Design of Upright Intelligent Vehicle Based on Camera

Design of mechanical and control system of walking uprighttype intelligent vehicle. The system uses MK60 as the main controller, with the gyro sensor and acceleration sensor together, using complementary filter methods to measure the til tangle and angular velocity of the intelligent vehicle. Using the PD algorithm to control the intelligent vehicle wheel acceleration to offset the car movement tendency, realize the intelligent vehicle upright. MK60 array camera sensor, through a new kind of edge detection methods to complete the processing of image information,attitude angle fusion of gyroscope and accelerometer using the complementary filtering algorithm,complete the vertical,movement and steering control of the intelligent vehicle. After testing, the intelligent vehicle to stay upright at the sametime, complete identification of the track, and runs smooth and fast.