基于线性CCD追逐智能车系统的软件设计

The software design of chasing intelligent car systems based on linear CCD

利用TSL1401线性CCD作为传感器采集赛道信息,将赛道信息传送给MK60DN512ZVLQ10单片机,由单片机对采集赛道信息进行滤波和二值化处理;单片机将采集到赛道左右跳变沿位置的平均值与赛道中间位置值作偏差,对偏差进行PD算法控制舵机转向;对不同偏差值设置不同的给定脉冲数,在不同形状赛道上,给定脉冲数与左右编码器脉冲计数平均值的差通过PID算法控制电机转速;通过超声波模块实现两车之间的距离控制,最终实现光电双车快速稳定直行及循迹转弯等功能。

TSL1401 linear CCD is used as the sensor to collect track information.The track information is transmitted to MK60DN512ZVLQ10 single-chip microcomputer.The filter and binarization processing of collecting track information are carried out by single chip microcomputer.The single-chip microcomputer collect the deviation which is the left and right jump position average of the track and the middle position.The deviation is to control steering turning by PD algorithm.On different tracks,we will set different pulse number for different deviation values and the deviation which is a given pulse number and the average of the pulse count of the left and right encoders is to control motor speed by PID algorithm.The distance control between two cars is realized by ultrasonic module.Finally realizes the photoelectric dual car fast and stable direct line and tracking turn and other functions.