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1、基于视觉处理技术的智能小车系统[摘要]计算机技术、视觉处理技术及传感器技术的快速发展在军事研发、太空探索、物流运输领域等有着很大的应用前景。传统的智能小车大多是基于物理传感器和人为控制去实现循迹、转弯等控制。如果能应用视觉处理技术控制小车活动,则更加体现出智能小车自动化、智能化的特性。本论文主从三个方而阐述了智能小车的设计,分别是硬件设计、软件设计及核心智能算法控制设计。硬件方而以当前流行RaspberryPi作为智能小车的控制核心,RaspberryPi相当于一台微型电脑,具有较高的稳定性和工作频率。使用Arduino电路板控制电机和舵
2、机转动,而且Arduino电路板支持ISP线上烧入器,这样不用启动RaspberryPi就可以对电机进行调试,大大缩短了调试时间。由硬件模块组成了小车的硬件实体,包括RaspberryPi摄像头模块、超声波传感器模块、电机舵机驱动模块和电源模块,这些模块是基于接收的信号上的高低电平而实现各自的功能。软件设计方而重点介绍了智能小车如何利用视觉处理技术OpcnCV解决灯光明喑检测和路标识别以及数学算法的问题。软件系统包括系统初始化程序、对视频流图像的基本变换、识别灯光明喑功能、识别路标功能以及一些数学算法。[关键词]智能车;OpenCV;Ra
3、spberryPi;ArduinoDesignofintelligentcarsystembasedonvisionprocessingtechnology[Abstract]Therapiddevelopmentofcomputertechnology,visionprocessingtechnologyandsensortechnologyhasgreatapplicationprospectsinmilitaryresearchanddevelopment,spaceexploration,logistics,transportat
4、ionandsoon.Mostofthetraditionalintelligentvehiclecontrolbasedonphysicalsensorsandartificialcontroltoachievethetrackingandturning.Ifthevisionprocessingtechnologycanbeusedtocontroltheactivityofthecar,theintelligentandintelligentcharacteristicsoftheintelligentcarwillbemorere
5、flected.Thispaperexpoundsthedesignofintelligentcarinthreeaspects,whicharehardwaredesign,softwaredesignandcoreintelligentalgorithmcontroldesign.Inhardware,thecurrentpopularRaspberryPiasthecontrolcenterofintelligentcar,RaspberryPiisequivalenttoamicrocomputer,withhigherstabi
6、lityandworkingfrequency.Arduinocircuitboardisusedtocontroltherotationofthemotorandthesteeringgear,andtheArduinocircuitboardsupportstheISPlineburningdevice,sothatthemotorcanbedebuggedwithoutstartingtheRaspberryPi,thusgreatlyreducingthedebuggingtime・Thehardwaremoduleoftheca
7、r'shardwareentity,includingtheRaspberryPicameramodule,ultrasonicsensormodule,motorservodrivermoduleandpowermodule,themoduleisrealizedbasedonthefunctionofeachlevelofthereceivedsignal.Insoftwaredesign,thepaperfocusesonhowtousethevisionprocessingtechnologyOpenCVtosolvethepro
8、blemoflightdarkdetection,roadsignrecognitionandmathematicalalgorithm・Thesoftwaresystemincludesth