CN104773296A - Aerial real-time tracking shooting micro unmanned plane - Google Patents

Abstract

The invention relates to a micro unmanned aerial vehicle for real-time tracking and shooting in the air, belonging to the field of aerial photography unmanned aerial vehicles. It includes the minimum system module of single-chip microcomputer, the minimum system module of single-chip microcomputer is respectively connected with the barometer module, the wireless remote control transmission module, the alarm module, the liquid crystal display module and the gyroscope acceleration module, and the camera module is connected with the wireless image transmission module and the image storage module respectively . The invention has the characteristics of good safety, low cost, complete functions, good performance, low power consumption and strong anti-interference, and is suitable for travel enthusiasts, and can also be applied to fields such as military intelligence detection.

Description

A real-time aerial tracking and shooting micro-drone

technical field

The invention relates to the field of aerial photographing unmanned aerial vehicles, in particular to a micro unmanned aerial vehicle for real-time tracking and photographing in the air.

Background technique

At present, there are various aerial photography UAV products on the market, but there are generally problems such as high risk, poor performance, and incomplete functions. With the development of science and technology, people's demand for high-altitude shooting is becoming more and more common. However, most of the aerial photography drones on the market are large in size and highly dangerous. At present, although the small aerial photography drones that have just appeared on the market are reduced in size and have effective load capacity, they cannot complete the real-time tracking and shooting function of images. The operator can only perform blind shooting, which is far from meeting people's aerial shooting needs.

Contents of the invention

The object of the present invention is to provide a real-time tracking and photographing miniature unmanned aerial vehicle in the air.

The purpose of the present invention is achieved by the following approach: a real-time tracking and shooting miniature unmanned aerial vehicle in the air, which includes the minimum system module of the single-chip microcomputer, and the minimum system module of the single-chip microcomputer is respectively connected with the barometer height-setting module, wireless remote control transmission module, alarm module, liquid crystal The display module is connected with the gyroscope acceleration module, and the camera module is respectively connected with the wireless image transmission module and the image storage module.

As a further optimization of this scheme, the two-way input/output terminals SCL and SDA of the minimum system module of the single-chip microcomputer are correspondingly connected with the two-way input/output terminals SCL and SDA of the barometer fixed height module, and the two-way input/output terminals of the minimum system module of the single-chip microcomputer are correspondingly connected. The terminals IRQ, MOSI, CSN, MISO, CE, CLK are connected to the bidirectional input/output terminals IRQ, MOSI, CSN, MISO, CE, CLK of the wireless remote control transmission module, and the output terminal SYSBUZ of the smallest system module of the single-chip microcomputer is connected to the input of the alarm module. The terminal SYSBUZ is correspondingly connected, the output terminals M1, M2, M3, M4 of the minimum system module of the single-chip computer are connected correspondingly with the input terminals M1, M2, M3, M4 of the motor drive module, and the bidirectional input/output terminals OLED_CS, OLED_DC, OLED_RW, OLED_RD, OLED_D0, OLED_D1, OLED_D2, OLED_D3, OLED_D4, OLED_D5, OLED_D6, OLED_D7 and bidirectional input/output terminals of LCD module OLED_CS, OLED_DC, OLED_RW, OLED_RD, OLED_D0, OLED_D1, OLED_D2, OLED_D3, OLED_D4, OLED_D5, OLED_D6 , OLED_D7 are connected correspondingly, the bidirectional input/output terminals SCL and SDA of the minimum system module of the single-chip microcomputer are correspondingly connected with the bidirectional input/output terminals SCL and SDA of the gyroscope acceleration module, the output terminal Control of the minimum system module of the single-chip microcomputer is connected with the input terminal of the image storage module Control connection; the output terminal IMAGE of the camera module is correspondingly connected with the input terminal IMAGE of the wireless image transmission module, and the output terminal IMAGE of the camera module is correspondingly connected with the input terminal IMAGE of the image preservation module.

As a further optimization of this program, the minimum system module of the single-chip microcomputer includes a chip U1; the pins 24, 36, 48 and 9 of the chip U1 are connected to the stabilized power supply terminal VCC, and the pins 20 and 44 of the chip U1 are connected to the One end of the resistor R1 is connected to one end of the resistor R2 correspondingly, the other end of the resistor R1 and the other end of the resistor R2 are both connected to the digital ground GND of the power supply, pin 5 and pin 6 of the chip U1 are connected to pin 3 and pin 1 of the crystal oscillator Y1 correspondingly, Pin 7 of the chip U1 is connected to one end of the resistor R3 and one end of the capacitor C1 respectively, pin 8, pin 23, pin 35 and pin 47 of the chip U1 are connected to the digital ground GND of the power supply, and one end of the resistor R3 is connected to one end of the switch K1. The other end of the resistor R3 is connected to the regulated power supply terminal VCC, the other end of the capacitor C1 and the other end of the switch K1 are connected to the power supply digital ground GND, one end of the capacitor C2 and one end of the capacitor C3 are connected to pin 1 and pin 3 of the crystal oscillator Y1 Correspondingly connected, the other end of capacitor C2 and the other end of capacitor C3 are connected to the power supply digital ground GND, and one end of capacitor C4, capacitor C5 and capacitor C6 is connected to the regulated power supply terminal VCC, and capacitor C4, capacitor C5 and capacitor C6 are connected to each other. The other end is connected to the digital ground GND of the power supply;

The bidirectional input/output terminals SCL and SDA of the chip U1 are correspondingly connected with the bidirectional input/output terminals SCL and SDA of the barometer module, and the bidirectional input/output terminals IRQ, MOSI, CSN, MISO, CE, CLK of the chip U1 are connected to the wireless The two-way input/output terminals IRQ, MOSI, CSN, MISO, CE and CLK of the remote control transmission module are connected correspondingly, the output terminal SYSBUZ of the chip U1 is connected correspondingly with the input terminal SYSBUZ of the alarm module, and the output terminals M1, M2, M3, M4 is correspondingly connected to the input terminals M1, M2, M3 and M4 of the motor drive module, and the bidirectional input/output terminals OLED_CS, OLED_DC, OLED_RW, OLED_RD, OLED_D0, OLED_D1, OLED_D2, OLED_D3, OLED_D4, OLED_D5, OLED_D6, OLED_D7 and The bidirectional input/output terminals OLED_CS, OLED_DC, OLED_RW, OLED_RD, OLED_D0, OLED_D1, OLED_D2, OLED_D3, OLED_D4, OLED_D5, OLED_D6, OLED_D7 of the liquid crystal display module are connected correspondingly, and the bidirectional input/output terminals SCL, SDA of the chip U1 are connected to the gyroscope acceleration The bidirectional input/output terminals SCL and SDA of the module are correspondingly connected, and the output terminal Control of the chip U1 is connected with the input terminal Control of the image storage module (10).

As a further optimization of this program, the described barometer module includes a barometer chip U8; one end of pin 1, pin 2, and capacitor C21 of the barometer chip U8 is connected to the stabilized power supply terminal VCC, and the pin of the barometer chip U8 3. Pin 4, pin 5, and the other end of capacitor C21 are connected to the analog ground GND_M, the input terminal SCL of the barometer chip U8 is connected to the output terminal SCL of the smallest system module of the single-chip microcomputer, and the bidirectional input/output terminal SDA of the barometer chip U8 is connected to The bidirectional input/output SDA connection of the smallest system module of the single chip microcomputer.

As a further optimization of this program, the liquid crystal display module includes a display screen U4; pin 1, pin 8, pin 29, pin 30 of the display screen U4, one end of the resistor R6, one end of the resistor R10, one end of the capacitor C14, the capacitor One end of C15, one end of capacitor C16, and one end of capacitor C17 are connected to the digital ground GND, pin 6, pin 9, one end of resistor R7, one end of resistor R8, and one end of resistor R9 are connected to the regulated power supply terminal VCC, and pin 2 is connected to One end of capacitor C12 is connected, pin 3 is connected to the other end of capacitor C12, pin 4 is connected to one end of capacitor C13, pin 5 is connected to the other end of capacitor C13, pin 10 is connected to the other end of resistor R6, pin 11 is connected to the other end of resistor R7 , pin 12 is connected to the other end of resistor R8, the other end of resistor R9 and the other end of capacitor C17 are connected to pin 14, pin 26 is connected to the other end of resistor R10, pin 27 is connected to the other end of capacitor C14, and the other end of capacitor C15 The other end, the other end of capacitor C16 is connected to pin 28; the bidirectional input/output terminals OLED_CS, OLED_DC, OLED_RW, OLED_RD of the display screen U4 are correspondingly connected to the bidirectional input/output terminals OLED_CS, OLED_DC, OLED_RW, OLED_RD of the smallest system module of the single-chip microcomputer, The input terminals OLED_D0-OLED_D7 of the display screen U4 are correspondingly connected to the output terminals OLED_D0-OLED_D7 of the smallest system module of the single-chip microcomputer.

As a further optimization of this solution, the gyroscope acceleration module includes an integrated 6-axis motion processing chip U3; the pin 23, pin 24, pin 13, pin 20, pin 10 and pin 8 of the integrated 6-axis motion processing chip U3 One end of the resistor R20, one end of the resistor R21, one end of the capacitor C27, one end of the capacitor C25, one end of the capacitor C26 and one end of the capacitor C28 are correspondingly connected, one end of the capacitor C27, one end of the capacitor C28, the other end of the resistor R20 and the resistor The other end of R21 is connected to the regulated power supply terminal VCC, integrated 6-axis motion processing chip, pin 9, pin 11, pin 18, pin 22 of U3, the other end of capacitor C25, the other end of capacitor C26 and capacitor C27 The other ends are connected to the analog ground GND_M of the power supply, and the other end of the capacitor C28 is connected to the digital ground GND of the power supply; the input terminal SCL of the integrated 6-axis motion processing chip U3 is connected to the output terminal SCL of the smallest system module of the single-chip microcomputer, and the integrated 6-axis motion The bidirectional input/output terminal SDA of the processing chip U3 is connected with the bidirectional input/output terminal SDA of the minimum system module of the single-chip microcomputer.

As a further optimization of the program, the camera module includes a camera processor U5; the pin 1 of the camera processor U5 is connected to the stabilized power supply terminal VCC, the pin 3 of the camera processor U5 is connected to the digital ground GND, and the image transmission module The input terminal IMAGE and the input terminal IMAGE of the image saving module are connected to pin 2 of the camera processor U5.

As a further optimization of this program, the image transmission module includes a CPU processing chip U6; the pins 40 and 42 of the CPU processing chip U6 are connected to the digital ground GND, and the pin 44 of the CPU processing chip U6 is connected to the stabilized power supply terminal VCC , CPU processing chip U6 pin 37, pin 38, pin 35, pin 36, pin 33, pin 34, pin 31, pin 32 and pin 46 and A/D processor U9 pin 3, pin 4, pin 5, pin 6. Pin 7, pin 8, pin 9, pin 10 and pin 12 are correspondingly connected, and the pin 113, pin 111, pin 109, pin 107, pin 105, pin 103 and pin 101 of CPU processing chip U6 are connected with pin 11, pin 103 and pin 101 of U10. Pin 12, pin 10, pin 8, pin 6, pin 4 and pin 2 are connected correspondingly, and pin 56, pin 97 and pin 54 of CPU processing chip U6 are connected with pin 1, pin 3 and pin 7 of U11 correspondingly, A/D The pin 1, pin 2, pin 24, pin 21 and pin 20 of the processor U9 are all connected to the digital ground GND, and the pin 11 of the A/D processor U9 is connected to the regulated power supply terminal VCC and one end of the capacitor C35, and the A/D Both pin 22 and pin 23 of processor U9 are connected to one end of capacitor C29, pin 16 and pin 17 of A/D processor U9 are connected to one end of capacitor C30, pin 18 of A/D processor U9 is connected to one end of resistor R24 One end is connected to one end of the capacitor C34, the pin 15 of the A/D processor U9 is connected to one end of the resistor R23 and one end of the capacitor C33, and the pin 14 of the A/D processor U9 is connected to one end of the resistor R25 and one end of the capacitor C32, The pin 13 of the A/D processor U9 is connected to one end of the capacitor C31, the other end of the capacitor C35, the other end of the capacitor C34, the other end of the capacitor C33, the other end of the capacitor C32, the other end of the capacitor C31, and the other end of the capacitor C29 One end and the other end of the capacitor C30 are connected to the digital ground GND, the other end of the resistor R23, the other end of the resistor R24 and the other end of the resistor R25 are connected to the regulated power supply terminal VCC, and pin 1 of U10 is connected to the regulated power supply terminal VCC Connect, pin 13 and pin 14 of U10 are evenly connected to the digital ground GND, pin 8, pin 2 and pin 4 of U11 are respectively connected to the regulated power supply terminal VCC, one end of the capacitor C36 and the digital ground GND, and pin 6 of U11 is connected to the capacitor One end of C37 is connected with one end of resistor R22, and the other end of capacitor C37 and the other end of resistor R22 are connected with digital ground GND; the output terminal IMAGE of camera module is connected with the input terminal IMAGE of A/D processor U9 and the other terminal of capacitor C36 Connected at one end.

As a further optimization of the program, the image preservation module includes a memory processor U12; the pin VCC of the memory card processor U12 is connected to the stabilized power supply terminal VCC, the pin GND of the memory card processor U12 is connected to the digital ground GND, and the memory The pin L16, pin L17, pin L13, pin L14 and pin L15 of the card processor U12 are correspondingly connected with the pin 1, pin 2, pin 3, pin 7 and pin 8 of the memory card U13, and the pin K17 of the memory card processor U12 is connected with the The pin 5 of the memory card U13 is connected, the pin 4 of the memory card U13 is connected with the regulated power supply terminal VCC, the pin 6 of the memory card U13 is connected with the digital ground GND; the output terminal IMAGE of the camera module is connected with the input terminal IMAGE of the memory card processor U12 The output terminal Control of the smallest system module of the single chip microcomputer is connected with the input terminal Control of the memory card processor U12.

Air real-time tracking and shooting micro-drone of the present invention is carried out according to the following main steps when working:

Step S1: System initialization, mainly including clock initialization, gyroscope initialization, accelerometer initialization, barometer initialization, camera initialization, driver module initialization, etc.

Step S2: Detect the voltage of the aircraft battery, calculate its voltage value through AD processing and CPU, and display the voltage value and debugging parameters on the LCD screen.

Step S3: Use the remote controller to send an unlock signal to the flight control system, read it and process it through the single-chip microcomputer, and finally unlock the flight control system.

Step S4: Read the remote control information sent by the remote control, and perform signal processing analysis and calculation inside the single-chip microcomputer, and convert the remote control information into spatial position information.

Step S5: Read the camera image information.

Step S51: Send the read camera image information to the ground station via the wireless image transmission module, and display the real-time image on the display screen.

Step S52: By analyzing the read remote control information, it is judged whether it is necessary to save the image information on the flight controller on site.

Step S6: Check the aircraft battery voltage again to determine whether a low-voltage buzzer alarm is required.

Step S7: Read the respective signals of the barometer, accelerometer and gyro sensor, and obtain corresponding height information and angle information through algorithm processing.

Step S8: The altitude information and the angle information are fused with the remote control signal sent by the remote controller, and fused into the final target information that the aircraft needs to achieve.

Step S9: Convert the final target information into the motor control signal PWM signal, and give each channel of PWM information to the respective corresponding motor drive control circuits.

Thus, the present invention focuses on producing a kind of aerial real-time tracking and shooting miniature unmanned aerial vehicle. And this aerial photography UAV also has an image saving function, which can keep the original image information of the camera, which greatly helps people get clearer video information. It has the characteristics of good safety, low cost, complete functions, good performance, low power consumption and strong anti-interference. It is suitable for travel enthusiasts and can also be applied to military intelligence detection and other fields.

Description of drawings

Below in conjunction with accompanying drawing, the present invention is described in further detail:

Fig. 1 is a block diagram of the present invention;

Fig. 2 is a work flow chart of the present invention;

Fig. 3 is a schematic diagram of the circuit structure of the present invention;

Fig. 4 is the circuit diagram of the minimum system module of single-chip microcomputer among the present invention;

Fig. 5 is the circuit diagram of the barometer fixed height module in the present invention;

Fig. 6 is the circuit diagram of wireless remote control transmission module in the present invention;

Fig. 7 is the circuit diagram of alarm module in the present invention;

Fig. 8 is a circuit diagram of the motor drive module in the present invention;

Fig. 9 is a circuit diagram of a liquid crystal display module in the present invention;

Fig. 10 is the circuit diagram of gyroscope acceleration module in the present invention;

Fig. 11 is the circuit diagram of camera module in the present invention

Fig. 12 is a circuit diagram of the wireless image transmission module in the present invention;

Fig. 13 is the circuit diagram of image preservation module in the present invention;

In the figure, the minimum system module of the single chip microcomputer 1, the barometer height setting module 2, the wireless remote control transmission module 3, the alarm module 4, the motor drive module 5, the liquid crystal display module 6, the gyroscope acceleration module 7, the camera module 8, the wireless image transmission module 9. An image storage module 10 and a rack 11.

Detailed ways

As shown in Fig. 1, a kind of air real-time tracking and photographing miniature UAV implemented according to the present invention includes the minimum system module 1 of the single-chip microcomputer, the minimum system module 1 of the single-chip microcomputer is respectively connected with the barometer height fixing module 2, the wireless remote control transmission module 3, The alarm module 4, the motor drive module 5, the liquid crystal display module 6 and the gyroscope acceleration module 7 are connected, and the camera module 8 is connected with the wireless image transmission module 9 and the image storage module 10 respectively.

As shown in Figure 3-Figure 13, the two-way input/output terminals SCL, SDA of the minimum system module 1 of the single-chip microcomputer are connected with the two-way input/output terminals SCL, SDA of the barometer fixed height module 2 correspondingly, the minimum system module 1 of the single-chip microcomputer The bidirectional input/output terminals IRQ, MOSI, CSN, MISO, CE, CLK of the wireless remote control transmission module 3 are connected correspondingly to the bidirectional input/output terminals IRQ, MOSI, CSN, MISO, CE, CLK of the wireless remote control transmission module 3, and the output of the minimum system module 1 The terminal SYSBUZ is correspondingly connected with the input terminal SYSBUZ of the alarm module 4, the output terminals M1, M2, M3, M4 of the minimum system module 1 of the single-chip computer are connected correspondingly with the input terminals M1, M2, M3, M4 of the motor drive module 5, and the minimum system module of the single-chip computer is connected correspondingly. The bidirectional input/output terminals OLED_CS, OLED_DC, OLED_RW, OLED_RD, OLED_D0, OLED_D1, OLED_D2, OLED_D3, OLED_D4, OLED_D5, OLED_D6, OLED_D7 of 1 and the bidirectional input/output terminals OLED_CS, OLED_DC, OLED_RW, OLED_RD, OLED_D0 of the liquid crystal display module 6 , OLED_D1, OLED_D2, OLED_D3, OLED_D4, OLED_D5, OLED_D6, OLED_D7 are correspondingly connected, and the bidirectional input/output terminals SCL and SDA of the minimum system module 1 of the single-chip microcomputer are correspondingly connected with the bidirectional input/output terminals SCL and SDA of the gyroscope acceleration module 7, and the single-chip microcomputer The output terminal Control of the minimum system module 1 is connected with the input terminal Control of the image storage module 10; the output terminal IMAGE of the camera module 8 is correspondingly connected with the input terminal IMAGE of the wireless image transmission module 9, and the output terminal IMAGE of the camera module 8 is connected with the image storage module The input terminal IMAGE of 10 is correspondingly connected.

As shown in Figure 4, the minimum system module 1 of the single-chip microcomputer includes a chip U1; the pin 24, pin 36, pin 48 and pin 9 of the chip U1 are all connected with the stabilized power supply terminal VCC, and the pin 20 and the pin 44 of the chip U1 are connected with the One end of the resistor R1 is connected to one end of the resistor R2 correspondingly, the other end of the resistor R1 and the other end of the resistor R2 are both connected to the digital ground GND of the power supply, pin 5 and pin 6 of the chip U1 are connected to pin 3 and pin 1 of the crystal oscillator Y1 correspondingly, Pin 7 of the chip U1 is connected to one end of the resistor R3 and one end of the capacitor C1 respectively, pin 8, pin 23, pin 35 and pin 47 of the chip U1 are connected to the digital ground GND of the power supply, and one end of the resistor R3 is connected to one end of the switch K1. The other end of the resistor R3 is connected to the regulated power supply terminal VCC, the other end of the capacitor C1 and the other end of the switch K1 are connected to the power supply digital ground GND, one end of the capacitor C2 and one end of the capacitor C3 are connected to pin 1 and pin 3 of the crystal oscillator Y1 Correspondingly connected, the other end of capacitor C2 and the other end of capacitor C3 are connected to the power supply digital ground GND, and one end of capacitor C4, capacitor C5 and capacitor C6 is connected to the regulated power supply terminal VCC, and capacitor C4, capacitor C5 and capacitor C6 are connected to each other. The other end is connected to the digital ground GND of the power supply;

The bidirectional input/output terminals SCL and SDA of the chip U1 are correspondingly connected with the bidirectional input/output terminals SCL and SDA of the barometer module 2, and the bidirectional input/output terminals IRQ, MOSI, CSN, MISO, CE, CLK of the chip U1 are connected with The two-way input/output terminals IRQ, MOSI, CSN, MISO, CE, and CLK of the wireless remote control transmission module 3 are connected correspondingly, the output terminal SYSBUZ of the chip U1 is connected correspondingly with the input terminal SYSBUZ of the alarm module 4, and the output terminals M1 and M2 of the chip U1 are connected correspondingly. , M3, M4 are correspondingly connected to the input terminals M1, M2, M3, M4 of the motor drive module 5, and the bidirectional input/output terminals OLED_CS, OLED_DC, OLED_RW, OLED_RD, OLED_D0, OLED_D1, OLED_D2, OLED_D3, OLED_D4, OLED_D5, OLED_D6, OLED_D7 are correspondingly connected to the bidirectional input/output terminals OLED_CS, OLED_DC, OLED_RW, OLED_RD, OLED_D0, OLED_D1, OLED_D2, OLED_D3, OLED_D4, OLED_D5, OLED_D6, OLED_D7 of the liquid crystal display module 6, and the bidirectional input/output terminals SCL, SDA is correspondingly connected with the bidirectional input/output terminals SCL and SDA of the gyroscope acceleration module 7, and the output terminal Control of the chip U1 is connected with the input terminal Control of the image storage module (10).

As shown in Figure 5, the described barometer fixed height module 2 comprises barometer chip U8; Pin 1, pin 2 of barometer chip U8, one end of electric capacity C21 are connected with voltage-stabilized power supply terminal VCC, the pin of barometer chip U8 3. Pin 4, pin 5, and the other end of capacitor C21 are connected to the analog ground GND_M, the input terminal SCL of the barometer chip U8 is connected to the output terminal SCL of the minimum system module 1 of the single-chip microcomputer, and the bidirectional input/output terminal SDA of the barometer chip U8 It is connected with the bidirectional input/output terminal SDA of the minimum system module 1 of the single-chip microcomputer.

As shown in Figure 9, described liquid crystal display module 6 comprises display screen U4; Pin 1, pin 8, pin 29, pin 30 of display screen U4, one end of resistor R6, one end of resistor R10, one end of capacitor C14, capacitor One end of C15, one end of capacitor C16, and one end of capacitor C17 are connected to the digital ground GND, pin 6, pin 9, one end of resistor R7, one end of resistor R8, and one end of resistor R9 are connected to the regulated power supply terminal VCC, and pin 2 is connected to One end of capacitor C12 is connected, pin 3 is connected to the other end of capacitor C12, pin 4 is connected to one end of capacitor C13, pin 5 is connected to the other end of capacitor C13, pin 10 is connected to the other end of resistor R6, pin 11 is connected to the other end of resistor R7 , pin 12 is connected to the other end of resistor R8, the other end of resistor R9 and the other end of capacitor C17 are connected to pin 14, pin 26 is connected to the other end of resistor R10, pin 27 is connected to the other end of capacitor C14, and the other end of capacitor C15 The other end, the other end of the capacitor C16 is connected to pin 28; the bidirectional input/output terminals OLED_CS, OLED_DC, OLED_RW, OLED_RD of the display screen U4 are correspondingly connected to the bidirectional input/output terminals OLED_CS, OLED_DC, OLED_RW, OLED_RD of the minimum system module 1 of the single chip microcomputer , the input terminals OLED_D0-OLED_D7 of the display screen U4 are correspondingly connected to the output terminals OLED_D0-OLED_D7 of the minimum system module 1 of the single-chip microcomputer.

As shown in Figure 10, the gyroscope acceleration module 7 includes an integrated 6-axis motion processing chip U3; the pin 23, pin 24, pin 13, pin 20, pin 10 and pin 8 of the integrated 6-axis motion processing chip U3 One end of the resistor R20, one end of the resistor R21, one end of the capacitor C27, one end of the capacitor C25, one end of the capacitor C26 and one end of the capacitor C28 are correspondingly connected, one end of the capacitor C27, one end of the capacitor C28, the other end of the resistor R20 and the resistor The other end of R21 is connected to the regulated power supply terminal VCC, integrated 6-axis motion processing chip, pin 9, pin 11, pin 18, pin 22 of U3, the other end of capacitor C25, the other end of capacitor C26 and capacitor C27 The other ends are connected to the analog ground GND_M of the power supply, and the other end of the capacitor C28 is connected to the digital ground GND of the power supply; the input terminal SCL of the integrated 6-axis motion processing chip U3 is connected to the output terminal SCL of the smallest system module 1 of the single-chip microcomputer, and the integrated 6-axis The bidirectional input/output terminal SDA of the motion processing chip U3 is connected with the bidirectional input/output terminal SDA of the minimum system module 1 of the single-chip microcomputer.

As shown in Figure 11, described camera module 8 comprises camera processor U5; The pin 1 of camera processor U5 is connected with stabilized power supply terminal VCC, the pin 3 of camera processor U5 is connected with digital ground GND, image transmission module 9 The input terminal IMAGE of the input terminal IMAGE of the image storage module 10 is connected with pin 2 of the camera processor U5.

As shown in Figure 12, described image transmission module 9 comprises CPU processing chip U6; The pin 40, pin 42 of CPU processing chip U6 are all connected with digital ground GND, and the pin 44 of CPU processing chip U6 is connected with stabilized voltage power supply terminal VCC , CPU processing chip U6 pin 37, pin 38, pin 35, pin 36, pin 33, pin 34, pin 31, pin 32 and pin 46 and A/D processor U9 pin 3, pin 4, pin 5, pin 6. Pin 7, pin 8, pin 9, pin 10 and pin 12 are correspondingly connected, and the pin 113, pin 111, pin 109, pin 107, pin 105, pin 103 and pin 101 of CPU processing chip U6 are connected with pin 11, pin 103 and pin 101 of U10. Pin 12, pin 10, pin 8, pin 6, pin 4 and pin 2 are connected correspondingly, and pin 56, pin 97 and pin 54 of CPU processing chip U6 are connected with pin 1, pin 3 and pin 7 of U11 correspondingly, A/D The pin 1, pin 2, pin 24, pin 21 and pin 20 of the processor U9 are all connected to the digital ground GND, and the pin 11 of the A/D processor U9 is connected to the regulated power supply terminal VCC and one end of the capacitor C35, and the A/D Both pin 22 and pin 23 of processor U9 are connected to one end of capacitor C29, pin 16 and pin 17 of A/D processor U9 are connected to one end of capacitor C30, pin 18 of A/D processor U9 is connected to one end of resistor R24 One end is connected to one end of the capacitor C34, the pin 15 of the A/D processor U9 is connected to one end of the resistor R23 and one end of the capacitor C33, and the pin 14 of the A/D processor U9 is connected to one end of the resistor R25 and one end of the capacitor C32, The pin 13 of the A/D processor U9 is connected to one end of the capacitor C31, the other end of the capacitor C35, the other end of the capacitor C34, the other end of the capacitor C33, the other end of the capacitor C32, the other end of the capacitor C31, and the other end of the capacitor C29 One end and the other end of the capacitor C30 are connected to the digital ground GND, the other end of the resistor R23, the other end of the resistor R24 and the other end of the resistor R25 are connected to the regulated power supply terminal VCC, and pin 1 of U10 is connected to the regulated power supply terminal VCC Connect, pin 13 and pin 14 of U10 are evenly connected to the digital ground GND, pin 8, pin 2 and pin 4 of U11 are respectively connected to the regulated power supply terminal VCC, one end of the capacitor C36 and the digital ground GND, and pin 6 of U11 is connected to the capacitor One end of C37 is connected with one end of resistor R22, and the other end of capacitor C37 and the other end of resistor R22 are all connected with digital ground GND; the output terminal IMAGE of camera module 8 is connected with the input terminal IMAGE of A/D processor U9 and the capacitor C36 Connect the other end.

As shown in Figure 13, the described image preservation module 10 includes a memory processor U12; the pin VCC of the memory card processor U12 is connected with the stabilized power supply terminal VCC, and the pin GND of the memory card processor U12 is connected with the digital ground GND, and the memory The pin L16, pin L17, pin L13, pin L14 and pin L15 of the card processor U12 are correspondingly connected with the pin 1, pin 2, pin 3, pin 7 and pin 8 of the memory card U13, and the pin K17 of the memory card processor U12 is connected with the The pin 5 of the memory card U13 is connected, the pin 4 of the memory card U13 is connected with the regulated power supply terminal VCC, the pin 6 of the memory card U13 is connected with the digital ground GND; the output terminal IMAGE of the camera module 8 is connected with the input terminal of the memory card processor U12 IMAGE connection, the output terminal Control of the minimum system module 1 of the single chip microcomputer is connected with the input terminal Control of the memory card processor U12.

The above is only a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, and any person skilled in the art may make changes or modifications without creative work within the technical scope disclosed in the present invention. Replacement should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope defined in the claims.

Claims (10)

1. an aerial real-time tracking shooting Micro Aerial Vehicle, comprising: the fixed high module (2) of frame (11), alarm module (4), motor drive module (5), LCD MODULE (6), gyroscope acceleration module (7), camera module (8) and weather gauge), it is characterized in that: also comprise single-chip minimum system module (1), wireless image transmission module (9) and Image Saving module (10), single-chip minimum system module (1) is the fixed high module (2) with weather gauge respectively, wireless remote control transport module (3), alarm module (4), motor drive module (5), LCD MODULE (6), gyroscope acceleration module (7) and Image Saving module (10) connect, camera module (8) is connected with wireless image transmission module (9) and Image Saving module (10) respectively.

2. a kind of aerial real-time tracking shooting Micro Aerial Vehicle as claimed in claim 1, is characterized in that: the two directions' inputing/mouth SCL of described single-chip minimum system module (1), two directions' inputing/mouth the SCL of SDA and the fixed high module (2) of weather gauge, SDA correspondence connects, the two directions' inputing/mouth IRQ of single-chip minimum system module (1), MOSI, CSN, MISO, CE, two directions' inputing/mouth the IRQ of CLK and wireless remote control transport module (3), MOSI, CSN, MISO, CE, CLK correspondence connects, and the mouth SYSBUZ of single-chip minimum system module (1) is corresponding with the input end SYSBUZ of alarm module (4) to be connected, the mouth M1 of single-chip minimum system module (1), M2, M3, the input end M1 of M4 and motor drive module (5), M2, M3, M4 correspondence connects, the two directions' inputing/mouth OLED_CS of single-chip minimum system module (1), OLED_DC, OLED_RW, OLED_RD, OLED_D0, OLED_D1, OLED_D2, OLED_D3, OLED_D4, OLED_D5, OLED_D6, two directions' inputing/mouth the OLED_CS of OLED_D7 and LCD MODULE (6), OLED_DC, OLED_RW, OLED_RD, OLED_D0, OLED_D1, OLED_D2, OLED_D3, OLED_D4, OLED_D5, OLED_D6, OLED_D7 correspondence connects, the two directions' inputing/mouth SCL of single-chip minimum system module (1), two directions' inputing/mouth the SCL of SDA and gyroscope acceleration module (7), SDA correspondence connects, and the mouth Control of single-chip minimum system module (1) is connected with the input end Control of Image Saving module (10), the mouth IMAGE of camera module (8) is corresponding with the input end IMAGE of wireless image transmission module (9) to be connected, and the mouth IMAGE of camera module (8) is corresponding with the input end IMAGE of Image Saving module (10) to be connected.

3. a kind of aerial real-time tracking shooting Micro Aerial Vehicle as claimed in claim 1 or 2, is characterized in that: described single-chip minimum system module (1) comprises chip U1, the pin 24 of chip U1, pin 36, pin 48 and pin 9 are all connected with constant voltage power suspply end VCC, the pin 20 of chip U1 and pin 44 and one end of resistance R1 and one end of resistance R2 is corresponding is connected, the other end of resistance R1 and the other end of resistance R2 all with power supply digitally GND be connected, the pin 3 of chip U1 pin 5 and pin 6 and crystal oscillator Y1 and pin 1 is corresponding is connected, the pin 7 of chip U1 is connected with one end of resistance R3 and one end of electric capacity C1 respectively, chip U1 pin 8, pin 23, pin 35 and pin 47 all with power supply digitally GND be connected, one end of resistance R3 is connected with one end of K switch 1, the other end of resistance R3 is connected with constant voltage power suspply end VCC, the other end of electric capacity C1 and the other end of K switch 1 all with power supply digitally GND be connected, the pin 1 of one end of electric capacity C2 and one end of electric capacity C3 and crystal oscillator Y1 and pin 3 is corresponding is connected, the other end of electric capacity C2 and the other end of electric capacity C3 all with power supply digitally GND be connected, electric capacity C4, electric capacity C5 is all connected with constant voltage power suspply end VCC with one end of electric capacity C6, electric capacity C4, the other end of electric capacity C5 and electric capacity C6 all with power supply digitally GND be connected,

Two directions' inputing/mouth the SCL of chip U1, two directions' inputing/mouth the SCL of SDA and the fixed high module (2) of weather gauge, SDA correspondence connects, the two directions' inputing/mouth IRQ of chip U1, MOSI, CSN, MISO, CE, two directions' inputing/mouth the IRQ of CLK and wireless remote control transport module (3), MOSI, CSN, MISO, CE, CLK correspondence connects, and the mouth SYSBUZ of chip U1 is corresponding with the input end SYSBUZ of alarm module (4) to be connected, the mouth M1 of chip U1, M2, M3, the input end M1 of M4 and motor drive module (5), M2, M3, M4 correspondence connects, the two directions' inputing/mouth OLED_CS of chip U1, OLED_DC, OLED_RW, OLED_RD, OLED_D0, OLED_D1, OLED_D2, OLED_D3, OLED_D4, OLED_D5, OLED_D6, two directions' inputing/mouth the OLED_CS of OLED_D7 and LCD MODULE (6), OLED_DC, OLED_RW, OLED_RD, OLED_D0, OLED_D1, OLED_D2, OLED_D3, OLED_D4, OLED_D5, OLED_D6, OLED_D7 correspondence connects, the two directions' inputing/mouth SCL of chip U1, two directions' inputing/mouth the SCL of SDA and gyroscope acceleration module (7), SDA correspondence connects, and the mouth Control of chip U1 is connected with the input end Control of Image Saving module (10).

4. the aerial real-time tracking shooting of the one as claim 1 or 2 Micro Aerial Vehicle, is characterized in that: the fixed high module (2) of described weather gauge comprises weather gauge chip U8; One end of the pin 1 of weather gauge chip U8, pin 2, electric capacity C21 is connected with constant voltage power suspply end VCC, other one end of the pin 3 of weather gauge chip U8, pin 4, pin 5, electric capacity C21 is connected with GND_M in analog, the input end SCL of weather gauge chip U8 is connected with the mouth SCL of single-chip minimum system module (1), and the two directions' inputing/mouth SDA of weather gauge chip U8 is connected with the two directions' inputing/mouth SDA of single-chip minimum system module (1).

5. the aerial real-time tracking shooting of the one as claim 1 or 2 Micro Aerial Vehicle, is characterized in that: described LCD MODULE (6) comprises read-out U4, the pin 1 of read-out U4, pin 8, pin 29, pin 30, one end of resistance R6, one end of resistance R10, one end of electric capacity C14, one end of electric capacity C15, one end of electric capacity C16, one end of electric capacity C17 is connected with digitally GND, the pin 6 of read-out U4, pin 9, one end of resistance R7, one end of resistance R8, one end of resistance R9 is connected with constant voltage power suspply end VCC, the pin 2 of read-out U4 is connected with electric capacity C12 one end, the pin 3 of read-out U4 is connected with the other one end of electric capacity C12, pin 4 is connected with electric capacity C13 one end, the pin 5 of read-out U4 is connected with the other one end of electric capacity C13, and the pin 10 of read-out U4 is connected with other one end of resistance R6, and the pin 11 of read-out U4 is connected with other one end of resistance R7, the pin 12 of read-out U4 is connected with other one end of resistance R8, other one end of resistance R9, other one end of electric capacity C17 is connected with the pin 14 of read-out U4, and the pin 26 of read-out U4 is connected with other one end of resistance R10, and the pin 27 of read-out U4 is connected with other one end of electric capacity C14, other one end of electric capacity C15, other one end of electric capacity C16 is connected with the pin 28 of read-out U4, the two directions' inputing of read-out U4/mouth OLED_CS, OLED_DC, OLED_RW, OLED_RD and single-chip minimum system module (1) two directions' inputing/mouth OLED_CS, OLED_DC, OLED_RW, OLED_RD are corresponding connects, the input end OLED_D0 ~ OLED_D7 of read-out U4 is corresponding with the mouth OLED_D0 ~ OLED_D7 of single-chip minimum system module (1) to be connected.

6., as claim 1 or 2 kind of aerial real-time tracking shooting Micro Aerial Vehicle, it is characterized in that: described gyroscope acceleration module (7) comprises conformability 6 axle motion process chip U3, the pin 23 of conformability 6 axle motion process chip U3, pin 24, pin 13, pin 20, one end of pin 10 and pin 8 and resistance R20, one end of resistance R21, one end of electric capacity C27, one end of electric capacity C25, one end of electric capacity C26 is connected with one end correspondence of electric capacity C28, one end of electric capacity C27, one end of electric capacity C28, the other end of resistance R20 is all connected with constant voltage power suspply end VCC with the other end of resistance R21, the pin 9 of conformability 6 axle motion process chip U3, pin 11, pin 18, pin 22, the other end of electric capacity C25, the other end of electric capacity C26 and the other end of electric capacity C27 all with power supply in analog GND_M be connected, the other end of electric capacity C28 and power supply digitally GND are connected, the input end SCL of conformability 6 axle motion process chip U3 is connected with the mouth SCL of single-chip minimum system module (1), and the two directions' inputing/mouth SDA of conformability 6 axle motion process chip U3 is connected with the two directions' inputing/mouth SDA of single-chip minimum system module (1).

7. the aerial real-time tracking shooting of the one as claim 1 or 2 Micro Aerial Vehicle, is characterized in that: described camera module (8) comprises camera treater U5; The pin 1 of camera treater U5 is connected with constant voltage power suspply end VCC, the pin 3 of camera treater U5 is connected with digitally GND, and the input end IMAGE of image transmission module (9), the input end IMAGE of Image Saving module (10) are connected with the pin 2 of camera treater U5.

8. the aerial real-time tracking shooting of the one as claim 1 or 2 Micro Aerial Vehicle, is characterized in that: described image transmission module (9) comprises CPU process chip U6, the pin 40 of CPU process chip U6, pin 42 is all connected with digitally GND, and the pin 44 of CPU process chip U6 is connected with constant voltage power suspply end VCC, the pin 37 of CPU process chip U6, pin 38, pin 35, pin 36, pin 33, pin 34, pin 31, the pin 3 of pin 32 and pin 46 and A/D treater U9, pin 4, pin 5, pin 6, pin 7, pin 8, pin 9, pin 10 is connected with pin 12 correspondence, the pin 113 of CPU process chip U6, pin 111, pin 109, pin 107, pin 105, the pin 11 of pin 103 and pin 101 and U10, pin 12, pin 10, pin 8, pin 6, pin 4 is connected with pin 2 correspondence, the pin 56 of CPU process chip U6, the pin 1 of pin 97 and pin 54 and U11, pin 3 is connected with pin 7 correspondence, the pin 1 of A/D treater U9, pin 2, pin 24, pin 21 and pin 20 are all connected with digitally GND, the pin 11 of A/D treater U9 is connected with one end of constant voltage power suspply end VCC and electric capacity C35, the pin 22 of A/D treater U9 is all connected with one end of electric capacity C29 with pin 23, the pin 16 of A/D treater U9 is all connected with one end of electric capacity C30 with pin 17, the pin 18 of A/D treater U9 is connected with one end of one end of resistance R24 and electric capacity C34, the pin 15 of A/D treater U9 is connected with one end of one end of resistance R23 and electric capacity C33, the pin 14 of A/D treater U9 is connected with one end of one end of resistance R25 and electric capacity C32, the pin 13 of A/D treater U9 is connected with one end of electric capacity C31, the other end of electric capacity C35, the other end of electric capacity C34, the other end of electric capacity C33, the other end of electric capacity C32, the other end of electric capacity C31, the other end of electric capacity C29 and the other end of electric capacity C30 are all connected with digitally GND, the other end of resistance R23, the other end of resistance R24 is all connected with constant voltage power suspply end VCC with the other end of resistance R25, and the pin 1 of U10 is connected with constant voltage power suspply end VCC, and the pin 13 of U10 is connected with the even digitally GND of pin 14, the pin 8 of U11, pin 2 and pin 4 respectively with constant voltage power suspply end VCC, one end of electric capacity C36 is connected with digitally GND correspondence, and the pin 6 of U11 is connected with one end of one end of electric capacity C37 and resistance R22, and the other end of electric capacity C37 and the other end of resistance R22 are all connected with digitally GND, the mouth IMAGE of camera module (8) is connected with the input end IMAGE of A/D treater U9 and the other end of electric capacity C36.

9. the aerial real-time tracking shooting of the one as claim 1 or 2 Micro Aerial Vehicle, is characterized in that: described Image Saving module (10) comprises memory processor U12; The pin VCC of RAM (random access memory) card treater U12 is connected with constant voltage power suspply end VCC, the pin GND of RAM (random access memory) card treater U12 is connected with digitally GND, pin 1, pin 2, pin 3, the pin 7 of pin L16, the pin L17 of RAM (random access memory) card treater U12, pin L13, pin L14 and pin L15 and storage card U13 and pin 8 is corresponding is connected, the pin K17 of RAM (random access memory) card treater U12 is connected with the pin 5 of storage card U13, the pin 4 of storage card U13 is connected with constant voltage power suspply end VCC, and the pin 6 of storage card U13 is connected with digitally GND; The mouth IMAGE of camera module (8) is connected with the input end IMAGE of RAM (random access memory) card treater U12, and the mouth Control of single-chip minimum system module (1) is connected with the input end Control of RAM (random access memory) card treater U12.

10. a kind of aerial real-time tracking shooting Micro Aerial Vehicle as claimed in claim 9, is characterized in that: carry out according to following key step during this aerial real-time tracking shooting Micro Aerial Vehicle work:

Step S1: system initialization, mainly comprises clock initialization, gyroscope initialization, accelerometer initialization, weather gauge initialization, camera initialization, driver module initialization etc.

Step S2: detect aircraft battery voltage, calculate its voltage value through AD process and CPU, and voltage value and tuning parameter are presented on liquid crystal display.

Step S3: sending unlocking signal with remote controller to flying control, through micro controller system process after reading, finally flight control system being unlocked.

Step S4: read the remote information that remote controller sends, and carry out signal processing analysis and calculating in micro controller system inside, its remote information is converted into spatial positional information.

Step S5: read camera image information.

Step S51: through wireless image transmission module, is sent to ground station by the camera image information of reading, and carries out Real-time image display on a display screen.

Step S52: by analyzing the remote information read, judges whether to need the graphicinformation to flying to control to carry out Locale Holding.

Step S6: again check aircraft battery voltage, judge whether to need low pressure buzzer warning.

Step S7: read weather gauge, the respective signal of accelerometer and gyro sensor, and draw corresponding elevation information and angle information through algorithm process.

Step S8: the remote signal that elevation information and angle information and remote controller send merged mutually, is fused into the target information that final aircraft needs to reach.

Step S9: by final target information, changes into the control signal pwm signal of motor, by given for each road PWM information in each self-corresponding motor driving controling circuit.