OpenMV的3D打印小车系统研究  

Research on OpenMV’s 3D Printing Car System

作　　者：邓春兰 应必仕 银锦国 朱君[1] DENG Chun-lan;YING Bi-shi;YIN Jin-guo;ZHU Jun(School of Electronic Engineering,Guangxi Normal University,Guilin 541004,China)

机构地区：[1]广西师范大学电子工程学院,桂林541004

出　　处：《自动化与仪表》2022年第3期6-10,16,共6页Automation & Instrumentation

基　　金：国家自然科学基金资助项目(51965007);国家级大学生创新创业训练计划项目(202110602087)。

摘　　要：设计一种基于OpenMV的机器视觉智能小车系统,使用STM32F103RCT6为主控制器,通过模型设计与3D打印,实现快速制造小车。该系统能够从要求的指定位置出发,使用OpenMV摄像头模块系统进行数字或者图像采集,然后使用采集到的障碍物图像进行测距,从而得到障碍物的位置信息。利用数字温湿度传感器进行温湿度数据的检测,实现了温湿度显示功能并通过蓝牙模块通信协议的设计,实现手机APP对小车的监视与操控。采用“PID控制算法”实现对智能小车行进速度与方向的控制,利用单目视觉测距算法实现避障。Design an OpenMV-based machine vision intelligent car system,using STM32 F103 RCT6 as the main controller,and realize rapid manufacturing of the car through model design and 3 D printing.The system can start from the required designated location,use the OpenMV camera module system for digital or image acquisition,and then use the collected obstacle images for distance measurement,thereby obtaining obstacle location information.The digital temperature and humidity sensor is used to detect the temperature and humidity data,the temperature and humidity display function is realized,and the communication protocol design of the Bluetooth module is used to realize the monitoring and control of the car by the mobile phone APP.The“PID control algorithm”is used to control the speed and direction of the smart car,and the monocular vision ranging algorithm is used to avoid obstacles.

关 键 词：STM32单片机 OpenMV PID控制 3D打印 避障 

分 类 号：TP391.41[自动化与计算机技术—计算机应用技术] TP23[自动化与计算机技术—计算机科学与技术]