基于CCD图像的智能寻迹小车系统设计  

Design of Auto-tracking Smart Car Based on CCD Image

作　　者：刘海波[1] 张正栋[1] 黄坤阳[1] 

机构地区：[1]河南理工大学电气工程与自动化学院,河南焦作454000

出　　处：《北京电子科技学院学报》2014年第4期60-63,共4页Journal of Beijing Electronic Science And Technology Institute

摘　　要：本文设计了一种基于CCD图像的具有道路检测和自动跟踪功能的智能寻迹小车。该系统采用MC9S12XS128作为核心控制器,通过CCD摄像头检测模型车的运动位置和运动方向,然后对采集图像进行二值化处理、去噪等处理后提取出路径中心信息;利用光电编码器检测模型车的速度;根据路径中心信息的参数计算舵机控制量,采用模糊PID控制算法对小车实行转角和速度的实时控制。实验证明,该智能车系统能够沿着黑色赛道快速稳定地自动行驶,实现了路径识别与跟踪。This paper introduces a design of intelligent tracking smart car based on CCD image technology which has the function of road detecting and automatic tracking. MC9S12XS128 is adopted in this system as the core controller. Through the CCD camera image detecting the moving position and direction of the model car,the collected images with binarization processing and denoising processing to extract the path center information are discussed. Using photoelectric encoder to detect the speed of the model car and according to the parameters of path center information to calculate the amount of steering control,fuzzy PID control algorithm is employed to implement the angle and speed of the car for real-time control. Experiments result show that the smart car can automatically travel along the black track fast and stable and accomplish the path recognition and tracking.

关 键 词：智能车 MC9S12XS128 CCD摄像头 路径识别 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]