CN208421632U - A kind of intelligent vehicle automatic steering system - Google Patents

Abstract

It is disclosed by the utility model to belong to intelligent vehicle technical field, specially a kind of intelligent vehicle automatic steering system, including camera, raspberry pie, serial communication modular, single-chip microcontroller, motor drive module, left and right motor and encoder, the raspberry pie includes image processing module and data amplification module, the camera image processing module electrically output connection, electrically output connects for described image processing module and data amplification module, the image transmittings such as the road sign shot and surrounding road condition to raspberry pie are subjected to the processing such as gray processing and normalization by camera, it is then transmit in single-chip microcontroller and is calculated, the rotation of module control left and right motor is driven by motor again, to control the steering of intelligent vehicle, avoid the use of big quantity sensor, avoiding existing intelligent vehicle, structure is complicated, cost is high, it manipulates cumbersome, it causes in many fields The problem of cannot be expanded and applying.

Description

A kind of intelligent vehicle automatic steering system

Technical field

It is disclosed by the utility model to belong to intelligent vehicle technical field, specially a kind of intelligent vehicle automatic steering system.

Background technique

With the development of the social economy, Modern Traffic is very flourishing, and road traffic is still occupied an leading position.But Traffic safety and traffic jam also result in surprising economic loss therewith at the social concern got worse.Again plus The problems such as upper environmental pollution and the energy, the solution for allowing for road traffic problem must not be without recourse to intellectual technology --- machine People.Mobile robot is an important branch in robotics, comes across the 06's of 20th century.Intelligent vehicle is as mobile machine The important branch of people is also got growing concern for.Intelligent vehicle is collection an environment sensing, programmed decision-making, automatic row It sails, for function in the integrated system of one, it has intensively used the skills such as computer, sensing, information, communication and automatic control Art is typical new and high technology synthesis.Road signs provide instruction, warning message, the behavior of specification driver, for peace Entirely, it easily drives and reliable guarantee is provided.Traffic sign detect automatically with identification as driving assistance system top priority it One, it receives more and more attention in recent years.Structure is complicated for existing intelligent vehicle, and cost is high, and manipulation is cumbersome, causes very much It field cannot expanded and application.For this purpose, we have proposed a kind of intelligent vehicle automatic steering systems to come into operation, it is above-mentioned to solve Problem.

Utility model content

The purpose of this utility model is to provide a kind of intelligent vehicle automatic steering systems, to solve to mention in above-mentioned background technique Structure is complicated for existing intelligent vehicle out, and cost is high, and manipulation is cumbersome, causes expanded and application to ask in many fields Topic.

To achieve the above object, the utility model provides the following technical solutions: a kind of intelligent vehicle automatic steering system, including Camera, raspberry pie, serial communication modular, single-chip microcontroller, motor drive module, left and right motor and encoder, the raspberry pie packet Image processing module and data amplification module are included, electrically output connects for the camera and image processing module, at described image It manages module and data amplification module is electrically exported and connected, the data amplification module and serial communication modular are electrically exported and are connected, Electrically output connects for the serial communication modular and single-chip microcontroller, and electrically output connects for the single-chip microcontroller and motor drive module, institute Stating motor drive module and left and right motor, electrically output connects, and electrically output connects for the left and right motor and encoder, the volume Electrically output connects for code device and single-chip microcontroller.

Preferably, the single-chip microcontroller is STM32 single-chip microcontroller, and the serial communication modular is CH340 serial communication.

Preferably, the encoder is wheel encoder, and the camera is 5,000,000 pixel color cameras.

Compared with prior art, the utility model has the beneficial effects that passing through camera for the road sign shot and surrounding The image transmittings such as road conditions to raspberry pie carries out the processing such as gray processing and normalization, is then transmit in single-chip microcontroller and is calculated, then The rotation that module control left and right motor is driven by motor avoids the use of big quantity sensor to control the steering of intelligent vehicle, Avoiding existing intelligent vehicle, structure is complicated, and cost is high, and manipulation is cumbersome, and causing cannot be expanded and application in many fields Problem.

Detailed description of the invention

Fig. 1 is the utility model principle block diagram.

In figure: 1 camera, 2 raspberry pies, 21 image processing modules, 22 data amplification module, 3 serial communication modulars, 4 lists Piece machine, 5 motor drive modules, 6 or so motors, 7 encoders.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work Every other embodiment obtained, fall within the protection scope of the utility model.

Referring to Fig. 1, the utility model provides a kind of technical solution: a kind of intelligent vehicle automatic steering system, including camera shooting First 1, raspberry pie 2, serial communication modular 3, single-chip microcontroller 4, motor drive module 5, left and right motor 6 and encoder 7, the raspberry pie 2 include image processing module 21 and data expand module 22, and electrically output connects the camera 1 with image processing module 21, Electrically output connects for described image processing module 21 and data amplification module 22, the data amplification module 22 and serial communication mould The electrically output connection of block 3, electrically output connects the serial communication modular 3 with single-chip microcontroller 4, the single-chip microcontroller 4 and motor driven Electrically output connects for the electrically output connection of module 5, the motor drive module 5 and left and right motor 6, the left and right motor 6 and volume The electrically output connection of code device 7, electrically output connects the encoder 7 with single-chip microcontroller 4.

Wherein, the single-chip microcontroller 4 is STM32 single-chip microcontroller, and the serial communication modular 3 is CH340 serial communication, the volume Code device 7 is wheel encoder, and the camera 1 is 5,000,000 pixel color cameras.

Working principle: during intelligent vehicle travels, the surrounding's road sign and traffic information of shooting are transmitted to tree by camera 1 The certain kind of berries sends the image processing module 21 in 2, and the image of shooting is normalized image processing module 21, gray processing and histogram are equal Weighing apparatusization processing, then expands module 22 for the image transmitting handled through image processing module 21 to data, carries out data amplification, from And monolithic then is transmitted to by through-hole serial communication modular 3 into processing such as row stochastic translation, scaling, shearing, rotations to image In machine 4, the signal that then single-chip microcontroller 4 carrys out transmission carries out calculation processing, to generate control signal, then passes control signal Motor drive module 5 is transported to, then the rotation that module 5 controls left and right motor 6 is driven by motor, thus to intelligent vehicle each group wheel Rotation is controlled, and realizes the course changing control of intelligent vehicle, and it is current to obtain intelligent vehicle for encoder 7 during intelligent vehicle traveling Travel speed, consequently facilitating single-chip microcontroller 4 carries out lower step calculating, avoid big quantity sensor then in being transmitted to single-chip microcontroller 4 Use, efficiently solving existing intelligent vehicle, structure is complicated, and cost is high, manipulates cumbersome, and causing cannot be by many fields The problem of promotion and application.

While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art, It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.

Claims (3)

1. a kind of intelligent vehicle automatic steering system, including camera (1), raspberry pie (2), serial communication modular (3), single-chip microcontroller (4), motor drive module (5), left and right motor (6) and encoder (7), it is characterised in that: the raspberry pie (2) includes at image Module (21) and data amplification module (22) are managed, electrically output connects for the camera (1) and image processing module (21), described Electrically output connects for image processing module (21) and data amplification module (22), data amplification module (22) and serial communication Module (3) electrically output connection, electrically output connects for the serial communication modular (3) and single-chip microcontroller (4), the single-chip microcontroller (4) Electrically output connects with motor drive module (5), and electrically output connects for the motor drive module (5) and left and right motor (6), institute Stating left and right motor (6) and encoder (7), electrically output connects, and electrically output connects for the encoder (7) and single-chip microcontroller (4).

2. a kind of intelligent vehicle automatic steering system according to claim 1, it is characterised in that: the single-chip microcontroller (4) is STM32 single-chip microcontroller, the serial communication modular (3) are CH340 serial communication.

3. a kind of intelligent vehicle automatic steering system according to claim 1, it is characterised in that: the encoder (7) is vehicle Turns encoder, the camera (1) are 5,000,000 pixel color cameras.