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Autonomous tracking intelligent vehicle based on machine vision

A machine vision and smart car technology, applied in the field of smart cars, can solve the problems of small car detection range, inability to accurately control the direction of the car, and inconvenient use, so as to improve real-time performance and facilitate viewing and debugging.

Pending Publication Date: 2022-01-04
HOHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] At present, the detection range of the above-mentioned car is small, especially for more complex road conditions, it cannot make reasonable obstacle avoidance in time, and at the same time, it cannot accurately control the direction of the car according to the specified route, which causes inconvenience to use

Method used

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  • Autonomous tracking intelligent vehicle based on machine vision
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Experimental program
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Embodiment 1

[0020] Embodiment 1: As shown in the figure, an autonomous tracking smart car based on machine vision includes a car body, and also includes a main controller 1, a secondary controller 2, a machine vision module 3, and an obstacle avoidance module arranged on the car body. Module 4, attitude inspection module 5, motor drive module 6, speed detection module 7, human-computer interaction module 8 and wireless communication module 9, wherein, machine vision module 3 and obstacle avoidance module 4 are electrically connected with sub-controller 2 respectively, and sub-controller 2 The controller 2 is used to transmit track information and obstacle information to the main controller 1 through serial port communication, and the posture inspection module 5, motor drive module 6, speed detection module 7, human-computer interaction module 8 and wireless communication module 9 are respectively It is electrically connected with the main controller 1, and the wireless communication module...

Embodiment 2

[0021] Embodiment two: as shown in the figure, other structure is identical with embodiment one, and its difference is, machine vision module 3 adopts chip and is the general drill wind of the gray-scale digital camera of MT9V034, and it is used for real-time acquisition track image and conversion After the grayscale image is sent to the sub-controller 2, the sub-controller 2 is used to binarize the image according to the grayscale image, and after extracting the boundary line of the track, through the steps of linear regression and center fitting, the race track is obtained. At the same time, the deviation value between the car body and the track center line is also obtained. Finally, according to the template feature matching, the track type is judged, track information is obtained, and sent to the main controller 1. In this structure, the image collected by the machine vision module 3 is a grayscale image, which contains a lot of interference information. Therefore, it is ne...

Embodiment 3

[0023] Embodiment 3: As shown in the figure, other structures are the same as Embodiment 2, and the difference is that the model of the posture inspection module 5 is ICM20602, which is used to collect the current vehicle body motion posture information in real time and feed it back to the main controller 1 . In this structure, the attitude inspection module 5 adopts a gyroscope with the model ICM20602, which can detect the three-axis acceleration and angular velocity, and makes the car more stable in the process of the situation through the inspection of the attitude of the car. This module is installed in the middle and rear of the car. , will make the data more stable and will not be affected by uneven deflection.

[0024] The motor drive module 6 is used to move according to the motion command of the main controller 1, and it includes two DC motors, and the two DC motors are driven by four BTS7970 half-bridge drive chips. Among them, the 74LVC245 isolation chip is also us...

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Abstract

The invention discloses an autonomous tracking intelligent vehicle based on machine vision, which comprises a vehicle body, and further comprises a main controller, an auxiliary controller, a machine vision module, an obstacle avoidance module, a posture inspection module, a motor driving module, a speed detection module, a man-machine interaction module and a wireless communication module which are arranged on the vehicle body, wherein the machine vision module and the obstacle avoidance module are electrically connected with the auxiliary controller, the auxiliary controller is used for transmitting racing track information and obstacle information to the main controller through serial port communication, the posture detection module, the motor driving module, the speed detection module, the man-machine interaction module and the wireless communication module are electrically connected with the main controller, and the wireless communication module is in two-way communication with a remote terminal. The autonomous tracking intelligent vehicle has the advantages that the real-time performance of the system is improved by adopting a dual-core design, an obstacle avoidance strategy is guided in time, and obstacle avoidance path planning is completed.

Description

technical field [0001] The invention relates to the technical field of intelligent vehicles, in particular to an autonomous tracking intelligent vehicle based on machine vision. Background technique [0002] Smart car is a kind of robot, which is a set of environmental perception, decision-making and planning. A comprehensive system that integrates autonomous driving. Smart tracking car is a kind of smart car, which has a wide range of applications in unmanned driving, industrial inspection, scientific exploration, etc. Now the tracking car solutions on the market mainly use infrared tracking solutions. [0003] For example, a Chinese patent with application number CN201520068078.7 discloses a high-speed infrared tracking car, which includes a frame with four wheels at the bottom, a driving motor connected to the wheels under the frame, and a Control circuit board, track sensor interface, expansion interface, communication module, motor drive module, power supply module an...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0246G05D1/0255G05D1/0214G05D1/0276
Inventor 曾志恒刘怡沛江龙韬陈曌文
Owner HOHAI UNIV