摘要
设计一种基于MK60N512单片机的智能循迹小车,舵机采用梯形四连杆机构,通过OV7620摄像头采集赛道图像信息,并对图像做二值化处理,求出引导线使智能小车巡线行驶;采用光电编码器检测小车实时速度,使用PID控制算法调节电机转速,实现对小车行驶速度的闭环控制,最终实现智能循迹。
An intelligent tracking car based on MK60N512 microcontroller was designed,its steering gear was four-bar linkage, the main controller collected the track image information using OV7620 camera and binary algorithm was used to process the collected image,and the guide line was figured out to guide the intelligent car. The main controller obtained the real-time speed through photoe-lectric encode,PID control algorithm was adopted to adjust the motor speed to realize closed-loop speed control. Finally intelligent tracking of the car is realized.
出处
《机床与液压》
北大核心
2014年第2期91-93,96,共4页
Machine Tool & Hydraulics
