CN208190810U - Aircraft Aerial Images Integrated Processing Unit - Google Patents
Aircraft Aerial Images Integrated Processing Unit Download PDFInfo
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- CN208190810U CN208190810U CN201721649243.3U CN201721649243U CN208190810U CN 208190810 U CN208190810 U CN 208190810U CN 201721649243 U CN201721649243 U CN 201721649243U CN 208190810 U CN208190810 U CN 208190810U
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Abstract
The utility model discloses a kind of aircraft Aerial Images Integrated Processing Unit comprising: control core, GPS module, pulse width detection interface, video camera, character adding module, cloud control centre.GPS module is fixed on aircraft, returns to flying height and latitude and longitude information, takes photo by plane and image the foundation at interval as automatic route.Video camera is installed on the bottom of unmanned plane, receives instruction shooting photo.Character adding module realizes the superposition of longitude and latitude data and picture of taking photo by plane, and user is helped to confirm pictorial information.Cloud control centre, the formulation plan of taking photo by plane, receive the photo of aerial device return and realize by image procossing to show the functions such as preview graph, the utility model convenient and economical can be mounted on the aircraft for needing to add aerial photography function, the specialized function of automatic route and image procossing is provided, it solves the problems, such as the high hardware cost of unmanned plane, efficiently completes the preset functions such as image mosaic.
Description
Technical field
The utility model relates to a kind of control unmanned plane and the device of image procossing, in particular to a kind of automatic controls
The device taken photo by plane for UAV Intelligent.
Background technique
Unmanned plane usually requires that aerial photography function is integrated in unmanned plane for the special control core, peripheral equipment of taking photo by plane at present
It in system, while taking photo by plane and generally requiring manual control, more lack the processing function to shooting image.Cause do not have aerial photography function
Limitation on unmanned plane functions expanding, and for a large amount of human cost of increase in demand of taking photo by plane and image of many repeatability
Handle the time.
The fast development of unmanned plane in recent years is coped with, people make rapid progress to its functional requirement, and market needs unmanned plane
It can adapt to various demands, repertoire is integrated in a frame unmanned plane under this background or buys multi rack reply special business
Unmanned plane be all it is unrealistic with it is uneconomic.
CN102088569A discloses a kind of dedicated splicing method and system of unmanned vehicle image, but the system provides
Data type is limited, and algorithm complexity is high, complicated for operation, cannot achieve the real-time of image mosaic.
CN106485655 discloses a kind of aircraft and takes photo by plane map generation system, including track generation module, Image Acquisition
The acquisition and spelling of image may be implemented in module, image pre-processing module, image mosaic module and user interactive module 5 modules
It connects, but there is not scalability.
Therefore the utility model proposes the prolongable thoughts of unmanned plane function, in basic flight function, for specific
Business development peripheral equipment, to meet society to the application trend of unmanned plane.
Utility model content
The technical problem to be solved by the utility model is to provide a kind of aircraft Aerial Images Integrated Processing Units, can
To carry out wireless control as desired by cloud control centre, taking photo by plane and image procossing function automatically to observation area is realized
Can, and can be realized the expansion of peripheral equipment, that is, a kind of can automatically control, cloud monitoring, image mosaic, use is provided
In the device that UAV Intelligent is taken photo by plane.
The utility model is achieved through the following technical solutions above-mentioned function.
A kind of aircraft Aerial Images Integrated Processing Unit characterized by comprising control core, GPS module, pulsewidth
Interface, cloud control centre, video camera and character adding module are detected, the control core and pulse width detection Interface integration are in core
Core provides the initial signal of shooting for detecting pulse width and frequency；The GPS module passes through connecting line and core board
Connection, is fixed on aircraft parking stand, the foundation for returning to flying height and latitude and longitude information, as interval of taking photo by plane；It is described
Video camera is installed on aircraft bottom, and the character adding module is mounted on the core board, for realizing GPS longitude and latitude degree
Image superposition is shot according to video camera；The cloud control centre is the remote control table of unmanned plane, the GPS module, institute
The flight for stating the image, the unmanned plane of camera acquisition, can be controlled by the core board, be returned to the cloud control centre
Data are returned, receive the control of cloud control centre, cloud control centre can image procossing to real-time Transmission and displaying comprising
Online real-time video previewing module, grid setup module of taking photo by plane, parameter designing of taking photo by plane module, aircraft navigation track module and boat
Preview picture module is clapped, wherein online live preview video, connection camera shooting may be implemented in the online real-time video previewing module
Head, disconnection camera and starting/stopping monitoring being taken photo by plane a little；The grid setup module of taking photo by plane is for being arranged the lattice for grid of taking photo by plane
Son；The parameter designing module of taking photo by plane configures aircraft by this serial port module and takes pictures distance, include cross for before taking off
To distance of taking pictures, lateral points of taking pictures, longitudinal distance and lateral points of taking pictures of taking pictures；The aircraft navigation track module is for marking
The position of map where determining when aircraft is taken photo by plane；It is described take photo by plane preview picture module by the picture taken pictures of aircraft fixed point within a grid into
Row is shown.
Preferably, the core board includes STM32 family chip, for connecting other modules on core board, as core
The data transmit-receive control centre of the heart.
Preferably, the core board further includes power supply and download circuit and external flash module.
Preferably, the power supply and download circuit provide the steady of 5v and 3.3v using CH340 chip as core for entire chip
Voltage source
Preferably, the camera can acquire realtime graphic, control broadcast transmission by the core board, control beyond the clouds
Center remote real time inspection processed.
Preferably, the pulse width detection module can detect pulse width, frequency by TLP521 chip, and return to correlation
Data provide the initial signal of shooting.
Preferably, the GPS communication module passes through 800 serial GPS chip energy extract real-times to current longitude and latitude numerical value
And the STM32 family chip is returned to, then be sent to the character adding module via STM32 family chip.
Preferably, the unmanned plane has the load capacity of installation complete unit enough, its own can be passed by nine axis
Sensor, light stream sensor, GPS sensor, ultrasonic sensor, barometer and electron speed regulator, motor match, Neng Goushi
The now fixed high hovering of fixed point and various flare maneuvers, while providing interface allows external device to control.
The utility model has the technical effect that the utility model by that will take photo by plane with image processing function by expansible
Equipment is realized independently of unmanned plane, provides the business function of taking photo by plane of high efficiency, low cost, different from existing unmanned plane,
A set of equipment, which can according to need, to be installed on different types of aircraft, and the identical automatic route shooting function of completion is simultaneously independent
Image procossing realizes particular demands, enhances the practicality, flexibility and reusability.
Detailed description of the invention
Fig. 1 is the functional block diagram of the utility model aircraft Aerial Images Integrated Processing Unit.
Fig. 2 is the functional block diagram of the utility model aircraft Aerial Images Integrated Processing Unit.
Fig. 3 is the structural schematic diagram of the utility model aircraft Aerial Images Integrated Processing Unit.
Fig. 4 is the top view of the utility model aircraft Aerial Images Integrated Processing Unit.
Fig. 5 is the system block diagram of the utility model aircraft Aerial Images Integrated Processing Unit.
Fig. 6 be the utility model aircraft take photo by plane Integrated Processing Unit kernel control module hardware connection logic chart.
Fig. 7 is the circuit diagram of the utility model pulse width detection module.
Fig. 8 is the effect picture of the utility model character adding module.
Specific embodiment
Below in conjunction with drawings and examples, the present invention will be further described in detail.It should be appreciated that this place is retouched
The specific embodiment stated only to explain the utility model, is not used to limit the utility model.
As shown in figure 3, the utility model aircraft Aerial Images Integrated Processing Unit is attached on expansible unmanned plane, packet
It includes with lower component: in GPS module 1, control core, character adding module 2, video camera 3, pulse width detection interface and cloud control
The heart.Wherein unmanned plane has the load capacity of installation complete unit enough, its own can be sensed by nine axle sensors, light stream
The various kinds of sensors such as device, GPS sensor, ultrasonic sensor, barometer and electron speed regulator, motor match, and can be realized
The fixed high hovering of fixed point and various flare maneuvers, while providing interface allows external device to control.
It is the system block diagram of the utility model aircraft Aerial Images Integrated Processing Unit as shown in Figure 5, Fig. 6 is that this is practical
Course of new aircraft take photo by plane Integrated Processing Unit kernel control module hardware connection logic chart, the control core collection of the utility model
At in core board, core board is installed on unmanned plane, and core board selects low-power scm, as in the control of aerial device
The heart shoots and controls to the flight of unmanned plane, video camera, and GPS module acquisition data are analyzed and handled, are controlled with cloud
Center processed is attached and data communication.Specifically include: ST high-performance 32-bit microprocessor MPU (STM32 family chip) connects
Other modules on pcb board are connect, the data transmit-receive control centre as core；Power supply and download circuit, using CH340 chip as core
The heart provides the regulated power supply of 5v and 3.3v for entire chip；It is wide to detect pulse by TLP521 chip for pulse width detection module
Degree, frequency, and return to the initial signal that related data provides shooting；Character adding module leads to collected latitude and longitude information
It crosses the module to be added on the image taken, and is back to cloud；GPS communication module passes through 800 serial GPS chip energy
Extract real-time is to current longitude and latitude numerical value and returns to single-chip microcontroller, then is sent to character adding module via single-chip microcontroller；It is external
Flash module provides external flash by core of W25X16, and external flash can be replaced with sd card；Serial ports exports 3.3v and turns
5v module, it is core that SN74HC245DW chip, which may be selected,.Control core is selected as the core board of integrated low-power scm, leads to
Cross the management of flight control and peripheral equipment that serial ports is realized to unmanned plane.
In more detail, the control core of the utility model uses ST high-performance 32-bit microprocessor MPU (STM32 series core
Piece), and carry UBLOX consumer level high-precision GPS module.ST high-performance 32-bit microprocessor MPU can be realized and PC computer
Usb communication, the serial communication with character adding module and GPS module detect the pulse width signal from aircraft control side.Micro process
Device can carry out basic configuration to it by USB by PC computer before taking off.Microprocessor can detecte from aircraft
The pulse width signal of side starts shooting function when signal, which reaches, centainly to be required, can actively receive the data from GPS module
Report, unpacks data therein, stores, and completes processing in real time, records the speed and flying distance of aircraft.Reach working as
Aircraft control when set distance sends corresponding control signal to camera controller, and camera completion is taken pictures, by the real-time of camera site
GPS coordinate information is fed back to character adding module, and the coordinate information of shooting point is recorded in the storage medias such as SD card.
The microprocessor that control core uses is communicated with GPS module by serial ports USART.GPS module is can set
Fixed traffic rate uninterruptedly sends datagram to processor, and UBLOX-NEO series GPS chip is assisted using the NEMA data of standard
View is communicated, and communication speed is that user can configure, and is generally configured to 10HZ.The principle that microprocessor receives data is, often
Judged after GPS sends a frame data, extract GNRMS from data flow, two frame data of GNVTG are read out pair
Ground speed (GNVTG.7), unit are that km/h. is pre-processed using serial ports interrupt function, and speed data is passed to principal function,
And quick release serial ports.Receiving data in such a way can guarantee that the data flow of GPS is obtained by uninterrupted sampling, to guarantee aircraft
The real-time of velocity information acquisition.
Aircraft controls module by a mouth line that can generate PWM waveform.Microprocessor is needed to coming from
The signal dutyfactor of mouth line is detected to realize starting and stopping for programmed logic.
System stores GPS data when shooting every time by SD card.Read-write SD only needs 4 I/O ports that can extend out one most
The big external memory for reaching 32GB or more, capacity is very big from the tens G selecting scales of M to tens to tens, replaces also very convenient.
The system pcb board has carried the SD card interface of standard, and STM32 can be used to carry SPI interface driving, highest communication speed
Reachable 18Mbps is spent, it is per second to transmit data 2M byte or more, coordinate information is written into memory in real time enough.It is every to send one
A order, SD card can all provide a response, to inform the executive condition of the host order, or inform the number that host needs to obtain
According to.
Cloud control centre is connected with aerial device by wireless communication, by control core, formulates the plan of taking photo by plane, control
The automatic route shooting of the flight and completion of unmanned plane, while receiving the photo of aerial device return and exhibition is realized by image procossing
Show the functions such as preview graph.The utility model cloud control centre comprises the following modules:
Online real-time video previewing module: online live preview video, connection camera, disconnection camera and starting/stop
Only monitoring is taken photo by plane a little；
It takes photo by plane grid setup module: for the grid number for grid of taking photo by plane to be arranged, as the right is provided that the net of 4*5 at present
Lattice；
Parameter designing of taking photo by plane module: before taking off, aircraft is configured by this serial port module and is taken pictures distance, comprising laterally
It takes pictures distance, points of laterally taking pictures, longitudinal distance of taking pictures, points etc. of laterally taking pictures.This module has got through serial communication, for each
The calculating needs of kind parameter are calculated according to the actual conditions of aircraft；
Aircraft navigation track module: the position of map is unlikely to run fast where when calibration aircraft is taken photo by plane convenient for finding aircraft
?；
It takes photo by plane preview picture module: the picture that aircraft fixed point is taken pictures being shown within a grid, to see entirety
Effect picture, each point taken pictures will be all stored under temp catalogue, so as to followed by concatenation.
The GPS module of the utility model is fixed in unmanned aerial vehicle rack, and GPS module is connected by connecting line and core board
It connects, flying height and latitude and longitude information can be returned, take photo by plane and image the foundation at interval as automatic route, core can be passed through
Plate control returns to cloud control centre.
The pulse width detection Interface integration of the utility model provides shooting for detecting pulse width, frequency in core board
Initial signal.
This video camera is mounted on the bracket of uav bottom, is connected by connecting line with core board, can be received reception
Core partitioned signal shoots photo, controls broadcast transmission to cloud control centre by core board.The bottom of unmanned plane as shown in Figure 4
Structure, video camera are fixed on bottom bracket.
Character adding module is mounted on core board, is connect by serial ports with core board, longitude and latitude data may be implemented
With the superposition for picture of taking photo by plane, treated picture is returned to cloud control centre by core board control.As shown in figure 8, for this
The effect picture of the character adding module of utility model.
When the utility model is used, orientation connection is established after unmanned plane starting with cloud control centre, in the control of cloud
The heart can set the region of unmanned plane, control in real time the flight of unmanned plane, and unmanned plane, which can be realized, goes to target
Automatic programme path is shot.
Cloud control centre can receive the aerial photograph for the superposition latitude and longitude information that unmanned plane is passed back, and can be to photograph of taking photo by plane
Picture processing, realizes the splicing of picture.
Therefore, the unmanned plane image processing apparatus of the utility model inherits prolongable thought, can convenient and warp
Ji is mounted on the aircraft for needing to add aerial photography function, while providing the specialized function of automatic route and image procossing, no
It only solves the problems, such as the high hardware cost of unmanned plane, more can efficiently complete the functions such as image mosaic.In the boat to fixed area
It claps in application, can efficiently, easily realize the shooting task of set demand, save a large amount of manpowers and economic cost.
The preferred embodiment of the utility model has shown and described in above description, as previously described, it should be understood that this is practical new
Type is not limited to forms disclosed herein, and should not be regarded as an exclusion of other examples, and can be used for various other groups
Conjunction, modification and environment, and above-mentioned introduction or the technology of related fields can be passed through within the scope of the inventive concept described herein
Or knowledge is modified.And changes and modifications made by those skilled in the art do not depart from the spirit and scope of the utility model, then
It all should be in the protection scope of the appended claims for the utility model.
Claims (8)
1. a kind of aircraft Aerial Images Integrated Processing Unit characterized by comprising control core, GPS module, pulsewidth inspection
Interface, cloud control centre, video camera and character adding module are surveyed, the control core and pulse width detection Interface integration are in core
Plate provides the initial signal of shooting for detecting pulse width and frequency；The GPS module is connected by connecting line and core board
It connects, is fixed on aircraft parking stand, the foundation for returning to flying height and latitude and longitude information, as interval of taking photo by plane；It is described to take the photograph
Camera is installed on aircraft bottom, and the character adding module is mounted on the core board, for realizing GPS longitude and latitude data
Image superposition is shot with video camera；The cloud control centre is the remote control table of unmanned plane, the GPS module, described
The flight of the image, the unmanned plane of video camera acquisition, can be controlled by the core board, be returned to the cloud control centre
Data, receive the control of cloud control centre, and cloud control centre can image procossing to real-time Transmission and displaying；
The cloud control centre includes online real-time video previewing module, grid setup module of taking photo by plane, parameter designing of taking photo by plane mould
Block, aircraft navigation track module and preview picture module of taking photo by plane, wherein the online real-time video previewing module may be implemented
Online live preview video, connection video camera, disconnection video camera and starting/stopping monitoring being taken photo by plane a little；The grid setting of taking photo by plane
Module is used to be arranged the grid for grid of taking photo by plane；The parameter designing module of taking photo by plane is for passing through this serial ports mould before taking off
Block configuration aircraft is taken pictures distance, includes laterally take pictures distance, points of laterally taking pictures, longitudinal distance and points of laterally taking pictures of taking pictures；
The position of map where the aircraft navigation track module is used to demarcate when aircraft is taken photo by plane；The preview picture module of taking photo by plane will fly
The picture that machine fixed point is taken pictures is shown within a grid.
2. aircraft Aerial Images Integrated Processing Unit as described in claim 1, which is characterized in that the core board includes
STM32 family chip, the data transmit-receive control centre for connecting other modules on core board, as core.
3. aircraft Aerial Images Integrated Processing Unit as claimed in claim 1 or 2, the core board further include power supply and under
Carry circuit and external flash module.
4. aircraft Aerial Images Integrated Processing Unit according to claim 3, wherein the power supply and download circuit with
CH340 chip is core, provides the regulated power supply of 5v and 3.3v for entire chip.
5. aircraft Aerial Images Integrated Processing Unit of any of claims 1 or 2, the video camera can acquire realtime graphic,
Broadcast transmission is controlled by the core board, beyond the clouds the long-range real time inspection of control centre.
6. aircraft Aerial Images Integrated Processing Unit as claimed in claim 1 or 2, which is characterized in that
The pulse width detection interface can detect pulse width, frequency by TLP521 chip, and return to related data and provide shooting
Initial signal.
7. aircraft Aerial Images Integrated Processing Unit as claimed in claim 2, which is characterized in that the GPS module passes through
800 serial GPS chip energy extract real-times to current longitude and latitude numerical value and return to the STM32 family chip, then via
STM32 family chip is sent to the character adding module.
8. aircraft Aerial Images Integrated Processing Unit as claimed in claim 1 or 2, which is characterized in that the unmanned plane
Load capacity with enough installation complete units, its own can be by nine axle sensors, light stream sensor, GPS sensor, super
Sonic sensor, barometer and electron speed regulator, motor match, and can be realized the fixed high hovering of fixed point and various flights are dynamic
Make, while providing interface allows external device to control.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721649243.3U CN208190810U (en) | 2017-12-01 | 2017-12-01 | Aircraft Aerial Images Integrated Processing Unit |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107896317A (en) * | 2017-12-01 | 2018-04-10 | 上海市环境科学研究院 | Aircraft Aerial Images Integrated Processing Unit |
| CN110271685A (en) * | 2019-06-12 | 2019-09-24 | 上海工程技术大学 | A kind of unmanned plane of taking photo by plane based on ARM and FPGA |
| CN111882484A (en) * | 2020-06-16 | 2020-11-03 | 河北汉光重工有限责任公司 | Servo control method in high-speed seamless image splicing of submersible imaging system |
-
2017
- 2017-12-01 CN CN201721649243.3U patent/CN208190810U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107896317A (en) * | 2017-12-01 | 2018-04-10 | 上海市环境科学研究院 | Aircraft Aerial Images Integrated Processing Unit |
| CN107896317B (en) * | 2017-12-01 | 2023-05-26 | 上海市环境科学研究院 | Aerial image comprehensive processing device for aircraft |
| CN110271685A (en) * | 2019-06-12 | 2019-09-24 | 上海工程技术大学 | A kind of unmanned plane of taking photo by plane based on ARM and FPGA |
| CN111882484A (en) * | 2020-06-16 | 2020-11-03 | 河北汉光重工有限责任公司 | Servo control method in high-speed seamless image splicing of submersible imaging system |
| CN111882484B (en) * | 2020-06-16 | 2024-04-16 | 河北汉光重工有限责任公司 | Servo control method in high-speed seamless image stitching of diving imaging system |
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