Hardware Design And Implementation Of PTZ System For Unmanned Aerial Vehicle

Based on the unmanned aerial vehicle platform,the visual stability of the PTZ has a wide range of operations,zero casualties,high efficiency and can be done in harsh environments,such as multi-task advantages.Its research and development has been the world's major powers of great concern,and it's widely used in the military field,environmental monitoring and civilian areas.However,the current market,the common visual stability tracking PTZ system is more used in heavy-duty unmanned aerial vehicles,vehicle and carrier-based capacity of the super transport platform.Because of its large structure and bulky,the system external communication interface is single,poor positioning accuracy or do not have the tracking function and other factors.,it's can not be applied to the study of this topic based on multi-rotor UAV platform.For multi-rotor unmanned aerial vehicle platform,but also requires the visual stability of the PTZ system lightweight,low power,high precision,high load capacity and high performance.In order to meet the above requirements,this thesis mainly focuses on the hardware part of the PTZ system applied to the multi-rotor UAV platform.The main achievements are as follows:In order to break the limitations of the existing visual stability tracking PTZ system application platform and other factors,this thesis designs a set of complex system with integrated visualization and target tracking for multi-rotor unmanned aerial vehicle application platform.The main work of this thesis includes: the design of the platform design,the design of the motor drive circuit,the design of the DSP motor control circuit,the design of the control system and the algorithm of the image processing algorithm.The visual stability tracking PTZ system has high positioning accuracy and real-time image processing capability.According to the different task requirements,the corresponding detectors and imagers can carry the target tracking and positioning,reconnaissance and other tasks.In order to ensure the efficient and stable operation of the servo control system,a closed-loop feedback system with position and velocity detection feedback device is designed for each DOF control unit.And the use of CAN bus communication mode to control the degree of freedom of each control unit and stable PTZ control board,compared to the traditional station address encoding communication,with network nodes between the real-time data communication,transmission distance and anti-electromagnetic interference and other advantages.In order to solve the problem of DSP complex system circuit design in image algorithm board,this thesis designs a set of guidance configuration system based on ZYNQ platform for TMS320C6657 processor.Instead of the traditional CPLD boot configuration chip,the system uses a XC7Z020 processor to achieve the DSP system boot configuration,clock configuration and reset configuration of the logic control,and at the same time to complete the image acquisition pre-processing,image data transmission and external communications and other functions.This design of the image algorithm board system design not only improves the DSP processor flexible configuration,while reducing the complexity of the control circuit and the board space,reducing the cost of research and development of system circuits.In order to meet the visual stability tracking PTZ system and external transmission equipment constitute a perfect communication system,this thesis designed a rich set of communication interfaces,including imagers and wireless transmission equipment connected to the analog video input and output interface and zoom control interface,Which provides sufficient conditions for the overall visual stability tracking PTZ system and external communication equipment.