安全守卫者自主巡逻安保智能小车.doc

飞思卡尔创意小车比赛 安全守卫者 自主巡逻安保智能小车 队伍名称EC创意 指导老师金纪东 参赛队员杨焘赵国庆张兆平陈杨 张浩 河海大学常州校区 EC 创意 摘 要 自主巡逻安保智能小车以飞思卡尔MC9S12XS128单片机为控制核心结合数 字罗盘超声波摄像头热释电烟雾温度等多种传感器检测外部环境 集智能自主导航无人值守自动巡逻特殊情况检测报警等功能于一身并能够 与无线安全检查网络以及中控室进行信息交流构成综合性的立体安全系统 智能小车一共有两种工作模式即自主巡逻模式和应急模式 自主巡逻模式下从车库出发根据预先存储在FLASH存储器中的道路信息 巡逻路径等借助视觉系统识别路标信息以及导航系统确定方向对楼道进行 自主巡逻完成对各个路段的扫描检测区域内有无非法闯入者或者环境异常包 括温度烟雾浓度情况并返回相关数据巡逻结束自动停到车库 应急模式能够自动查询预存的路径信息获得小车当前位置并根据报警 的无线节点所发的编号信息迅速计算出最佳路径然后快速前往报警地点当 到达报警路段后对该区域进行全方位扫描采集温度视频等相关信息并返 回数据应急模式结束后小车自动切换到自主巡逻模式 关键词MC9S12XS128 视觉系统 自主巡逻 无线传输 环境监测 1 河海大学常州校区 EC 创意 Abstract This security patrol car to the smart single-chip Freescale MC9S12XS128 for the control of the core combined with digital compass ultrasonic camera pyroelectric smoke temperature and other sensors to detect the external environment set intelligent autonomous navigation unmanned Auto patrol special circumstances such as detection of alarm functions and be able to network and wireless security check in the control room as well as the exchange of information which constitute three-dimensional integrated security systems Smart car a total of two operating modes namely self-patrol mode and emergency mode Self-patrol mode Starting from the garage according to pre-stored in the FLASH memory of the road information such as patrol path road signs recognition with the visual system as well as to determine the direction of navigation systems Corridor to carry out patrols on their own completion of the various sections of the scanning detection of the region or whether the unusual circumstances surrounding the illegal intruders including temperature smoke concentration in the case and return the relevant data Automatically stop patrolling the end of the garage Emergency mode Can automatically query information stored in the path to obtain the current vehicle location and wireless node according to the police issued ID information quickly calculate the best path and then quickly to the alarm location When the police arrived after the section of the omni-directional scanning region Collecting temperature video and other related information and return data Emergency mode after the car automatically switches to self-patrol mode Key words MC9S12XS128 vision system independent patrol wireless environmental monitoring 2 河海大学常州校区 EC 创意 目 录 第一章 引言 5 11 主要创新理念5 12 创意背景6 13 功能分析6 com 设计目标6 com 设计工作流程6 14 报告结构7 15 本章小结7 第二章 方案介绍与选择 8 21 电源方案选择8 22 驱动方案选择[3] 8 23 人体检测方案9 24 车库检测方案9 25 烟雾和温度检测方案9 26 导航方案9 27 图像识别方案 10 [5] 28 中控软件平台设计10 29 本章小结10 第三章 系统硬件设计 11 31 硬件整体介绍11 32 车体介绍12 33 电源模块13 com 技术指标14 34 单片机最小系统设计14 35 电机驱动模块15 com 电机驱动逻辑单元[3] 15 com 电荷泵升压单元16 com 驱动信号放大电路模块17 com率驱动模块18 com 模块技术指标19 36 热释电模块19 com 技术指标20 37 车库检测20 com 性能指标21 38 烟雾传感器模块21 com 技术指标23 3 河海大学常州校区 EC 创意 39 温度传感器23 310 节点检测报警模块24 com 性能指标26 311 超声波模块26 312 数字罗盘模块27 313 摄像头模块28 314 本章小结29 第四章 系统软件设计 30 41 系统软件整体结构30 42 系统驱动30 43 环境异常检测31 44 导航信息32 com 超声波避障33 com 前进方向判断处。