摘要
文章介绍了带摄像功能的智能小车系统的结构:在MC9S12XSl28独立控制下,通过OV6620数字摄像头,主要实现摄像头功能控制、图像数据的采集和处理等;MSP430F449单片机作为主控器,通过CPU内16位CCR模块,对左右轮电机实现电机差速控制,以及车速检测、人机交互、测距等控制。该系统由于采用双CPU结构,图像处理和执行机构分别独立控制,系统控制的精度和响应的实时性得到较大提高。另外,借助LCD可及时了解系统的工作状态。该系统不但能实现循迹、避障,也可用于遥控搜索等场合。
This article introduces the structure of intelligent car system with camera function： Under the independent control of MC9S12XS128 MCU, OV6620 digital camera is used to realize the pick-up head control,image data acquisition and processing, etc. With MSP430F449 CPU as a main controller, the 16 bit CCR module integrated in CPU is utilized to achieve the differential-speed control of left and right wheel of the motor as well as the car speed detection, human-computer interaction, distance measurement, etc. This system adopts double CPU structure, and the image-processing and actuating mechanism can be controlled by the each CPU independently. This method greatly improves the precision of system and the real time of re- sponse. In addition,the real-time working state of the system can be known through the LCD. This system can not only fulfill the functions of tracking and obstacle avoidance;but also be used for the occasions such as remote-searching, etc.
出处
《常州工学院学报》
2013年第1期28-32,共5页
Journal of Changzhou Institute of Technology
基金
2012年国家大学生创新创业训练计划项目(201211055002)
