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针对传统餐饮业中送餐方式的单一化、机械化等问题,以STM32F427微处理器为核心,设计并实现了以多旋翼飞行器为平台的智能餐饮配送系统。为提高送餐过程的安全性与可靠性,飞行器的稳定飞行是最基本的条件与保障。采用基于MEMS传感器的航姿参考系统(AHRS)进行飞行器姿态的测量,采用四元数坐标换算,将陀螺仪、加速度计和磁罗盘三者数据进行融合,并用互补滤波算法对姿态数据进行修正。实际测试结果表明,该飞行控制系统精度较好,能够满足送餐过程中对安全性与可靠性的要求。
In order to solve the problem of single feeding and mechanization in the traditional catering industry, an intelligent food distribution system based on multi-rotor aircraft was designed and implemented based on the STM32F427 microprocessor. In order to improve the safety and reliability of the delivery process, the stable flight of the aircraft is the most basic condition and guarantee. Aircraft Attitude and Attitude Measurement System (AHRS) based on MEMS sensor was used to measure attitude of aircraft. The quaternion coordinate was used to convert the data of gyroscope, accelerometer and magnetic compass, and the complementary data was used to correct the attitude data. The actual test results show that the flight control system has good accuracy and can meet the requirements of safety and reliability in the delivery process.