基于光电传感器的智能小车自动寻迹控制系统

Automatic Rail Guided Control System for Intelligent Small Car Based on Optoelectric Sensors

在智能车自动寻迹系统中,自动寻线、避障及速度控制是智能车自动寻迹控制的基本功能。用于检测路径引导线的光电传感器阵列采用发光二极管和光敏电阻制作,检测车速和障碍物的功能则采用反射式红外光电传感器FS-359F实现,采用单片机STC12C5A60S2作为控制器,通过PWM控制方式对驱动电机进行调速,并根据路面和车速信息进行转向控制。试验表明,采用上述光电传感器的智能小车寻迹控制系统实现了智能小车沿路径引导线自动避障行驶。系统体积小、成本低、性能稳定可靠。

In automatic rail guided system for Intelligent small car, automatic rail guidance, obstacle avoidance and car speed detection are three fundamental functions. The photoelectricity sensors array for path rail detection were made by optodiodes and op- toresisters. The function of detecting speed and obstacle was realized by reflective optoelectric sensors FS0359F. The MCU STC12C5A60S2 were used as central control unit ,which output PWM signals to adjust the speed of driving motors and control the moving direction of small car by road environment and car speed information. The experiments show that the automatic rail guided control system has realized automatic moving control with rail guidance and obstacle avoiding for the intelligent small car. It is a system of low cost, small size and stable fuction.