选择使用拥有STM32F427的OpenMV作为MCU, 设计了一辆基于机器视觉的循迹避障智能小车系统, 能够从标记的指定位置出发, 迅速找寻规定场内随机点亮的信号表示灯。该设计使用摄像头模块系统进行图像采集, 得到障碍物的位置信息, 通过进一步使用采集到的障碍物图像进行测距, 从而得到障碍物的位置信号。采用FAST特征点检测算法、NCC模板匹配算法、PID控制算法、单目视觉测距算法等, 小车前方有障碍物则曲线行使, 避开障碍物, 无障碍物则直线行驶, 实现自动行驶的目的。本系统通过多次实验验证并实现自动“寻的”避障的功能, 具有灵敏度高、稳定性强等特点。

Using OpenMV with STM32F427 as the MCU, a machine vision-based track barrier-avoidance intelligent car system is designed. The car system can quickly look for the specified field randomly lit signal beacon from the designated location of the marking. The design uses the camera module system to collect the image, get the position information of the obstacle, and measure the distance by using the captured obstacle image further, so as to get the position signal of the obstacle. Using FAST feature point detection algorithm, NCC template matching algorithm, PID control algorithm, monovisual visual ranging algorithm, etc., when there are obstacles in front of the car they start curve exercise to avoid obstacles, when no obstacles they are straight driving, to achieve the purpose of automatic driving. The system can verify and realize the function of automatic "search" barrier by many experiments, and has the characteristics of high sensitivity and strong stability.