CN208190810U - Aircraft Aerial Images Integrated Processing Unit - Google Patents

本实用新型公开一种飞行器航拍图像综合处理装置，其包括：控制核心、GPS模块、脉宽检测接口、摄像机、字符叠加模块、云端控制中心。GPS模块固定于飞行器上，返回飞行高度和经纬度信息，作为自动路线航拍和摄像间隔的依据。摄像机安装于无人机的底部，接收指令拍摄照片。字符叠加模块实现经纬度数据和航拍图片的叠加，帮助用户确认图片信息。云端控制中心，制定航拍计划，接受航拍装置返回的照片并通过图像处理实现展示预览图等功能，本实用新型可以便捷且经济的安装在需要添加航拍功能的飞行器上，提供自动路线和图像处理的专业功能，解决无人机航拍的高硬件成本问题，高效完成图像拼接等预设功能。

The utility model discloses an aircraft aerial image comprehensive processing device, which comprises: a control core, a GPS module, a pulse width detection interface, a camera, a character superposition module, and a cloud control center. The GPS module is fixed on the aircraft and returns flight altitude and latitude and longitude information as the basis for automatic route aerial photography and camera interval. The camera is installed on the bottom of the drone and receives instructions to take pictures. The character overlay module realizes the overlay of latitude and longitude data and aerial pictures to help users confirm the picture information. The cloud control center formulates the aerial photography plan, accepts the photos returned by the aerial photography device and realizes functions such as displaying preview images through image processing. Professional functions, solve the problem of high hardware cost of drone aerial photography, and efficiently complete preset functions such as image stitching.

飞行器航拍图像综合处理装置Aircraft aerial image comprehensive processing device

技术领域technical field

本实用新型涉及一种控制无人机航拍及图像处理的装置，特别涉及一种自动控制的用于无人机智能航拍的装置。The utility model relates to a device for controlling unmanned aerial photography and image processing, in particular to an automatic control device for intelligent aerial photography of unmanned aerial vehicles.

背景技术Background technique

目前无人机通常需要为航拍特制控制核心、外围设备，将航拍功能集成于无人机系统内，同时航拍往往需要人工控制，更缺乏对拍摄图像的处理功能。造成不具备航拍功能无人机功能拓展上的局限性，且对于许多重复性的航拍需求增加了大量的人力成本和图像处理时间。At present, UAVs usually need a special control core and peripheral equipment for aerial photography, and the aerial photography function is integrated into the UAV system. At the same time, aerial photography often requires manual control, and it lacks the processing function of the captured images. This results in limitations in the expansion of UAVs that do not have aerial photography functions, and increases a lot of labor costs and image processing time for many repetitive aerial photography requirements.

应对无人机近年来的迅猛发展，人们对其的功能要求日新月异，市场需要无人机能够适应各种需求，这一背景下将全部功能集成于一架无人机或购买多架应对专门业务的无人机都是不现实与不经济的。In response to the rapid development of UAVs in recent years, people's functional requirements are changing with each passing day. The market needs UAVs to adapt to various needs. In this context, integrate all functions into one UAV or purchase multiple UAVs to deal with special services. Unmanned aerial vehicles are unrealistic and uneconomical.

CN102088569A公开了一种无人飞行器图像专用拼接方法和系统，但该系统提供的数据类型有限，且算法复杂度高，操作复杂，无法实现图像拼接的实时性。CN102088569A discloses a method and system for unmanned aerial vehicle image stitching, but the data type provided by the system is limited, and the algorithm complexity is high, the operation is complicated, and the real-time performance of image stitching cannot be realized.

CN106485655公开了一种飞行器航拍地图生成系统，包括航迹生成模块，图像采集模块，图像预处理模块，图像拼接模块和用户交互模块五大模块，可以实现图像的采集和拼接，但存在不可扩展性。CN106485655 discloses an aircraft aerial map generation system, including five modules: track generation module, image acquisition module, image preprocessing module, image stitching module and user interaction module, which can realize image acquisition and stitching, but there is no scalability.

因此本实用新型提出了无人机功能可拓展的思想，在基础飞行功能上，针对特定业务拓展外围设备，以符合社会对无人机的应用趋势。Therefore, the utility model proposes the idea that the function of the UAV can be expanded. In terms of the basic flight function, the peripheral equipment is expanded for specific services to meet the application trend of the society for the UAV.

实用新型内容Utility model content

本实用新型所要解决的技术问题是提供一种飞行器航拍图像综合处理装置，其可以根据需要通过云端控制中心进行无线控制，实现对观测区域的自动航拍与图像处理功能，并能够实现外围设备的拓展，即提供一种能够自动控制的、云端监控的、图像拼接的、用于无人机智能航拍的装置。The technical problem to be solved by the utility model is to provide an aircraft aerial image comprehensive processing device, which can be wirelessly controlled through the cloud control center as required, realizes the automatic aerial photography and image processing functions of the observation area, and can realize the expansion of peripheral equipment , that is, to provide a device capable of automatic control, cloud monitoring, image stitching, and intelligent aerial photography of drones.

本实用新型通过以下技术方案实现上述功能。The utility model realizes above-mentioned function through following technical scheme.

一种飞行器航拍图像综合处理装置，其特征在于，包括：控制核心、GPS模块、脉宽检测接口、云端控制中心、摄像机和字符叠加模块，所述控制核心和脉宽检测接口集成于核心板，用于检测脉冲宽度和频率，给出拍摄的起始信号；所述GPS模块通过连接线与核心板连接，固定于飞行器支架上，用于返回飞行高度和经纬度信息，作为航拍间隔的依据；所述摄像机安装于飞行器底部，所述字符叠加模块安装在所述核心板上，用于实现GPS经纬度数据与摄像机拍摄图像叠加；所述云端控制中心为无人机的远程控制平台，所述GPS模块、所述摄像头采集的图像、所述无人机的飞行，可通过所述核心板控制，向所述云端控制中心返回数据，接受云端控制中心的控制，云端控制中心会对实时传输的图像处理并展示，其包括在线实时视频预览模块、航拍网格设置模块、航拍参数设计模块、飞机航行轨迹模块以及航拍图片预览模块，其中所述在线实时视频预览模块可以实现在线实时预览视频，连接摄像头、断开摄像头和启动/停止监控航拍点；所述航拍网格设置模块用于设置航拍网格的格子；所述航拍参数设计模块用于在飞机起飞前，通过此串口模块配置飞机拍照距离，包含横向拍照距离、横向拍照点数、纵向拍照距离和横向拍照点数；所述飞机航行轨迹模块用于标定飞机航拍时所在地图的位置；所述航拍图片预览模块将飞机定点拍照的图片在网格中进行展示。An aircraft aerial image comprehensive processing device is characterized in that it includes: a control core, a GPS module, a pulse width detection interface, a cloud control center, a camera and a character superposition module, and the control core and the pulse width detection interface are integrated on a core board, It is used to detect the pulse width and frequency, and provides the starting signal for shooting; the GPS module is connected to the core board through a connecting line, fixed on the aircraft support, and used to return flight altitude and latitude and longitude information, as the basis for aerial photography interval; The camera is installed at the bottom of the aircraft, and the character overlay module is installed on the core board for superimposing the GPS latitude and longitude data with the images taken by the camera; the cloud control center is a remote control platform for the drone, and the GPS module , the images collected by the camera and the flight of the UAV can be controlled by the core board, return data to the cloud control center, and accept the control of the cloud control center, and the cloud control center will process the images transmitted in real time And show that it includes online real-time video preview module, aerial photography grid setting module, aerial photography parameter design module, aircraft flight track module and aerial photography picture preview module, wherein said online real-time video preview module can realize online real-time preview video, connect camera, Disconnect the camera and start/stop monitoring the aerial photography point; the aerial photography grid setting module is used to set the lattice of the aerial photography grid; the aerial photography parameter design module is used to configure the aircraft photographing distance through this serial port module before the aircraft takes off, including Horizontal photographing distance, horizontal photographing points, vertical photographing distance and horizontal photographing points; the aircraft navigation trajectory module is used to demarcate the position of the map when the aircraft is aerial photography; the aerial photography picture preview module will take pictures of the aircraft at fixed points in the grid. exhibit.

优选的，所述核心板包括STM32系列芯片，用于连接核心板上的其他模块，作为核心的数据收发控制中心。Preferably, the core board includes an STM32 series chip, which is used to connect other modules on the core board as a core data sending and receiving control center.

优选的，所述核心板还包括供电及下载电路以及外部flash模块。Preferably, the core board further includes a power supply and download circuit and an external flash module.

优选的，所述供电及下载电路以CH340芯片为核心，为整个芯片提供5v和3.3v的稳压电源Preferably, the power supply and download circuit uses the CH340 chip as the core to provide 5v and 3.3v regulated power supplies for the entire chip

优选的，所述摄像头，可采集实时图像，通过所述核心板控制广播发送，在云端控制中心远程实时查看。Preferably, the camera can collect real-time images, control the broadcast transmission through the core board, and remotely view them in real time at the cloud control center.

优选的，所述脉宽检测模块，通过TLP521芯片能检测脉冲宽度、频率，并返回相关数据给出拍摄的起始信号。Preferably, the pulse width detection module can detect the pulse width and frequency through the TLP521 chip, and return relevant data to give the start signal of shooting.

优选的，所述GPS通信模块通过800系列GPS芯片能实时提取到当前的经纬度数值并返回给所述STM32系列芯片，再经由STM32系列芯片发送至所述字符叠加模块。Preferably, the GPS communication module can extract the current latitude and longitude values in real time through the 800 series GPS chips and return them to the STM32 series chips, and then send them to the character superposition module via the STM32 series chips.

优选的，所述的无人机具有足够安装全套装置的负载能力，其自身可通过九轴传感器、光流传感器、GPS传感器、超声波传感器、气压计，和电子调速器、电机相配合，能够实现定点定高悬停以及各种飞行动作，同时提供接口允许外界设备控制。Preferably, the unmanned aerial vehicle has a load capacity sufficient to install a complete set of devices, and it can cooperate with an electronic governor and a motor through a nine-axis sensor, an optical flow sensor, a GPS sensor, an ultrasonic sensor, and a barometer. Realize fixed-point hovering and various flight actions, and provide an interface to allow external device control.

本实用新型的技术效果在于：本实用新型通过将航拍和图像处理功能通过可扩展设备独立于无人机实现，提供高效率、低成本的航拍业务功能，与现有的无人机航拍不同，一套设备可以根据需要安装于不同类型的飞行器上，完成相同的自动路线拍摄功能并独立图像处理，实现特定需求，增强了其实用性、灵活性和复用性。The technical effect of the utility model is that the utility model provides high-efficiency and low-cost aerial photography business functions by realizing the aerial photography and image processing functions independently of the drone through the expandable equipment, which is different from the existing drone aerial photography. A set of equipment can be installed on different types of aircraft according to needs, complete the same automatic route shooting function and independent image processing, to achieve specific needs, and enhance its practicability, flexibility and reusability.

附图说明Description of drawings

图1是本实用新型飞行器航拍图像综合处理装置的功能框图。Fig. 1 is the functional block diagram of the comprehensive processing device for the aerial image of the aircraft of the utility model.

图2是本实用新型飞行器航拍图像综合处理装置的原理框图。Fig. 2 is a functional block diagram of the comprehensive processing device for the aerial image of the aircraft of the utility model.

图3是本实用新型飞行器航拍图像综合处理装置的结构示意图。Fig. 3 is a structural schematic diagram of the comprehensive processing device for the aerial image of the aircraft of the utility model.

图4是本实用新型飞行器航拍图像综合处理装置的俯视图。Fig. 4 is a top view of the comprehensive processing device for aerial images of the aircraft of the utility model.

图5是本实用新型飞行器航拍图像综合处理装置的系统框图。Fig. 5 is a system block diagram of the comprehensive processing device for the aerial image of the aircraft of the utility model.

图6是本实用新型飞行器航拍综合处理装置的核心控制模块硬件连接逻辑图。Fig. 6 is a logic diagram of the hardware connection of the core control module of the integrated aerial photography processing device for the aircraft of the present invention.

图7是本实用新型脉宽检测模块的电路图。Fig. 7 is a circuit diagram of the pulse width detection module of the present invention.

图8是本实用新型字符叠加模块的效果图。Fig. 8 is an effect diagram of the character superposition module of the present invention.

具体实施方式Detailed ways

以下结合附图和实施例，对本实用新型进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本实用新型，并不用于限定本实用新型。Below in conjunction with accompanying drawing and embodiment, the utility model is described in further detail. It should be understood that the specific embodiments described here are only used to explain the utility model, and are not intended to limit the utility model.

如图3所示，本实用新型飞行器航拍图像综合处理装置附加在可扩展无人机上，包括以下部件：GPS模块1、控制核心、字符叠加模块2、摄像机3、脉宽检测接口以及云端控制中心。其中无人机具有足够安装全套装置的负载能力，其自身可通过九轴传感器、光流传感器、GPS传感器、超声波传感器、气压计等各类传感器，和电子调速器、电机相配合，能够实现定点定高悬停以及各种飞行动作，同时提供接口允许外界设备控制。As shown in Figure 3, the utility model aircraft aerial image integrated processing device is attached to the expandable UAV, including the following components: GPS module 1, control core, character superposition module 2, camera 3, pulse width detection interface and cloud control center . Among them, the UAV has enough load capacity to install a complete set of devices. It can realize Fixed-point hovering and various flight actions, while providing an interface to allow external device control.

如图5所示是本实用新型飞行器航拍图像综合处理装置的系统框图，图6是本实用新型飞行器航拍综合处理装置的核心控制模块硬件连接逻辑图，本实用新型的控制核心集成于核心板，核心板安装于无人机上，核心板选择低功耗单片机，作为航拍装置的控制中心，对无人机的飞行、摄像机拍摄进行控制，对GPS模块采集数据进行分析和处理，与云端控制中心进行连接和数据通信。具体包括：ST高性能32位微处理器MPU(STM32系列芯片)，其连接PCB板上的其他模块，作为核心的数据收发控制中心；供电及下载电路，以CH340芯片为核心，为整个芯片提供5v和3.3v的稳压电源；脉宽检测模块，通过TLP521芯片能检测脉冲宽度、频率，并返回相关数据给出拍摄的起始信号；字符叠加模块，将采集到的经纬度信息通过该模块叠加到拍摄到的图像上，并返回至云端；GPS通信模块，其通过800系列GPS芯片能实时提取到当前的经纬度数值并返回给单片机，再经由单片机发送至字符叠加模块；外部flash模块，以W25X16为核心提供外部flash，可用sd卡来代替外部flash；串口输出3.3v转5v模块，可选择SN74HC245DW芯片为核心。控制核心选择为集成低功耗单片机的核心板，通过串口实现对无人机的飞行控制和外围设备的管理。As shown in Figure 5, it is a system block diagram of the comprehensive processing device for aerial photography of the utility model. The core board is installed on the drone, and the core board selects a low-power single-chip microcomputer as the control center of the aerial photography device to control the flight of the drone and camera shooting, analyze and process the data collected by the GPS module, and communicate with the cloud control center. Connection and data communication. Specifically include: ST high-performance 32-bit microprocessor MPU (STM32 series chips), which connects to other modules on the PCB board, as the core data sending and receiving control center; power supply and download circuit, with the CH340 chip as the core, provides power for the entire chip 5v and 3.3v regulated power supply; pulse width detection module, which can detect pulse width and frequency through TLP521 chip, and return relevant data to give the starting signal of shooting; character superposition module, superimpose the collected longitude and latitude information through this module to the captured image and return to the cloud; GPS communication module, which can extract the current latitude and longitude values in real time through the 800 series GPS chip and return it to the single-chip microcomputer, and then send it to the character overlay module through the single-chip microcomputer; external flash module, W25X16 To provide an external flash for the core, an SD card can be used instead of the external flash; the serial port output 3.3v to 5v module, and the SN74HC245DW chip can be selected as the core. The control core is selected as the core board integrating a low-power single-chip microcomputer, and the flight control of the drone and the management of peripheral equipment are realized through the serial port.

更详细的，本实用新型的控制核心采用ST高性能32位微处理器MPU(STM32系列芯片)，并挂载UBLOX消费级高精度GPS模块。ST高性能32位微处理器MPU可实现与PC计算机的USB通信，与字符叠加模块和GPS模块的串口通信，检测来自飞机控制侧的脉宽信号。微处理器在飞机起飞前可以由PC计算机通过USB对其进行基本配置。微处理器可以检测来自飞机侧的脉宽信号，当信号达到一定要求时启动拍摄功能，能够主动接收来自GPS模块的数据报，对其中的数据进行解包，存储，并完成实时处理，记录飞机的速度与飞行距离。在当达到设定距离时飞机控制，向相机控制器发送相应控制信号，相机完成拍照，将拍摄位置的实时GPS坐标信息反馈到字符叠加模块，将拍摄点的坐标信息记录到SD卡等存储媒质中。In more detail, the control core of the utility model adopts ST high-performance 32-bit microprocessor MPU (STM32 series chip), and mounts UBLOX consumer grade high-precision GPS module. ST high-performance 32-bit microprocessor MPU can realize USB communication with PC computer, serial port communication with character overlay module and GPS module, and detect pulse width signal from aircraft control side. The microprocessor can be basically configured by a PC computer via USB before the aircraft takes off. The microprocessor can detect the pulse width signal from the aircraft side, start the shooting function when the signal reaches a certain requirement, and can actively receive the datagram from the GPS module, unpack the data, store it, and complete real-time processing to record the aircraft speed and flight distance. When the set distance is reached, the aircraft controls and sends a corresponding control signal to the camera controller, and the camera finishes taking pictures, feeds back the real-time GPS coordinate information of the shooting position to the character overlay module, and records the coordinate information of the shooting point to storage media such as SD card middle.

控制核心采用的微处理器与GPS模块通过串口USART进行通信。GPS模块以可以设定的通信速率不间断向处理器发送数据报，UBLOX-NEO系列GPS芯片使用标准的NEMA数据协议进行通信，通信速度是用户可配置的，一般配置为10HZ。微处理器接受数据的原理为，每当GPS发送一帧数据后进行判断，从数据流中提取出$GNRMS，$GNVTG两帧数据，从中读出对地速度(GNVTG.7)，单位为km/h.使用串口中断函数进行预处理，将速度数据传递给主函数，并快速释放串口。按这种方式接收数据能保证GPS的数据流被不间断采集得到，以保证飞机速度信息采集的实时性。The microprocessor used in the control core communicates with the GPS module through the serial port USART. The GPS module continuously sends datagrams to the processor at a settable communication rate. UBLOX-NEO series GPS chips use the standard NEMA data protocol for communication. The communication speed is configurable by the user, and the general configuration is 10HZ. The principle of the microprocessor receiving data is to make a judgment every time the GPS sends a frame of data, extract $GNRMS and $GNVTG two frames of data from the data stream, and read the ground speed (GNVTG.7) from it, the unit is km /h. Use the serial port interrupt function for preprocessing, pass the speed data to the main function, and quickly release the serial port. Receiving data in this way can ensure that the GPS data flow is collected continuously, so as to ensure the real-time performance of aircraft speed information collection.

飞行器通过一个能够产生PWM波形的口线对模块进行控制。微处理器需要对来自口线的信号占空比进行检测来实现程序逻辑的启动和停止。The aircraft controls the module through a port that can generate PWM waveforms. The microprocessor needs to detect the signal duty cycle from the port line to realize the start and stop of the program logic.

系统通过SD卡存储每次拍摄时的GPS数据。读写SD只需要4个IO口即可外扩一个最大达32GB以上的外部存储器，容量从几十M到几十到几十G选择尺度很大，更换也非常方便。The system stores the GPS data of each shooting through the SD card. Reading and writing SD only needs 4 IO ports to expand an external memory with a maximum capacity of more than 32GB. The capacity ranges from tens of M to tens to tens of G. The selection scale is very large, and the replacement is also very convenient.

该系统PCB板自带了标准的SD卡接口，可使用STM32自带SPI接口驱动，最高通信速度可达18Mbps，每秒可传输数据2M字节以上，足够实时向存储器中写入坐标信息。每发送一个命令，SD卡都会给出一个应答，以告知主机该命令的执行情况，或告知主机需要获取的数据。The system PCB board comes with a standard SD card interface, which can be driven by the SPI interface of STM32. The maximum communication speed can reach 18Mbps, and the data can be transmitted more than 2M bytes per second, which is enough to write coordinate information into the memory in real time. Every time a command is sent, the SD card will give a response to inform the host of the execution of the command, or inform the host of the data to be obtained.

云端控制中心通过无线通信与航拍装置相连，通过控制核心，制定航拍计划，控制无人机的飞行和完成自动路线拍摄，同时接受航拍装置返回的照片并通过图像处理实现展示预览图等功能。本实用新型云端控制中心包括以下模块：The cloud control center is connected to the aerial photography device through wireless communication. Through the control core, the aerial photography plan is formulated, the flight of the UAV is controlled, and the automatic route shooting is completed. At the same time, it accepts the photos returned by the aerial photography device and realizes functions such as displaying preview images through image processing. The utility model cloud control center includes the following modules:

在线实时视频预览模块：在线实时预览视频，连接摄像头、断开摄像头和启动/停止监控航拍点；Online real-time video preview module: online real-time preview video, connect camera, disconnect camera and start/stop monitoring aerial photography point;

航拍网格设置模块：用于设置航拍网格的格子数，如右边目前设置的是4*5的网格；Aerial photography grid setting module: used to set the grid number of aerial photography grid, such as the grid currently set on the right is 4*5;

航拍参数设计模块：在飞机起飞前，通过此串口模块配置飞机拍照距离，包含横向拍照距离、横向拍照点数、纵向拍照距离、横向拍照点数等。此模块打通了串口通信，对于各种参数的计算需要根据飞机的实际情况进行计算；Aerial photography parameter design module: Before the aircraft takes off, configure the aircraft photographing distance through this serial port module, including horizontal photographing distance, horizontal photographing points, vertical photographing distance, horizontal photographing points, etc. This module has opened up the serial port communication, and the calculation of various parameters needs to be calculated according to the actual situation of the aircraft;

飞机航行轨迹模块：标定飞机航拍时所在地图的位置，便于寻找飞机，不至于飞跑了；Aircraft flight track module: calibrate the position of the map where the aircraft is in aerial photography, so that it is easy to find the aircraft, and it will not fly away;

航拍图片预览模块：将飞机定点拍照的图片在网格中进行展示，以便能看到整体效果图，拍照的各个点都将存储在temp目录下，以便后面进行拼接操作。Aerial picture preview module: display the pictures taken by the aircraft at fixed points in the grid, so that you can see the overall effect picture, and each point of the picture will be stored in the temp directory for later splicing operations.

本实用新型的GPS模块安装固定在无人机机架上，GPS模块通过连接线与核心板连接，能够返回飞行高度和经纬度信息，作为自动路线航拍和摄像间隔的依据，可以通过核心板控制返回云端控制中心。The GPS module of the utility model is installed and fixed on the UAV frame. The GPS module is connected to the core board through a connecting line, and can return flight altitude and latitude and longitude information. As the basis for automatic route aerial photography and camera interval, the return can be controlled by the core board. Cloud Control Center.

本实用新型的脉宽检测接口集成于核心板，用于检测脉冲宽度、频率，给出拍摄的起始信号。The pulse width detection interface of the utility model is integrated in the core board, and is used for detecting the pulse width and frequency, and giving the starting signal of shooting.

本摄像机安装在无人机底部的支架上，通过连接线与核心板相连，能够接收接收核心板信号拍摄照片，通过核心板控制广播发送至云端控制中心。如图4所示无人机的底部结构，摄像机固定于底部支架上。The camera is installed on the bracket at the bottom of the drone, connected to the core board through a connecting line, capable of receiving and receiving core board signals to take photos, and controlling the broadcast to the cloud control center through the core board. The bottom structure of the UAV is shown in Figure 4, and the camera is fixed on the bottom bracket.

字符叠加模块安装在核心板之上，通过串口与核心板连接，可以实现经纬度数据和航拍图片的叠加，通过核心板控制返回处理后的图片至云端控制中心。如图8所示，为本实用新型的字符叠加模块的效果图。The character overlay module is installed on the core board and connected to the core board through the serial port, which can realize the superimposition of latitude and longitude data and aerial pictures, and return the processed pictures to the cloud control center through the core board control. As shown in FIG. 8 , it is an effect diagram of the character superposition module of the present invention.

本实用新型在使用时，无人机启动后与云端控制中心建立定向连接，云端控制中心可以设定无人机航拍的区域，实时对无人机的飞行进行控制，无人机即可实现前往目标自动规划路线进行拍摄。When the utility model is in use, after the UAV is started, it establishes a directional connection with the cloud control center, and the cloud control center can set the area for aerial photography of the UAV, and control the flight of the UAV in real time, and the UAV can go there. The target automatically plans the route for shooting.

云端控制中心可以接受无人机传回的叠加经纬度信息的航拍照片，并可对航拍照片图像处理，实现图片的拼接。The cloud control center can accept the aerial photos superimposed with latitude and longitude information sent back by the UAV, and can process the images of the aerial photos to realize the splicing of pictures.

因此，本实用新型的无人机航拍图像处理装置继承可拓展的思想，可以便捷且经济的安装在需要添加航拍功能的飞行器上，同时提供自动路线和图像处理的专业功能，不仅解决无人机航拍的高硬件成本问题，更能高效完成图像拼接等功能。在对固定区域的航拍应用中，能够高效、便捷的实现既定需求的拍摄任务，节省了大量人力和经济成本。Therefore, the UAV aerial photography image processing device of the utility model inherits the concept of expandability, can be conveniently and economically installed on the aircraft that needs to add aerial photography functions, and at the same time provides professional functions of automatic routing and image processing, not only solving the problem of UAV The high hardware cost of aerial photography can more efficiently complete functions such as image stitching. In the application of aerial photography in fixed areas, it can efficiently and conveniently realize the shooting tasks of the established needs, saving a lot of manpower and economic costs.

上述说明示出并描述了本实用新型的优选实施例，如前所述，应当理解本实用新型并非局限于本文所披露的形式，不应看作是对其他实施例的排除，而可用于各种其他组合、修改和环境，并能够在本文所述实用新型构想范围内，通过上述教导或相关领域的技术或知识进行改动。而本领域人员所进行的改动和变化不脱离本实用新型的精神和范围，则都应在本实用新型所附权利要求的保护范围内。The above description shows and describes the preferred embodiments of the present utility model. As mentioned above, it should be understood that the present utility model is not limited to the forms disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various Various other combinations, modifications and environments can be made within the scope of the utility model concept described herein, through the above teachings or the technology or knowledge in the related field. However, changes and changes made by those skilled in the art do not depart from the spirit and scope of the utility model, and should all be within the protection scope of the appended claims of the utility model.