight Control that Fig. 2 provides for this utility model embodiment one and the structural representation of filming apparatus, this device includes that electricity adjusts unit 1, shooting unit 2, battery unit 3, integrated unit 4 and power management chip 5, shooting unit 2, electricity adjust unit 1 and power management chip 5 to connect with integrated unit 4 respectively, battery unit 3 connects power management chip 5 and powers for integrated unit 4, integrated unit 4 is used for sending a control signal to electricity and adjusts unit 1 to control unmanned plane during flying, and the image simultaneously obtained shooting unit 2 carries out steady as processing.
It is with Fig. 1 difference, in the scheme that the present embodiment provides, integrated unit 4 has been provided simultaneously with in Fig. 1 flying to control unit and the function of cradle head control unit, this integrated unit 4 one aspect i.e. sends a control signal to electricity and adjusts unit 1 to control unmanned plane during flying, carries out the image that shooting unit 2 obtains steady as process by the control algolithm that is previously written simultaneously.The image that scheme in Fig. 1 uses cradle head control unit to obtain shooting unit carries out steady picture, by flying to control the flight of unit control unmanned plane.The Cloud Terrace, from the mounting platform formed as alternating current generator or direct current generator, horizontal and vertical can be moved under the control of cradle head control unit, can be reached the effect of steady picture by the motion of The Cloud Terrace.
This programme different is with another point of prior art in Fig. 1, this programme connects power management chip 5 by battery unit 3 and powers for integrated unit 4, rather than using battery unit to connect the mode that power supply circuits are powered, each device of whole circuit board is powered by the management of power management chip 5.Power supply circuits of the prior art generally use multiple BUCK circuit (Buck conversion circuit) unit and multiple LDO circuit (low pressure difference linear voltage regulator) unit, and power supply instability and needs take the biggest board area.
In this programme, electricity adjusts unit 1 to connect motor, and the control signal sent according to integrated unit 4 drives motor to control the flight of unmanned plane;Shooting unit 2 can be video camera.
Electricity is adjusted unit 1, shooting unit 2 and power management chip 5 to connect with integrated unit 4 respectively by this programme, connect power management chip 5 by battery unit 3 to power for integrated unit 4, integrated unit 4 is used for sending a control signal to electricity and adjusts unit 1 to control unmanned plane during flying, and the image simultaneously obtained shooting unit 2 carries out steady as processing.This programme need not use the The Cloud Terrace of the big Heavy Weight of volume to carry out steady picture, it is not required that use the power supply circuits accounting for plate area big to realize function of supplying power so that the volume-diminished of unmanned plane, weight saving, power stable, the most steady as efficiency height, surely as respond well.
In such scheme preferably, during the image that integrated unit 4 is additionally operable to obtain shooting unit 2 takes ISP (ImageSignalProcessing) process, encoding and decoding process, tracking process and light stream to process, at least one processing mode carries out image procossing.
Wherein, ISP process is mainly used to process the signal of sensor output in shooting unit 2, and to mate the imageing sensor of different vendor, the high-performance image implementing high definition picture processes and the stabilization process of dynamic menu/still frame;Encoding and decoding are processed as function the most integrated in existing camera, and encoding and decoding process signal or the data stream including being obtained by shooting unit 2 and carry out encoding so that transmitting, storing and image encryption;Image is tracked process refer to utilize image trace technology, it is tracked by the way of image recognition and shoots, image recognition is that integrated unit 4 carries out image difference and the cluster computing position with identification target object to the image that shooting unit 2 photographs, and controls shooting unit 2 by integrated unit 4 and is tracked this object;The image that light stream is processed as utilizing the optical flow algorithm being previously written in integrated unit 4 to obtain shooting unit 2 processes, and mainly includes algorithm, algorithm based on frequency domain and algorithm three major types based on gradient of based on coupling.
Embodiment two
UAV Flight Control that Fig. 3 provides for this utility model embodiment two and the structural representation of filming apparatus, this device includes that electricity adjusts unit 1, shooting unit 2, battery unit 3, integrated unit 4 and power management chip 5, shooting unit 2, electricity adjust unit 1 and power management chip 5 to connect with integrated unit 4 respectively, battery unit 3 connects power management chip 5 and powers for integrated unit 4, integrated unit 4 is used for sending a control signal to electricity and adjusts unit 1 to control unmanned plane during flying, and the image simultaneously obtained shooting unit 2 carries out image procossing.
With embodiment one disclosed in scheme different, the technical scheme that the present embodiment provides farther includes a wireless transmission unit 6, and this wireless transmission unit 6 and integrated unit 4 connect, in real time sending image information that integrated unit 4 is disposed to terminal unit.Existing scheme uses an image relay unit to carry out image information transmission as shown in Figure 1, the image transmitted carries out steady picture merely through cradle head control unit, and wireless transmission unit 6 and integrated unit 4 connect in this programme, the image that shooting unit 2 is obtained by integrated unit 4 carries out image procossing, ISP process, encoding and decoding process, tracking process and the light stream process etc. mentioned as embodiment is a kind of are also carried out in addition to carrying out steady picture, therefore through wireless transmission unit 6 send image information through image procossing, can be directly displayed in receiving terminal terminal unit.
In such scheme preferably, during terminal unit includes smart mobile phone, panel computer, notebook and desktop computer at least one.
Electricity is adjusted unit 1, shooting unit 2 and power management chip 5 to connect with integrated unit 4 respectively by this programme, connect power management chip 5 by battery unit 3 to power for integrated unit 4, integrated unit 4 is used for sending a control signal to electricity and adjusts unit 1 to control unmanned plane during flying, and the image simultaneously obtained shooting unit 2 is carried out image procossing and sent to ground receiver terminals equipment by wireless transmission unit 6.This programme need not use the The Cloud Terrace of the big Heavy Weight of volume to carry out steady picture, function of supplying power is realized so that the volume-diminished of unmanned plane, weight saving also without using the power supply circuits accounting for plate area big, power supply is stable, sends picture material complete for image procossing to terminal unit simultaneously.
Embodiment three
Fig. 4 is UAV Flight Control and the structural representation of filming apparatus of this utility model embodiment three offer, this device includes that electricity adjusts unit 1, shooting unit 2, battery unit 3, integrated unit 4, power management chip 5 and wireless transmission unit 6, shooting unit 2, electricity adjusts unit 1, power management chip 5 and wireless transmission unit 6 connect with integrated unit 4 respectively, battery unit 3 connects power management chip 5 and powers for integrated unit 4, integrated unit 4 is used for sending a control signal to electricity and adjusts unit 1 to control unmanned plane during flying, the image simultaneously obtained shooting unit 2 carries out steady as processing.
Difference with embodiment two is, in the technical scheme that the present embodiment provides, this UAV Flight Control and filming apparatus farther include sensing unit 7, and this sensing unit 7 and integrated unit 4 connect.Sensing unit 7 can comprise multiple sensing equipment, such as pressure transducer, temperature sensor, humidity sensor etc., send to integrated unit 4 after obtaining corresponding sensing data value by sensor, integrated unit 4 can carry out data process after receiving the sensing data value that sensing unit 7 sends, and the sensing data value being disposed is sent by wireless transmission unit 6.This sensing unit 7 may alternatively be integrated within shooting unit 2.
Electricity is adjusted unit 1, shooting unit 2, power management chip 5, wireless transmission unit 6 and sensing unit 7 to connect with integrated unit 4 respectively by this programme, connect power management chip 5 by battery unit 3 to power for integrated unit 4, integrated unit 4 is used for sending a control signal to electricity and adjusts unit 1 to control unmanned plane during flying, the sensing data that the image obtaining shooting unit 2 and sensing unit 7 obtain processes, and the information being disposed is sent by wireless transmission unit 6.This programme need not use the The Cloud Terrace of the big Heavy Weight of volume to carry out steady picture, function of supplying power is realized also without using the power supply circuits accounting for plate area big, make the volume-diminished of unmanned plane, weight saving, power supply is stable, and integrated unit 4 has control unmanned plane during flying concurrently, processes view data and the function of sensing data.
Embodiment four
UAV Flight Control that Fig. 5 provides for this utility model embodiment four and the structural representation of filming apparatus, this device includes that electricity adjusts unit 1, shooting unit 2, battery unit 3, LC1860C control chip 41 and LC1160 power supply chip 51, shooting unit 2, electricity adjusts unit 1 and LC1160 power supply chip 51 to connect with LC1860C control chip 41 respectively, battery unit 3 connects LC1160 power supply chip 51 and powers for LC1860C control chip 41, LC1860C control chip 41 is used for sending a control signal to electricity and adjusts unit 1 to control unmanned plane during flying, the image simultaneously obtained shooting unit 2 carries out image procossing.
In the technical scheme that this enforcement provides, power management chip selects LC1160 power supply chip.LC1160 power supply chip is responsible for the conversion of electric energy, is distributed, detects and other electric energy management responsibility.It is mainly used in identifying power supply amplitude and producing corresponding short square ripple, promotes late-class circuit to carry out power output.The model of other optional power management chip also includes HIP6301, IS6537, RT9237, ADP3168, KA7500, TL494 etc..
The flying to control in circuit board of unmanned plane is all connected to power supply, but different functional units is different to the requirement of power supply.Due to unmanned plane gradually miniaturization, flying to control circuit board internal electric intensity linearly increasing with the reduction of distance, if supply voltage is fixed, the electric field intensity of generation will puncture chip.Now need different step down supplies.And for example, many functional units need the power supply higher than supply voltage, and such as the display floater of unmanned plane and driver element etc., the voltage being required for providing battery unit does boosting and processes, and needs to use step-up switching power supply.LC1160 power supply chip is uniformly controlled distribution to flying to control the different electrical power that each components and parts need in circuit board, owing to chip size is the least therefore greatly improve current densities, it is to avoid the multiple BUCK of use and LDO circuit.Meanwhile, unmanned plane is as the high product of scientific and technological content, and the stability requirement powering power supply is the most high, and the subtle disruption on power supply all will produce impact to the performance flying to control each components and parts on circuit board, needs to carry out voltage stabilizing, filtering etc. and processes.In the technical scheme that the present embodiment provides, by using LC1160 power supply chip, in conjunction with few peripheral cell, unmanned plane can be realized and fly to control the stable power-supplying of each element in circuit board.
In the technical scheme that this enforcement provides, integrated unit selects chip LC1860C control chip, and concrete chip annexation is as shown in Figure 6.Fig. 6 is the LC1860C control chip annexation schematic diagram that this utility model embodiment three provides.
LC1860C control chip adjusts unit to connect by UART0 serial ports and 4 electricity, and supply voltage is 1.8V.UART (UniversalAsynchronousReceiver/Transmitter) is Universal Serial Bus, for asynchronous communication.This bus is two-way communication, it is possible to achieve full duplex transmission and reception.In this programme, UART0 is used for providing LC1860C control chip and 4 electricity to adjust unit communication.
Further, LC1860C control chip is connected with shooting unit by I2C3 bus and MIPI interface, and supply voltage is 1.8V.I2C (Inter-IntegratedCircuit) bus is twin wire universal serial bus, is used for connecting LC1860C chip and shooting unit.I2C bus is a kind of specific form of synchronous communication, and interface line is few, and control mode is simple, and device packing forms is little, and traffic rate is high.I2C bus is being connected between the device of bus, by serial data (SDA) line and serial clock (SCL) line, information of transmitting.Each device has a unique Address Recognition and can serve as a transmitter or receptor.
MIPI (MobileIndustryProcessorInterface) i.e. moves Industry Processor Interface, is the open standard formulated for Mobile solution processor of MIPI alliance initiation.
Further, LC1860C control chip is connected by SDIO1 (SecureDigitalInputandOutput secure digital input and output) interface and wireless transmission unit, and supply voltage is 1.8V.Wireless transmission unit uses BCM4334 chip.
Further, the supply voltage of battery unit is 4V, connects LC1860C control chip by power management chip LC1160 power supply chip.LC1160 power supply chip produces 5 BUCK power supplys and 18 LDO power supplys are powered to whole unmanned plane device, is simultaneously connected with ADC (voltage sample).
Further, LC1860C control chip provides 3.3V supply voltage and the two distinct types of universal input/output interface of 1.8V supply voltage simultaneously.
Further, LC1860C control chip is connected by UART1 with UART2 with GPS (GlobalPositioningSystem global positioning system) module and ultrasonic wave module respectively, and supply voltage is 1.8V.
Further, LC1860C control chip and printing serial ports are connected by COMUART.
Further, LC1860C control chip and standby electricity adjust unit to be connected by I2C0, and supply voltage is 1.8V.
Further, LC1860C control chip reserves a reserved port, is connected by I2C1 bus, and supply voltage is 1.8V.
Further, LC1860C control chip is connected by SSI0 and gyroscope, and supply voltage is 3.3V, and gyroscope model is MPU6500.
Further, LC1860C control chip is connected by simulation I2C and barometer, and supply voltage is 3.3V, and barometer model is MS5611.
Further, LC1860C control chip is connected with USB interface.
Further, LC1860C control chip and USB chip interconnecting interface connect, and supply voltage is 1.2V.
Further, LC1860C control chip is connected by SDIO0 and SD storage card, and supply voltage is 3V.
Further, LC1860C control chip and eNANDLPDDR3 (storage chip) connect.
Further, LC1860C control chip and switch key connect.
Electricity is adjusted unit 1, shooting unit 2 and LC1160 power supply chip 51 to connect with LC1860C control chip 41 respectively by this programme, connecting LC1160 power supply chip (51) by battery unit 3 is that LC1860C control chip 41 is powered, LC1860C control chip 41 is used for sending a control signal to electricity and adjusts unit 1 to control unmanned plane during flying, and the image simultaneously obtained shooting unit 2 is carried out image procossing and sent to ground receiver terminals equipment by wireless transmission unit 6.This programme need not use the The Cloud Terrace of the big Heavy Weight of volume to carry out steady picture, function of supplying power is realized so that the volume-diminished of unmanned plane, weight saving also without using the power supply circuits accounting for plate area big, power supply is stable, sends picture material complete for image procossing to terminal unit simultaneously.
Note, above are only preferred embodiment of the present utility model and institute's application technology principle.It will be appreciated by those skilled in the art that this utility model is not limited to specific embodiment described here, various obvious change can be carried out for a person skilled in the art, readjust and substitute without departing from protection domain of the present utility model.Therefore, although this utility model being described in further detail by above example, but this utility model is not limited only to above example, in the case of conceiving without departing from this utility model, other Equivalent embodiments more can also be included, and scope of the present utility model is determined by scope of the appended claims.

Claims (10)

1. a UAV Flight Control and filming apparatus, unit, shooting unit and battery unit is adjusted including electricity, it is characterized in that, also include integrated unit and power management chip, described shooting unit, electricity adjust unit and power management chip to connect with described integrated unit respectively, it is that described integrated unit is powered that described battery unit connects described power management chip, described integrated unit is used for sending a control signal to described electricity and adjusts unit to control unmanned plane during flying, and the image simultaneously obtained described shooting unit carries out steady as processing.
UAV Flight Control the most according to claim 1 and filming apparatus, it is characterized in that, during the image that described integrated unit is additionally operable to obtain described shooting unit takes ISP process, encoding and decoding process, tracking process and light stream to process, at least one processing mode carries out image procossing.
UAV Flight Control the most according to claim 1 and filming apparatus, it is characterized in that, described device also includes wireless transmission unit, and described wireless transmission unit and described integrated unit connect, for sending image information that described integrated unit is disposed in real time to terminal unit.
UAV Flight Control the most according to claim 3 and filming apparatus, it is characterised in that described terminal unit includes at least one in smart mobile phone, panel computer, notebook and desktop computer.
UAV Flight Control the most according to claim 1 and filming apparatus, it is characterised in that described electricity adjusts unit and motor to connect, and is used for driving unmanned plane during flying.
6. according to the UAV Flight Control described in any one of claim 1-5 and filming apparatus, it is characterised in that described power management chip includes LC1160 power supply chip.
7. according to the UAV Flight Control described in any one of claim 1-5 and filming apparatus, it is characterised in that the chip of described integrated unit includes LC1860C control chip.
UAV Flight Control the most according to claim 7 and filming apparatus, it is characterised in that described LC1860C control chip adjusts unit to connect by the described electricity of UART serial ports and 4.
UAV Flight Control the most according to claim 7 and filming apparatus, it is characterised in that the MIPI interface of described LC1860C control chip is connected by I2C bus and described shooting unit.
UAV Flight Control the most according to claim 7 and filming apparatus, it is characterised in that described LC1860C control chip is connected by SDIO interface and wireless transmission unit.
CN201620008758.4U 2016-01-05 2016-01-05 Unmanned aerial vehicle flight control and shooting device Active CN205450783U (en)

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CN201620008758.4U CN205450783U (en) 2016-01-05 2016-01-05 Unmanned aerial vehicle flight control and shooting device

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Application Number Priority Date Filing Date Title
CN201620008758.4U CN205450783U (en) 2016-01-05 2016-01-05 Unmanned aerial vehicle flight control and shooting device
US15/141,835 US10139822B2 (en) 2016-01-05 2016-04-29 Unmanned aerial vehicles
US15/141,838 US9829886B2 (en) 2016-01-05 2016-04-29 Flight control system, a circuit board assembly and a configuration method thereof

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107703786A (en) * 2017-08-02 2018-02-16 深圳市好盈科技有限公司 Multi-path electricity, which is adjusted, docks conversion monitoring method and apparatus with the data between main control device
WO2018053809A1 (en) * 2016-09-23 2018-03-29 Qualcomm Incorporated Adaptive image processing in an unmanned autonomous vehicle
WO2018059326A1 (en) * 2016-09-27 2018-04-05 亿航智能设备(广州)有限公司 Aircraft motor control method, apparatus and system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018053809A1 (en) * 2016-09-23 2018-03-29 Qualcomm Incorporated Adaptive image processing in an unmanned autonomous vehicle
WO2018059326A1 (en) * 2016-09-27 2018-04-05 亿航智能设备(广州)有限公司 Aircraft motor control method, apparatus and system
CN107703786A (en) * 2017-08-02 2018-02-16 深圳市好盈科技有限公司 Multi-path electricity, which is adjusted, docks conversion monitoring method and apparatus with the data between main control device

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