Follow-up control apparatus of miniature airborne cradle head

[0019] A preferred embodiment of the present invention is described as follows with reference to the accompanying drawings:

[0020] Referring to FIG. 1, this small airborne PTZ tracking control device 2 is applied to a micro unmanned aerial vehicle 1 carrying a camera to track a moving target 4 on the ground. The device 2, the airborne pan/tilt 3, the image processing module 6 and the wireless remote control communication module 7 are all mounted on the micro unmanned aerial vehicle 1. The airborne pan/tilt 3 can move with two degrees of freedom, it integrates motor drive, and has a camera and RS-232 control interface. Among them, 5 is the ground control station. The function of this device 2 is to collect and process the attitude angle and angular velocity information of the aircraft, and then merge the tracking target image information from the image processing module 6, and after a certain tracking control algorithm, calculate the movement angle of the airborne gimbal in two directions Or speed, and send control commands to the pan/tilt through the serial port to realize the control of the on-board pan/tilt 3; stabilize and adjust the line of sight of the camera through the angle or speed control in the two directions of the pan/tilt, so as to ensure that the tracked target is in The camera is within the line of sight and obtains a stable image of the target being tracked.

[0021] Refer to Figure 2, inside the dashed box is the small airborne pan/tilt tracking control device 2, in which: the output signal of the angular velocity sensor 8 enters the high-pass filter bank 9, filtered out the low-frequency signal and DC component, and then enters the low-pass filter and signal amplifier Group 10, after filtering the high-frequency noise, input it to the main control single-chip 11 for A/D sampling processing to obtain the three angular velocities of the aircraft; the auxiliary single-chip 12 and the main control single-chip 11 use their respective high-speed synchronous serial ports (SPI) After the two serial ports of the master single-chip computer 11 are level-converted, one of them is connected to the electronic compass 13, and the other is connected to the airborne pan/tilt 3 as an external serial communication interface. The master single-chip computer 11 can obtain the aircraft from the electronic compass 13. After level conversion, the two serial ports of the auxiliary single-chip 12 are used as external serial communication interfaces, one is connected to the image processing module 6, the other is connected to the wireless remote control communication module 7, and the auxiliary single-chip 12 will be connected from The image processing results obtained by the image processing module 6 are transmitted to the main control single-chip 11; in this way, the main control single-chip 11 integrates the tracking target image information, the attitude angle and angular velocity information of the aircraft, and after a certain tracking control algorithm, calculates the two directions of the gimbal At the same time, it communicates with the ground control station 5 through the wireless remote control communication module, and sends control commands to the PTZ through the serial port to realize the control of the airborne PTZ 3; at the same time, it communicates with the ground control station 5 through the wireless remote control communication module, and sends real-time tracking to the ground. At the same time as data, it also accepts remote control instructions from the ground, so as to realize remote operation and manual intervention of the airborne tracking system by ground operators.

[0022] The specific circuit of this embodiment is shown in FIG. 3. First, a +5V voltage is connected through the power interface of the external interface 14, a 3.3V voltage is obtained through a 3.3V stabilized source 15, and a 2.5V voltage is obtained through a 2.5V voltage reference 16. The angular velocity sensor 8 is composed of three ENC-03M single-axis velocity gyroscopes U1, U2, U3, and its analog output is respectively output to the high-pass filter bank 9, which is a high-pass filter composed of capacitor C1 and resistor R1, with capacitor C4 and The high-pass filter formed by the resistor R4, the high-pass filter formed by the capacitor C7 and the resistor R7; then pass through the low-pass filter and signal amplifier group 10 respectively, that is, the low-pass filter and signal formed by A1, R2, R3, and C3 Amplifiers, low-pass filtering and signal amplifiers composed of A2, R5, R6, and C6, low-pass filtering and signal amplifiers composed of A3, R8, R9, and C9; such low-pass filtering and voltage-amplified signals PITCH, ROLL, YAW is input to channels 0~2 of ADC0 of the main control MCU 11 for A/D sampling and processing. The main control single-chip 11 and the auxiliary single-chip 12 are connected through a high-speed synchronous serial port (SPI) 19. The two computers can switch the SPI communication mode (master or slave) according to the needs of the program. The JTAG debugging ports 18 and 20 are respectively connected to the main control single-chip 11 and Auxiliary MCU 12 is used for program debugging and code downloading. The serial port 1 (P0.0 and P0.1) of the main control single-chip microcomputer 11 is connected to the electronic compass 7 after the MAX232 level conversion chip 21, and the serial port 2 (P0.6 and P0.7) is used as the MAX232 level conversion chip 21 The RS-232 serial port (TX1 and RX1) in the external interface 14 is used to connect to the airborne PTZ 3; the serial port 1 (TXD0 and RXD0) and the serial port 2 (TXD1 and RXD1) of the auxiliary single-chip 16 have undergone MAX232 level conversion 17 The RS-232 serial ports (TX2 and RX2) and RS-232 serial ports (TX3 and RX3) in the external interface 14 are used to connect with the image processing module 6 and the wireless remote control communication module 7, respectively.