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Hardware Design of Upright Tracking Smart VehicleBased on Multiple Sensors(PDF)

南京师范大学学报（工程技术版）[ISSN:1006-6977/CN:61-1281/TN]

Issue:
2017年04期
Page:
20-
Research Field:
电气与电子工程
Publishing date:

Info

Title:
Hardware Design of Upright Tracking Smart VehicleBased on Multiple Sensors
Author(s):
Li Haoyang; Qiu Xin; Yang Jiquan; Shen Shibin
Jiangsu Key Laboratory of 3D Printing Equipment and Manufacturing,Nanjing Normal University,Nanjing 210042,China
Keywords:
self-balancing; tracking; smart vehicle; multiple sensors
PACS:
TP242
DOI:
10.3969/j.issn.1672-1292.2017.04.004
Abstract:
This paper introduces the hardware structure design process of an upright tracking smart vehicle using array CMOS image sensor,gyro accelerometer sensor and absolute rotary encoder. With the modulation design concept,this hardware is divided into multiple sub-modules,each of which is designed respectively and then integrated. The attitude collecting module extracts the angle and angular acceleration dates using the MPU6050 motion sensor,and the vehicle attitude is fitting calculated with these data. Road image information is collected by MT9V022 camera for automatic tracking,and the vehicle speed is calculated with the absolute rotary encoder. These data of multi-sensors are analyzed synthetically in CPU control module to achieve the upright tracking and stable operation.

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Last Update: 2017-12-30