摘要
本文结合机器人竞赛,介绍了自主式寻迹机器人小车的设计和具体实现。机器人以凌阳公司的SPCE061A为平台。机器人由传感器、控制器和驱动器等模块组成。采用反射式红外传感器来辨别路线。传感器模块包括了消除干扰信号的电路。对反射光强进行测量,以此为依据设置阈值电压以保证系统的可靠性和准确性。控制模块预置了导航地图并实现访问景点的PID控制算法。驱动模块的电机速度采用PWM方式进行控制。
Combined with robot contest, the design and implementation of auto-searching for track vehicle in robot is introduced. The robot is designed on the basis of the SPCE061A system. It consists of sensor, controller and driver. Infrared sensor is used to recognize the route. The sensor circuit can eliminate the noise. The strength of the reflected light is measured and suitable threshold voltage is set to ensure the reliability and precision of the system. Certain electro-map is pre-set in the controller and the PID algorithm is run to visit the scenic spots following the map. The velocity of motor in driver is controlled in PWM manner.
出处
《国外电子测量技术》
2006年第7期40-42,共3页
Foreign Electronic Measurement Technology
关键词
寻迹机器人
红外传感器
光电编码器
PID算法
PWM
Robot of auto-searching for track, infrared sensor, photoelectric encoder, PID algorithm, PWM.
