51单片机图像传感器的自动循迹车系统设计
毕业论文关键词: 自动循迹车；单片机；CMOS图像传感器；图像处理；PID控制。
Automated Guided Vehicle System Design based on Image Sensor
Abstract: this topic for Automated Guided Vehicle system design based on image sensor. Through the present situation and development trend of automatic tracking car, understand the overall level of automatic tracking the car at home and abroad. According to the actual situation of the whole car mechanical structure design, circuit design, programming, etc. The whole system is controlled by microcomputer, through the way of PWM motor speed regulation, and rotate through the incremental photoelectric encoder speed measurement, forming speed closed loop; Through the camera sensor to collect the image to the microcomputer, processing image signal by microcomputer, calculate the path and complete the steering servo steering gear control. Control mode adopts PID control, through debugging, determine appropriate PID parameters.
Key Words: Automated Guided Vehicle ; MCU; CMOS image sensor; image processing; PID control
目录
1绪论 1
1.1自动循迹车应用简述 2
1.2自动循迹车的分类 2
1.3发展趋势及现状 2
2 设计思路概述 2
2.1机械部分 2
2.2电子电路部分 3
2.3控制程序设计 3
2.4 上位机调试 3
3 车身机械结构布局和调整 5
3.1 整体机械结构选择 5
3.2 动力电机选择 6
3.2.1 动力电机选型 6
3.2.2 减速齿轮计算 7
3.3舵机的选择 8
3.3 .1舵机的选择 8
3.3.2 舵机的放置 8
3.4车轮的调整 9
3.4.1 轮胎的处理 10
3.4.2 前轮的固定 10
3.5传感器构架 13
3.6测速传感器 14
3.7车身重心的调整 15
3.8车身避震结构及保护措施 16
4 硬件电路设计 17
4.1 硬件电路整体构架 17
4.2 电源电路设计 18
4.3 单片机最小系统 19
4.4 图像传感器模块电路设计 20
4.4.1摄像头的主要参数 20
4.4.2 像素输出顺序 21
4.4.3 行中断时序： 22
4.4.4场中断时序 22
4.5 电机驱动电路设计 23
4.6 舵机驱动电路设计 24
4.7 测速传感器电路设计 25
4.8 MicroSD卡模块电路设计 26
4.9 人机交互模块电路设计 26
5 系统控制流程 27
5.1图像采集 27
5.1.1坐标系 27
5.1.2数据流控制 28
5.2 路径识别 28
5.2.1 路径特征的量化 28
5.2.2 起跑线的识别 29