毕业论文（参考）视觉导引智能寻迹小车系统设计.doc

毕 业 设 计（论 文） 题 目 视觉导引智能寻迹小车系统设计 如需要源代码或者其他资料联系我（@ OR m201570436@） 姓 名 学 号 所在学院 机械工程学院 专业班级 指导教师 日 期 年 月 日 摘 要 智能车作为现代社会的新产物，以及它的安全、节能、环保、智能化和信息化越来越受到人们的关注，在智能车的基础上开发出来的产品已经成为自动化物流运输、柔性生产组织等系统的关键设备。本设计是一种基于单片机控制的简易智能寻迹小车系统，对智能车自主行驶的决策以及算法也进行了相应的研究。 本论文主要从总体方案设计、硬件和软件设计。硬件方面以Cortex-m3为控制核心，使用STM32F103RBT6单片机，辅助模块包括电源模块、驱动模块，图像采集模块以及为了调试方便而采用的辅助调试模块。软件设计方面重点介绍了寻迹小车如何解决轨道检测和线路跟随问题。单片机将CMOS摄像头对路面黑色轨迹进行检测的信号，通过一定的算法分析，通过调整PWM占空比控制小车左右两轮的速度以实现转向，从而使小车能够沿着黑色轨迹自动行驶，到达自动寻迹的目的。 关键字：智能车，图像处理，STM32 abstract As the new product of modern society, intelligent vehicle, and its safety, energy saving, environmental protection, intelligence and information technology, is paid more and more attention，The product has become the key equipment of the automation logistics transportation, the flexible production organization and so on. This design is a simple intelligent tracing car system based on microcontroller control, and the autonomous driving decision and algorithm of the intelligent vehicle are also studied. This paper mainly from the overall scheme design ,hardware and software design. Hardware to Cortex-M3 as the control core, use stm32F103RBT6 microcontroller, auxiliary module including power supply module, a driving module, image acquisition module and to facilitate the debugging and the auxiliary debug modul . The design of the software focuses on how to solve the track detection and line following problem. SCM CMOS camera on the road to detect the black trajectory of the signal, through a certain algorithm analysis.By adjusting the duty ratio of PWM to control the speed of the car around two wheels to achieve the steering, so that the car can automatically travel along the black track, reaching the purpose of automatic tracing. Keywords: smart car, image processing, stm32 目 录 1 绪论 1 1.1 课题背景 1 1.2 本课题的研究现状 1 1.3 本课题研究的目的和意义 2 2 视觉导引智能寻