红外反射式传感器在自主式寻迹小车导航中的应用

Usage of the reflected infrared sensor in automatic guiding car

本文介绍了利用红外反射式传感器实现小车自动寻迹导航的设计与实现。自动寻迹是基于自动导引小车(AGV—auto guidedvehicle)机器人系统 ,用以实现小车自动识别路线 ,判断并自动规避障碍 ,以及选择正确的路线。实验中采用与地面颜色有较大差别的线条作引导 ,使用反射式红外传感器感知导引线和判断障碍物。系统控制核心采用AT89C2 0 5 1单片机 ,系统驱动采用控制方式为单向PWM的直流电机。该技术可以应用于无人驾驶机动车 ,无人工厂、仓库、服务机器人等领域。

This article introduces the design and execution of auto-searching for track by usage of the reflected infrared sensor on the auto -guided car. The auto-searching for track is on the base of the AGV-auto-gu i ded vehicle system. It makes the car discern the routs, judge and evade the obs t acles automatically. So the car can choose the right routes. In the experiment we t ake use of the guiding wire whose color distinguishes from the background to gui de the car and the inflected infrared sensor to discern the guiding wire and obs tacles. The AT89C2051 Single Chip Microcomputer is used for the control core in this system, and the one-way PWM direct current electromotor for the motive fo rce or power system. This technology could serve to driverless mobile, robot fa ctory, warehouse, service robot and etc.