智能小车控制器中英文资料文献Word文件下载.docx
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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,theblackguidelineisalwayskeptrightbetweenthetwoprimarysensorsL1andL2.Whenthecargoesofftheblackline,theprimarysensorsdetectit,andthustheARM7chipdetectleveljumpandexecutethepre-preparedcorrectionprogramtonavigatethecarbackontothetrack.Thesecondarysensorsareactuallyaback-upfortheprimary.Oncethecaroffsetsthetrackforinertia,beyondthereachofdetectionoftheprimaryprobes,thesecondaryperformtocorrectthemotionofthecar,soastoensurethereliabilityoftracking.
3Designofsoftware
ThesoftwareisdevelopedinClanguageinKeilUvision3IDE,debuggedanddownloadedinJ-LinkARMemulator.J-LinkisaJTAGemulatorwhichwasbroughtoutbySEGGERinUSAtosupportemulationchipswithARMcore.ItworkswithIDEssuchasIAREWARM,ADS,Keil,WINARM,andRealView,supportsallARM7/ARM9corechipssimulation,andseamlesslyconnectswithvariousIDEbyRDIinterface.Easytooperateandtoconnectto,itisthemostpracticaltoolforstudyanddevelopmentofARM.
Thekeyforthedesignofsoftwareliesinthecontrolprocessoftracking.ThesensorsareequippedwithE3F-DS10C4integratedinfraredprobeswithphotoelectricswitch.Thereareonlythreewires（powerwire,groundwire,andsignalwire）attheoutputpinofthemodule.ConnectthesignalwiretoI/OportofARM7chip,andexecuteenquirycheck.Lowlevelwillbedetectedfortheblackguideline,whilehighlevelforthewhitefloor.Accordingtotheprinciplesstatedabove,flowsofthealgorithmforcontroltrackingofthecar.Two-stagecontrolmethodisadoptedtoensurethecar’sadherencetotheblackguideline,andtheeffectissatisdied.
4Debuggingofthefinishedcar
Basedonthedesignschemepresentedabove,finishmakingofPCBboardforhardwarecircuitofthecar,weldingofcomponents,anddebugginganddownloadingofthesoftware.TestthecarforseveraltimesonthetrackmadeofwhiteKTboardinthemiddleofwhichatwo-centimeter-wideblackguidelineispasted.Theresultshaveshowedthat,thecarrunssteadilyevenatahighspeedalongstraightblackguideline.Whenaroundthecurve,ifcontrolthespeedproperly,thecargoessmoothlyaswell.Twopiecesofexperienceasshownbelow:
（1）E3F-DS10C4photoelectricsensorshouldbefixedasclosetothegroundaspossibletominimizetheinterferenceofenvironmentallighttoit.Verticalheightofthesensorhadbetterbe5~8mm.Toofardistancefromthegroundcausesweakreflectivesignalandunstableoutputofuplevelsignal;
tooclosedistancemaydamagethesensorandintensifytheeffectofdiffusereflection.
（2）DuetocommonDCmotoradoptedforit,thecontrolofthecarisnotaccurateandstableenoughtoperformabreakturnunlessseveralsamephotoelectricsensorsareaddedtothebottomofthecar.
5Conclusion
Intelligentcarisafrontsubjectwhichhassynthesizedmanyothersubjectsandhasawidely-appliedprospect.ItparticularlyhelpstodevelopthepresentChineseundergraduates’imagination,practicalabilities,teamawareness,andhi-techinnovationcapacity.
References
[1]WuBinghua,HuangWeihua,ChengLeiamongothers,SystematicDesignofIntelligentCarBasedonRouteIdentification[J].ApplicationofElectronicTechnique,2007（3）:
80-83.
[2]WangChaoyi,WangYihuai.DesignofControlSystemofAutoTrackingCarBasedonInfraredSensor[J];
ComputerandAutomationTechniques,2008,34（11）:
60-62
[3]LiYi,LuRenYi,&
WuTian.IntelligenceTrackingCar[J].ElectronicTechniques,2008,45
（1）:
39-41
[4]WenQuangang,PrinciplesandApplicationofEmbeddedSystemInterface[M].Beijing:
AeronauticsandAstronauticsUniversityPress,2009
[5]G.C.Hua,F.C.Lee.Soft-switchingtechniqueinPWMconverter[J].IEEETrans.onIndustrialElectronics995.42（6）:
595-603.
AuthorBiography
LiuGang:
（1963-）male,seniorengineer,receivedhisBachelor’sdegreefromBeijingUniversityofAeronautics&
astronauticsin1991,mainresearchdirection:
computermeasurementandcontroltechnologyete
基于嵌入式平台的智能小车控制器的设计
摘要：
本论文介绍了智能小车控制器的设计方案。
其所使用的核心元件为嵌入式ARM7芯片。
硬件设计采用模块化方法。
本论文致力于小车跟踪电路的线路图以及软件的设计理念。
实验结果证明，设计的智能小车操作平稳，跟踪性能良好。
关键词：
ARM；
智能；
跟踪
1.引言
21世纪，随着科学技术的发展，关于智能小车及其相关技术的研究已经成为该领域的焦点。
为了加强全国大学生的实际操作能力，创新思想和团队合作意识，教育部主办了全国在校生智能小车竞赛。
基于这种情况，本论文介绍了嵌入式多功能智能小车控制器的设计方案，包括主要实用模块上硬件电路和执行软件的设计。
2、硬件设计
就功能和应用而言，智能小车的控制平台可分为以下几个模块。
2.1、核心模块的设计
小车的控制器采用了ATMEL生产的AT91SAM7S256微处理器。
该处理机带有一个基于ARM7TDMI-S核心的32位低能RISC微型处理芯片，同时被嵌入了64KBSRAM，256KB高速闪光存储器和JTAG端口以供程序的下载与调试。
作为小车的核心元件，微处理器在控制小车所有运行状态方面起着关键作用。
它里面的PWM生成模块可以通过编程设计来改变输出矩形波的填充系数，并从而改变马达上的电压，增强对马达运行速度的控制。
PWM模块上的端口PA0，PA1，PA2andPA3分别控制DC马达和转向马达来执行一些功能，比如前进，后
退和转弯等等。
2.2、电源模块的设计
小车的电源是四节AA干电池。
电压是通过低噪音LDO调节器MIC5209-3.3输出的，可以给ARM7芯片和外围电路供电。
MIC5209-3.3的工作电流高达500mA。
输入电压高于3.5V时，MIC5209-3.3模块可以输出3.3V的稳定电压，实现低能量消耗。
2.3、检温器模块
单向数字测温传感器DS18B20是用于检测小车内部温度。
测量范围是-55~+125摄氏度，有0.5摄氏度的增额。
它耗能低，尺寸小，仅占一个I/O端口。
2.4、自动跟踪器
2.4.1智能小车的跟踪原则
跟踪意味着小车沿着白色地板上两厘米宽的黑色导航路线运行。
红外线探测和相机拍摄探测被广泛用在这里。
升级会员 