Automatic targeting circuit and automatic targeting system

Abstract

The utility model discloses an automatic targeting circuit and an automatic targeting system, and belongs to the technical field of automatic targeting. The automatic target shooting circuit is connected with an unmanned aerial vehicle and comprises a receiving target positioning module used for collecting a positioning image of a target receiving target in the operation process of the unmanned aerial vehicle; the laser ranging module is used for emitting measurement laser in the operation process of the unmanned aerial vehicle and determining the measurement distance with the target receiving target according to the measurement laser; and the control module is connected with the receiving target positioning module and the laser ranging module, receives the positioning image and the measurement distance, and is used for generating a laser emission signal according to the positioning image and the measurement distance. According to the automatic target shooting circuit, automatic target shooting of the unmanned aerial vehicle can be achieved, and meanwhile the accuracy of target shooting can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic shooting, in particular to an automatic shooting circuit and an automatic shooting system. Background Art

[0002] In target shooting competitions, the shooting task is usually completed by transmitting lasers to receiving targets through drones. The relevant technology usually uses infrared guidance to manually control the drone to shoot at the target receiving target within a certain range. However, the shooting accuracy of this method is low. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model proposes an automatic target shooting circuit and an automatic target shooting system, which can realize the automatic target shooting of the unmanned aerial vehicle and improve the accuracy of the target shooting.

[0004] According to an automatic target practice circuit of the first aspect of the present utility model, the automatic target practice circuit is connected to a drone, and the automatic target practice circuit includes:

[0005] A receiving target positioning module, used for collecting positioning images of a target receiving target during the operation of the UAV;

[0006] A laser ranging module, used for emitting a measuring laser during the operation of the UAV, and determining a measuring distance to the target receiving target according to the measuring laser;

[0007] A control module is connected to the target receiving positioning module and the laser ranging module, and receives the positioning image and the measured distance. The control module is used to generate a laser emission signal according to the positioning image and the measured distance.

[0008] According to the automatic target shooting circuit of the embodiment of the utility model, at least the following beneficial effects are achieved: during the operation of the UAV, the target receiving positioning module can collect the positioning image of the target receiving target. At the same time, the laser ranging module can emit a measuring laser, and determine the measuring distance to the target receiving target according to the measuring laser. The control module connected to the target receiving positioning module and the laser ranging module can receive the positioning image and the measuring distance, and generate a laser emission signal according to the positioning image and the measuring distance. Therefore, the present application can realize the automatic target shooting of the UAV through the target receiving positioning module, the laser ranging module and the control module, and can improve the accuracy of target shooting.

[0009] According to some embodiments of the present utility model, the automatic target practice circuit further includes:

[0010] The laser emission module is connected to the control module and is used to receive the laser emission signal and emit laser to the target receiving target according to the laser emission signal.

[0011] According to some embodiments of the present utility model, the laser emission module includes:

[0012] a first transistor, wherein a base of the first transistor is connected to the control module, a collector of the first transistor is connected to the second transistor, and an emitter of the first transistor is grounded;

[0013] a second transistor, wherein a gate of the second transistor is connected to a collector of the first transistor, and a source of the second transistor is connected to a power supply and the collector of the first transistor;

[0014] A laser emitter is connected to the drain of the second transistor.

[0015] According to some embodiments of the present utility model, the receiving target positioning module includes:

[0016] A first camera, wherein the first camera is used to collect a positioning image of a target receiving target during the operation of the UAV;

[0017] A first power supply unit, comprising a first low-dropout linear regulator, the first low-dropout linear regulator is connected to the first camera, the first low-dropout linear regulator is used to reduce an input voltage to a first voltage, and provide the first voltage to the first camera;

[0018] A second power supply unit includes a second low-voltage dropout linear regulator, which is connected to the first camera, and is used to reduce the input voltage to a second voltage and provide the second voltage to the first camera; wherein the second voltage is greater than the first voltage.

[0019] According to some embodiments of the present utility model, the automatic target practice circuit further includes:

[0020] A route correction module, connected to the control module, for collecting flight images of the UAV during the operation of the UAV;

[0021] The control module is also used to perform image comparison between the flight image and the preset route image, and send a route correction signal to the drone according to the result of the image comparison.

[0022] According to some embodiments of the present utility model, the laser ranging module includes:

[0023] A distance measuring unit, the distance measuring unit comprising a laser distance measuring chip, the laser distance measuring chip being used to emit a measuring laser during the operation of the UAV and determine a measuring distance to the target receiving target according to the measuring laser;

[0024] A filtering unit, wherein the filtering unit is connected to the distance measuring unit, and the filtering unit is used to filter out voltage ripple input to the distance measuring unit.

[0025] According to some embodiments of the present invention, the filtering unit includes:

[0026] A fifteenth capacitor, one end of the fifteenth capacitor is connected to the first pin of the laser ranging chip and the eleventh pin of the laser ranging chip, and the other end of the fifteenth capacitor is connected to the second pin of the laser ranging chip;

[0027] a 40th capacitor, one end of the 40th capacitor being connected to one end of the 15th capacitor, and the other end of the 40th capacitor being connected to the other end of the 15th capacitor;

[0028] a forty-first capacitor, one end of the forty-first capacitor being connected to one end of the fifteenth capacitor, and the other end of the forty-first capacitor being connected to the other end of the fifteenth capacitor;

[0029] A forty-second capacitor, one end of the forty-second capacitor is connected to one end of the fifteenth capacitor, and the other end of the forty-second capacitor is connected to the other end of the fifteenth capacitor.

[0030] According to some embodiments of the present utility model, the automatic target practice circuit further includes:

[0031] A storage module connected to the control module, the storage module is used to store a preset distance;

[0032] The control module is also used to perform distance analysis according to the preset distance, the positioning image and the measured distance, and generate a laser emission signal according to the result of the distance analysis.

[0033] According to some embodiments of the utility model, the automatic target shooting circuit also includes a power supply module, which is respectively connected to the receiving target positioning module, the laser ranging module and the control module, and the power supply module is used to provide electrical energy to the receiving target positioning module, the laser ranging module and the control module.

[0034] According to an automatic target practice system of a second aspect embodiment of the utility model, the automatic target practice system comprises a drone and an automatic target practice circuit as described in the first aspect embodiment.

[0035] An automatic target shooting system according to an embodiment of the utility model has at least the following beneficial effects: the automatic target shooting system includes a drone and the automatic target shooting circuit, and the drone connected to the automatic target shooting circuit can realize automatic target shooting and improve the accuracy of target shooting.

[0036] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The present invention is further described below with reference to the accompanying drawings and embodiments, wherein:

[0038] Figure 1A A schematic diagram of a preset route image provided by an embodiment of the utility model;

[0039] Figure 1B A schematic diagram of a receiving target provided by an embodiment of the utility model;

[0040] Figure 2 A module diagram of an automatic target shooting circuit provided by an embodiment of the utility model;

[0041] Figure 3 Another module diagram of the automatic target shooting circuit provided by the embodiment of the utility model;

[0042] Figure 4 A specific circuit diagram of a receiving target positioning module provided by an embodiment of the utility model;

[0043] Figure 5 A specific circuit diagram of the laser ranging module provided by the embodiment of the utility model;

[0044] Figure 6 A specific circuit diagram of a control module provided by an embodiment of the utility model;

[0045] Figure 7 A specific circuit diagram of the laser emission module provided by the embodiment of the utility model;

[0046] Figure 8 A specific circuit diagram of a route correction module provided by an embodiment of the utility model;

[0047] Fig. 9 A specific circuit diagram of a storage module provided by an embodiment of the utility model;

[0048] Fig.10 A specific circuit diagram of a power supply module provided in an embodiment of the utility model.

[0049] Figure numerals: receiving target positioning module 100, laser ranging module 200, control module 300, laser emitting module 400, route correction module 500, storage module 600, power supply module 700, first camera 101, first power supply unit 102, second power supply unit 103, ranging unit 201, filtering unit 202. DETAILED DESCRIPTION

[0050] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0051] In the description of the present invention, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0052] In the description of the present utility model, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used to distinguish the technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0053] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0054] In the description of the utility model, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0055] First, some nouns involved in this application are analyzed:

[0056] Metal-Oxide-Semiconductor Field-Effect Transistor (MOSFET): also known as MOS tube, is a semiconductor device that can control the flow of current between the source (Source) and the drain (Drain) by applying voltage to the gate (Gate).

[0057] Bipolar Junction Transistor (BJT): A semiconductor device that controls the current from the collector to the emitter by applying a voltage between the base and the emitter.

[0058] At present, in target shooting competitions, the shooting task is usually completed by using a drone to emit laser to a receiving target. The relevant technology usually uses infrared guidance to manually control the drone to shoot at the target receiving target within a certain range. However, the shooting accuracy of this method is low.

[0059] Specifically, refer to Figure 1A and Figure 1B , Figure 1A A schematic diagram of a preset route image provided in an embodiment of the present application, Figure 1B A schematic diagram of a receiving target provided in an embodiment of the present application. In a drone target shooting competition, the drone needs to fly along a preset route, such as Figure 1A Can be a kind of UAV flight map. Figure 1A There can be many black lines on the board, which are preset lines. The end point of the preset line can be placed as follows: Figure 1B When the target receiving target is hit, the target receiving target can display the number of hits. In the related technology, infrared line patrol technology is usually used to identify Figure 1A The drone can fly along the preset route and use the camera to identify the receiving target, and then manually control the drone to shoot. However, the infrared line patrol technology has weak anti-interference ability and is easily affected by light, causing the actual flight route of the drone to deviate from the preset route. Only using the camera to identify the receiving target and then manually shooting is prone to human misjudgment, resulting in poor shooting accuracy.

[0060] Based on this, see Figure 2The automatic target shooting circuit provided in the embodiment of the present application is connected to the drone, and the automatic target shooting circuit includes a receiving target positioning module 100, a laser ranging module 200 and a control module 300. The receiving target positioning module 100 is used to collect the positioning image of the target receiving target during the operation of the drone. The laser ranging module 200 is used to emit a measuring laser during the operation of the drone, and determine the measuring distance to the target receiving target based on the measuring laser. The control module 300 is connected to the receiving target positioning module 100 and the laser ranging module 200, and receives the positioning image and the measuring distance. The control module 300 is used to generate a laser emission signal based on the positioning image and the measuring distance.

[0061] During the operation of the UAV, the receiving target positioning module can collect the positioning image of the target receiving target. At the same time, the laser ranging module can emit a measuring laser and determine the measuring distance to the target receiving target based on the measuring laser. The control module connected to the receiving target positioning module and the laser ranging module can receive the positioning image and the measuring distance, and generate a laser emission signal based on the positioning image and the measuring distance. Therefore, the present application can realize the automated target shooting of the UAV through the receiving target positioning module, the laser ranging module and the control module, and can also improve the accuracy of target shooting.

[0062] See also Figure 3 In some embodiments, the automatic target shooting circuit includes a receiving target positioning module 100, a laser ranging module 200, a control module 300, a laser emitting module 400, a route correction module 500, a storage module 600 and a power supply module 700. The control module 300 is respectively connected to the receiving target positioning module 100, the laser ranging module 200, the laser emitting module 400, the route correction module 500, the storage module 600 and the power supply module 700. The power supply module 700 is respectively connected to the receiving target positioning module 100, the laser ranging module 200, the control module 300, the laser emitting module 400, the route correction module 500 and the storage module 600, and the power supply module is used to provide power to these modules to ensure the normal operation of the modules. The receiving target positioning module 100 is connected to the route correction module 500 via an I2C bus. Specifically, this automatic target shooting circuit can be connected to a drone through an interface and loaded on the drone.

[0063] See also Figure 4In some embodiments, the receiving target positioning module 100 includes a first camera 101, a first power supply unit 102, and a second power supply unit 103. The first camera 101 is used to collect positioning images of the target receiving target during the operation of the drone. The first power supply unit 102 includes a first low-voltage difference linear regulator U7, which is connected to the first camera 101, and the first low-voltage difference linear regulator U7 is used to reduce the input voltage to the first voltage and provide the first voltage to the first camera. The second power supply unit 103 includes a second low-voltage difference linear regulator U6, which is connected to the first camera 101, and the second low-voltage difference linear regulator U6 is used to reduce the input voltage to the second voltage and provide the second voltage to the first camera. Among them, the second voltage is greater than the first voltage. For example, the first voltage can be 1.2 volts (V) and the second voltage can be 2.8V.

[0064] In other embodiments, the receiving target positioning module 100 includes a thirty-sixth resistor R36, a thirty-third resistor R33, a thirty-fourth resistor R34, a thirty-fifth resistor R35, a thirty-second resistor R32, a magnetic bead FB4, a seventy-first capacitor C71, a seventy-second capacitor C72, a one-hundred-nineteenth capacitor C119, a one-hundred-twentieth capacitor C120, a seventy-fourth capacitor C74, a seventy-sixth capacitor C76, a first camera 101, a first low voltage difference linear regulator U7 and a second low voltage difference linear regulator U6.

[0065] Specifically, the connector JP2 is connected to the first camera 101 to identify the target receiving target, and the first camera 101 can be a front camera. The connector JP2 is connected to the control module 300 through the mobile industry processor interface (MIPI), so as to realize communication between the two. The connector JP2 includes 27 pins, and the second pin, the third pin, the fourth pin, the fifth pin, the ninth pin, the eleventh pin, the fourteenth pin, the sixteenth pin, the twentieth pin, the twenty-second pin and the twenty-fourth pin of the connector JP2 are respectively connected to the control module 300 through the MIPI interface. The control module 300 can drive the first camera 101 to collect the positioning image of the target receiving target and obtain this positioning image. The first pin, the sixth pin, the seventh pin, the thirteenth pin, the eighteenth pin, the nineteenth pin, the twenty-fifth pin, the twenty-sixth pin and the twenty-seventh pin of the connector JP2 are all ground pins. The fifteenth pin, the seventeenth pin, the twenty-first pin and the twenty-third pin of the connector JP2 are all suspended. The control module 300 is connected to one end of the thirty-sixth resistor R36 through the interface MIPI-CSI-MCLK, and the other end of the thirty-sixth resistor R36 is connected to the twentieth pin of the connector JP2. The eighth pin of the connector JP2 is connected to one end of the thirty-third resistor R33, and the other end of the thirty-third resistor R33 is connected to the fourteenth pin of the connector JP2. The eighth pin of the connector JP2 is connected to one end of the thirty-fourth resistor R34, and the other end of the thirty-fourth resistor R34 is connected to the sixteenth pin of the connector JP2. The eighth pin of the connector JP2 is connected to one end of the thirty-fifth resistor R35, and the other end of the thirty-fifth resistor R35 is connected to the twenty-second pin of the connector JP2. The eighth pin of the connector JP2 is connected to one end of the thirty-second resistor R32, and the other end of the thirty-second resistor R32 is connected to the twenty-fourth pin of the connector JP2. The power supply VCC-DRAM output by the power supply module 700 is connected to one end of the magnetic bead FB4, and the other end of the magnetic bead FB4 is connected to the eighth pin of the connector JP2. One end of the seventy-first capacitor C71 is connected to the other end of the magnetic bead FB4, and the other end of the seventy-first capacitor C71 is grounded. One end of the seventy-second capacitor C72 is connected to the other end of the magnetic bead FB4, and the other end of the seventy-second capacitor C72 is grounded. The power supply VCC-DRAM output by the power supply module 700 supplies power to the first camera through the magnetic bead FB4, the seventy-first capacitor C71 and the seventy-second capacitor C72. The eighth pin of the connector JP2 is also connected to the control module 300 through the interface MIPI-IOVCC. The power supply VSYS is connected to the first pin of the first low-voltage difference linear regulator U7, and the first pin of the first low-voltage difference linear regulator U7 is connected to one end of the one-hundred-nineteenth capacitor C119, and the other end of the one-hundred-nineteenth capacitor C119 is grounded.The second pin of the first low voltage drop linear regulator U7 is grounded, the third pin of the first low voltage drop linear regulator U7 is connected to the first pin of the first low voltage drop linear regulator U7, the fourth pin of the first low voltage drop linear regulator U7 is suspended, and the fifth pin of the first low voltage drop linear regulator U7 is connected to the twelfth pin of the connector JP2. The fifth pin of the first low voltage drop linear regulator U7 is connected to one end of the 120th capacitor C120, and the other end of the 120th capacitor C120 is grounded. The power supply VSYS is connected to the first pin of the second low voltage drop linear regulator U6, the first pin of the second low voltage drop linear regulator U6 is connected to one end of the 74th capacitor C74, and the other end of the 74th capacitor C74 is grounded. The second pin of the second low voltage drop linear regulator U6 is grounded, the third pin of the second low voltage drop linear regulator U6 is connected to the first pin of the second low voltage drop linear regulator U6, the fourth pin of the second low voltage drop linear regulator U6 is suspended, the fifth pin of the second low voltage drop linear regulator U6 is connected to the tenth pin of the connector JP2. The fifth pin of the second low voltage drop linear regulator U6 is connected to one end of the seventy-sixth capacitor C76, and the other end of the seventy-sixth capacitor C76 is grounded.

[0066] It should be noted that the thirty-sixth resistor R36 can be a resistor with a resistance of 33 ohms (Ω), which can limit the current in the circuit. The thirty-third resistor R33 and the thirty-fourth resistor R34 can both be resistors with a resistance of 2kΩ. The thirty-fifth resistor R35 and the thirty-second resistor R32 can both be resistors with a resistance of 10kΩ. The thirty-third resistor R33, the thirty-fourth resistor R34, the thirty-fifth resistor R35 and the thirty-second resistor R32 can all be used as pull-up resistors. The magnetic bead FB4 can be a magnetic bead with an impedance of 600Ω at a frequency of 100MHz, which can suppress high-frequency noise in the circuit. The seventy-first capacitor C71 can be a capacitor with a capacitance of 0.1 microfarads (uF), the seventy-second capacitor C72 can be a capacitor with a capacitance of 10uF, and the seventy-first capacitor C71 and the seventy-second capacitor C72 are both filter capacitors. The first low-voltage dropout linear regulator U7 may be a low-voltage dropout linear regulator of model LP3987H-1.2V. The first low-voltage dropout linear regulator U7 may reduce the voltage value of the power supply VSYS to 1.2V and then output it to the first camera 101, and power the analog part of the first camera (such as the image sensor and the signal amplifier). The second low-voltage dropout linear regulator U6 may be a low-voltage dropout linear regulator of model LP3987H-2.8V. The second low-voltage dropout linear regulator U6 reduces the voltage value of the power supply VSYS to 2.8V and then outputs it to the first camera 101, and power the digital part of the first camera (such as the processor and the memory). The 119th capacitor C119, the 120th capacitor C120, the 74th capacitor C74 and the 76th capacitor C76 may all be capacitors with a capacitance value of 2.2uF.

[0067] It should be noted that the first camera 101 (i.e., the front camera) of the present application can capture the positioning image collected for the target receiving target and send the positioning image to the control module 300. Further, the control module 300 can store the positioning image of the target receiving target by preprocessing the positioning image, extracting features, and matching with a preset model. In a shooting competition, the control module 300 can compare the size between the positioning image and the stored positioning image, and then identify the bull's eye of the target receiving target.

[0068] See also Figure 5 In some embodiments, the laser ranging module 200 includes a ranging unit 201 and a filtering unit 202. The ranging unit 201 includes a laser ranging chip U3, which can emit a measuring laser during the operation of the drone and determine the measuring distance to the target receiving target according to the measuring laser. The filtering unit 202 is connected to the ranging unit 201, and the filtering unit 202 can filter out the voltage ripple input to the ranging unit 201.

[0069] Specifically, the ranging unit 201 includes a laser ranging chip U3, a first resistor R1, a twelfth resistor R12, a thirteenth resistor R13 and a fourteenth resistor R14. One end of the first resistor R1 is connected to the power supply VCC-3V3, and the other end of the first resistor R1 is connected to the interface J3. One end of the twelfth resistor R12 is connected to the power supply VCC-3V3, and the other end of the twelfth resistor R12 is connected to the interface J2. The second pin, the third pin, the fourth pin, the sixth pin and the twelfth pin of the laser ranging chip U3 are all grounded. The fifth pin of the laser ranging chip U3 is connected to one end of the fourteenth resistor R14, and the other end of the fourteenth resistor R14 is connected to the power supply VCC-3V3. The seventh pin of the laser ranging chip U3 is connected to one end of the thirteenth resistor R13, and the other end of the thirteenth resistor R13 is connected to the power supply VCC-3V3. The eighth pin of the laser ranging chip U3 is suspended, the ninth pin of the laser ranging chip U3 is connected to the P5 pin of the control chip through the interface TWI0-SDA, and the tenth pin of the laser ranging chip U3 is connected to the R5 pin of the control chip through the interface TWI0-SCK. The filtering unit 202 includes a fifteenth capacitor C15, a fortieth capacitor C40, a forty-first capacitor C41, and a forty-second capacitor C42. One end of the fifteenth capacitor C15 is connected to the first pin of the laser ranging chip U3 and the eleventh pin of the laser ranging chip U3, one end of the fifteenth capacitor C15 is also connected to the power supply VCC-3V3, and the other end of the fifteenth capacitor C15 is connected to the second pin of the laser ranging chip U3. One end of the fortieth capacitor C40 is connected to one end of the fifteenth capacitor C15, and the other end of the fortieth capacitor C40 is connected to the other end of the fifteenth capacitor C15. One end of the forty-first capacitor C41 is connected to one end of the fifteenth capacitor C15, and the other end of the forty-first capacitor C41 is connected to the other end of the fifteenth capacitor C15. One end of the forty-second capacitor C42 is connected to one end of the fifteenth capacitor C15, and the other end of the forty-second capacitor C42 is connected to the other end of the fifteenth capacitor C15.

[0070] It should be noted that the power supply VCC-3V3 can be an input power supply with a voltage value of 3.3V. The first resistor R1 and the twelfth resistor R12 can both be resistors with a resistance value of 2.4kΩ. The thirteenth resistor R13 and the fourteenth resistor R14 can both be resistors with a resistance value of 10kΩ. The laser ranging chip U3 can be a ranging sensor with a model number of VL53L1X, which is a high-precision and high-interference time of flight (TOF) sensor. The laser ranging chip U3 is connected to the control module 300 via the I2C bus (interface TWI0-SDA and interface TWI0-SCK), and the laser ranging chip U3 can test the distance between the drone and the target receiving target. The fifteenth capacitor C15 and the forty-first capacitor C41 can both be capacitors with a capacitance value of 100 nanofarads (nF). The fortieth capacitor C40 can be a capacitor with a capacitance value of 4.7uF. The forty-second capacitor C42 can be a capacitor with a capacitance value of 1nF. The fifteenth capacitor C15 and the fortieth capacitor C40 can be the filter capacitors of the eleventh pin AVDD of the laser ranging chip U3. The forty-first capacitor C41 and the forty-second capacitor C42 can be the filter capacitors of the first pin AVDDVCSETL of the laser ranging chip U3. The capacitance values ​​are different, and the corresponding frequency response characteristics are also different. Capacitors with large capacitance values ​​usually have larger equivalent inductance, so their self-resonant frequency is smaller, so they are more suitable for filtering out low-frequency interference noise. Capacitors with small capacitance values ​​usually have smaller equivalent inductance, so their self-resonant frequency is larger, so they are suitable for filtering out high-frequency interference noise. In order to compensate for the shortcomings of capacitors with large capacitance values ​​under high frequency conditions, a capacitor with small capacitance values ​​is usually connected in parallel to provide a bypass for high-frequency interference signals and reduce the coupling interference of the outside world to the laser ranging chip U3.

[0071] It should be noted that the laser ranging chip U3 can be used to test the distance between the laser transmitting tube and the target receiving target. The laser ranging chip U3 emits a measuring laser to the object to be measured, and the object to be measured emits the reflected laser to the laser ranging chip U3. The built-in timer of the laser ranging chip U3 can record the round-trip time of the measuring laser, and then calculate the distance based on the round-trip time, and finally send it to the control module 300 through the I2C bus. Among them, the object to be measured can be the target receiving target, the measuring laser can be infrared light, and the calculated distance is the measured distance.

[0072] See also Figure 6In some embodiments, the control module 300 includes a first chip U1, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, a tenth capacitor C10, an eleventh capacitor C11, a seventh resistor R7, a first capacitor C1, a second capacitor C2, a third capacitor C3, a fourth capacitor C4, a fifth capacitor C5, a sixth capacitor C6, a seventh capacitor C7, an eighth capacitor C8, a ninth capacitor C9, an eighth resistor R8, a thirteenth capacitor C13, a fourteenth capacitor C14, a tenth resistor R10, an eleventh resistor R11, a twenty-fourth capacitor C24, a twenty-sixth capacitor C26, a twenty-seventh capacitor C27, a twenty-eighth capacitor C28, and a third capacitor C10. The seventeenth capacitor C17, the eighteenth capacitor C18, the nineteenth capacitor C19, the twentieth capacitor C20, the twenty-first capacitor C21, the twenty-second capacitor C22, the twenty-third capacitor C23, the twenty-fifth capacitor C25, the ninth resistor R9, the twenty-ninth capacitor C29, the twelfth capacitor C12, the first crystal X1, the sixteenth capacitor C16, the thirtieth capacitor C30, the thirty-first capacitor C31, the thirty-second capacitor C32, the thirty-third capacitor C33, the thirty-fourth capacitor C34, the thirty-fifth capacitor C35, the thirty-sixth capacitor C36, the thirty-seventh capacitor C37, the thirty-eighth capacitor C38, the thirty-ninth capacitor C39 and the second resistor R2. Among them, the first chip U1 is composed of four parts: U1-1, U1-2, U1-3, and U1-4.

[0073] Specifically, in the U1-1 part, the E9 pin, F9 pin, F13 pin, G12 pin, H6 pin, H7 pin, H8 pin, H9 pin, H10 pin, H13 pin, J5 pin, J13 pin, K5 pin and L5 pin of the first chip U1 are all connected to the power supply VCC-DRAM. The E10 pin and E12 pin of the first chip U1 are both connected to one end of the fifth resistor R5 through the interface SVREF, and the other end of the fifth resistor R5 is connected to the power supply VCC-DRAM. One end of the fifth resistor R5 is connected to one end of the sixth resistor R6, and the other end of the sixth resistor R6 is grounded. One end of the fifth resistor R5 is also connected to one end of the tenth capacitor C10 and one end of the eleventh capacitor C11, and the other end of the tenth capacitor C10 and the other end of the eleventh capacitor C11 are both grounded. The E11 pin of the first chip U1 is connected to one end of the seventh resistor R7 through the interface SZQ, and the other end of the seventh resistor R7 is grounded. The E6 pin, E7 pin, E13 pin, E14 pin, E15 pin, F3 pin, F4 pin, F5 pin, F15 pin, G3 pin, G5 pin, G7 pin, G9 pin, G10 pin, G15 pin, H11 pin, H12 pin, H14 pin, H15 pin and J6 pin of the first chip U1 are all connected and grounded. The power supply VCC-DRAM is connected to one end of the first capacitor C1, one end of the second capacitor C2, one end of the third capacitor C3 and one end of the fourth capacitor C4, and the other end of the first capacitor C1, the other end of the second capacitor C2, the other end of the third capacitor C3 and the other end of the fourth capacitor C4 are all grounded. The power supply VCC-DRAM is connected to one end of the fifth capacitor C5, one end of the sixth capacitor C6, one end of the seventh capacitor C7, one end of the eighth capacitor C8 and one end of the ninth capacitor C9, and the other end of the fifth capacitor C5, the other end of the sixth capacitor C6, the other end of the seventh capacitor C7, the other end of the eighth capacitor C8 and the other end of the ninth capacitor C9 are all grounded.

[0074] Specifically, in the U1-2 part, the C11 pin of the first chip U1 is connected to one end of the eighth resistor R8 through the interface AP-RESET, and the other end of the eighth resistor R8 is connected to the power supply VCC-3V3. One end of the eighth resistor R8 is also connected to one end of the thirteenth capacitor C13 and one end of the fourteenth capacitor C14, and the other end of the thirteenth capacitor C13 and the other end of the fourteenth capacitor C14 are both grounded. The B6 pin, A6 pin and C5 pin of the first chip U1 are all suspended. The C6 pin, B5 pin, B9 pin, B11 pin and D11 pin of the first chip U1 are all connected to the power supply VCC-3V3. The B4 pin of the first chip U1 is connected to one end of the twenty-ninth capacitor C29 through the interface VRA1, and the other end of the twenty-ninth capacitor C29 is grounded. The A4 pin of the first chip U1 is connected to one end of the twenty-fifth capacitor C25 through the interface VRA2, and the other end of the twenty-fifth capacitor C25 is connected to the other end of the twenty-ninth capacitor C29. One end of the ninth resistor R9 is connected to one end of the twenty-fifth capacitor C25, and the other end of the ninth resistor R9 is connected to the other end of the twenty-fifth capacitor C25. One end of the twenty-second capacitor C22 is connected to the power supply VCC-3V3, and the other end of the twenty-second capacitor C22 is grounded. One end of the twenty-third capacitor C23 is connected to the power supply VCC-3V3, and the other end of the twenty-third capacitor C23 is connected to the other end of the twenty-fifth capacitor C25. One end of the seventeenth capacitor C17 is connected to the power supply VCC-3V3, and the other end of the seventeenth capacitor C17 is grounded. One end of the eighteenth capacitor C18 is connected to the power supply VCC-3V3, and the other end of the eighteenth capacitor C18 is grounded. One end of the nineteenth capacitor C19 is connected to the power supply VCC-3V3, and the other end of the nineteenth capacitor C19 is grounded. One end of the twentieth capacitor C20 is connected to the power supply VCC-3V3, and the other end of the twentieth capacitor C20 is grounded. The C10 pin of the first chip U1 is connected to one end of the twenty-first capacitor C21 through the interface RTC-VIO, and the other end of the twenty-first capacitor C21 is grounded. The A5 pin of the first chip U1 is grounded. The B15 pin of the first chip U1 is connected to the OUT pin of the first crystal X1 through X24MOUT, the OUT pin of the first crystal X1 is connected to one end of the sixteenth capacitor C16, and the other end of the sixteenth capacitor C16 is grounded. The NC pin of the first crystal X1 is connected to the other end of the sixteenth capacitor C16. The C15 pin of the first chip U1 is connected to the IN pin of the first crystal X1 through X24MIN, the IN pin of the first crystal X1 is connected to one end of the twelfth capacitor C12, the other end of the twelfth capacitor C12 is grounded, and the NC pin of the first crystal X1 is grounded. The B12 pin of the first chip U1 is connected to the eleventh pin of the connector JP2 through the interface MIPI-CSI-CLKN. The A12 pin of the first chip U1 is connected to the ninth pin of the connector JP2 through the interface MIPI-CSI-CLKP.The B13 pin of the first chip U1 is connected to the fourth pin of the connector JP2 through the interface MIPI-CSI-D1N. The A13 pin of the first chip U1 is connected to the second pin of the connector JP2 through the interface MIPI-CSI-D1P. The B14 pin of the first chip U1 is connected to the fifth pin of the connector JP2 through the interface MIPI-CSI-D0N. The A14 pin of the first chip U1 is connected to the third pin of the connector JP2 through the interface MIPI-CSI-D0P.

[0075] Specifically, in the U1-3 part, the D9 pin, the E8 pin, the F8 pin, the G6 pin, and the G8 pin of the first chip U1 are all connected to the power supply VDD-SYS. The power supply VDD-SYS is connected to one end of the 30th capacitor C30, one end of the 31st capacitor C31, one end of the 32nd capacitor C32, one end of the 33rd capacitor C33, and one end of the 34th capacitor C34, and the other end of the 30th capacitor C30, the other end of the 31st capacitor C31, the other end of the 32nd capacitor C32, the other end of the 33rd capacitor C33, and the other end of the 34th capacitor C34 are all grounded. The G4 pin, the H3 pin, the H4 pin, the J4 pin, the L4 pin, and the M4 pin of the first chip U1 are all connected to the power supply VDD-CPU. The power supply VDD-CPU is connected to one end of the thirty-fifth capacitor C35, one end of the thirty-sixth capacitor C36, one end of the thirty-seventh capacitor C37, one end of the thirty-eighth capacitor C38, and one end of the thirty-ninth capacitor C39, and the other end of the thirty-fifth capacitor C35, the other end of the thirty-sixth capacitor C36, the other end of the thirty-seventh capacitor C37, the other end of the thirty-eighth capacitor C38, and the other end of the thirty-ninth capacitor C39 are all grounded. The B8 pin, the C4 pin, and the H5 pin of the first chip U1 are all connected to the power supply VCC-3V3. The power supply VCC-3V3 is connected to one end of the twenty-fourth capacitor C24, one end of the twenty-sixth capacitor C26, one end of the twenty-seventh capacitor C27, and one end of the twenty-eighth capacitor C28, and the other end of the twenty-fourth capacitor C24, the other end of the twenty-sixth capacitor C26, the other end of the twenty-seventh capacitor C27, and the other end of the twenty-eighth capacitor C28 are all grounded.A1 pin, A15 pin, C7 pin, C8 pin, C9 pin, C12 pin, C13 pin, C14 pin, D5 pin, D6 pin, D7 pin, D8 pin, D10 pin, D12 pin, D13 pin, D14 pin, D15 pin, E4 pin, E5 pin, F6 pin, F7 pin, F12 pin, F14 pin, G14 pin, J7 pin, J8 pin, J9 pin, J10 pin, J11 pin, J12 pin, J14 pin, J15 pin, K2 pin, K4 pin, K6 pin, K7 pin, K8 pin, K9 pin, K10 pin, K11 pin, K12 pin, K13 pin, K14 pin, K15 pin, L6 pin, L8 pin, L The 9 pin, L10 pin, L11 pin, L13 pin, L14 pin, L15 pin, M5 pin, M6 pin, M7 pin, M8 pin, M9 pin, M10 pin, M11 pin, M12 pin, M13 pin, M14 pin, M15 pin, N3 pin, N4 pin, N5 pin, N6 pin, N7 pin, N8 pin, N9 pin, N10 pin, N11 pin, N12 pin, N13 pin, N14 pin, N15 pin, P9 pin, P10 pin, P11 pin, P12 pin, P13 pin, P14 pin, P15 pin, R1 pin, R9 pin, R10 pin, R11 pin, R12 pin, R13 pin, R14 pin, R15 pin, and L12 pin are all grounded.

[0076] Specifically, in the U1-4 part, the R7 pin of the first chip U1 is connected to the second pin of the memory chip U8 through the interface SPI-MISO. The P7 pin of the first chip U1 is connected to the sixth pin of the memory chip U8 through SPI-CLK. The R8 pin of the first chip U1 is connected to the first pin of the memory chip U8 through SPI-CS. The P8 pin of the first chip U1 is connected to the fifth pin of the memory chip U8 through SPI-MOSI. The D4 pin and the K3 pin of the first chip U1 are connected to the eighth pin of the connector JP2 through MIPI-IOVCC. The P1 pin of the first chip U1 is connected to the eleventh pin of the connector JP1 through CSI0-PCK. The N2 pin of the first chip U1 is connected to the twenty-third pin of the connector JP1 through CSI0-MCLK. The N1 pin of the first chip U1 is connected to the nineteenth pin of the connector JP1 through CSI0-HSYNC. The L2 pin of the first chip U1 is connected to the thirteenth pin of the connector JP1 through CSI0-VSYNC. The K1 pin of the first chip U1 is connected to the seventeenth pin of the connector JP1 through CSI0-RST#. The M2 pin of the first chip U1 is connected to the eighteenth pin of the connector JP1 through CSI0-D0. The M1 pin of the first chip U1 is connected to the sixteenth pin of the connector JP1 through CSI0-D1. The J1 pin of the first chip U1 is connected to the fourteenth pin of the connector JP1 through CSI0-D2. The G1 pin of the first chip U1 is connected to the twelfth pin of the connector JP1 through CSI0-D3. The L1 pin of the first chip U1 is connected to the tenth pin of the connector JP1 through CSI0-D4. The H2 pin of the first chip U1 is connected to the eighth pin of the connector JP1 through CSI0-D5. The G2 pin of the first chip U1 is connected to the sixth pin of the connector JP1 through CSI0-D6. The J2 pin of the first chip U1 is connected to the second pin of the connector JP1 through CSI0-D7. The F1 pin of the first chip U1 is connected to one end of the thirty-sixth resistor R36 through MIPI-CSI-MCLK. The E1 pin of the first chip U1 is connected to the ninth pin of the connector JP1 and the sixteenth pin of the connector JP2 through TWI1-SCK. The L3 pin of the first chip U1 is connected to the fifth pin of the connector JP1 and the fourteenth pin of the connector JP2 through TWI1-SDA. The H1 pin of the first chip U1 is connected to the twenty-fourth pin of the connector JP2 through MIPI-CSI-RESET. The J3 pin of the first chip U1 is connected to the twenty-second pin of the connector JP2 through MIPI-CSI-PWDN.The M3 pin, P2 pin, R2 pin, P3 pin, R3 pin, R4 pin, P4 pin, R6 pin, P6 pin, A11 pin, A7 pin, B10 pin, A8 pin, B7 pin, A9 pin, A10 pin, E3 pin, D3 pin, C2 pin, C1 pin, D1 pin, F2 pin, E2 pin, C3 pin, D2 pin, B3 pin and A3 pin of the first chip U1 are all suspended. The R5 pin of the first chip U1 is connected to the tenth pin of the laser ranging chip U3 through the interface TWI0-SCK. The R5 pin of the first chip U1 is connected to one end of the tenth resistor R10 through the interface TWI0-SCK, and the other end of the tenth resistor R10 is connected to the power supply VCC-3V3. The P5 pin of the first chip U1 is connected to the ninth pin of the laser ranging chip U3 through the interface TWI0-SDA. The P5 pin of the first chip U1 is connected to one end of the eleventh resistor R11 through the interface TWI0-SDA, and the other end of the eleventh resistor R11 is connected to the power supply VCC-3V3. The B2 pin of the first chip U1 is connected to one end of the third resistor R3, and the other end of the third resistor R3 is connected to the fourth pin of the connector J6 through the interface UART1_TX. The B1 pin of the first chip U1 is connected to one end of the fourth resistor R4, and the other end of the fourth resistor R4 is connected to the third pin of the connector J6 through the interface UART1_RX. The second pin of the connector J6 is connected to the power supply VCC-5V, and the second pin of the connector J6 is also connected to one end of the second resistor R2, and the other end of the second resistor R2 outputs the power supply VSYS. The first pin, the fifth pin and the sixth pin of the connector J6 are all grounded. The A2 pin of the first chip U1 is connected to one end of the twenty-eighth resistor R28 through the interface PG11. The connector J6 is connected to the drone through the interface UART1_TX and the interface UART1_RX.

[0077] It should be noted that the first chip U1 may be a chip of model MR100. The third resistor R3 and the fourth resistor R4 may be resistors with a resistance value of 33Ω. The fifth resistor R5 and the sixth resistor R6 may be resistors with a resistance value of 2kΩ. The tenth capacitor C10 and the eleventh capacitor C11 may be capacitors with a capacitance value of 0.104uF. The seventh resistor R7 may be a resistor with a resistance value of 240Ω. The first capacitor C1 may be a capacitor with a capacitance value of 10uF. The second capacitor C2 may be a capacitor with a capacitance value of 0.105uF. The third capacitor C3 and the fourth capacitor C4 may be capacitors with a capacitance value of 0.104uF. The fifth capacitor C5 may be a capacitor with a capacitance value of 0.105uF. The sixth capacitor C6, the seventh capacitor C7, the eighth capacitor C8 and the ninth capacitor C9 may be capacitors with a capacitance value of 0.104uF. The eighth resistor R8 may be a resistor with a resistance value of 10kΩ. The thirteenth capacitor C13 may be a capacitor with a capacitance value of 1nF. The fourteenth capacitor C14 may be a capacitor having a capacitance value of 10uF. The tenth resistor R10 and the eleventh resistor R11 may both be resistors having a resistance value of 2kΩ. The twenty-fourth capacitor C24 may be a capacitor having a capacitance value of 10uF. The twenty-sixth capacitor C26 may be a capacitor having a capacitance value of 0.105uF. The twenty-seventh capacitor C27 and the twenty-eighth capacitor C28 may both be capacitors having a capacitance value of 0.104uF. The seventeenth capacitor C17, the eighteenth capacitor C18, the nineteenth capacitor C19 and the twenty-third capacitor C20 may both be capacitors having a capacitance value of 0.104uF. The twenty-first capacitor C21 may be a capacitor having a capacitance value of 4.7uF. The twenty-second capacitor C22 may be a capacitor having a capacitance value of 0.104uF. The twenty-third capacitor C23 may be a capacitor having a capacitance value of 10uF. The twenty-fifth capacitor C25 may be a capacitor having a capacitance value of 4.7uF. The ninth resistor R9 may be a resistor having a resistance value of 220kΩ. The twenty-ninth capacitor C29 may be a capacitor having a capacitance value of 4.7uF. The twelfth capacitor C12 and the sixteenth capacitor C16 can both be capacitors with a capacitance value of 18 pF. The first crystal X1 can be a crystal with a commonly used nominal frequency of 24 MHz, which is used to provide a clock to the first chip U1. The thirtieth capacitor C30 can be a capacitor with a capacitance value of 10uF. The thirty-first capacitor C31 can be a capacitor with a capacitance value of 0.105uF. The thirty-second capacitor C32, the thirty-third capacitor C33 and the thirty-fourth capacitor C34 can all be capacitors with a capacitance value of 0.104uF. The thirty-fifth capacitor C35 can be a capacitor with a capacitance value of 10uF. The thirty-sixth capacitor C36 can be a capacitor with a capacitance value of 0.105uF. The thirty-seventh capacitor C37, the thirty-eighth capacitor C38 and the thirty-ninth capacitor C39 can all be capacitors with a capacitance value of 0.104uF.The second resistor R2 may be a resistor with a resistance value of 0Ω, so the voltage value of the power source VSYS is 5V.

[0078] See also Figure 7 In some embodiments, the laser emission module 400 is used to receive the laser emission signal generated by the control module 300, and emit a laser to the target receiving target according to the laser emission signal. It should be noted that the target receiving target can be a laser receiving target. In some embodiments, the laser emission module 400 includes a first transistor Q1, a second transistor Q2 and a laser emitter. The base of the first transistor Q1 is connected to the control module 300, the collector of the first transistor Q1 is connected to the gate of the second transistor Q2, and the emitter of the first transistor Q1 is grounded. The source of the second transistor Q2 is connected to the power supply and the collector of the first transistor Q1. The laser emitter is connected to the drain of the second transistor Q2.

[0079] In other embodiments, the laser emission module 400 includes a first transistor Q1, a second transistor Q2, a twenty-eighth resistor R28, a twenty-seventh resistor R27, a sixteenth resistor R16 and a laser emitter. One end of the twenty-eighth resistor R28 is connected to the A2 pin of the first chip U1 through the interface PG11, and the other end of the twenty-eighth resistor R28 is connected to the base of the first transistor Q1. One end of the twenty-seventh resistor R27 is connected to the other end of the twenty-eighth resistor R28, and the other end of the twenty-seventh resistor R27 is grounded. The collector of the first transistor Q1 is connected to the gate of the second transistor Q2, and the emitter of the first transistor Q1 is grounded. The gate of the second transistor Q2 is connected to one end of the sixteenth resistor R16, and the other end of the sixteenth resistor R16 is connected to the source of the second transistor Q2. The source of the second transistor Q2 is also connected to the power supply, and the laser emitter is connected to the drain of the second transistor Q2.

[0080] It should be noted that the power supply can be a power supply VCC-5V. The connector J1 can be a connector connected to the laser emitting tube, the first pin of the connector J1 is connected to the drain of the second transistor Q2, and the second pin of the connector J1 is grounded. The first transistor Q1 can be an NPN-type triode with a model number of SS8050, and the second transistor Q2 can be a MOS tube with a model number of A03401. The twenty-eighth resistor R28 can be a resistor with a resistance value of 1kΩ, and the twenty-eighth resistor R28 can be used to limit the current in the circuit. The twenty-seventh resistor R27 can be a resistor with a resistance value of 100kΩ. The sixteenth resistor R16 can be a resistor with a resistance value of 100KΩ. The power supply can be a power supply with a voltage value of 5V. Specifically, when the control module 300 outputs a high level, the current passes through the twenty-eighth resistor R28 to the base of the first transistor Q1, which is greater than the on-resistance of the first transistor Q1, and the first transistor Q1 is turned on. After the first transistor Q1 is turned on, the gate-source voltage of the second transistor Q2 is greater than its threshold voltage, that is, the second transistor Q2 is also turned on, and the laser emitting tube can emit laser. Conversely, when the control module 300 outputs a low level, the laser emitting tube does not emit laser.

[0081] See also Figure 8 In some embodiments, the route correction module 500 is used to collect the flight image of the drone during the operation of the drone, and the control module 300 is also used to perform image comparison based on the flight image and the preset route image, and send a route correction signal to the drone according to the result of the image comparison. The route correction module 500 includes a connector JP1, a 45th resistor R45, a 44th resistor R44, a 46th resistor R46, a 47th resistor R47, a magnetic bead FB14, a magnetic bead FB12, a 122nd capacitor C122, a 121st capacitor C121, an 88th capacitor C88, an 89th capacitor C89, a 48th resistor R48 and a 50th resistor R50. The route correction module 500 is connected to the receiving target positioning module 100 through the interface TWI1-SDA and the interface TWI1-SCK.

[0082] Specifically, the connector JP1 is connected to the control module 300 through a digital video processor interface (Digital Video Port, DVP), thereby realizing communication between the two. The connector JP1 includes twenty-seven pins, the first pin, the twenty-second pin and the twenty-fourth pin of the connector JP1 are all suspended, and the third pin and the fourth pin of the connector JP1 are all grounded. The second pin, the fifth pin, the sixth pin, the eighth pin, the ninth pin, the tenth pin, the eleventh pin, the twelfth pin, the thirteenth pin, the fourteenth pin, the fifteenth pin, the sixteenth pin, the seventeenth pin, the eighteenth pin, the nineteenth pin and the twenty-third pin of the connector JP1 are respectively connected to the control module 300 through the DVP interface, so that the control module 300 can drive the second camera and obtain flight images. One end of the magnetic bead FB14 is connected to the power supply VCC-3V3, and the other end of the magnetic bead FB14 is connected to the seventh pin of the connector JP1. The other end of the magnetic bead FB14 is also connected to one end of the 122nd capacitor C122 and one end of the 121st capacitor C121, and the other end of the 122nd capacitor C122 and the other end of the 121st capacitor C121 are both grounded. The 11th pin of the connector JP1 is connected to one end of the 45th resistor R45, and the other end of the 45th resistor R45 is connected to the control module 300 through the interface CSI0-PCK. The 13th pin of the connector JP1 is connected to one end of the 44th resistor R44, and the other end of the 44th resistor R44 is connected to the control module 300 through the interface CSI0-VSYNC. The 19th pin of the connector JP1 is connected to one end of the 46th resistor R46, and the other end of the 46th resistor R46 is connected to the control module 300 through the interface CSI0-HSYNC. The 23rd pin of the connector JP1 is connected to one end of the 47th resistor R47, and the other end of the 47th resistor R47 is connected to the control module 300 through the interface CSI0-MCLK. One end of the magnetic bead FB12 is connected to the control module 300 through the interface MIPI-IOVCC, and the other end of the magnetic bead FB12 is connected to the twenty-first pin of the connector JP1. The other end of the magnetic bead FB12 is also connected to one end of the eighty-eighth capacitor C88 and one end of the eighty-ninth capacitor C89, and the other end of the eighty-eighth capacitor C88 and the other end of the eighty-ninth capacitor C89 are grounded. The twenty-first pin of the connector JP1 is also connected to one end of the forty-eighth resistor R48, and the other end of the forty-eighth resistor R48 is connected to the seventeenth pin of the connector JP1. The fifteenth pin of the connector JP1 is connected to one end of the fiftieth resistor R50, and the other end of the fiftieth resistor R50 is grounded. The fifth pin of the connector JP1 can also be connected to the fourteenth pin of the connector JP2 through the interface TWI1-SDA, and the ninth pin of the connector JP1 can also be connected to the sixteenth pin of the connector JP2 through the interface TWI1-SCK.

[0083] It should be noted that the magnetic beads FB12 and FB14 can both be magnetic beads with an impedance of 600Ω at a frequency of 100MHz, which can suppress high-frequency noise in the circuit. The eighty-eighth capacitor C88 and the one-hundred-twenty-second capacitor C122 can both be capacitors with a capacitance value of 0.1uF, and the eighty-ninth capacitor C89 and the one-hundred-twenty-first capacitor C121 can both be capacitors with a capacitance value of 10uF. The power supply VCC-3V3 is filtered by the magnetic beads FB14, the one-hundred-twenty-second capacitor C122, and the one-hundred-twenty-first capacitor C121 to provide a power supply with a voltage value of 3.3V to the seventh pin of the connector JP1. The interface MIPI-IOVCC is filtered by the magnetic beads FB12, the eighty-eighth capacitor C88, and the eighty-ninth capacitor C89 to provide a power supply with a voltage value of 1.8V to the twenty-first pin of the connector JP1. The 45th resistor R45, the 44th resistor R44, the 46th resistor R46 and the 47th resistor R47 can all be resistors with a resistance value of 33Ω, and are used to limit the current flowing into the connector JP1. The 48th resistor R48 and the 50th resistor R50 can all be resistors with a resistance value of 100kΩ.

[0084] It should be noted that the connector JP1 is connected to the second camera to collect the flight image of the drone during the operation of the drone. The second camera can be a bottom camera, which can identify the black line (i.e., the preset line) on the drone flight map by color, and feedback to the control module 300 through the DVP interface, and the control module 300 controls the drone to fly along the preset route. Specifically, the bottom camera mainly uses numerical comparison to realize color recognition, and the bottom camera stores the numerical range of each color, and within this numerical range, it can be regarded as this color. Further, after capturing the flight image, the bottom camera can compare the pixel color value in this frame of flight image with the stored numerical range of each color to determine the preset route. The control module 300 can perform image comparison based on the flight image collected by the bottom camera and the preset route image to determine whether the drone deviates from the preset route. If the result of the image comparison indicates that the drone deviates from the preset route, the control module 300 sends a route correction signal to the drone to control the drone to fly along the preset route.

[0085] See also Fig. 9In some embodiments, the storage module 600 is used to store a preset distance, and the control module 300 is also used to perform distance analysis according to the preset distance, the positioning image and the measured distance, and generate a laser emission signal according to the result of the distance analysis. Specifically, the storage module 600 includes a storage chip U8, a 40th resistor R40 and an 84th capacitor C84. The storage chip U8 communicates with the control module 300 via a serial peripheral interface (Serial Peripheral interface, SPI). The first pin of the storage chip U8 is connected to one end of the 40th resistor R40, and the other end of the 40th resistor R40 is connected to the power supply VCC-3V3. The first pin of the storage chip U8 is connected to the R8 pin of the first chip U1 through the interface SPI-CS, the second pin of the storage chip U8 is connected to the R7 pin of the first chip U1 through the interface SPI-MISO, the third pin of the storage chip U8 is connected to the power supply VCC-3V3, and the fourth pin of the storage chip U8 is grounded. The fifth pin of the storage chip U8 is connected to the P8 pin of the first chip U1 through the interface SPI-MOSI, the sixth pin of the storage chip U8 is connected to the P7 pin of the first chip U1 through the interface SPI-CLK, the seventh pin of the storage chip U8 is connected to the power supply VCC-3V3, the eighth pin of the storage chip U8 is connected to one end of the eighty-fourth capacitor C84, the eighth pin of the storage chip U8 is also connected to the power supply VCC-3V3, and the other end of the eighty-fourth capacitor C84 is grounded.

[0086] It should be noted that the memory chip U8 may be a FLASH memory chip of model KH25L12835FM2I, which is used to store the automatic target shooting program, in which the flight altitude of the drone, the image size of the preset target receiving target, the preset distance, etc. may be set, which are not specifically limited here. The 40th resistor R40 may be a resistor with a resistance value of 10kΩ. The 84th capacitor C84 may be a capacitor with a capacitance value of 0.1uF.

[0087] It should be noted that during the competition, the control module 300 can determine the bull's-eye position of the target receiving target according to the positioning image, and then make a distance judgment according to the preset distance and the measured distance, and finally generate a laser emission signal according to the bull's-eye position. The second camera can identify the preset route and guide the drone to fly accurately along the preset route. When the first camera 101 identifies the bull's-eye position of the target receiving target, and the measured distance calculated by the laser ranging chip U3 is consistent with the preset distance stored in the automatic target shooting program, the control module 300 generates a laser emission signal to control the laser emission tube to emit laser. It should be noted that the situation where the measured distance is consistent with the preset distance corresponds to two different drone flight positions. At this time, the score corresponding to the shot with the highest number of hits can be used as the final score of the target shooting. In some embodiments, when the first camera 101 identifies the bull's-eye position of the target receiving target and the measured distance is less than the preset distance, the control module 300 can also generate a laser emission signal. When the first camera 101 does not detect the target receiving target, the laser emission tube does not emit. When the measured distance is greater than the preset distance, the laser emission tube does not emit.

[0088] See also Fig.10 In some embodiments, the power supply module 700 includes a fifty-seventh capacitor C57, a fifty-eighth capacitor C58, a sixty-second capacitor C62, a sixty-third capacitor C63, a twenty-third resistor R23, a fifth chip U5, a third inductor L3, a fourth inductor L4, a fifth inductor L5, a seventeenth resistor R17, a fifty-sixth capacitor C56, an eighteenth resistor R18, a nineteenth resistor R19, a sixty-first capacitor C61, a twentieth resistor R20, a twenty-first resistor R21, a sixty-fourth capacitor C64, a twenty-fifth resistor R25, a fifty-second capacitor C52, a fifty-third capacitor C53, a fifty-fourth capacitor C54, a fifty-fifth capacitor C55, a fifty-ninth capacitor C59, a sixtieth capacitor C60, a sixty-fifth capacitor C65, a sixty-sixth capacitor C66, a twenty-sixth resistor R26, a fourth diode D4, a twenty-second resistor R22, and a twenty-fourth resistor R24.

[0089] Specifically, the first pin, the fourth pin, the fifth pin, the twelfth pin, the thirteenth pin, the fifteenth pin, the seventeenth pin and the twenty-first pin of the fifth chip U5 are all grounded. The second pin of the fifth chip U5 is connected to one end of the twenty-fifth resistor R25, and the other end of the twenty-fifth resistor R25 is grounded. The second pin of the fifth chip U5 is also connected to one end of the twenty-first resistor R21 and one end of the sixty-fourth capacitor C64, the other end of the twenty-first resistor R21 and the other end of the sixty-fourth capacitor C64 are connected to one end of the fifth inductor L5, and the other end of the fifth inductor L5 is connected to the twentieth pin of the fifth chip U5. One end of the fifth inductor L5 is also connected to one end of the sixty-sixth capacitor C66 and one end of the sixty-fifth capacitor C65, and the other end of the sixty-sixth capacitor C66 and the other end of the sixty-fifth capacitor C65 are grounded. The other end of the fifth inductor L5 outputs the power supply VCC-1V2. The power source VCC-1V2 outputs the power source VDD-CPU (1.2V) through the twenty-second resistor R22, and the power source VCC-1V2 also outputs the power source VDD-SYS (1.2V) through the twenty-fourth resistor R24.

[0090] The third pin of the fifth chip U5 is connected to one end of the twentieth resistor R20, and the other end of the twentieth resistor R20 is grounded. The third pin of the fifth chip U5 is also connected to one end of the nineteenth resistor R19 and one end of the sixty-first capacitor C61, the other end of the nineteenth resistor R19 and the other end of the sixty-first capacitor C61 are connected to one end of the fourth inductor L4, and the other end of the fourth inductor L4 is connected to the sixth pin of the fifth chip U5. One end of the fourth inductor L4 is also connected to one end of the fifty-ninth capacitor C59 and one end of the sixtieth capacitor C60, and the other end of the fifty-ninth capacitor C59 and the other end of the sixtieth capacitor C60 are grounded. The other end of the fourth inductor L4 outputs the power supply VCC-DRAM.

[0091] The fourteenth pin of the fifth chip U5 is connected to one end of the eighteenth resistor R18, and the other end of the eighteenth resistor R18 is grounded. The fourteenth pin of the fifth chip U5 is also connected to one end of the seventeenth resistor R17 and one end of the fifty-sixth capacitor C56, the other end of the seventeenth resistor R17 and the other end of the fifty-sixth capacitor C56 are connected to one end of the third inductor L3, and the other end of the third inductor L3 is connected to the eleventh pin of the fifth chip U5. One end of the third inductor L3 is also connected to one end of the fifty-second capacitor C52, one end of the fifty-third capacitor C53, one end of the fifty-fourth capacitor C54 and one end of the fifty-fifth capacitor C55, and the other end of the fifty-second capacitor C52, the other end of the fifty-third capacitor C53, the other end of the fifty-fourth capacitor C54 and the other end of the fifty-fifth capacitor C55 are grounded. One end of the third inductor L3 also outputs the power supply VCC-3V3. One end of the third inductor L3 is also connected to one end of the twenty-sixth resistor R26, the other end of the twenty-sixth resistor R26 is connected to the anode of the fourth diode D4, and the cathode of the fourth diode D4 is grounded. The ninth pin, the eighth pin and the eighteenth pin of the fifth chip U5 are all connected to one end of the twenty-third resistor R23, and the other end of the twenty-third resistor R23 is connected to the power supply VCC-5V. The sixteenth pin of the fifth chip U5 is connected to one end of the sixty-third capacitor C63, and the other end of the sixty-third capacitor C63 is grounded. The sixteenth pin of the fifth chip U5 is also connected to the power supply VCC-5V. The nineteenth pin of the fifth chip U5 is connected to one end of the sixty-second capacitor C62, and the other end of the sixty-second capacitor C62 is grounded. The nineteenth pin of the fifth chip U5 is also connected to the power supply VCC-5V. The seventh pin of the fifth chip U5 is connected to one end of the fifty-eighth capacitor C58, and the other end of the fifty-eighth capacitor C58 is grounded. The seventh pin of the fifth chip U5 is also connected to the power supply VCC-5V. The tenth pin of the fifth chip U5 is connected to one end of the fifty-seventh capacitor C57, and the other end of the fifty-seventh capacitor C57 is grounded. The tenth pin of the fifth chip U5 is also connected to the power supply VCC-5V.

[0092] It should be noted that the power supply VCC-5V can be an external power supply. The fifty-seventh capacitor C57, the fifty-eighth capacitor C58 and the sixty-second capacitor C62 can be capacitors with a capacitance value of 10uF, and the sixty-third capacitor C63 can be a capacitor with a capacitance value of 0.105uF. The twenty-third resistor R23 can be a resistor with a resistance value of 10kΩ. The fifth chip U5 can be a three-way power management chip of model EA3036C, and the regulated output power supply VCC-3V3 (3.3V), the power supply VCC-DRAM (1.8V) and the power supply VCC-1V2 (1.2V) are powered for the entire automatic shooting circuit. The third inductor L3, the fourth inductor L4 and the fifth inductor L5 can all be inductors with an inductance value of 1.5 microhenries (uH). The fifty-sixth capacitor C56, the sixty-first capacitor C61 and the sixty-fourth capacitor C64 can all be capacitors with a capacitance value of 220pF. The seventeenth resistor R17 may be a resistor having a resistance value of 91 kΩ, and the eighteenth resistor R18 may be a resistor having a resistance value of 20 kΩ. The nineteenth resistor R19 may be a resistor having a resistance value of 200 kΩ, and the twentieth resistor R20 may be a resistor having a resistance value of 100 kΩ. The twenty-first resistor R21 may be a resistor having a resistance value of 110 kΩ, and the twenty-fifth resistor R25 may be a resistor having a resistance value of 100 kΩ. The fifty-second capacitor C52 may be a capacitor having a capacitance value of 0.104 uF. The fifty-third capacitor C53, the fifty-fourth capacitor C54, and the fifty-fifth capacitor C55 may all be capacitors having a capacitance value of 10 uF. The fifty-ninth capacitor C59 may be a capacitor having a capacitance value of 0.104 uF, and the sixtieth capacitor C60 may be a capacitor having a capacitance value of 10 uF. The sixty-fifth capacitor C65 may be a capacitor having a capacitance value of 0.104 uF, and the sixty-sixth capacitor C66 may be a capacitor having a capacitance value of 10 uF. The twenty-sixth resistor R26 may be a resistor with a resistance value of 510Ω, the fourth diode D4 is a light emitting diode, the twenty-second resistor R22 and the twenty-fourth resistor R24 ​​may both be resistors with a resistance value of 0Ω.

[0093] In addition, an embodiment of the utility model further discloses an automatic target shooting system, which includes a drone and the above-mentioned automatic target shooting circuit.

[0094] The automatic target shooting system of the embodiment of the utility model comprises a drone and the automatic target shooting circuit. The drone is connected to the automatic target shooting circuit to realize automatic target shooting and improve the accuracy of target shooting.

[0095] The embodiments of the utility model are described in detail above in conjunction with the accompanying drawings, but the utility model is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the utility model. In addition, the embodiments of the utility model and the features in the embodiments can be combined with each other without conflict.

Claims

1. An automatic target shooting circuit, characterized in that: The automatic target shooting circuit is connected to the drone, and the automatic target shooting circuit includes: A receiving target positioning module, used for collecting positioning images of a target receiving target during the operation of the UAV; A laser ranging module, used for emitting a measuring laser during the operation of the UAV, and determining a measuring distance to the target receiving target according to the measuring laser; A control module is connected to the target receiving positioning module and the laser ranging module, and receives the positioning image and the measured distance. The control module is used to generate a laser emission signal according to the positioning image and the measured distance.

2. The automatic target practice circuit according to claim 1, characterized in that: The automatic shooting circuit also includes: The laser emission module is connected to the control module and is used to receive the laser emission signal and emit laser to the target receiving target according to the laser emission signal.

3. The automatic target practice circuit according to claim 2, characterized in that: The laser emission module comprises: a first transistor, wherein a base of the first transistor is connected to the control module, a collector of the first transistor is connected to the second transistor, and an emitter of the first transistor is grounded; a second transistor, wherein a gate of the second transistor is connected to a collector of the first transistor, and a source of the second transistor is connected to a power supply and the collector of the first transistor; A laser emitter is connected to the drain of the second transistor.

4. The automatic target practice circuit according to claim 1, characterized in that: The receiving target positioning module comprises: A first camera, wherein the first camera is used to collect a positioning image of a target receiving target during the operation of the UAV; A first power supply unit, comprising a first low-dropout linear regulator, the first low-dropout linear regulator is connected to the first camera, the first low-dropout linear regulator is used to reduce an input voltage to a first voltage, and provide the first voltage to the first camera; A second power supply unit includes a second low-voltage dropout linear regulator, which is connected to the first camera, and is used to reduce the input voltage to a second voltage and provide the second voltage to the first camera; wherein the second voltage is greater than the first voltage.

5. The automatic target practice circuit according to claim 1, characterized in that: The automatic shooting circuit also includes: A route correction module, connected to the control module, for collecting flight images of the UAV during the operation of the UAV; The control module is also used to perform image comparison between the flight image and the preset route image, and send a route correction signal to the drone according to the result of the image comparison.

6. The automatic target practice circuit according to claim 1, characterized in that: The laser ranging module comprises: A distance measuring unit, the distance measuring unit comprising a laser distance measuring chip, the laser distance measuring chip being used to emit a measuring laser during the operation of the UAV and determine a measuring distance to the target receiving target according to the measuring laser; A filtering unit, wherein the filtering unit is connected to the distance measuring unit, and the filtering unit is used to filter out voltage ripple input to the distance measuring unit.

7. The automatic target practice circuit according to claim 6, characterized in that: The filtering unit comprises: A fifteenth capacitor, one end of the fifteenth capacitor is connected to the first pin of the laser ranging chip and the eleventh pin of the laser ranging chip, and the other end of the fifteenth capacitor is connected to the second pin of the laser ranging chip; a 40th capacitor, one end of the 40th capacitor being connected to one end of the 15th capacitor, and the other end of the 40th capacitor being connected to the other end of the 15th capacitor; a forty-first capacitor, one end of the forty-first capacitor being connected to one end of the fifteenth capacitor, and the other end of the forty-first capacitor being connected to the other end of the fifteenth capacitor; A forty-second capacitor, one end of the forty-second capacitor is connected to one end of the fifteenth capacitor, and the other end of the forty-second capacitor is connected to the other end of the fifteenth capacitor.

8. The automatic target practice circuit according to claim 1, characterized in that: The automatic shooting circuit also includes: A storage module connected to the control module, the storage module is used to store a preset distance; The control module is also used to perform distance analysis according to the preset distance, the positioning image and the measured distance, and generate a laser emission signal according to the result of the distance analysis.

9. The automatic target practice circuit according to any one of claims 1 to 8, characterized in that: The automatic target shooting circuit also includes a power supply module, which is respectively connected to the receiving target positioning module, the laser ranging module and the control module, and is used to provide electrical energy to the receiving target positioning module, the laser ranging module and the control module.

10. An automatic target shooting system, characterized in that: The automatic target shooting system comprises a drone and an automatic target shooting circuit as claimed in any one of claims 1 to 9.

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