Advances in Engineering Research, volume 141
5th International Conference on Mechatronics, Materials, Chemistry and Computer Engineering (ICMMCCE 2017)
Design and research of WiFi intelligent car based on computer vision technology
Lv Changwu, Qiu Bo
Jiangxi Environmental Engineering Vocational College,Ganzhou 341000,China
Key words: computer vision; WiFi communication; intelligent car; two-way communication; remote control
Abstract. In order to realize the work of some dangerous and complex areas, such as the places where the human can not be close to the fire and explosion scene, a kind of intelligent control car with two-way communication ability has put forward in this paper. Based on the machine vision technology and WiFi wireless communication technology, the car can transmit the environmental information of the working area in real time. At the same time, the control terminal can send control commands to the car to realize remote control. The overall framework of the intelligent car is designed, the whole system is composed of six parts, including power supply, control terminal, WiFi communication module, microcontroller, motor and camera, etc.. Finally, the performance of the intelligent car is tested by experiment, and the PCB board of the car control system is made. The experimental results show that the communication distance of communication, WiFi communication over Zigbee and Bluetooth has farther and faster communication speed, can meet the demand of intelligent vehicle two-way real-time communication, which provides a feasible communication scheme for the design of the intelligent car.
Introduction
The full name of Wifi is wireless fidelity, is one of the most widely used wireless network transmission technology. If there is a mobile phone WiFi Internet function, the WiFi signal can not connect to the Internet through places Unicom mobile data, this application has been very extensive, but the application of WiFi in signal control based on little. In the place where there is a WiFi signal, you can not use mobile or Unicoms data connection to the Internet, the application has been very extensive, But the application of WiFi signal in control is still very few. However, compared to the Zigbee wireless transmission and Bluetooth signals with transmission distance, transmission speed and so many advantages, it is used in the design of remote image transmission and control command transmission system, has important significance for improving the transmission rate and transmission distance.
Design of WiFi intelligent car system based on computer vision technology
The whole system of WiFi intelligent car based on computer vision technology is based on MCU and WiFi module as the core, mainly divided into six parts, including power supply, control terminal, WiFi communication module, microcontroller, motor and camera, the structure of the whole system as shown in figure 1.
Copyright copy; 2017, the Authors. Published by Atlantis Press.
This is an open access article under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/). 69
Figure 1 The overall design of the system structure
As shown in Figure 1, the control terminal of WiFi intelligent car control based on computer vision technology can be a computer terminal, and it can also be a mobile phone, the main function of WiFi communication module is responsible for the communication between the control terminal and the lower computer, it can be transmitted back to the real-time image collected by the intelligent car terminal, and can also send control commands to the intelligent car terminal. The system uses intelligent car camera to collect environmental information, then through the MCU and WiFi control module, the real-time image is transmitted back to the host computer, according to the environment information, the host computer can send out the control commands, and the control commands can drive the motor of the intelligent car through the single chip microcomputer to control the moving or turning of the car. The mobile power supply is used in the whole system, and the power supply module can supply power to the WiFi communication module, MCU and motor simultaneously.
Design of Wifi intelligent car motor drive module
L298N of ST company is used as a motor drive chip, the chip has 15 legs, can drive a two-phase stepper motor or four phase stepper motor, but also can be used to drive two DC motors. the intelligent car based on machine vision uses four DC motors, the drive circuit is shown in Fig. 2.
Fig. 2 Schematic circuit driver
As shown in Fig.2, L298N chip can simultaneously drive two DC motors, assuming that the two motors were M1 and M2, The AB pin is mainly for the motor speed control, speed control using PWM pulse width modulation method. Taking M1 motor as an example, when the IN1 is connected to a low level, IN2 is connected to a high level, you can specify the level when the motor is transferred, instead, the motor rotate reversely, reversing motor can effectively control the car forward backward, the speed and the forward backward control level as shown in table 1.
Table 1 The motor drive status table
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Motor |
Rotation mode |
IN1 port |
IN2 port |
Input PWM signal change pulse width adjustable speed |
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|
Governor end A |
Governor end B |
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|
M1 |
Corotation |
Low |
Hjgh |
/ |
Hjgh |
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|
Reversal |
Hjgh |
Low |
/ |
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工程研究进展，第141卷第五届机电一体化、材料、化学和计算机工程国际会议（ICMCMCE 2017） 基于计算机视觉技术的WiFi智能车的设计与研究
关键词：计算机视觉，WiFi通信；智能车；双向通信；远程控制 摘要：为了完成一些危险和复杂区域的工作，比如人不能接近火灾和爆炸现场，本文提出了一种具有双向通信能力的智能控制车。该汽车基于机器视觉技术和WiFi无线通信技术，能够实时地传输工作区的环境信息。同时，控制终端可以向汽车发送控制指令，实现远程控制。智能汽车总体框架设计如下，整个系统由电源、控制终端、WiFi通信模块、单片机、电机、摄像头等六部分组成。最后通过实验来对智能车的性能进行测试，并且，制作汽车控制系统的PCB板。实验结果表明，通过ZigBee和蓝牙通信，WiFi通信的通信距离越远，通信速度就越快，可以实现智能车辆双向实时通信，智能汽车的设计为智能车辆双向通信提供了一种可行的通信方案。 简介：WiFi的全称是无线保真，是应用最广泛的无线网络传输技术之一。如果有一个手机具有WiFi上网功能，WiFi信号就无法通过中国联通移动数据连接到互联网上，这个应用已经非常广泛，但是WIFI在信号控制方面的应用就很少。在有WiFi信号的地方，你不会使用移动或联通的数据连接到互联网，这个应用已经非常广泛，但是WiFi信号在控制中的应用仍然很少。然而，相比于ZigBee无线传输和蓝牙信号具有传输距离、传输速度等诸多优点，它被用于远程图像传输和控制命令传输系统的设计，对改善传输速度和传输距离具有重要意义。 基于计算机视觉技术的WiFi智能车系统设计 整个WiFi智能车系统基于计算机视觉技术是以单片机和WiFi模块为核心，主要分为六个部分，包括电源、控制终端、WiFi通信模块、单片机、电机和摄像头，整个系统的结构如图所示。如图1示
智能汽车发动机 电源 摄像头 控制终端 WIFI通信模块 单片机 电机驱动装置 图1 系统结构的总体设计 如图1所示，基于计算机视觉技术的WiFi智能汽车的控制终端既可以是计算机终端，也可以是移动电话，WiFi通信模块的主要功能是负责控制终端与下位机之间的通信。它可以将智能汽车的在终端收集到的实时图像传回计算机，还可以向智能车终端发送控制命令。该系统采用智能车摄像头采集环境信息，然后通过MCU单片机和WiFi控制模块，将实时图像传输回主机，根据环境信息，主机会发出控制命令。通过单片机可以驱动智能车的电机来控制汽车的移动或转向。整个系统采用移动电源，电源可同时向WiFi通信模块、单片机和电机供电。 WiFi智能汽车电机驱动模块设计 电机驱动芯片采用的是ST公司的L29 8N，该芯片是15线制，可驱动两相步进电机或四相步进电机，也可用于驱动两台直流电机。基于机器视觉的智能汽车采用四个直流电机，驱动电路如图2所示。 图2电路驱动器的电路线路图 如图2所示，L29 8N芯片可以同时驱动两个直流电机，假设两个电机为M1和M2，AB功能脚主要用于控制电机速度，采用脉冲宽度调制（PWM）进行速度控制。以M1电机为例，当IN1连接到一个低电平时，IN2连接到一个高电平，当电机传递时，可以指定级别，相反，电机反向旋转，电机反向旋转可以有效地控制汽车向前向后、速度和前后控制水平。如表1所示。 表1电机驱动状态表
如表1所示电机状态由高电平和低电平驱动，速度可以通过高速度和低电平来调节，电机的正反转通过电机正负控制和WiFi实时环境信息来实现，智能汽车的运行状态通过远程来控制。通过WiFi返回的实时环境信息，用远程控制来改变智能车的运行状态。 基于计算机视觉技术的WiFi智能汽车的研究实验 为了验证基于计算机视觉技术的WiFi智能车的性能，设计了汽车通信实验，并制作了PCB板、集成USB接口的WiFi通信接口板、MCU和WiFi模块、整个板的系统如图3所示。 Wifi 通信板 MCU WIFI模块的USB接口 图3整个系统的PCB板 如图3所示，在系统设计之后，本文主要对机器的视觉进行了测试，即在WiFi通信环境中对实时信息的传送进行了测试。为了验证WiFi的优越性，将其与蓝牙和ZigBee通信进行了比较，得到了表2所示的结果。 表2 与WiFi远程通信效果比较
如表2所示，实验结果表明，与蓝牙和ZigBee通信技术相比，WiFi通信技术具有更长的传输距离、更快的通信速度，并且能够满足实时图像传输功能的需求。将WIFI通信技术应用于智能汽车远程控制的设计中，可以显著提高智能汽车的智能控制能力。 结论 为了实现火灾、爆炸等危险场所的无人遥控，设计了一种基于WiFi通信的智能车辆，这个设计的关键就是WiFi通信图像实时传输模块、速度以及前后转向控制电机模块的设计。当智能汽车运行时，图像可以实时地传送回工作环境，并且可以由两个方向接的控制终端发出的控制命令。为了验证智能车的视觉图像传输能力特性，制作汽车的智能控制系统和PCB板的通信系统，并对其通信性能进行了测试。测试结果表明，采用WiFi实现实时图像传输，不但通信距离长，并且能够满足远程视频传输和远程控制的需求。 参考文献：
Vol.30(7), (2014), p.25-33
Electronic Design Engineering. Vol.19(6), (2011), p.110-112
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