智能小车控制器中英文资料外文翻译文献大学论文.docx

智能小车控制器中英文资料外文翻译文献大学论文.docx

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智能小车控制器中英文资料外文翻译文献大学论文

毕业论文中英文资料外文翻译文献

DesignofanIntelligentCarController

BasedonEmbeddedPlatform

Abstract:

ThepaperpresentsadesignofanintelligentcarcontrollerusingembeddedARM7chipsascorecomponent.Modularmethodhasbeenappliedinthedesignofthehardware;thepaperfocusesonlayoutoftrackingcircuitforthecaranddesignideasforthesoftware.Theexperimentresultprovesthatthedesignedintelligentcarisstableinoperationandgoodintrackingperformance.

Keywords:

ARMIntelligentTracking

1、Introduction

Inthe21stcentury,withdevelopmentofscienceandtechnology,researchesonintelligentcaranditscorrelativetechniqueshavebecomethefocusinthisfield.Aimingtoenhancepracticalability，innovation,andteamworkperformanceofcollegestudentsacrossthecountry,theEducationDepartmentsponsoredNationalUndergraduateIntelligentCarContest.Basedonthebackground,thepaperintroducesthedesignofmultifunctionalintelligentcarcontrolleronembeddedplatform,includingdesignofhardwarecircuitandsoftwareimplementationforkeyfunctionalmodules.

2、Designofhardware

Byfunctionandapplication,thecontrollingplatformfortheintelligentcarisdividedintoseveralmodulesasshownbelow.

2.1Designofcoremodule

AT91SAM7S256microprocessorproducedbyATMELhasbeenadoptedforthecontrollerofthecar,whicha32-bitlow-powerRISCmicroprocessorchipbasedonARM7TDMI-Score,andembeddedwith64KBSARM,256KBhigh-speedFlashandJTAGportfordownloadingordebuggingoftheprogram.Asthecorecomponentofthecar,themicroprocessorplaysakeyroleincontrollingallrunningstatusesofthecar.PWMgeneratingmoduleinsideitcanbechangedutycycleofoutputtedsquarewavebyprogramming,andthuschangethevoltageloadedontheDCmotor,whichisamplifiedtocontroltherevolutionspeedofthemotor.TheportsPA0,PA1,PA2andPA3ofthePWMmodulerespectivelycontroltheDCmotorandthesteeringmotortoperformfunctionssuchasgoforward,retreatandturnetc.

2.2Designofpowermodule

ThecarispoweredbyfourAAdrybatteries.Thevoltageisoutputtedthroughlow-NoiseLDOregulatorMIC5209-3.3tosupplypowerforARM7chipsandperipheralcircuits.TheworkingcurrentofMIC5209-3.3isashighas500mA.Wheninputvoltageisabove3.5V,themoduleofMIC5209-3.3canoutputstablevoltageof3.3Vandachievelowpowerconsumption.

2.3TemperaturedetectionModule

Mono-linedigitaltemperaturesensorDS18B20isusedtodetecttemperatureinthecar.Themeasurerangeisfrom-55℃to+125℃,withincrementof0.5℃.Itislowinpowerconsumptionandsmallinsize,occupyingonlyoneI/Oport.

2.4Autotrackingmodule

2.4.1Principlesfortrackingofintelligentcar

Trackingmeansthatthecargoesalongthetwo-centimeter-wideblackguidelineonthewhitefloor.Infraredacquisitionandcamerashootingacquisitionarecommonlyusedforit.

Infraredacquisition:

Takingadvantageofthefeaturethatinfraredlightcanchangeitsreflectivequalityaccordingtoobjectsurfaceofvariouscolors.Duringrunningthecarcontinuouslysendsinfraredlighttotheground,whichwill,eitherbereflectedbackbythewhitefloorandreceivedbythereceivingtubeinthecar,orbeabsorbedbytheblackguidelineandthusmissedbythereceivingtube.Bythismeanstheblackguidelineispositionedtoidentifythepathforthecar.

Camerashootingacquisition:

Incertainresolutionsampletheimagebyinterlacedscanning.Whenscanningapoint,imagesensortransfersthegraythresholdintocorrespondingvoltagewhichwillbeoutputtedviavideosignalport.Asthecarachievesautotrackingbyrecognizingtheblackguidelineonthetrack,theimageprocessingisaprocessofextractingthedestinationguideline.Thetaskofimageprocessingprogramistoidentifythedotsintheblack-and-whiteimageandfilternoise,recorddotpositionsrelativetotheimage,andfinally,byalgorithmofcontrolstrategy,realizetrackingandturningofthecaralongtheguideline.

2.4.2Installationoftrackinginfraredprobe

Choosingproperdetectionmethodandsensoristheimportantfactortoachievetracking.Herewechooseinfraredacquisition.Correctinstallationofdeviceisalsoadecisivefactorforaccomplishmentoftrackingcircuit.Intermsofsimplicity,easiness,practicalityandreliability,fourinfraredprobesneedbeinstalledonthefrontchassisofthecartofulfilltwo-stageddirectionalcorrectioncontroltoenhancethereliabilityoftracking.Fourtrackingsensorshavebeenfixed,allinoneline,amongwhichL1andR1areprimarysensorsfordirectioncontrol;L2andR2aresecondarysensors.Thedistancebetweenthetwoipsilateralsensorsshouldnorbemorethanwidthoftheblackdirectioncontrol.Whenthecarisrunning,theblackguidelineisalwayskeptrightbetweenthetwo