基于CMOS摄像头的直立循迹智能车系统设计  

Design of Up-Right Vehicle Tracking System Based on CMOS Camera

作　　者：吴苗苗[1] 沈世斌[1] 王亮[1] 李昊洋[1] 

机构地区：[1]南京师范大学电气与自动化工程学院,江苏南京210042

出　　处：《自动化技术与应用》2014年第7期21-25,共5页Techniques of Automation and Applications

摘　　要：设计了一种基于面阵CMOS摄像头传感器的直立循迹智能车系统。在硬件系统方面,自主设计了电源稳压电路和电机H桥驱动电路,并选用高性能测速模块,保障硬件系统的稳定与可靠。在软件设计方面,采用姿态融合算法进行智能车的平衡控制与速度控制,同时结合MT9V022摄像头获取环境信息实现转向循迹。在控制算法上利用位置式PID,使系统的稳定性和鲁棒性得到了很大的改善。最终实现智能车快速平稳运行。Based on array CMOS camera sensor,the upright tracking system in intelligent car is developed.On the hardware system,power regulator circuit, H-bridge motor drive circuit and the excellent speed measurement module are designed or selected to ensure system＇s stability and reliability. The software adopts the gesture integration algorithm to control car＇s balance and speed. The environmental information is got through MT9V022 camera for tracking at the same time. In addition, the positional PID controller is applied. Then, the stability and robustness of the system are greatly improved.Ultimately the smart car runs fast and smooth.

关 键 词：自平衡 CMOS摄像头 循迹 智能车 

分 类 号：TP212.6[自动化与计算机技术—检测技术与自动化装置]