基于ARM和嵌入式Linux的智能小车技术实践
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摘要
论述基于ARM和嵌入式Linux的Wi Fi无线遥控智能小车的技术实践.介绍技术实践的过程、方法、经验体会.采用ARM 11芯片作为小车的主控制器.小车上的Wi Fi模块承担无线通信功能并接收来自远程Android智能手机的遥控指令.智能手机可通过"重力感应"或传统"按键"两种模式向小车发送遥控指令.ARM控制器接收到指令后通过GPIO接口控制小车的电机驱动小车的四个轮子做出相应动作(前进、后退、转弯、旋转等),并通过PID算法控制小车走直线.小车可采集视频并运行计算机视觉算法进行实时人脸检测.
The engineering practice of mini smart car with Wi Fi wireless remote control function based on ARM and embedded Linux is discussed. The process, method, and experience of engineering practice are introduced. The ARM11 chip is selected as the central control CPU. The Wi Fi wireless communication module on smart car is used to communicate with remote Android smart phone to receive controlling commands. Controlling commands are sent by the smart phone through the novel ‘gravity sensing' or traditional ‘key pressing' mode. Once the commands are received by the ARM chip, it will control the motors via GPIO and drive four wheels to make according actions(moving forward/backward, turning and rotating), and force the car to move in a straight line via PID algorithm. The video data can be collected by camera and the real-time human faces detection is implemented by computer vision algorithms.
The engineering practice of mini smart car with Wi Fi wireless remote control function based on ARM and embedded Linux is discussed. The process, method, and experience of engineering practice are introduced. The ARM11 chip is selected as the central control CPU. The Wi Fi wireless communication module on smart car is used to communicate with remote Android smart phone to receive controlling commands. Controlling commands are sent by the smart phone through the novel ‘gravity sensing' or traditional ‘key pressing' mode. Once the commands are received by the ARM chip, it will control the motors via GPIO and drive four wheels to make according actions(moving forward/backward, turning and rotating), and force the car to move in a straight line via PID algorithm. The video data can be collected by camera and the real-time human faces detection is implemented by computer vision algorithms.
引文
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6飞凌嵌入式.OK6410-A Linux使用手册.http://www.forlinx.com.
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8刘金琨.先进PID控制MATLAB仿真.3版.北京:电子工业出版社,2011.
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11迎创电子.初始ZK-4WD小车机器人.http://www.mcustudio.com.cn.
12飞凌嵌入式.OK6410-A开发板硬件手册.http://www.forlinx.com.
13宋宝华.Linux设备驱动开发详解.2版.北京:人民邮电出版社,2010.
14王飞,孔聪.基于V4L2的Linux摄像头驱动的实现.电子科技,2012,25(2):86-87,92.[doi:10.3969/j.issn.1001-9146.2012.02.022]15Laganiere R.Open CV2计算机视觉编程手册.张静,译.北京:科学出版社,2013.
2宋洪慧,李春芾,朱江.智能小车直流电机驱动电路设计.机电技术,2015,(6):84-87.[doi:10.3969/j.issn.1672-4801.2015.06.028]
3隋妍.基于数字PID的智能小车的控制.数字技术与应用,2012,(6):3,6.
4全国大学生智能汽车竞赛秘书处.全国大学生“恩智浦杯”智能汽车竞赛官网.http://www.smartcar.au.tsinghua.edu.cn.
5ARM Limited.ARM architecture reference manual.ARMLimited,2005:23-37.
6飞凌嵌入式.OK6410-A Linux使用手册.http://www.forlinx.com.
7Stevens WR,Fenner B,Rudoff AM.UNIX网络编程:卷1:套接字联网API.北京:人民邮电出版社,2015.
8刘金琨.先进PID控制MATLAB仿真.3版.北京:电子工业出版社,2011.
9丁山.Android程序设计教程.北京:机械工业出版社,2015.
10曹莹,苗启广,刘家辰,等.Ada Boost算法研究进展与展望.自动化学报,2013,39(6):745-758.
11迎创电子.初始ZK-4WD小车机器人.http://www.mcustudio.com.cn.
12飞凌嵌入式.OK6410-A开发板硬件手册.http://www.forlinx.com.
13宋宝华.Linux设备驱动开发详解.2版.北京:人民邮电出版社,2010.
14王飞,孔聪.基于V4L2的Linux摄像头驱动的实现.电子科技,2012,25(2):86-87,92.[doi:10.3969/j.issn.1001-9146.2012.02.022]15Laganiere R.Open CV2计算机视觉编程手册.张静,译.北京:科学出版社,2013.