基于机器视觉的智能小车设计

Design of Intelligent Vehicle Based on Machine Vision

阐述利用机器视觉技术,采集道路的图像,并对图形进行二值化、拟合成直线后,得到直线的截距和斜率,使用增量式PID计算出输出值,然后控制小车左右两个的电机的转速,通过小车电机的转速差实现小车的转向,最终实现小车沿着预设的轨道行驶,实现循迹的功能。采用超声波测距实现目标的检测和定位。

This paper describes the use of machine vision technology to collect road images, and after binarization and fitting of the graphics into straight lines, the intercept and slope of the straight line are obtained. The incremental PID is used to calculate the output value, and then the speed of the left and right motors of the trolley are controlled. The trolley turns through the speed difference of the trolley motor, and finally the trolley travels along the preset track, realizing the tracking function. Ultrasonic ranging is used to detect and locate targets.