基于摄像头的直立自平衡智能车设计

Design of Upright Self-balancing Smart Car Based on Camera Sensor

摘要:

设计直立行走式循迹智能车的机械及控制系统；系统选用微控制器MK60为控制核心,利用陀螺仪和加速度传感器,采用互补滤波的方法计算车体的角度和角速度,通过比例微分算法控制智能车车轮的加速度来抵消车模运动倾向,实现智能车直立；单片机通过模拟摄像头进行赛道图像捕捉,采用边沿检测算法识别赛道中心线,计算与设定值的偏差,进而控制左右两个电机产生速度差,完成智能车的转向;经测试,智能车能够在保持直立同时,完成赛道识别,且运行平稳快速。

Abstract:

Design of mechanical and control system of walking upright type smart car. The system employs MK60 as the main controller, with the gyro sensor and acceleration sensor together, using complementary filter methods to measure the tilt angle and angular velocity of the smart car.,Using the PD algorithm to control the smart car wheel acceleration to offset the car movement tendency, realize the smart car upright.MK60 array camera sensor, through the edge detection algorithm to analysis of the center line and calculate deviations with the set value, then control the two left and right motor speed difference, to realize appropriate direction of the intelligent car. After testing, the smart car to stay upright at the same time, complete identification of the track, and runs smooth and fast.