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基于树莓派摄像头的双轮循迹平衡车设计.docx

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基于树莓派摄像头的双轮循迹平衡车设计 Abstract Thispaperpresentsthedesignofatwo-wheeledself-balancingrobotbasedontheRaspberryPicamera.Therobotisdesignedtodetectandfollowalineonthegroundthroughtheuseofsensorsandfeedbackmechanisms.ThesystemisbuiltusingaRaspberryPimicrocontroller,twoDCmotorswithencoders,anIMUsensor,andacameramodule.TherobotisprogrammedtostabilizeitselfusingPIDcontrolandimageprocessingtechnology.TherobotcanbecontrolledremotelyviaBluetoothusingtheHC-05module.Theresultsshowthattherobotiscapableoffollowinglinesaccuratelyandefficiently. Keywords:RaspberryPi,LineFollowingRobot,Self-balancing,PIDControl,ImageProcessing. Introduction TheRaspberryPiisasmall,inexpensive,andversatilemicrocontrollerthathasgainedpopularityinrecentyearsforitsflexibilityinroboticsprojects.Withtheadditionofacameramodule,itispossibletousetheRaspberryPiforimageprocessingapplications,makingitanidealchoiceforlinefollowingrobots. Alinefollowingrobotisatypeofrobotthatisdesignedtofollowalineontheground.Therobottypicallyusessensorstodetectthelineandfeedbackmechanismstocontrolitsmovement.Thegoalofthisprojectistodesignandbuildatwo-wheeledself-balancingrobotthatiscapableoffollowingalineonthegroundusingtheRaspberryPicamera. DesignandImplementation Therobotisdesignedwithatwo-wheelsetup.TwoDCmotorswithencodersareusedtodrivetherobotandprovidefeedbackontherobot'sspeedandposition.A6degreeoffreedom(DOF)IMUsensorisusedtodetecttherobot'sorientation,whichisusedintheself-stabilizationmechanism.Acameramoduleisusedtodetectthelineonthegroundandprovidefeedbackfortherobot'smovement. TheRaspberryPiservesasthemaincontrollerfortherobot.ThePireceivesinputfromthesensorsandcameramoduleandprocessesthedatausingPython.Thedataisthenusedtocontrolthemotorsandprovidefeedbackfortheself-balancingmechanism.ThecontrolalgorithmusedisaProportionalIntegralDerivative(PID)controller. ABluetoothmodule(HC-05)isusedtoremotelycontroltherobot.Themobiledeviceisusedtoprovidecommandstotherobot,suchasstart/stop,speed,anddirection. Results Therobotwastestedonal