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1、基于摄像头循迹的四旋翼飞行器设计 I摘 要本系统设计并制作一架基于摄像头循迹四旋翼自主飞行器，其所需循迹的道路是白底的黑色引导线。本系统采用模块结构化设计的方法，包括飞行控制模块、驱动模块、电源模块、循迹飞行、高度检测系统等，以 Freescale Kinites60 单片机为数据处理控制中心，将各个模块有效配合形成整体。其中飞行控制模块以 STM32F407 为控制核心，用来调整四旋翼自主飞行器的飞行姿态；而循迹模块以 Freescale Kinites60 为核心控制器，处理摄像头 OV7725 采集的图像信息后，把路径信息反馈给飞行控制模块，使飞行器能够按照给定的黑色引导线循迹飞行；超声
2、波模块获取飞行器离地高度信息，并将信息传递给飞行控制模块，从而调整飞行姿态，实现设计要求。循迹模块和超声波模块与飞行控制模块通过串口保持即时通信，飞行控制模块根据实时反馈的信息，控制电调驱动四个无刷电机完成自主稳定飞行。关键词：四旋翼自主飞行器，单片机，摄像头循迹，超声波，无刷电机基于摄像头循迹的四旋翼飞行器设计 IIABSTRACTThe system intended to design and make a four- rotor autonomous vehicle, and the intelligent model tracked its way by camera. At the
3、 same time, the tracking way had a black line on the white background. The project adopted the measure of modular structural design, including flight controlling module, driving module, power module, flight tracking and height detection system and so on. The design took Freescale Kinites60 MCU as da
4、ta processing and controlling central, and the single ship effectively integrated various modules into a whole,of which the flight module put the STM32F407 as controlling core, in order to adjust autonomous vehicles flying attitude. However the flight tracking module took Freescale Kinites60 as core
5、 controller, which dealt with the image information collected by camera, then feedback path information to flight controlling module so that the four- rotor autonomous vehicle could fly according to the black guiding line. The ultrasonic module got the information of the aircraft altitude and transf
6、ormed the message to flight controlling module as to adjust flying attitude and met the design requirement. The tracking module, ultrasonic module and flight control module should maintain instant communication through the serial port, then the flight controlling module controlled ESC to drive four
7、brushless motor and completed autonomous stable flight by the real-time feedback information.Key words: four- rotor autonomous vehicle, MCU, camera tracking, ultrasonic module, brushless motor基于摄像头循迹的四旋翼飞行器设计 III目录1 概论 .11.1 选题背景 .11.2 国内外飞行器的研究现状 .11.3 四旋翼飞行器的主要生产公司 .31.4 本研究的目的和意义 .31.5 小结 .42 系统总
8、体设计方案 .52. 1 驱动模块的论证与选择 .52. 2 传感器模块的选择 .62. 2 电源模块的论证与选择 .82. 3 飞行控制模块的论证与选择 .82. 4 摄像头模块的论证与选择 .82. 5 高度检测系统的论证与选择 .102. 6 小结 .113 系统理论分析 .123. 1 四旋翼飞行器的模型简析 .123. 2 四旋翼飞行器坐标系的建立 .123. 3 四旋翼飞行器上总的力和力矩 .143. 4 四旋翼飞行器力学控制原理 .143. 5 小结 .184 硬件电路部分设计 .194. 1 系统硬件总体设计 .194. 2 电机驱动模块 .194. 3 电源模块 .204. 4 小结 .215 系统设计软件部分设计 .225. 1 程序设计总论 .
