CAJ | 학술논문

　　文章介绍了带摄像功能的智能小车系统的结构：在 MC9S12XSl28独立控制下，通过OV6620数字摄像头，主要实现摄像头功能控制、图像数据的采集和处理等；MSP430F449单片机作为主控器，通过 CPU 内16位 CCR 模块，对左右轮电机实现电机差速控制，以及车速检测、人机交互、测距等控制。该系统由于采用双 CPU 结构，图像处理和执行机构分别独立控制，系统控制的精度和响应的实时性得到较大提高。另外，借助 LCD 可及时了解系统的工作状态。该系统不但能实现循迹、避障，也可用于遥控搜索等场合。
　　문장개소료대섭상공능적지능소차계통적결구：재 MC9S12XSl28독립공제하，통과OV6620수자섭상두，주요실현섭상두공능공제、도상수거적채집화처리등；MSP430F449단편궤작위주공기，통과 CPU 내16위 CCR 모괴，대좌우륜전궤실현전궤차속공제，이급차속검측、인궤교호、측거등공제。해계통유우채용쌍 CPU 결구，도상처리화집행궤구분별독립공제，계통공제적정도화향응적실시성득도교대제고。령외，차조 LCD 가급시료해계통적공작상태。해계통불단능실현순적、피장，야가용우요공수색등장합。
This article introduces the structure of intelligent car system with camera function: Under the independent control of MC9S12XSl28 MCU,OV6620 digital camera is used to realize the pick-up head control,image data acquisition and processing,etc.With MSP430F449 CPU as a main controller,the 16 bit CCR module integrated in CPU is utilized to achieve the differential-speed control of left and right wheel of the motor as well as the car speed detection,human-computer interaction,distance measurement,etc.This system adopts double CPU structure,and the image-processing and actuating mechanism can be controlled by the each CPU independently.This method greatly improves the precision of system and the real time of re-sponse.In addition,the real-time working state of the system can be known through the LCD.This system can not only fulfill the functions of tracking and obstacle avoidance;but also be used for the occasions such as remote-searching,etc.