摘要随着智能化技术的发展，直立平衡车、智能监控越来越受人们的重 视。目前部分直立平衡车已走向市场，该技术涉及到硬件的设计与制作， 嵌入式软件系统的建立与调试。DSRC 协议如今已日趋完善，在车联网上 的良好的性能已经引起大家的关注，可基于其完成车辆监控、通信与管 理。83359

本文的研究内容主要是光电直立平衡车的制作与调试，基于线性 CCD 的智能车图像处理以及寻迹方法，并利用 DSRC 技术搭建了两车之间的通 信与监控系统。为了使系统更趋于完善，该系统添加了如卡尔曼滤波， PID 控制，大津阈值分割法等各种算法。

本文首先完成光电直立车系统的设计与实现，介绍了平衡车的硬件 组成、搭建方法以及软件实现流程，实现了对于平衡车的控制系统及控 制算法，包括平衡控制，速度控制，方向控制等。同时，实现线性 ccd 的数据采集，对其图像处理算法进行了仿真，完成了光电直立车的自主 寻迹功能。然后在平衡车的基础上，实现基于 DSRC 的车车无线通信，完 成了基于 WAVE 传输的双车通信系统的 PC 客户端。

毕业论文关键词 ：平衡车；图像处理；PID 算法；DSRC；WAVE

Abstract With the advent of intelligent, upright balance car, intelligent monitoring more and more people's attention。 At present, part of the vertical balance car has gone to the market, which involves the design and production of hardware, the establishment and debugging of embedded software system。 DSRC protocol has now become more and more perfect, good performance in the car networking has attracted everyone's attention, can be based on the completion of vehicle monitoring, communication and management。

The research content of this paper is mainly on the production and debugging of the photoelectric upright balance vehicle, based on the linear CCD intelligent vehicle image processing and tracing method, and the use of DSRC technology to set up the communication and monitoring system between the two vehicles。 In order to make the system become more perfect, the system added such as the Kalman filter, PID control, Otsu threshold segmentation method and other algorithms。

Firstly, this photoelectric erect system design and implementation, introduced the balance method and software realization of hardware components, build processes, achieve the balance control system and control method of vehicle, including balance control, speed control and direction control。 Meanwhile, linear CCD data acquisition, simulation of its image processing algorithms, completed the independent photoelectric upright car tracing functionality。 And then balance the car based on the based on DSRC vehicle wireless communication, completed the two-car communication system based on WAVE transmission of PC client。

Keywords: Balancing car  ；image processing；algorithm for PID; DSRC;WAVE

目录

第一章 绪论 1

1。1 课题研究背景及意义 1

1。2 国内外研究现状 1

1。3 论文主要研究内容 2

1。4 论文组织结构 3

第二章 光电直立平衡车的硬件系统设计 4

2。1 硬件的结构设计 4

2。2 硬件主要模块介绍 5

2。2。1 设置与调试模块 5

2。2。1。1 拨码开关模块 5

2。2。1。2 OLED 显示模块