协同跟随行驶小车的设计和实现  

The Design and Implementation of Cooperative Follow Car

作　　者：储兆玲 徐启航 赵智超 瞿燕 卞桂阳 徐强[1] 史永 CHU Zhaoling;XU Qihang;ZHAO Zhichao;QU Yan;BIAN Guiyang;XU Xiang;SHI Yong(Department of Computer Information Engineering,Changzhou Institute of Technology,Changzhou,China,213000)

机构地区：[1]常州工学院计算机信息工程学院,江苏常州213000

出　　处：《福建电脑》2023年第1期85-88,共4页Journal of Fujian Computer

基　　金：江苏省大学生创新创业训练计划项目(No.202211055038E、No.202211055015Z、No.202211055042Y、No.202211055064Y)资助。

摘　　要：本文设计一个以MSP430F149为主控板、结合机器视觉、回路闭环控制和无线通信的协同跟随行驶小车系统。系统由单片机控制模块、摄像头模块、八路循迹模块、无线通信模块、驱动模块和直流减速电机组成。摄像头模块利用OpenMV来识别停止标志并区分内外跑道,通信部分采用串口与主控通信,循迹采用一个数字量灰度传感器,利用多个发光二极管和光敏二极管,根据光遇颜色不同的反射程度判断颜色深浅并以此为标准指挥小车偏离情况。两个小车的通信采用NRF24L01+模块发出2.4Ghz电磁波通信。驱动模块采用L293D,通过编码器反馈信息实现闭环控制,对小车的速度进行控制。实验证明系统实现了小车循迹、跟随协调、速度控制等功能,达到预期效果。This paper proposed a cooperative follow car system based on MSP430,which combines machine vision,loop closed-loop control and wireless communication.The system is composed of MCU control module,camera module,eight-way tracking module,wireless communication module,drive module and DC deceleration motor.The camera module uses OpenMV to identify stop signs and distinguish between inner and outer runways.It uses serial port to communicate with the main control,using multiple light-emitting diode and photodiodes,the car is guided by the intensity of the light reflected by the different colors.The communication between the two cars uses NRF24L module to send out 2.4 ghz electromagnetic wave communication.The driving module adopts L293d,and realizes the closed-loop control through the encoder feedback information to control the speed of the car.The system realizes the functions of tracking,following coordination,speed control and so on,and achieves the expected effect.

关 键 词：MSP430 速度闭环 图像识别 无线通信 智能小车 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]