基于机器视觉的全元素赛道智能小车实验系统设计与应用

Design and application of all-element track intelligent car experimental system based on machine vision

设计了一种在全元素赛道上自动行驶的智能小车实验系统.采用TC264D单片机作为核心控制单元,CMOS摄像头获取车体前方的赛道信息,单片机进行图像处理获得赛道中线,计算方向偏差后控制舵机打角调整小车行驶方向;采用模糊控制实时调整舵机PD控制参数,进一步实现路径方向实时调整的闭环控制.实验结果表明:智能小车能够在全元素赛道上稳定行驶,可以设计出满足复杂工程问题要求的多种实验方案,具有在智能小车创新设计实验和本科工程教育中推广与应用的价值.

An intelligent car experimental system is designed that can run automatically on the all-element track.Single chip microcomputer TC264D is used as the core control unit,and the track information in front of the car body is obtained by the CMOS camera.The single chip microcomputer carries out image processing to obtain the center line of the track,and controls the steering engine to adjust the direction of the car after calculating the direction deviation.Fuzzy control is used to adjust the control parameter PD of the steering engine in real time,so as to further realize the closed-loop control of real-time adjustment of path direction.Experiments show that the intelligent car can drive stably on the all-element track.Based on this system,a variety of experimental schemes can be designed to meet the requirements of complex engineering problems.It has the value of promotion and application in intelligent car innovative design experiment and undergraduate engineering education.