重庆大学机械工程研究生专业英语作业

专业英语课程研究报告

科目：专业英语教师：刘怀举

姓名：汶睿学号： 20120713094t 专业：机械工程领域类别：专业

上课时间： 2014年11月至2014年12月

考生成绩：

阅卷评语：

阅卷教师 (签名)

The smart balancing vehicle based on stereo vision

(I) Proposed Title

The smart balancing vehicle based on stereo vision

(II) Introduction

I'm working in a team with my senior students which guided by our supervisor. Our team is to design a smart balancing vehicle with a camera. The principle of our balancing vehicle is a kind of symmetrical layout, using accelerometers and gyroscopes in collabo ration with each other before and after the tilt angle and angular velo city detection , while taking advantage of the sliding rheostat for test ing self-

balancing vehicle steering control lever tilt angle , and the informatio n output to the microcontroller, by appropriate control algorithm to c alculate the amount of control , drive motor , and completed self-balancing vehicle forward, backward and turning such action . Ther e is a camera at the top of the balancing vehicle, which can observe the surrounding environment ,so it can avoid the obstacles ahead and choose the best way by analysis of image ahead.

(III) Background

At present, balancing vehicle has widely spread to people's life both

in domestic and foreign and development in the field of public

transport. At the 2008 Olympics, the segway electric smart balancing

car won the attention of many people. But this propose introduces

the automatic obstacle avoidance based on vision sensors and image

analysis of the balancing vehicle is more similar to a kind of

intelligent robots. Although the obstacle avoidance of intelligent

vehicle research at home and abroad are early, but mainly based on

infrared sensor, detection radar and other navigation systems with

complex system , big volume and high cost. Vision as an important

means of robots for environment information, to the information characteristics of the mobile robot navigation is of important

theoretical significance and practical application value. Compared to

other active measures, the information by stereo vision is fast and

accurate, commonly used to detect suspicious barrier height and

distance.

(IV) Methodology

We are ready to develop the smart balancing vehicle which is based on

mature platform, integrated vision sensor. Namely separating obstacles

from the back-ground by typical image processing method, and

performing the stereo matching of the extracted contour features in combination with the binocular vision calibration results to get the spatial

point of 3D reconstruction. The obstacle avoidance rule and controller

according to the fuzzy principle were designed to avoid collision and by pass the enroute obstacles. The whole running performance of smart balancing vehicle firstly depends on the power supply and motor driver module. The vehicle 's drive not only requires the motor drive system torque weight than high, wide speed range, high reliability, and because the torque - speed characteristic easily affected by power, which requires the driver has the efficient area as wide as possible.

(V)Potential conclusion

If each part of our plan can be successfully finished, we expect that we can product the smart balancing vehicle in 6 months as planned

(VI)Schedule

?Prepare proposal and theoretical knowledge by 1 November ?The overall system design by 15 November

?Select and lap hardware circuit by 15 January

?Algorithm design and programming by 15 February

?Test the motor on March

?Complete the balancing vehicle on May

(VII)References

[1] LI Y. Vision based moving target tracking of mobile robots[D]. BEIJING:Beijing Jiaotong University,2009.

[2] ZHANG H,WANG G,CEN Y. Summary of distance measurement based on vision in localization technology[J]. Power Electronics and

Motion, 2006,3: 1 5.