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本文以Freescale半导体公司生产的16位微控制器件MC9S12XS128为核心控制单元,使用飞思卡尔加速度传感器MMA7260以及村田公司ENC-03陀螺仪进行硬件滤波,获取车模直立姿态;通过CMOS摄像头检测赛道信息,使用软件二值化算法对图像进行二值化处理,提取黑色引导线,来识别赛道;通过光电编码器来检测模型车的实时速度,使用PID控制算法调节驱动电机的转速,实现了对模型车运动速度的闭环控制;通过二轮差速控制实现车模的转向;另外为了提高模型车的速度和稳定性,使用C++、MFC来编写摄像头上位机、无线蓝牙串口调试上位机来辅助调试软件。最终实现智能车的路径自动识别,直立行驶功能。
In this paper, Freescale Semiconductor’s 16-bit micro-controller MC9S12XS128 as the core control unit, the use of Freescale accelerometer MMA7260 and Murata ENC-03 gyroscope hardware filtering to obtain the car upright posture; through the CMOS camera test track information, The software binarization algorithm was used to binarize the image and extract the black lead line to identify the track. The photoelectric encoder was used to detect the real-time speed of the model car and the PID control algorithm was used to adjust the speed of the driving motor. In order to improve the speed and stability of the model car, using C ++, MFC to write the camera PC, wireless Bluetooth serial debugging host computer to assist the debugging software. The ultimate realization of intelligent car path automatic identification, upright driving function.