CN110426970B - Unmanned aerial vehicle photographing system and control method thereof - Google Patents
Unmanned aerial vehicle photographing system and control method thereof Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle photographing system and a control method thereof, belongs to an unmanned aerial vehicle functional system and a control method thereof, and solves the problems that the existing unmanned aerial vehicle photographing system needs to be provided with a gyroscope for data acquisition, the data acquisition and recording range is limited, the data reading is inconvenient, and the camera enabling control occupies a large space. The system comprises a power supply for supplying power to the whole photographing system; the remote control circuit and the remote measuring circuit are used for acquiring the position information and the attitude information of the unmanned aerial vehicle and transmitting the position information and the attitude information to the processor; the processor is used for judging whether the unmanned aerial vehicle reaches a photographing place or not according to the position information of the unmanned aerial vehicle, analyzing and calculating the attitude information of the unmanned aerial vehicle, generating PWM square waves through a timer in the processor, converting the PWM square waves into signals which can be identified by a tripod head steering engine through a level conversion chip, and controlling the movement of the tripod head; meanwhile, outputting an enabling signal to control a camera photographing module to finish photographing action, and storing photographing data into a data recording module; the photographing data in the data recording module is read through a USB interface arranged on the processor.
Description
Technical Field
The invention belongs to an unmanned aerial vehicle function system and a control method thereof, and particularly relates to an unmanned aerial vehicle photographing system and a control method thereof.
Background
In the field of unmanned aerial vehicle applications, mapping is a very important application. Unmanned aerial vehicle carries on high definition camera and shoots the operation and can predetermine the airline, carries out the aftertreatment according to data at the automatic operation data collection in the overhead of operation region, and this in-process unmanned aerial vehicle need control the camera cloud platform and keep the balance of camera stable, continuously records relevant data and control the camera and shoot.
At present, most camera holders need independent gyroscopes to acquire data, and the cost and the size are large. The data acquisition and recording module needs to be matched with a GPS or Beidou satellite positioning board card or module for use, and can only record satellite positioning related data, but cannot record data such as time of a camera. External card inserting equipment such as an SD card is also mostly adopted for recording data, but the phenomenon of poor contact of an airplane in the air is likely to occur due to jitter. Regarding the enabling control of the camera, the camera is controlled independently by a computer or an external separate circuit board through flight control at present, and needs to take a picture after giving an instruction on the ground and occupies extra space.
Disclosure of Invention
The invention mainly aims to solve the problems that the existing unmanned aerial vehicle photographing system needs to be provided with a gyroscope for acquiring data, the data acquisition and recording range is limited, the data reading is inconvenient, and the camera enabling control occupies a large space, and provides the unmanned aerial vehicle photographing system and the control method thereof.
In order to achieve the purpose, the invention provides the following technical scheme:
an unmanned aerial vehicle photographing system is characterized by comprising a power supply, a remote control circuit, a remote measuring circuit, a processor, a data recording module and a camera photographing module, wherein the processor, the data recording module and the camera photographing module are arranged on the same integrated circuit board; the power supply is used for supplying power to the whole photographing system; the remote control circuit and the remote measuring circuit are used for acquiring the position information and the attitude information of the unmanned aerial vehicle and transmitting the position information and the attitude information to the processor; the processor judges whether the unmanned aerial vehicle reaches a photographing place or not according to the position information of the unmanned aerial vehicle, analyzes and calculates the attitude information of the unmanned aerial vehicle, generates a PWM square wave through a timer in the processor, converts the PWM square wave into a signal which can be identified by a cradle head steering engine through a level conversion chip, and controls the motion of the cradle head; meanwhile, outputting an enabling signal to control a camera photographing module to finish photographing action, and storing photographing data into a data recording module; the photographing data in the data recording module is read through a USB interface arranged on the processor.
Further, the power supply is an onboard 24V power supply and supplies power to the system after conversion.
Further, the unmanned aerial vehicle attitude information acquired by the remote control circuit and the telemetry circuit is transmitted through an RS232 bus protocol, physical layer protocol conversion is carried out through an MAX3232 chip, and part of information is transmitted to the processor.
Further, the data recording module is a FLASH recording circuit and is connected with an FSMC interface of the processor.
Further, the device also comprises a camera exposure time acquisition circuit and a satellite positioning transceiver; the satellite positioning transceiver collects satellite navigation and ephemeris data and sends the satellite navigation and ephemeris data to the processor through the TTL serial interface; meanwhile, the satellite positioning transceiver collects PPS signals and sends the PPS signals to the processor; the camera exposure time acquisition circuit records a camera exposure signal, and the camera exposure signal is transmitted to an IO interface of the processor after passing through the operational amplifier.
Further, a control method of the unmanned aerial vehicle photographing system is characterized by comprising the following steps:
and 5, recording the photographing information by the data recording module, and reading the photographing information through an external USB when the photographing information needs to be read.
Further, in the step 3, the remote control circuit and the telemetry circuit receive the attitude information of the unmanned aerial vehicle and transmit the attitude information through an RS232 bus protocol, a MAX3232 chip is used for carrying out physical layer protocol conversion, and then part of information is transmitted to the processor.
Further, the step 3 specifically includes: after receiving the attitude information of the unmanned aerial vehicle, the processor generates PWM square waves with different duty ratios through a timer in the processor, and then the PWM square waves are converted into PWM waves through a level conversion chip to control the steering engine of the cradle headThereby controlling the motion of the pan-tilt; wherein the duty ratio
T1For a duration of low level, T, within one period of the PWM square wave2Is the high level duration within one period of the PWM square wave.
Furthermore, the data recording module records the photographing information in step 5, the data is acquired through an external camera exposure time acquisition circuit and a satellite positioning transceiver, the data is sent to the processor, and the processor is analyzed and operated and then is sent to the data recording module to record the photographing information.
Further, the recording of the photographing information by the data recording module in the step 5 specifically includes: the satellite positioning transceiver collects PPS signals and sends the PPS signals to the processor, the camera exposure time collecting circuit collects camera exposure signals and sends the camera exposure signals to the processor, and the processor combines the PPS signals and the camera exposure signals to perform analysis and calculation to obtain camera exposure time and sends the camera exposure time to the data recording module for storage; meanwhile, the satellite positioning transceiver collects satellite navigation and ephemeris data, and transmits and records the data to the data recording module after sending the data to the processor.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the unmanned aerial vehicle photographing system, the camera enabling control composed of the processor, the data recording module and the camera photographing module is integrated on the same circuit board, so that the size is effectively reduced, and the space is saved; in addition, the photographing data recorded in the data recording module is directly read through a USB, so that convenience and reliability are realized; the position information and the attitude information of the unmanned aerial vehicle are obtained through the remote control circuit and the remote measuring circuit, and sensors such as a gyroscope and the like do not need to be arranged externally, so that the cost is further saved, and meanwhile, the size is effectively reduced. The whole system can automatically control photographing in real time according to data acquired by the remote control circuit and the remote measuring circuit, and photographing is not required to be performed according to an instruction given by the ground.
2. After the attitude information of the unmanned aerial vehicle required by the photographing system is acquired by the remote control circuit and the remote measuring circuit, the physical layer protocol conversion is carried out by the MAX3232 chip, the information is divided into two parts, the original data flow direction is not changed, and the required information can be acquired.
3. The data recording module adopts a FLASH recording circuit, so that the reliability is improved, and the phenomenon of poor contact caused by flight vibration of the unmanned aerial vehicle is avoided.
4. By arranging the camera exposure time acquisition circuit and the satellite positioning transceiver externally, satellite navigation and ephemeris data and camera exposure time data can be acquired while photographing, and more camera photographing information can be acquired while photographing is completed.
5. The unmanned aerial vehicle photographing system control method is characterized in that the position and attitude information of the unmanned aerial vehicle acquired by a remote control circuit and a remote measuring circuit is analyzed and calculated, an independent sensor such as a gyroscope is not needed, the photographing system can be controlled in real time according to the attitude information of the unmanned aerial vehicle to complete photographing action under preset information, and a holder is controlled to be adjusted to a preset state through a PWM (pulse-width modulation) wave; in addition, the data recording module can read information through an external USB, and reading is more convenient.
6. After the remote control circuit and the remote measuring circuit acquire the attitude information of the unmanned aerial vehicle, the information can be divided into two parts after the physical layer protocol conversion is carried out on the MAX3232 chip, and the required information can be acquired on the premise of not changing the original data flow direction.
7. Satellite positioning transceiver gathers satellite navigation and ephemeris data, transmit and record in the data recording module behind the treater, gather the PPS signal simultaneously, camera exposure time acquisition circuit gathers camera exposure signal and carries to the treater, the treater combines PPS signal and camera exposure time signal to carry out analysis operation and obtains camera exposure time and stores in the data recording module, consequently, the data recording module can acquire satellite navigation and ephemeris data simultaneously, and camera exposure time, can obtain more information about unmanned aerial vehicle shoots.
Drawings
Fig. 1 is a schematic diagram illustrating a configuration of an unmanned aerial vehicle photographing system according to an embodiment of the present invention;
FIG. 2 is a circuit diagram of a processor in an embodiment of the invention;
FIG. 3 is a circuit diagram of a remote control circuit and telemetry circuit in an embodiment of the invention;
FIG. 4 is a circuit diagram of a PWM output circuit according to an embodiment of the present invention;
FIG. 5 is a schematic waveform diagram of a PWM square wave according to an embodiment of the present invention;
FIG. 6 is a circuit diagram of a FLASH recording circuit according to an embodiment of the present invention;
FIG. 7 is a circuit diagram of a camera exposure time acquisition circuit according to an embodiment of the present invention;
FIG. 8 is a circuit diagram of a data reading circuit according to an embodiment of the present invention;
fig. 9 is a circuit diagram of a camera photographing module according to an embodiment of the invention.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention and the accompanying drawings, and it is obvious that the described embodiments do not limit the present invention.
Like fig. 1 and fig. 2, an unmanned aerial vehicle photographing system comprises a power supply, a remote control circuit, a remote measuring circuit, a processor, a data recording module and a camera photographing module which are arranged on the same integrated circuit board.
And the power supply is used for supplying power to the whole photographing system.
The remote control circuit and the remote measuring circuit are used for acquiring the position information and the attitude information of the unmanned aerial vehicle and transmitting the position information and the attitude information to the processor;
the processor judges whether the unmanned aerial vehicle reaches a photographing place or not according to the position information of the unmanned aerial vehicle, analyzes and calculates the attitude information of the unmanned aerial vehicle, generates a PWM square wave through a timer in the processor, converts the PWM square wave into a signal which can be identified by a cradle head steering engine through a level conversion chip, and controls the motion of the cradle head; meanwhile, outputting an enabling signal to control a camera photographing module to finish photographing action, and storing photographing data into a data recording module;
the photographing data in the data recording module is read through a USB interface arranged on the controller. The photographing system also comprises a camera exposure time acquisition circuit and a satellite positioning transceiver; the satellite positioning transceiver collects satellite navigation and ephemeris data and sends the satellite navigation and ephemeris data to the processor through the TTL serial interface; meanwhile, the satellite positioning transceiver collects PPS signals and sends the PPS signals to the processor; the camera exposure time acquisition circuit records a camera exposure signal, and the camera exposure signal is transmitted to an IO interface of the processor after passing through the operational amplifier.
The modules in this embodiment will be explained in detail below with reference to the accompanying drawings:
in the embodiment, the power supply adopts an onboard 24V power supply, and the power supply is adapted to the access of the system through the power conversion circuit to provide a power source for the system.
As shown in fig. 3, the remote control circuit and the telemetry circuit transmit data through an RS232 protocol, a MAX3232 chip is used for physical layer protocol conversion, information is divided into two parts, one part is transmitted according to the original information transmission direction, and the other part is sent to the processor for analysis and operation.
As shown in fig. 2, the processor uses STM32F407, has 168MHz dominant frequency, can be connected to NANDFLASH for data storage through the FSMC interface, receives camera exposure pulses and satellite positioning PPS pulses through the IO interface, records camera exposure time, and reads data through the full speed USB.
As shown in fig. 4, the PWM output circuit receives the PWM square wave output by the processor, and converts the PWM square wave into a PWM wave with a peak value of 5V through the level conversion chip, thereby controlling the pan/tilt actuator to adjust the pan/tilt to a preset state.
As shown in fig. 6, the data recording module is a FLASH recording circuit, and the FLASH recording circuit is controlled by a large-capacity memory chip connected to the FSMC interface of the processor. As shown in fig. 7, the camera exposure time acquisition circuit acquires a camera exposure signal and performs analysis and operation in the processor in combination with the PPS signal of the satellite positioning transceiver to obtain the camera exposure time, since the camera exposure output signal is weak, at about 500mv, an IO interface of the processor cannot be identified, an operational amplifier is required to be used for amplification, and the PPS signal is conveniently processed by adjusting a rising edge and a falling edge by using a MOSFET. As shown in fig. 8, the data reading circuit reads data by using a USB interface, the 5V power supply of the USB is converted into 3.3V by a linear voltage-stabilized power supply, and then the power is cut off for the processor, the FLASH recording circuit and related devices, and meanwhile, the 5V of the USB is used as a mark for ending the acquisition of the input signal, and the power supply to the satellite positioning board card is cut off.
Fig. 9 is a circuit diagram of the camera photographing module, the camera photographing module is enabled by a pulse with a certain time width, and after the processor detects that photographing is required, the IO interface outputs the pulse, and the pulse is converted into the comment compatible with the camera by the level conversion chip and then is sent to the camera for photographing.
The control method based on the unmanned aerial vehicle photographing system comprises the following steps:
and 5, recording the photographing information by the data recording module, and reading the photographing information through an external USB when the photographing information needs to be read.
The specific control process is as follows:
relevant preset information is set according to the task requirement of the unmanned aerial vehicle, the remote control circuit and the remote measuring circuit receive the position information of the unmanned aerial vehicle and send the position information to the processor, the processor judges whether the unmanned aerial vehicle reaches the shooting place or not according to the preset information, and if the unmanned aerial vehicle reaches the shooting place, shooting is carried out. The remote control circuit and the remote measuring circuit transmit the received attitude information of the unmanned aerial vehicle through an RS232 bus protocol, a MAX3232 chip is used for carrying out physical layer protocol conversion, the information is divided into two parts, one part is transmitted according to an original path, the other part is transmitted to the processor, after the processor receives the attitude information of the unmanned aerial vehicle, a timer in the processor generates PWM square waves with different duty ratios, the waveforms of the PWM square waves are shown in figure 5, wherein the duty ratios are
T1For one period of PWM square waveDuration of internal low level, T2The PWM square waves are high-level duration time in one period, and the PWM square waves are converted into PWM waves with 5V peak values through a level conversion chip to control a cradle head steering engine, so that the cradle head is controlled to be adjusted to a preset state; meanwhile, the processor outputs an enabling signal to the camera photographing module to control the camera to finish photographing action. The camera exposure time acquisition circuit acquires a camera exposure signal, the satellite positioning transceiver acquires a PPS signal, satellite navigation and ephemeris data, the camera exposure signal, the PPS signal and the satellite navigation and ephemeris data are all transmitted to the processor, and the processor obtains the camera exposure time through analysis and calculation. The specific method for analyzing and calculating the exposure time of the camera comprises the following steps:
(1) enabling an internal timer of the processor;
(2) when the PPS signal is generated, the counting of the timer is cleared;
(3) when receiving the camera exposure signal, obtaining the timer value to calculate the time T from the PPS signal generation to the camera exposureP；
(4) GPS week T transmitted by combined satellite positioning transceiverWAnd within-week-second TSSo as to accurately calculate the exposure time of the camera as GPS cycle TWSecond of week TS+TP。
And then, the exposure time of the camera is recorded in a data recording module and stored, and in addition, satellite navigation and ephemeris data acquired by the satellite positioning transceiver are also transmitted to the processor and then stored in the data recording module. When data needs to be read, the USB is used for reading, power can be supplied to the board card through the USB interface when the data is read, and an external power supply does not need to work.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to other related technical fields, are included in the scope of the present invention.
Claims (7)
1. The utility model provides an unmanned aerial vehicle system of shooing which characterized in that: the device comprises a camera exposure time acquisition circuit, a satellite positioning transceiver, a power supply, a remote control circuit, a remote measuring circuit, a processor, a data recording module and a camera photographing module, wherein the processor, the data recording module and the camera photographing module are arranged on the same integrated circuit board;
the power supply is used for supplying power to the whole photographing system;
the remote control circuit and the remote measuring circuit are used for acquiring the position information and the attitude information of the unmanned aerial vehicle and transmitting the position information and the attitude information to the processor;
the processor judges whether the unmanned aerial vehicle reaches a photographing place or not according to the position information of the unmanned aerial vehicle, analyzes and calculates the attitude information of the unmanned aerial vehicle, generates a PWM square wave through a timer in the processor, converts the PWM square wave into a signal which can be identified by a cradle head steering engine through a level conversion chip, and controls the motion of the cradle head; meanwhile, outputting an enabling signal to control a camera photographing module to finish photographing action, and storing photographing data into a data recording module;
the photographing data in the data recording module is read through a USB interface arranged on the processor;
the satellite positioning transceiver collects satellite navigation and ephemeris data and sends the satellite navigation and ephemeris data to the processor through the TTL serial interface; meanwhile, the satellite positioning transceiver collects PPS signals and sends the PPS signals to the processor;
the camera exposure time acquisition circuit records a camera exposure signal, and the camera exposure signal is transmitted to an IO interface of the processor after passing through the operational amplifier.
2. The unmanned aerial vehicle photographing system of claim 1, wherein: the power supply is an onboard 24V power supply and supplies power to the system after conversion.
3. The unmanned aerial vehicle photographing system of claim 1, wherein: the unmanned aerial vehicle attitude information obtained by the remote control circuit and the telemetry circuit is transmitted through an RS232 bus protocol, physical layer protocol conversion is carried out through an MAX3232 chip, and partial information is transmitted to the processor.
4. The unmanned aerial vehicle photographing system of claim 1, wherein: the data recording module is a FLASH recording circuit and is connected with an FSMC interface of the processor.
5. The control method of the unmanned aerial vehicle photographing system according to any one of claims 1 to 4, comprising the steps of:
step 1, setting preset photographing place information according to the task requirement of an unmanned aerial vehicle;
step 2, the remote control circuit and the remote measuring circuit receive the position information of the unmanned aerial vehicle and send the position information to the processor, the processor judges whether the unmanned aerial vehicle reaches the shooting place according to the preset information, and if the unmanned aerial vehicle reaches the shooting place, the step 3 is executed;
step 3, the remote control circuit and the remote measuring circuit receive the attitude information of the unmanned aerial vehicle and partially transmit the attitude information to the processor, the processor analyzes and calculates the attitude information of the unmanned aerial vehicle, and a PWM wave signal is input to the holder to control and adjust the holder to move to a preset state;
step 4, the processor inputs a photographing instruction to the camera photographing module, and the camera photographing module finishes a photographing action;
step 5, the satellite positioning transceiver collects PPS signals and sends the PPS signals to the processor, the camera exposure time collection circuit collects camera exposure signals and sends the camera exposure signals to the processor, the processor performs analysis and operation by combining the PPS signals and the camera exposure signals to obtain camera exposure time, and the camera exposure time is conveyed to the data recording module for storage; meanwhile, the satellite positioning transceiver collects satellite navigation and ephemeris data, and transmits and records the data to the data recording module after sending the data to the processor.
6. The control method of the unmanned aerial vehicle photographing system as claimed in claim 5, wherein: in the step 3, the remote control circuit and the telemetry circuit receive the attitude information of the unmanned aerial vehicle and transmit the attitude information through an RS232 bus protocol, a MAX3232 chip is used for carrying out physical layer protocol conversion, and then part of information is transmitted to the processor.
7. The control method of the unmanned aerial vehicle photographing system as claimed in claim 5, wherein: the step 3 specifically comprises the following steps: after the processor receives the attitude information of the unmanned aerial vehicle, PWM square waves with different duty ratios are generated through a timer in the processor, and then are converted into PWM waves through a level conversion chip, so that the steering engine of the cradle head is controlledThe holder is controlled to move; wherein the duty ratio
T1For a duration of low level, T, within one period of the PWM square wave2Is the high level duration within one period of the PWM square wave.
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