基于多传感器的直立循迹智能车硬件系统设计  

Hardware Design of Upright Tracking Smart Vehicle Based on Multiple Sensors

作　　者：李昊洋[1] 邱鑫[1] 杨继全[1] 沈世斌[1] 

机构地区：[1]南京师范大学江苏省三维打印装备与制造重点实验室,江苏南京210042

出　　处：《南京师范大学学报（工程技术版）》2017年第4期20-24,共5页Journal of Nanjing Normal University(Engineering and Technology Edition)

基　　金：江苏省高校自然科学基金(15KJB470010);国家自然科学基金青年科学基金(51607094)

摘　　要：本文介绍了一种基于面阵CMOS传感器、陀螺仪及加速度传感器和绝对式旋转编码器的直立循迹智能车硬件结构及设计方法.该智能车采用模块化设计思想,将硬件电路划分为多个子模块,对其分别设计再予以综合.其中姿态采集模块通过MPU6050运动传感器获取角度和角加速度数据,进而拟合得到智能车姿态,图像采集模块通过MT9V022 CMOS传感器获取道路图像信息,速度采集模块通过绝对式旋转编码器采集车速信息,最终通过CPU控制模块对上述信息综合分析,实现智能车直立且自主循迹的稳定运行控制.This paper introduces the hardware structure design process of an upright tracking smart vehicle using arrayCMOS image sensor, gyro accelerometer sensor and absolute rotary encoder. With the modulation design concept, thishardware is divided into multiple sub-modules, each of which is designed respectively and then integrated. The attitude collecting module extracts the angle and angular acceleration dates using the MPU6050 motion sensor, and the vehicle attitude is fitting calculated with these data. Road image information is collected by MT9V022 camera for automatictracking, and the vehicle speed is calculated witli the absolute rotary encoder. These data of multsynthetically in CPU control module to achieve the upright tracking and stable operation.

关 键 词：自平衡 循迹 智能车 多传感器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]