1 / 12 摄像头循迹智能平衡小车付国栋，胡健军，王杰（XX 工程大学自动化学院XXXX 150001）摘要：摄像头循迹智能平衡小车是使用MK60DN512ZVLQ10微处理器和CCD 摄像头配合来实现在跑道上的自动循迹，识别黑白线， 直道和弯道的加减速行驶。小车是机械系统与硬件系统配合软件系统实现运行的复杂整体，硬件系统有电源管理模块，最小控制系统模块，图像采集识别处理模块，陀螺仪加速度计角度测量模块，电机驱动模块，编码器测速模块；软件系统包括小车的直立平衡控制，速度与方向的PID 控制，角度测量的卡尔曼互补滤波算法，信息（赛道图像，车轮转速）采集程序；机械系统方面，各模块的安装，优化改进也是摄像头循迹智能平衡小车平稳运行的关键部分。关键词：MK60DN512ZVLQ10微处理器， 图像采集识别处理，PID 控制， 卡尔曼互补滤波Smart balanced car of tracking by camera FU Guodong, HU Jian jun, WANG Jie （College of Automation, Harbin Engineering University , Harbin, Heilongjiang 150001）Abstract:Smart balanced car of tracking by camera realizes automatic track in runway, recognizes black and white line, acceleration and deceleration of speed by using microprocessor MK60DN512ZVLQ10 and CCD camera. Smart car is a plex system concluding mechanical system, hardware system and software system; the hardware system has power module, minimum control system, the module of gathering, recognizing and processing image, the module of measuring angle by gyroscope and accelerometer, the module of driving motor, the module of measuring speed by encoder; the software system is posed of upright and balanced control’ s procedure, speed and direction’ s PID control’ s procedure, kalmen plementary filtering algorithms, and procedure of gathering information like the runway’ s image and the wheel ’ s speed. And every module ’ s installation, optimizing and improvement in mechanical system is also a key part that makes smart car move stably. Key words:Microprocess...
