基于CCD传感器的智能小车系统及其串口视频调试工具开发

Design of a smart car and its line-following algorithm based on CCD video sensor

开发了基于CCD视频传感器的智能小车系统及其串口视频调试工具。智能车系统以Freescale公司的16位HCS12单片机为核心,包括:电源管理、图像采集、电机驱动、转向舵机控制、速度检测以及辅助调试等模块,实现了图像数据快速转换、噪声消除、图像还原、导引线提取、转向控制、速度控制等功能。其串口视频调试工具可以将单片机采集的图像上传到PC机以图片显示,用以分析、观察算法处理结果,准确、直观,是重要的辅助工具,在试验中取得了较好的效果。

A smart model car is designed based on CCD sensor, of which the core is Fresscale 16bit HCS12 chip. The smart car system including： core processor, power management, image acquisition, motor, steering servo control, speed testing and debugging aid module. In the system image data fast transmit and denoising and image recover and guide line recognization and steering and speed control is aquired. The micro-controller unit provides pulse width modulation signals to control speed and direction of the car. The serial port debug tool can upload images captured by single-chip video to the PC to display images for analysis the algorithm. Results showed that the tool is accurate and intuitive, which is an important auxiliary tool in the experiments.