重庆大学机械工程研究生专业英语作业

1、专业英语课程研究报告科 目： 专 业 英 语 教 师： 刘怀举 姓 名： 汶 睿 学 号： 20120713094t 专 业： 机械工程领域 类 别： 专 业 上课时间： 2014年11月至2014年12月 考 生 成 绩： 阅卷评语： 阅卷教师 (签名) The smart balancing vehicle based on stereo vision(I) Proposed TitleThe smart balancing vehicle based on stereo vision(II) IntroductionI'm working in a team with my se

2、nior students which guided by our supervisor. Our team is to design a smart balancing vehicle with a camera. The principle of our balancing vehicle is a kind of symmetrical layout, using  accelerometers and gyroscopes in collaboration with 

3、each other before and after the tilt angle and angular velocity detection , while taking advantage of the sliding rheostat for testing self-balancing vehicle steering control&

4、#160;lever tilt angle , and the information output to the microcontroller, by appropriate control algorithm to calculate the amount of control , drive motor , and complet

5、ed self-balancing vehicle forward, backward and turning such action .  There is a camera at the top of the balancing vehicle, which can observe the surrounding environment ,so it can avoid the obstacles ahead and choose the best way by analysis of im

6、age ahead.(III) BackgroundAt present, balancing vehicle has widely spread to people's life both in domestic and foreign and development in the field of public transport. At the 2008 Olympics, the segway electric smart balancing car won the attention of many people. But this propose introduces th

7、e automatic obstacle avoidance based on vision sensors and image analysis of the balancing vehicle is more similar to a kind of intelligent robots. Although the obstacle avoidance of intelligent vehicle research at home and abroad are early, but mainly based on infrared sensor, detection radar and o

8、ther navigation systems with complex system , big volume and high cost. Vision as an important means of robots for environment information, to the information characteristics of the mobile robot navigation is of important theoretical significance and practical application value. Compared to other ac

9、tive measures, the information by stereo vision is fast and accurate, commonly used to detect suspicious barrier height and distance.(IV) MethodologyWe are ready to develop the smart balancing vehicle which is based on mature platform, integrated vision sensor. Namely separating obstacles from the b

10、ack-ground by typical image processing method, and performing the stereo matching of the extracted contour features in combination with the binocular vision calibration results to get the spatial point of 3D reconstruction. The obstacle avoidance rule and controller according to the fuzzy principle

11、were designed to avoid collision and by pass the enroute obstacles. The whole running performance of smart balancing vehicle firstly depends on the power supply and motor driver module. The vehicle 's drive not only requires the motor drive system torque weight than high, wide speed range, high

12、reliability, and because the torque - speed characteristic easily affected by power, which requires the driver has the efficient area as wide as possible.(V)Potential conclusionIf each part of our plan can be successfully finished, we expect that we can product the smart balancing vehicle in 6 month

13、s as planned(VI)Schedule§ Prepare proposal and theoretical knowledge by 1 November§ The overall system design by 15 November§ Select and lap hardware circuit by 15 January§ Algorithm design and programming by 15 February§ Test the motor on March§ Complete the balancing vehicle on May(VII)References1 LI Y. Vision based moving target track