东6 华东赛区摄像头组江苏理工学院火影2 技术报告.doc

第九届“飞思卡尔”杯全国大学生 智能汽车竞赛 技 术 报 告 学 校： 江苏理工学院 队伍名称： 火影2队 参赛队员： 杨贺鑫、殷旭晴、焦澍 带队老师： 宋伟、吴全玉  关于技术报告和研究论文使用授权的说明 本人完全了解第届“飞思卡尔”杯全国大学生智能汽车竞赛关保留、使用技术报告和研究论文的规定，即：参赛作品著作权归参赛者本人，比赛组委会和飞思卡尔半导体公司可以在相关主页上收录并公开参赛作品的设计方案、技术报告以及参赛模型车的视频、图像资料，并将相关内容编纂收录在组委会出版论文集中。 参赛队员签名： 带队教师签名： 日 期： Freescale半导体公司生产的32位微为核心控制单元，MMA7361以及村田公司ENC-03陀螺仪进行角度、加速度检测，获取车模直立姿态；通过CMOS摄像头检测赛道信息，使用对图像进行二值化，提取黑色引导线，识别赛道通过编码器检测模型车的实时速度，使用PID控制算法调节驱动电机的转速，实现了对模型车运动速度的闭环控制为了提高模型车的速度和稳定性使用、、Abstract In the 21st century, with the requirement to automation technology becomes higher and higher, intelligent vehicles as well as products developed for the application of intelligent vehicle recognition technology become key equipment in systems like automated logistics transportation and flexible production organization. This paper takes the 32bits micro-control device—MK60DN512xxx10 manufactured by Freescale Semiconductor company as the core control unit, and checks angle and angular velocity through Freescale acceleration sensor—MMA7361 and ENC-03 gyroscope made by Murata Company, so as to acquire the upright posture of the car model. The track information is detected through CMOS camera, whose image is processed by hardening binarization through software binarization algorithm. In this way, the black guide line can be extracted in order to recognize the track. The real-time speed of the car model is detected by Omron encoder, and the revolving speed of the drive motor is adjusted by PID control algorithm. In this way, the closed-cycle control of the car model’s speed is realized. The swerve of the car model is controlled through the differential of two wheels. In order to enhance the speed and stability of the car model, the upper computer of the camera is compiled via C++ and MFC, and debugged by wireless bluetooth gorge, which is used as the assistance of debugging software, so that the development efficiency of the p