摘要
本项目在各模块相互协作下,四旋翼飞行器可以按照规定航向以某一高度稳定飞行,精确降落,并进行拾取,投放铁片等各项任务。该飞行器由主控制板、飞行控制板、定点模块、电磁铁模块、超声波模块、电机模块等部分组成。采用意法半导体集团的STM32F103ZET6芯片作为主控制板,飞行控制板MCU为STM32F103RCT6,通过MPU6050(加速度计,陀螺仪),IST8310(磁力计),HC-SR04(超声波模块)获得姿态与高度数据进行PID运算后实现定高飞行。定点和循迹模块使用Openmv摄像头对黑点位置进行采样,经过数据处理后控制飞行器可以保持在目标黑点正上方从而完成定点和循迹任务。磁铁模块在MCU的控制下可以准确的完成拾取、投放铁片的任务。
This project under each module mutual cooperation,the Four-rotor aircraft may according to the stipulation heading fixed flight,precise landing,and picks up,throws the iron sheet and so on each task.The aircraft is composed of main control board,row control board,fixed-point module,electromagnet module,ultrasonic module,motor module and so on.The STM32F103ZET6 chip of STMicroelectronics is used as the main control board,the flight control board MCU is STM32F103RCT6,and the attitude and altitude data are obtained by MPU6050(accelerometer,gyroscope),IST8310(magnetometer),HC-SRO4(ultrasonic module)to realize the fixed altitude flight after PID operation.Fixed-point and tracking module uses the Openmv to sample the position of the black spot.After data processing,the control aircraft can keep above the target black spot to complete the fixed-point and tracking tasks.Under the control of MCU,the magnet module can complete the task of picking up and throwing iron sheets.
作者
巩梦岩
孟青
程思强
李梦
GONG Meng-yan;MENG Qing;CHENG Si-qiang;LI Meng(North University of China,Shuozhou 03600)
出处
《软件》
2018年第11期116-119,共4页
Software
