一种基于摄像头的自动导航车系统的设计

摘要

以单片机为主控芯片的智能导航车系统,采用单片机MC9S12DG128B作为核心,小型直流电机作为驱动元件.通过增量式旋转编码器测速,构成带速度反馈的伺服控制系统.利用增量式PID算法进行速度调节,使用舵机控制智能车的转向,系统以CCD摄像头作为路径识别装置,通过图像识别提取路径信息.并且提出引入动态阈值的计算方法,经过测试证明:系统能很好地完成路径识别,具有良好的抗干扰性.%This paper is based on single chip microcomputer as control chip of the intelligent vehicles control system, using MC9S12DG128B as the core. DC motor as driver. As a servo control system, using incremental rotary encoder to measure velocity,feeding back velocity to controller,and controlling velocity with PID arithmetic. This system uses CCD camera to realize auto-searching trace,and a-chieves trace information from video sample. This paper introduce a calculation method of the dynamic threshold value. As a result after testing,this system has stability and dependability.