基于MC9S12XS128单片机的多功能智能小车系统设计

利用嵌入式技术和图像处理技术，设计制作了基于MC9S12XS128单片机的多功能智能小车。智能小车可以在包含岔口的路面进行自主择路行进。到达终点后，在显示屏上显示路口选择方案、行进距离、行驶时间、行进速度。该系统通过CMOS摄像头OV5116检测路面信息，使用比较器对图像进行硬件二值化，用于路面识别，通过光电编码器检测智能小车的实时速度，使用PID控制算法调节驱动电机的转速和转向舵机的角度，实现了对智能小车运动速度和运动方向的闭环控制。整个系统的电路结构简单，成本低廉，可靠性高。经实际测试，智能小车各项指标均达到预期的设计目标。

The design of multi-function intelligent car system based on MC9S12XS128 single chip

A multi-functional intelligent car based on MC9S12XS128 was designed by using the embedded technology and image processing technology. Intelligent car can independently select road travel fork.After reaching the end of the road, display options, travel distance, travel time, travel speed can be showed on the display screen.The OVS116 CMOS camera system is used to detect road information. Comparators are used for image two values for road identification. The photoelectric encoder detects real-time speed.PID control algorithm is used to adjust the drive motor speed and steering angle, realize the closed loop control of the model vehicle speed and direction. The whole system has the simple circuit structure, low cost and high reliability. Through the experimental measurement, intelligent car meets the expected design in all indexes.