CN101211510B - Intelligent car-backing teaching aid - Google Patents
Intelligent car-backing teaching aid Download PDFInfo
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- CN101211510B CN101211510B CN2006101556119A CN200610155611A CN101211510B CN 101211510 B CN101211510 B CN 101211510B CN 2006101556119 A CN2006101556119 A CN 2006101556119A CN 200610155611 A CN200610155611 A CN 200610155611A CN 101211510 B CN101211510 B CN 101211510B
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- card
- car
- control
- unit
- driving
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Abstract
The invention relates to an intelligent car backing teaching aid, which comprises a model car, wherein the model car is provided with a front wheel, a rear wheel, a steering wheel, a control card, a driving system, a direction control transmitting system, an image collecting system and a displaying device. Two cameras which are arranged at the back of car are respectively connected with an image collecting card through a transmitting line, and the image collecting card is connected with the control card through a parallel bus. The control card comprises an A/D and D/A converting unit, a control input and output unit, a filtering unit, an edge detecting unit, a value extracting unit for extracting the distance between two backing rod and the car and angle between the car and right front directions of two rods, and a control amount computing unit. The invention further comprises a displaying unit for generating and outputting the image signal of turning direction, angle of the steering wheel and route curve of car. The control card is connected with a driving card of a turning electric motor, and the driving card is connected with the turning electric motor. The control card is connected with a driving card of a stepper motor through the transmitting line, and the driving card is connected with the stepper motor. The stepper motor is connected with a driving rear wheel, and the control card is connected with the signal of the displaying screen.
Description
(1) field under
The present invention relates to a kind of intelligent automatic backing learning aids, belong to robot vision and intelligent driving field based on image vision.
(2) technical background
Along with the development of China's automobile industry and improving constantly of people's living standard, the quantity of automobile increases year by year, and the people who learns to drive is more and more.Have the pass department statistics, 2005, the average annual sales volume of China's automobile reached 3,830,000, and driving school's quantity reaches more than 7000.Have some assisting car backing devices on the market now, as radar distance measuring equipment, backsight servicing unit etc., but the full-automatic intelligent backing device does not also occur on market, this just cause learning the reversing technology be still the student driving school the technical ability of essential study, and this technical ability also is in the learning process one of the most difficult grasp.From the angle of driving school, reversing also is the teaching difficulty of these driving schools always, also is the examination student's of driving school a important indicator, and each driving school of institute all wishes to have a kind of intelligent car-backing teaching aid and improves the quality of teaching and efficient.Therefore, be badly in need of,, satisfy the market demand both domestic and external to improve the quality of instruction and the efficient of driving school to driving school develops the high intelligent car-backing teaching aid of a kind of cost performance.
Present computer vision and image processing techniques be comparative maturity, but because the residing actual environment more complicated of automobile, computer vision technique is applied to the Modern Car backing system realizes that full automatic intelligent car-backing is also relatively more difficult, because car-backing teaching aid environment of living in is simple and single, utilize computer vision technique to realize that intelligent car-backing teaching aid is feasible, this intelligent car-backing teaching aid can be demonstrated whole reversing process automatically being provided with under the environment.
(3) summary of the invention
The objective of the invention is to design a kind of intelligent car-backing teaching aid, to help the student of driving school in the short as far as possible time, to learn driving technology well, reduce coach's working strength simultaneously, enrich the content of courses of driving school, improve the quality of teaching, make whole teaching process simple, understand, visualize.
Intelligent car-backing teaching aid of the present invention comprises model car, and model car has front-wheel, trailing wheel, bearing circle, based on control card, drive system, direction control kinematic train, image capturing system, the display device of ARM microprocessor;
Two cameras that are contained in behind the car link to each other with image pick-up card by transmission line respectively, and image pick-up card is connected by parallel bus with control card;
Comprise A/D and D/A converting unit, control input and output unit, filter unit, edge detection unit, be used to extract the numerical value extraction unit and the controlled quentity controlled variable computing unit of the angle in distance between two reversing poles and the car and car and two pole dead aheads based on the control card of ARM microprocessor, the data that controlled quentity controlled variable computing unit basis is extracted from the picture of making a video recording calculate the corner controlled quentity controlled variable with FUZZY ALGORITHMS FOR CONTROL; Comprise that also one generates and the display unit of the picture intelligence of the turning to of output car, steering wheel angle and path curve;
Control card links to each other with the steer motor driver card by the I/O port of ARM, and driver card is connected with steer motor, the axle of steer motor direction of passage control kinematic train closure dish;
Control card is by transmission line and step motor drive card connection, and driver card is connected with stepper motor, and described stepper motor connects the driving trailing wheel;
Control card is connected with the display device signal.
Steer motor is a servomotor, and described direction control kinematic train comprises: shaft coupling links to each other with speed reduction unit; The output shaft of speed reduction unit links to each other with small pulley by electromagnetic clutch, and small pulley links to each other with big belt wheel by driving-belt, and big belt wheel is connected with the axle of bearing circle.
According to above-mentioned design proposal, principle of work of the present invention is: by the processing to camera institute images acquired, extract information such as distance between the pole of car and reversing, angle, calculate controlled quentity controlled variable by FUZZY ALGORITHMS FOR CONTROL, according to the gained controlled quentity controlled variable, control card output control signal drives steer motor and rotates, and rotates by kinematic train and then drive bearing circle, realizes the control to direction; Simultaneously, the control card output signal realizes the automatic backing to dolly to driving motor.Display screen can be real-time the turning to of display direction dish, angle and the path curve of walking, how steering wheel rotation realizes accurately moveing backward the destination under specific circumstances to make the deep understanding of student.
Beneficial effect of the present invention is: be robotization fully 1,, and the intervention of not choosing, intelligent degree height.
2. the present invention can realize the automatic backing demonstration of diverse location, different angles.
3. in the middle of the teaching process that the present invention not only can be used to move backward, but also can be used as a good platform of research intelligent car-backing system.
Below in conjunction with example the present invention is described further.
(4) description of drawings
Fig. 1 determines the explanation synoptic diagram of certain point coordinate for dual camera
Fig. 2 is a car load assembling synoptic diagram of the present invention
(5) embodiment
Intelligent car-backing teaching aid of the present invention comprises model car, and model car has front-wheel, trailing wheel, bearing circle, based on control card, drive system, direction control kinematic train, image capturing system, the display device of ARM microprocessor;
Two cameras that are contained in behind the car link to each other with image pick-up card by transmission line respectively, and image pick-up card is connected by parallel bus with control card;
Comprise A/D and D/A converting unit, control input and output unit, filter unit, edge detection unit, be used to extract the numerical value extraction unit and the controlled quentity controlled variable computing unit of the angle in distance between two reversing poles and the car and car and two pole dead aheads based on the control card of ARM microprocessor, the data that controlled quentity controlled variable computing unit basis is extracted from the picture of making a video recording calculate the corner controlled quentity controlled variable with FUZZY ALGORITHMS FOR CONTROL; What also comprise a generation and output car turns to the display unit of the picture intelligence of steering wheel angle and path curve;
Control card links to each other with the steer motor driver card by the I/O port of ARM, and driver card is connected with steer motor, the axle of steer motor direction of passage control kinematic train closure dish;
Control card 1 is connected with step motor drive card 12 by transmission line, and driver card 12 is connected with stepper motor 11, and described stepper motor 11 connects the driving trailing wheel;
Control card is connected with the display device signal.
Steer motor is a servomotor, and described direction control kinematic train comprises: shaft coupling links to each other with speed reduction unit; The output shaft of speed reduction unit links to each other with small pulley by electromagnetic clutch, and small pulley links to each other with big belt wheel by driving-belt, and big belt wheel is connected with the axle of bearing circle.
Concrete principle of work of the present invention is: car is placed a certain position, and purpose is that car is passed through between the two reversing poles that preset.Press the reversing switch energized, be contained in the environment picture after two cameras behind the car are taken cars, further picture is passed to control card, by control card picture is carried out filtering, processing such as rim detection, extract the several characteristic point in the picture, by processing to this several characteristic point, the distance and two bars that calculate between two bars are the distance and the angle of reference position to a certain camera of vehicle body, result of calculation is calculated controlled quentity controlled variable by FUZZY ALGORITHMS FOR CONTROL, the output control signal corresponding, control turns to servomotor, motor drives bearing circle by reducing gear and synchronous pulley again and rotates, further bearing circle drives wheel, control integrated circuit board output astern signal simultaneously to drive motor, driving motor rotating band driving wheel rotates realizes reversing, meanwhile, the control integrated circuit board turns to car, and steering wheel angle and path curve are presented on the display screen of roof.
Illustrate that by Fig. 1 dual camera determines the principle of certain point coordinate: as shown in the figure, O
1O
2Be C
1And C
2If the X-axis of coordinate system is PO
1O
2Plane and two plane of delineation E
1And E
2Intersection be respectively E
1With E
2, because two planes of delineation are positioned at same plane, then E
1With E
2Be the same straight line on this plane, again because the plane of delineation is parallel to X-axis, so E
1With E
2Parallel with X-axis, if P
1With P
2Be respectively O
1P and E
1And O
2P and E
2Intersection point, P then
1With P
2Respectively at E
1And E
2On.
If C
1Coordinate is O
1X
1Y
1Z
1, C
2Coordinate is O
2X
2Y
2Z
2, then under above-mentioned camera arrangement, if the coordinate of arbitrary spatial point P is at C
1Coordinate system is (x down
1, y
1, z
1), at C
2Coordinate system is (x down
1-b, y
1, z
1), by P (x
1, y
1, z
1) proportionate relationship of central projection can get P point coordinate value.
According to the above-mentioned principle coordinate of any point on the pole of just can determining to move backward, thereby can determine between the two reversing poles and the distance between reversing pole and the car, the decision information of reversing further can be provided.
With reference to accompanying drawing 2: the faculty opens start button, dolly powers on, control integrated circuit board 1 is started working, extract the image that camera 9 is taken, and the bat image carried out filtering, processing such as numerical evaluation, calculate the distance between two reversing poles and the cars and the angle in car and two pole dead aheads thereof, calculate by FUZZY ALGORITHMS FOR CONTROL travel direction dish corner then, according to result of calculation, the steer motor 2 of control dolly is rotated, output electric pulse drives the steer motor rotation simultaneously, steer motor is rotated accurately according to pulse number, rotating from output shaft output, passes to belt wheel 5 rotating by electromagnetic clutch 4 by the deceleration of speed reduction unit 3, belt wheel rotates and the corner of change steering wheel shaft 8, and front vehicle wheel is changeed.Control card 1 is connected with step motor drive card 12 by transmission line, and driver card 12 is connected with stepper motor 11, and described stepper motor 11 connects the driving trailing wheel.
Meanwhile the display screen on the roof shows the path curve that the model car in the turning to of bearing circle 7, angle and the present invention travels, and makes the student see clearly how whole reversing process is finished.
Claims (2)
1. intelligent car-backing teaching aid comprises model car, and model car has front-wheel, trailing wheel, bearing circle, based on control card, drive system, direction control kinematic train, image capturing system, the display device of ARM microprocessor;
Two cameras that are contained in behind the car link to each other with image pick-up card by transmission line respectively, and image pick-up card is connected by parallel bus with control card;
Comprise A/D and D/A converting unit, control input and output unit, filter unit, edge detection unit, be used to extract the numerical value extraction unit and the controlled quentity controlled variable computing unit of the angle in distance between two reversing poles and the car and car and two pole dead aheads based on the control card of ARM microprocessor, the data that controlled quentity controlled variable computing unit basis is extracted from the picture of making a video recording calculate the corner controlled quentity controlled variable with FUZZY ALGORITHMS FOR CONTROL; What also comprise a generation and output car turns to the display unit of the picture intelligence of steering wheel angle and path curve;
Control card links to each other with the steer motor driver card by the I/O port of ARM, and the steer motor driver card is connected with steer motor, the axle of steer motor direction of passage control kinematic train closure dish;
Control card is by transmission line and step motor drive card connection, and the step motor drive card is connected with stepper motor, and described stepper motor connects trailing wheel;
Control card is connected with the display device signal.
2. intelligent car-backing teaching aid as claimed in claim 1 is characterized in that steer motor is a servomotor, and described direction control kinematic train comprises: shaft coupling links to each other with speed reduction unit; The output shaft of speed reduction unit links to each other with small pulley by electromagnetic clutch, and small pulley links to each other with big belt wheel by driving-belt, and big belt wheel is connected with the axle of bearing circle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2006101556119A CN101211510B (en) | 2006-12-29 | 2006-12-29 | Intelligent car-backing teaching aid |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2006101556119A CN101211510B (en) | 2006-12-29 | 2006-12-29 | Intelligent car-backing teaching aid |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101211510A CN101211510A (en) | 2008-07-02 |
| CN101211510B true CN101211510B (en) | 2010-06-09 |
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ID=39611510
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2006101556119A Expired - Fee Related CN101211510B (en) | 2006-12-29 | 2006-12-29 | Intelligent car-backing teaching aid |
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| Country | Link |
|---|---|
| CN (1) | CN101211510B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5384704A (en) * | 1992-04-17 | 1995-01-24 | Prefix Corporation | Programmable vehicle model |
| CN1435800A (en) * | 2002-01-31 | 2003-08-13 | 戚盛英 | Digital simulative automobile driving training and testing system |
| CN1472095A (en) * | 2003-05-20 | 2004-02-04 | 单文昌 | Intelligent three-dimensional reverse sliding aiming systems |
| CN1513703A (en) * | 2003-06-20 | 2004-07-21 | 陈双喜 | Automobile multifunction intelligent backsight screen |
| CN2795989Y (en) * | 2005-04-27 | 2006-07-12 | 李椒良 | Double screen phase direction projection display device for automobile driving artificial device |
| CN201111740Y (en) * | 2006-12-29 | 2008-09-10 | 浙江工业大学 | Intelligent car backing teaching aid |
-
2006
- 2006-12-29 CN CN2006101556119A patent/CN101211510B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5384704A (en) * | 1992-04-17 | 1995-01-24 | Prefix Corporation | Programmable vehicle model |
| CN1435800A (en) * | 2002-01-31 | 2003-08-13 | 戚盛英 | Digital simulative automobile driving training and testing system |
| CN1472095A (en) * | 2003-05-20 | 2004-02-04 | 单文昌 | Intelligent three-dimensional reverse sliding aiming systems |
| CN1513703A (en) * | 2003-06-20 | 2004-07-21 | 陈双喜 | Automobile multifunction intelligent backsight screen |
| CN2795989Y (en) * | 2005-04-27 | 2006-07-12 | 李椒良 | Double screen phase direction projection display device for automobile driving artificial device |
| CN201111740Y (en) * | 2006-12-29 | 2008-09-10 | 浙江工业大学 | Intelligent car backing teaching aid |
Non-Patent Citations (1)
| Title |
|---|
| JP平2-156310A 1990.06.15 |
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| Publication number | Publication date |
|---|---|
| CN101211510A (en) | 2008-07-02 |
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Granted publication date: 20100609 Termination date: 20131229 |