摘要
文中设计了一种由Android手机端控制的具有视频采集功能的智能车,STM32F103RCT6作为智能车主控板,树莓派实现视频采集,Android手机端可选择语音、按键、重力感应等模式对小车进行控制。提出了在小车行走过程中基于四元数算法获取每个时刻的偏航角,并配合PID算法,从而实现小车自动走直线的精确控制。经测试,系统软硬件配合良好,小车能及时执行Android手机端发送的各种控制指令,实时视频传输稳定。
A kind of intelligent car with video monitoring function controlled by Android mobile terminal was designed.STM32F103RCT6 is as the main control board for the car,and raspberry pie is as the video monitoring equipment.Android mobile phone can choose voice,buttons,gravity sensing and other modes to control the car.Based on the quaternion algorithm,the yaw angle of each moment is obtained in the process of the car's moving,and the PID algorithm is used to realize the precise control of the car's automatic straight line.The software and hardware of the system cooperate well.All kinds of commands sent from Android mobile terminal can be executed by car timely,and the real-time video transmission is stable.
作者
孔德肖
张晴晖
李俊萩
邓祥忠
秦明明
钟丽辉
KONG De-xiao;ZHANG Qing-hui;LI Jun-qiu;DENG Xiang-zhong;QIN Ming-ming;ZHONG Li-hui(College of Big Data and Intelligent Engineering,Southwest Forestry University,Kunming 650224,China)
出处
《仪表技术与传感器》
CSCD
北大核心
2020年第12期63-66,共4页
Instrument Technique and Sensor
基金
云南省科技厅生物资源数字化开发应用项目(202002AA10007)
云南省教育厅科学研究基金项目(2020J0402)
农业联合青年项目(2018FG001-108)。
关键词
STM32
树莓派
智能车
四元数算法
实时视频
安卓
STM32
raspberry pie
intelligent car
quaternion algorithm
real-time video
Android
