2019 Electronic Competition Question B-Line Patrol Robot (Henan Division)

This system uses TI's MSP432P401R as the main control chip, the MPU6050 sensor module as the flight attitude feedback mechanism, the optical flow module for real-time positioning, and the laser and SPL06 barometer modules to collect ground altitude data in real time and send it to the main control through the serial port and I2C bus. The chip is responsible for processing. The camera OpenMV module is mainly used for image information collection. It is analyzed and processed by the STM32F765 microcontroller and sent to the MSP432P401R flight control core. The motor speed is adjusted according to the program instructions to meet the task requirements. During the flight, some special images will be captured and the data will be stored in the TF card, which can be clearly displayed on the display device after the flight. This system can realize functions such as altitude-fixed flight, line patrol detection, fault identification, and load-bearing hovering.