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当前位置: 首页 > 文章 > 基于单目视觉的电动小车设计 农业装备与车辆工程 2019,57 (12) 78-82
Position: Home > Articles > Design of Electric Model Car Based on Monocular Vision Agricultural Equipment & Vehicle Engineering 2019,57 (12) 78-82

基于单目视觉的电动小车设计

作  者：
王瑞;柴瑞强
单  位：
上海理工大学机械工程学院
关键词：
电动车;单目视觉;路径识别;PID算法
摘  要：
开发了一辆能够识别赛道并自动巡线行驶的单目视觉智能模型车。包括自制的系统板、数字CMOS摄像头、传感器、编码器、转向舵机及驱动电机。传感器模块采用OV7620摄像头和编码器分别采集赛道图像和车轮转速并传输给单片机作为控制依据,小车采用BTN7971的H桥驱动实现电机的正反转,并通过改变PWM信号的占空比调节电机转速和舵机转向的角度;软件程序部分采用MK60单片机对赛道图像进行基于动态阈值的二值化处理,根据二值化处理所得到的赛道黑白图像提取出赛道中线和小车位置偏差等信息并进行赛道识别,小车依据赛道信息采用PID控制算法实现电机转速和舵机转向的闭环反馈调节。整个系统的电路结构简单,控制决策优良,可靠性能高,实验测试结果满足要求。
译  名：
Design of Electric Model Car Based on Monocular Vision
作  者：
Wang Rui;Chai Ruiqiang;School of Mechanical Engineering,University of Shanghai for Science and Technology;
关键词：
electric car;;monocular vision;;path identification;;PID algorithm
摘  要：
A monocular vision intelligent model car that recognizes the track and automatically patrols is developed,including homemade system version,digital CMOS camera sensor,encoder,steering servo and drive motor.The sensor module uses the OV7620 camera and encoder to collect the track image and wheel speed respectively and transmit it to the MCU for control.The car uses the H-bridge drive of BTN7971 to realize the motor's forward and reverse rotation,and adjusts the motor speed and the steering angle of the steering gear by changing the duty cycle of the PWM signal;the software program part uses the MK60 singlechip microcomputer to perform the binarization processing based on the dynamic threshold on the track image,and extracts the information such as the track centerline and the trolley position deviation according to the black and white image of the track obtained by the binarization processing,and for track recognition.The car uses the PID control algorithm to achieve closed-loop feedback adjustment of motor speed and steering according to the track information.The circuit structure of the whole system is simple,the control decision is excellent,the reliability is high,and the experimental test results meet the requirements.

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