基于图像识别的自主寻迹智能小车设计

Image-based autonomous tracking intelligent vehicle design

针对小车自主寻迹行驶的要求,提出了一种基于ARM平台的摄像头循迹小车系统。小车系统以ST公司生产的STM32F103ZET6为微控制器,通过安装在小车前的OV7725摄像头采集道路信息。然后对路径图像信息进行除噪、黑线提取和路径识别后获得路径信息。再根据不同的路径信息控制电机,进而调整小车速度和方向,最终实现小车沿设定路径行驶。摄像头采集的图像和小车速度能够实时显示在LCD和数码管上。实验证明,小车实现了自主循迹功能,具有良好的鲁棒性和实时性。

A camera tracking car based on the ARM platform is presented. The car system is controlled by anST-produced STM32F103ZET6 microcontroller and obtains road information through an OV7725 camera installedat the front of the car. The system controls motors to adjust the speed and direction of the car, and enables it to stickto the preset route based on path information obtained through a series of processing including de-noising, black lineextraction and path recognition on captured images. The images captured by the camera and the speed of the car canbe displayed on the LCD and digital tubes in real time. Experiments showed the new system has good robustness andreal-time capability.