基于STM32的陆空双栖无人机设计  

Design of Land-Air Amphibious UAV Based on STM32

作　　者：陈大志 郭震 狄韬 CHEN Dazhi;GUO Zhen;DI Tao

机构地区：[1]江苏电子信息职业学院,江苏淮安223001

出　　处：《科技创新与应用》2025年第8期36-40,共5页Technology Innovation and Application

基　　金：淮安市级自然科学研究(联合专项)计划项目(HABL202215)。

摘　　要：针对应可陆地行走和空中飞行,以及能够实现手动遥控和自主移动的功能,设计一种基于多旋翼和行走机构的陆空两栖无人机。飞行控制系统以STM32H743为核心,地面控制系统以STM32F103为核心,完成飞行运动和地面运动控制系统的硬件设计。根据功能制作样机,并对样机进行陆地行走试验和二维码识别定点飞行试验。试验中,该机能够实现自动巡线完成陆地行走到达目的地,然后根据指示进行起降,空中悬停、识别二维码,并飞行至指定的飞行终端点等基础功能与发挥功能。试验结果表明,该小型陆空无人机巡线准确,起降平稳,能够根据二维码指示成功到达目的地,实现赛题中列出的各项功能。In view of the ability to walk on land and fly in the air,and the ability to realize manual remote control and autonomous movement,a land-air amphibious UAV based on multi-rotor and walking mechanism is designed.The flight control system uses STM32H743 as the core,and the ground control system uses STM32F103 as the core.The hardware design of the flight motion and ground motion control systems has been completed.A prototype was made according to its functions,and the prototype was subjected to land walking tests and QR code recognition fixed-point flight tests.During the test,the aircraft was able to automatically patrol the line and complete land walking to the destination,then take off and land according to the instructions,hover in the air,identify QR codes,and fly to the designated flight terminal point and other basic functions and functions.The test results show that the small land-air UAV patrols accurately,takes off and lands smoothly,and can successfully reach the destination according to the QR code instructions,realizing the various functions listed in the competition questions.

关 键 词：陆空两栖 自动巡线 二维码识别 平稳起降 无人机 

分 类 号：TP31[自动化与计算机技术—计算机软件与理论]