基于CCD传感器的智能车系统设计与实现（硬件部分）.docVIP

PAGE PAGE II 基于CCD传感器的智能车系统设计与实现（硬件部分） 中文摘要 本文主要介绍了本智能车硬件设计方案。采用MC9S12XS128作为核心控制器，在此基础上增加了各种接口电路板组成整个硬件系统，包括电源模块、信号采集模块、视频分离模块、电机驱动模块、舵机转向模块、测速模块及人机交互模块等模块。 设计采用CCD摄像头采集赛道信息，通过视频分离芯片LM1881对视频信号进行分离供单片机用于判断控制，通过黑线位置与车体中心的偏移程度来对舵机的转向进行控制。利用旋转编码器实现对当前速度的采集，用于实现对车速的反馈。 此外论述了赛车机械结构和调整方法，赛车转向模块和驱动模块的设计、参数和有关测试，图像采样模块的摄像头工作机制以及安装选型、采样电路设计和采样策略。 关键词：CCD摄像头；图像采样；电机驱动；电源；MC9S12XS128 Smart Car’s Hardware Design Based on CCD Camera ABSTRACT In this paper，we will demonstrate an total intelligent vehicle system scheme. We describe the details of the hardware of the circuit and the software including road recognition and motion control arithmetic，including power modules, signal acquisition module, video separation module, motor drive modules, steering gear steering module, the module and the machine gun interactive modules and other modules. The vehicle system, with the Freescale16-bit single-chip MC9S12xs128 as its control microprocessor, uses image-sensor module based on camera to obtain lane image information, through the acquired image processing, we get the road information and abstract the black line，then control the car on a way of closed-loop. The mechanical structure and adjustment method of the vehicle, the design, parameters, and relative tests of the vehicle steer module and driving module will also be introduced. We will display the mechanism, selecting and installation of the camera, the sampling circuits and method, and also show the design, installation and reliability tests of the speed sensor made by ourselves. KEY WORD: CCD; Image Sampling; Motor Dirve; Source; MC9S12XS128 目 录 TOC \o 1-3 \h \z \u 第一章 前言 1 1.1 研究背景 1 1.2智能车辆发展现状、趋势及应用 1 1.3智能车大赛简介 2 1.4本章小结 2 第二章 系统总体方案设计 3 2.1设计要求 3 2.2总体模块分析 3 2.3智能车各模块分析 4 2.3.1 MC9S12XS128 控制模块 4 2.3.2 传感器检测模块 5 2.3.3 电源模块 6 2.3.4 速度传感器模块 6 2.3.5 电机驱动模块 7 2.3.6 舵机模块 8 2.3.7 人机交互模块 8 2.4 本章小结 8 第三章 硬件电路具体设计 9 3.1 MC9S12XS128单片机最小系统 9 3.1.1 清华大学的MC9S12XS128系统