基于线性CCD的稳定循线机器人设计
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摘要
为解决现有循线机器人循线不稳定的问题,设计了一种能稳定循线的机器人.该循线机器人利用CCD传感器采集路况信息,利用舵机差速进行转弯,利用线性CCD与灰度传感器配合进行路径识别.在算法上采用了PID算法解决循线不稳定的问题,同时利用循环判断解决CCD容易误判的问题.结果表明:该循线机器人循线速度快,且能在有障碍物的情况下稳定循线.
In order to solve the present problem of cable-inspection robot,which cannot patrol the line steadily,now a kind of cable-inspection robot being able to do the patrolling work steadily has been designed. The cableinspection robot collects traffic information by using CCD sensor,turns by the differential rotational speed of steering engine and recognizes the path with the cooperation of linear CCD and grey-scale sensor. It solves the problem of unstable cable-inspection with PID arithmetic. Meanwhile,by applying cycle judgement,it prevents the CCD from easy misjudgment. According to the research results,the cable-inspection robot can patrol line with high speed and keep steady even if some obstacles appear.
In order to solve the present problem of cable-inspection robot,which cannot patrol the line steadily,now a kind of cable-inspection robot being able to do the patrolling work steadily has been designed. The cableinspection robot collects traffic information by using CCD sensor,turns by the differential rotational speed of steering engine and recognizes the path with the cooperation of linear CCD and grey-scale sensor. It solves the problem of unstable cable-inspection with PID arithmetic. Meanwhile,by applying cycle judgement,it prevents the CCD from easy misjudgment. According to the research results,the cable-inspection robot can patrol line with high speed and keep steady even if some obstacles appear.
引文
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[13]中国自动化学会机器人竞赛工作委员会.2017中国旅游暨安防机器人大赛机器人越野(Ⅱ型循线)”赛项比赛规则[EB/OL](2017-05-23)[2018-10-07]ht-tp://crc. drct-caa. org. cn/index. php/race/view? id=477.
[2] Fosch Villaronga E,Roig A. European regulatory frame-work for person carrier robots[J]. Computer Law&Se-curity Review:The International Journal of TechnologyLaw and Practice,2017,33(4):502-520.
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[4]柳振,郭庆,徐翠锋.基于电动汽车驱动用无刷直流电机控制仿真[J].电机与控制应用,2018,45(7):102-108+115.
[5] Ramakumar S,Deviannapoorani C,Dhivya L,et al. Lith-ium garnets:Synthesis,structure,Li+conductivity,Li+dynamics and applications[J]. Progress in MaterialsScience,2017(4):325-411.
[6] RafaWalczak,Wojciech Kubicki,Jan Dziuban. Lowcost fluorescence detection using a CCD array and imageprocessing for on-chip gel electrophoresis[J]. Sensors&Actuators:B. Chemical,2017,240:46-54.
[7] Danial Nakhaeinia,Pierre Payeur,Robert Laganière. AMode-Switching Motion Control System for Reactive In-teraction and Surface Following Using Industrial Robots[J].IEEE/CAA Journal of Automatica Sinica,2018,5(3):670-682.
[8] Dingjie Wang,Hanfeng Lv,Jie Wu. Augmented Cuba-ture Kalman filter for nonlinear RTK/MIMU integratednavigation with non-additive noise[J]. Measurement,2017,97:111-125.
[9] Jianrong Wang,Renxiang Wang,Xin Hu,Zhongbo Su.The On-orbit Calibration of Geometric Parameters of theTian-Hui 1(TH-1)Satellite[J]. ISPRS Journal of Pho-togrammetry and Remote Sensing,2017,124:144-151.
[10] Belad M A. Performance analysis of S-parameter in N-MOSFET devices after thermal accelerated tests[J].Microelectronics Reliability,2018,91:8-14.
[11]王语园,孔育琴.基于单片机的步进电机驱动设计与实现[J].福建电脑,2016,32(4):114+133.
[12]郝伟,张宏立.板球系统的模糊自整定PID控制算法研究[J].控制工程,2018(9):1649-1655.
[13]中国自动化学会机器人竞赛工作委员会.2017中国旅游暨安防机器人大赛机器人越野(Ⅱ型循线)”赛项比赛规则[EB/OL](2017-05-23)[2018-10-07]ht-tp://crc. drct-caa. org. cn/index. php/race/view? id=477.