CN202453757U - Vision-based control device for automatic track finding intelligent vehicle - Google Patents
Vision-based control device for automatic track finding intelligent vehicle Download PDFInfo
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- CN202453757U CN202453757U CN2011205235096U CN201120523509U CN202453757U CN 202453757 U CN202453757 U CN 202453757U CN 2011205235096 U CN2011205235096 U CN 2011205235096U CN 201120523509 U CN201120523509 U CN 201120523509U CN 202453757 U CN202453757 U CN 202453757U
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Abstract
The utility model discloses a vision-based control device for an automatic track finding intelligent vehicle. The device comprises a singlechip, a camera, a driving motor, a steering gear and a speed sensor, wherein the output ends of the camera and the speed sensor are connected with the singlechip; the output end of the singlechip is connected with the steering gear and the driving motor; the singlechip is connected with a wireless module, and adopts a Freescale 16-bit singlechip MC9S12XS128; the camera is connected with the singlechip through an LM1881 chip and an analogue/digital (A/D) converter; the speed sensor adopts a photoelectric encoder; and the wireless module adopts an nRF905 wireless module. According to the device, a preview distance is selected according to a path condition to determine a preview point, and the fuzzy control of preview follow is realized by taking a deviation between the preview point and the central axis of the intelligent vehicle as input and taking the advancing speed of the intelligent vehicle and steering angles of front wheels as final output.
Description
Technical field
The utility model relates to intelligent vehicle control field, is specifically related to a kind of Automatic Track Finding intelligent vehicle control device based on vision.
Background technology
The contest of national college students' intelligent automobile is to utilize the Automatic Track Finding intelligent vehicle in the shortest time, to accomplish to specify racing track omnidistance, and meets a series of requirements of match.The used intelligent vehicle of competing belongs to rear wheel drive car formula mobile robot, in white rail, serves as according to accomplishing the path trace task with the black guide wire.
Existing intelligent vehicle mainly is to gather intelligent vehicle speed information through speed pickup; Through single-chip microcomputer speed is controlled separately then; And intelligent vehicle speed is inseparable with the steering angle relation in the track following process, and independent gait of march or steering angle are controlled can't be fast and stably accomplish tracing task.Simultaneously, existing intelligent vehicle control device does not have the racing track image transmission function yet, makes the effector can not understand intelligent vehicle the place ahead information in real time, and the control debugging is restricted.
Summary of the invention
Defective and deficiency to existing control method; The purpose of the utility model is; A kind of Automatic Track Finding intelligence controlling device based on vision is provided, and this device utilizes camera to gather the racing track image information in real time, serves as that fuzzy control is carried out in input with intelligent vehicle axis deviation according to this information a little to take aim in advance; With intelligent vehicle gait of march and front-wheel steer angle is taking aim in advance to follow and carrying out fuzzy control of final output, utilizes wireless transmission to make the effector understand intelligent vehicle the place ahead information in real time simultaneously.
In order to realize above-mentioned task, the utility model adopts following technical solution to be achieved:
A kind of Automatic Track Finding intelligent vehicle control device based on vision is characterized in that, comprises single-chip microcomputer, camera, motor, steering wheel and speed pickup; Wherein, the output terminal of camera and speed pickup is connected single-chip microcomputer, and the output terminal of single-chip microcomputer connects motor and steering wheel, and single-chip microcomputer is connected with wireless module;
The utility model also comprises following other technologies characteristic:
Said single-chip microcomputer adopts 16 single-chip microcomputer MC9S12XS128 of Freescale.
Said camera is connected single-chip microcomputer through the LM1881 chip with A/D converter.
Said speed pickup adopts the KE2108-18 photoelectric encoder.
Said wireless module adopts the nRF905 wireless module.
The utility model solves speed and controlling steering angle problem well with MC9S12XS128 Single-chip Controlling intelligent vehicle, has advantages of higher stability and rapidity, has effectively realized the Intelligent Recognition of racing track.
Description of drawings
Fig. 1 is the hardware block diagram of the utility model.
Fig. 2 is the controller architecture of the utility model.
Below in conjunction with accompanying drawing the utility model is described further.
Embodiment
With reference to Fig. 1, the Automatic Track Finding intelligent vehicle control device based on vision of the utility model comprises single-chip microcomputer, camera, motor, steering wheel and speed pickup; Wherein, the output terminal of camera and speed pickup is connected single-chip microcomputer, and the output terminal of single-chip microcomputer connects motor and steering wheel, and single-chip microcomputer is connected with wireless module.
Single-chip microcomputer adopts 16 single-chip microcomputer MC9S12XS128 of Freescale.
Camera is used to gather pavement image information, adopts the CMOS camera.Camera is connected single-chip microcomputer through the LM1881 chip with A/D converter.
Drive motor and steering wheel that motor and steering wheel adopt intelligent vehicle to use, motor are used to drive two trailing wheels of intelligent vehicle and advance or retreat, and steering wheel is used to control two front-wheel directions of intelligent vehicle.Single-chip microcomputer connects motor through driving circuit.
Speed pickup is used to gather intelligent vehicle gait of march accurately, and speed pickup adopts the KE2108-18 photoelectric encoder.
Debug for ease and study, used wireless debug system, the image information of camera collection is transferred to the PC end through wireless mode, carry out image by the PC end and show through the nRF905 wireless module.
Single-chip microcomputer sends pwm signal and controls the pwm signal dutycycle and realize that motor rotates and reverse and promptly control intelligent vehicle and advance or retreat and gait of march; Single-chip microcomputer is directly controlled steering wheel through pwm signal; Need not other driving circuits, drive two front-wheels by steering wheel and realize that intelligent vehicle turns to.
Referring to Fig. 2, the course of work of the utility model is following:
Speed pickup is gathered intelligent vehicle speed information in real time; Camera collection racing track image information, racing track image information are taken aim at a program in advance and are calculated definite taking aim in advance a little in single-chip microcomputer, draw deviation angle through taking aim in advance a little to compare with the intelligent vehicle axis; Deviation angle information and speed information send to single-chip microcomputer simultaneously; Fuzzy control program in the single-chip microcomputer is input with deviation angle and present speed v, is output with speed control amount and steering wheel controlling steering angle amount.The speed control amount is sent to the drive motor that drives trailing wheel, and then control intelligent vehicle gait of march.
Claims (5)
1. the Automatic Track Finding intelligent vehicle control device based on vision is characterized in that, comprises single-chip microcomputer, camera, motor, steering wheel and speed pickup; Wherein, the output terminal of camera and speed pickup is connected single-chip microcomputer, and the output terminal of said single-chip microcomputer connects motor and steering wheel, and single-chip microcomputer is connected with wireless module.
2. the Automatic Track Finding intelligent vehicle control device based on vision as claimed in claim 1 is characterized in that, said single-chip microcomputer adopts 16 single-chip microcomputer MC9S12XS128 of Freescale.
3. the Automatic Track Finding intelligent vehicle control device based on vision as claimed in claim 1 is characterized in that, said camera is connected single-chip microcomputer through the LM1881 chip with A/D converter.
4. the Automatic Track Finding intelligent vehicle control device based on vision as claimed in claim 1 is characterized in that, said speed pickup adopts the KE2108-18 photoelectric encoder.
5. the Automatic Track Finding intelligent vehicle control device based on vision as claimed in claim 1 is characterized in that, said wireless module adopts the nRF905 wireless module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205235096U CN202453757U (en) | 2011-12-14 | 2011-12-14 | Vision-based control device for automatic track finding intelligent vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205235096U CN202453757U (en) | 2011-12-14 | 2011-12-14 | Vision-based control device for automatic track finding intelligent vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202453757U true CN202453757U (en) | 2012-09-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011205235096U Expired - Fee Related CN202453757U (en) | 2011-12-14 | 2011-12-14 | Vision-based control device for automatic track finding intelligent vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202453757U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106909153A (en) * | 2017-03-21 | 2017-06-30 | 北京京东尚科信息技术有限公司 | Unmanned vehicle crosswise joint method and apparatus |
| CN110580049A (en) * | 2019-10-30 | 2019-12-17 | 华强方特（深圳）科技有限公司 | tracking control method of trackless tourist car |
-
2011
- 2011-12-14 CN CN2011205235096U patent/CN202453757U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106909153A (en) * | 2017-03-21 | 2017-06-30 | 北京京东尚科信息技术有限公司 | Unmanned vehicle crosswise joint method and apparatus |
| CN110580049A (en) * | 2019-10-30 | 2019-12-17 | 华强方特（深圳）科技有限公司 | tracking control method of trackless tourist car |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120926 Termination date: 20121214 |