CN104773296B - Aerial real-time tracking shooting micro unmanned plane - Google Patents

Abstract

The invention relates to an aerial real-time tracking shooting micro unmanned plane, and belongs to the field of aerial photograph unmanned planes. The aerial real-time tracking shooting micro unmanned plane comprises a singlechip microcomputer minimum system module, wherein the singlechip microcomputer minimum system module is connected with a barometer height fixing module, a wireless remote control transmission module, an alarming module, a liquid crystal display module and a gyroscope acceleration module respectively; a camera module is connected with a wireless image transmission module and an image storage module respectively. The aerial real-time tracking shooting micro unmanned plane has the characteristics of high safety, low cost, complete functions, good performances, low power consumption and strong interference resistance, is suitable for being used by a travel enthusiast and can be also applied to the field of military situation 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 among 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 description

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 (9)

1. a kind of aerial real-time tracking shoots MAV, comprising: frame (11), alarm module (4), motor drive module (5), the fixed high module (2) of LCD MODULE (6), gyroscope acceleration module (7), camera module (8) and barometer；Its It is characterised by: also include single-chip minimum system module (1), wireless image transmission module (9) and image preserving module (10), single Piece machine minimum systematic module (1) fixed high module (2), wireless remote control transport module (3), alarm module (4), electricity with barometer respectively Machine drive module (5), LCD MODULE (6), gyroscope acceleration module (7) and image preserving module (10) connect, shooting Head module (8) is connected with wireless image transmission module (9) and image preserving module (10) respectively；Described single-chip minimum system The two directions' inputing of the two directions' inputing of module (1)/outfan scl, sda and the fixed high module (2) of barometer/outfan scl, sda couple Should connect, the two directions' inputing of single-chip minimum system module (1)/outfan irq, mosi, csn, miso, ce, clk and wireless remote The two directions' inputing of control transport module (3)/outfan irq, mosi, csn, miso, ce, clk is corresponding to be connected, single-chip minimum system The outfan sysbuz of module (1) is corresponding with the input sysbuz of alarm module (4) to be connected, single-chip minimum system module (1) outfan m1, m2, m3, m4 is corresponding with input m1, m2, m3, m4 of motor drive module (5) to be connected, and single-chip microcomputer is minimum The two directions' inputing of system module (1)/outfan oled_cs, oled_dc, oled_rw, oled_rd, oled_d0, oled_d1, The two directions' inputing of oled_d2, oled_d3, oled_d4, oled_d5, oled_d6, oled_d7 and LCD MODULE (6)/defeated Go out to hold 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 corresponding to be connected, the two directions' inputing of single-chip minimum system module (1)/outfan scl, sda Corresponding with the two directions' inputing of gyroscope acceleration module (7)/outfan scl, sda connect, single-chip minimum system module (1) Outfan control is connected with the input control of image preserving module (10)；The outfan image of camera module (8) Connection corresponding with the input image of wireless image transmission module (9), the outfan image of camera module (8) is protected with image The input image of storing module (10) is corresponding to be connected.

2. as claimed in claim 1 a kind of aerial real-time tracking shoot MAV it is characterised in that: described single-chip microcomputer Minimum systematic module (1) includes chip u1；The foot 24 of chip u1, foot 36, foot 48 and foot 9 are all connected with regulated power supply end vcc, core The foot 20 of piece u1 and foot 44 connection corresponding with one end of resistance r1 and one end of resistance r2, the other end of resistance r1 and resistance r2's All digitally gnd is connected the other end with power supply, the foot 3 of chip u1 foot 5 and foot 6 and crystal oscillator y1 and foot 1 is corresponding connects, chip u1's Foot 7 is connected with one end of resistance r3 and one end of electric capacity c1 respectively, and chip u1 foot 8, foot 23, foot 35 and foot 47 are all digital with power supply Ground gnd connects, and one end of resistance r3 is connected with one end of switch k1, and the other end of resistance r3 is connected with regulated power supply end vcc, electricity All digitally gnd is connected the other end of the other end of appearance c1 and switch k1 with power supply, one end of one end of electric capacity c2 and electric capacity c3 With foot 1 and the corresponding connection of foot 3 of crystal oscillator y1, all digitally gnd connects the other end of the other end of electric capacity c2 and electric capacity c3 with power supply Connect, one end of electric capacity c4, electric capacity c5 and electric capacity c6 is all connected with regulated power supply end vcc, and electric capacity c4, electric capacity c5 and electric capacity c6's is another All digitally gnd is connected with power supply for one end；

The two directions' inputing of the two directions' inputing of chip u1/outfan scl, sda and the fixed high module (2) of barometer/outfan scl, sda Corresponding connect, the two directions' inputing of chip u1/outfan irq, mosi, csn, miso, ce, clk and wireless remote control transport module (3) Two directions' inputing/outfan irq, mosi, csn, miso, ce, clk corresponding connect, the outfan sysbuz of chip u1 and warning The input sysbuz of module (4) is corresponding to be connected, outfan m1, m2, m3, m4 of chip u1 and motor drive module (5) defeated Enter to hold that m1, m2, m3, m4 are corresponding connects, the two directions' inputing of chip u1/outfan 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 liquid crystal display The two directions' inputing of module (6)/outfan 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 corresponding to be connected, the two directions' inputing/outfan of chip u1 The two directions' inputing of scl, sda and gyroscope acceleration module (7)/outfan scl, sda is corresponding to be connected, the outfan of chip u1 Control is connected with the input control of image preserving module (10).

3. as a kind of aerial real-time tracking of claim 1 or 2 shoots MAV it is characterised in that: described barometer Fixed high module (2) includes barometer chip u8；The foot 1 of barometer chip u8, foot 2, one end of electric capacity c21 and regulated power supply end Vcc connects, and the foot 3 of barometer chip u8, foot 4, foot 5, the other end of electric capacity c21 are connected with simulation ground gnd_m, barometer core The input scl of piece u8 is connected with the outfan scl of single-chip minimum system module (1), and the two directions' inputing of barometer chip u8/ Outfan sda is connected with the two directions' inputing/outfan sda of single-chip minimum system module (1).

4. as a kind of aerial real-time tracking of claim 1 or 2 shoots MAV it is characterised in that: described liquid crystal Show that module (6) includes display screen u4；The foot 1 of display screen u4, foot 8, foot 29, foot 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 are connected with digitally gnd, display screen The foot 6 of u4, foot 9, one end of resistance r7, one end of resistance r8, one end of resistance r9 are connected with regulated power supply end vcc, display screen The foot 2 of u4 is connected with electric capacity c12 one end, and the foot 3 of display screen u4 is connected with electric capacity c12 other end, foot 4 and electric capacity c13 one end Connect, the foot 5 of display screen u4 is connected with electric capacity c13 other end, and the foot 10 of display screen u4 is connected with the other end of resistance r6, The foot 11 of display screen u4 is connected with the other end of resistance r7, and the foot 12 of display screen u4 is connected with the other end of resistance r8, electricity The other end of resistance r9, the other end of electric capacity c17 are connected with the foot 14 of display screen u4, foot 26 and the resistance r10 of display screen u4 Other end connect, the foot 27 of display screen u4 is connected with the other end of electric capacity c14, the other end of electric capacity c15, electric capacity The other end of c16 is connected with the foot 28 of display screen u4；The two directions' inputing of display screen u4/outfan oled_cs, oled_dc, The two directions' inputing of oled_rw, oled_rd and single-chip minimum system module (1)/outfan oled_cs, oled_dc, oled_ The corresponding connection of rw, oled_rd, the input oled_d0～oled_d7 of display screen u4 and single-chip minimum system module (1) Outfan oled_d0～oled_d7 is corresponding to be connected.

5. as claim 1 or 2 kind of aerial real-time tracking shoot MAV it is characterised in that: described gyroscope acceleration Degree module (7) includes conformability 6 axle motion process chip u3；The foot 23 of conformability 6 axle motion process chip u3, foot 24, foot 13, One end of foot 20, foot 10 and foot 8 and resistance r20, one end of resistance r21, one end of electric capacity c27, one end of electric capacity c25, electric capacity One end of c26 is corresponding with one end of electric capacity c28 to be connected, one end of electric capacity c27, one end of electric capacity c28, the other end of resistance r20 All it is connected with regulated power supply end vcc with the other end of resistance r21, the foot 9 of conformability 6 axle motion process chip u3, foot 11, foot 18th, foot 22, the other end of the other end of electric capacity c25, the other end of electric capacity c26 and electric capacity c27 all simulate ground gnd_m even with power supply Connect, digitally gnd is connected the other end of electric capacity c28 with power supply；The input scl of conformability 6 axle motion process chip u3 and list The outfan scl of piece machine minimum systematic module (1) connects, the two directions' inputing/outfan of conformability 6 axle motion process chip u3 Sda is connected with the two directions' inputing/outfan sda of single-chip minimum system module (1).

6. as a kind of aerial real-time tracking of claim 1 or 2 shoots MAV it is characterised in that: described photographic head Module (8) includes photographic head processor u5；The foot 1 of photographic head processor u5 is connected with regulated power supply end vcc, photographic head processor The foot 3 of u5 is connected with digitally gnd, the input image of image transmission module (9), the input of image preserving module (10) Image is connected with the foot 2 of photographic head processor u5.

7. as a kind of aerial real-time tracking of claim 1 or 2 shoots MAV it is characterised in that: described image passes Defeated module (9) includes cpu process chip u6；The foot 40 of cpu process chip u6, foot 42 are all connected with digitally gnd, cpu process The foot 44 of chip u6 is connected with regulated power supply end vcc, the foot 37 of cpu process chip u6, foot 38, foot 35, foot 36, foot 33, foot 34, The foot 3 of foot 31, foot 32 and foot 46 and a/d processor u9, foot 4, foot 5, foot 6, foot 7, foot 8, foot 9, foot 10 and foot 12 is corresponding connects, The foot 113 of cpu process chip u6, foot 111, foot 109, foot 107, the foot 11 of foot 105, foot 103 and foot 101 and u10, foot 12, foot 10th, foot 8, foot 6, foot 4 and foot 2 are corresponding connects, the foot 1 of the foot 56 of cpu process chip u6, foot 97 and foot 54 and u11, foot 3 and foot 7 Corresponding connection, the foot 1 of a/d processor u9, foot 2, foot 24, foot 21 and foot 20 are all connected with digitally gnd, a/d processor u9's Foot 11 is connected with one end of regulated power supply end vcc and electric capacity c35, the foot 22 of a/d processor u9 and foot 23 all with electric capacity c29 one End connects, and the foot 16 of a/d processor u9 and foot 17 are all connected with one end of electric capacity c30, the foot 18 of a/d processor u9 and resistance One end of one end of r24 and electric capacity c34 connects, foot 15 and one end of resistance r23 and one end of electric capacity c33 of a/d processor u9 Connect, the foot 14 of a/d processor u9 is connected with one end of one end of resistance r25 and electric capacity c32, the foot 13 of a/d processor u9 and One end of electric capacity c31 connects, the other end of electric capacity c35, the other end of electric capacity c34, the other end of electric capacity c33, electric capacity c32 another One end, the other end of the other end of electric capacity c31, the other end of electric capacity c29 and electric capacity c30 are all connected with digitally gnd, resistance The other end of the other end of r23, the other end of resistance r24 and resistance r25 is all connected with regulated power supply end vcc, the foot of u10 1 with Regulated power supply end vcc connects, the foot 13 of u10 and foot 14 uniformly digitally gnd connect, the foot 8 of u11, foot 2 and foot 4 respectively with surely Piezoelectricity source vcc, the connection corresponding with digitally gnd of one end of electric capacity c36, the foot 6 of u11 and one end of electric capacity c37 and resistance r22 One end connect, the other end of the other end of electric capacity c37 and resistance r22 is all connected with digitally gnd；Camera module (8) Outfan image is connected with the other end of the input image and electric capacity c36 of a/d processor u9.

8. as a kind of aerial real-time tracking of claim 1 or 2 shoots MAV it is characterised in that: described image is protected Storing module (10) includes memory processor u12；The foot vcc of internal memory Card processor u12 is connected with regulated power supply end vcc, RAM (random access memory) card The foot gnd of processor u12 is connected with digitally gnd, the foot l16 of internal memory Card processor u12, foot l17, foot l13, foot l14 and foot The foot 1 of l15 and storage card u13, foot 2, foot 3, foot 7 and foot 8 is corresponding connects, the foot k17 of internal memory Card processor u12 and storage card The foot 5 of u13 connects, and the foot 4 of storage card u13 is connected with regulated power supply end vcc, and the foot 6 of storage card u13 is connected with digitally gnd； The outfan image of camera module (8) is connected with the input image of internal memory Card processor u12, single-chip minimum system mould The outfan control of block (1) is connected with the input control of internal memory Card processor u12.

9. as claimed in claim 8 a kind of aerial real-time tracking shoot MAV it is characterised in that: this aerial real-time tracking is clapped Carry out according to following key step when taking the photograph MAV work:

Step s1: at the beginning of system initialization, main inclusion clock initialization, gyroscope initialization, accelerometer initialization, barometer Beginningization, photographic head initialization, drive module initialization；

Step s2: detection aircraft battery voltage, process through ad and cpu calculates its voltage value, and by voltage value and debugging Parameter is shown on liquid crystal display screen；

Step s3: send unlocking signal with remote control to winged control, process through single-chip microcomputer after reading, finally flight control system is solved Lock；

Step s4: read the remote information that remote control sends, and carry out signal processing analysis and calculating inside single-chip microcomputer, will Its remote information is converted into spatial positional information；

Step s5: read camera image information；

Step s51: through wireless image transmission module, the camera image information of reading is sent to earth station, and enters on a display screen Row Real-time image display；

Step s52: by being analyzed to the remote information reading, judge whether to need the image information in winged control is carried out now Field preserves；

Step s6: check again for aircraft battery voltage, judge whether to need low pressure buzzer warning；

Step s7: read barometer, the respective signal of accelerometer and gyro sensor, and draw through algorithm process corresponding Elevation information and angle information；

Step s8: elevation information and angle information are blended with the remote signal that remote control sends, is fused into final aircraft Need the target information reaching；

Step s9: final target information changes into the control signal pwm signal of motor, each road pwm information is given each In self-corresponding motor driving controling circuit.