低成本四旋翼高清图像采集功能的研究与实现

摘要

为实现低成本四旋翼飞行器可以拍摄500万级像素的高清图片的效果,研究并设计一款高清图像采集系统.采用高清摄像头+SDRAM(synchronous dynamic random access memory)+CPLD(complex programmable logic device)的缓存模式,在尽量不影响主控MCU(microcontroller unit)内存使用效率和运算速度的情况下,使以中低端单片机为MCU (microcontroller unit)的四旋翼飞行器依然可以拍摄500万级像素的高清图片.拍摄高清图片时要求四旋翼达到平稳的飞行状态,故采用时间片轮的任务调度方式改进飞控算法.实际测试结果表明,四旋翼在自稳飞行的同时,可利用该图像采集系统拍摄高清图片,以无线的方式传送给电脑,整个系统具有成本低、稳定性高、可移植性强等特点,满足开发要求.%To realize the results that low-cost UAV can take 5 mega-pixel HD picture,a kind of image acquisition system was proposed.The mode of HD camera+SDRAM (synchronous dynamic random access memory) +CPLD (complex programmable logic device) was used to take photos without affecting the speed of MCU (microcontroller unit) and the efficiency of memory to help these low-cost quadrotors equipped with mid-low end micro-controller taking HD pictures.Taking HD photos needs the quadrotor to have a steady attitude,so the round Robin algorithm was used in this control system.The actual tests show that when the quadrotor's attitude is smooth and steady,the image acquisition system can be used to take HD pictures and these pictures are transferred to PC by wireless transmission.This system is economical,stable and portable,so it satisfies all the needs of exploitation.