2018 Electronic Competition Question B-Fire Fighting Aircraft (Dalian University of Technology)

This system consists of image data information collection, image processing pipeline, flight attitude calculation and stability and heading control modules. The system uses T4C1294XL as the main control chip to complete attitude calculation and aircraft self-stabilization. The entire quadcopter is designed and produced by ourselves. It uses ultrasonic sensors to detect the flight height and the attitude angle of the MPU6050 during flight. After the microcontroller solves the attitude angle of the quadcopter during flight, it uses cascade PID to adjust the four motors. The output enables the aircraft to maintain or change its flight status to achieve tracking and cruising functions. A camera is used to obtain the image, and the orientation of the target point (simulated fire source) is obtained after scanning through the image processing pipeline. After obtaining the orientation of the target point, the flight attitude is adjusted by changing the relative position to complete the target staying above the target point.