基于线性CCD的新型智能循迹机器人的系统设计

Design of a Novel Intelligent Tracking Robot System Based on Linear CCD

以TSL1401线性CCD作为传感器获取图像信息,以MK60N512单片机作为控制器设计了一种新型智能循迹机器人。针对图像二值化阈值处理计算量较大的问题,提出特征点法。该法仅计算图像特征点的像素值,可以在保证精度的前提下减少了程序的计算量。针对黑线轨迹提取运算量大的问题,提出了一种新的记忆扫描法,该法只需检测少数像素点即可精确提取黑线标识,简化图像扫描过程,缩短了运算时间。为了提高智能机器人系统的控制精度和稳定性,对电机建立了数学模型,并利用积分分离PID算法进行仿真分析与验证。最后通过实验证明文中提出的算法可行有效。

A new-type intelligent tracking robot system was designed based on the TSL1401 linear Charge-coupled Device （ CCD） as the sensor to obtain the surrounding image, and the MK60N512 microcontroller unit （MCU） as the core controller. The characteris-tic point method was proposed to calculate the threshold of the image binarization processing aimed at the problem of a large amount, which only calculated the pixel value of the characteristic points instead of all points. The amount could be reduced in the program cal-culation on the premise of satisfying the accuracy requirements. A new memory-scanning method was presented by aimed at the problem of a large amount of image computation for the extraction of the black line trajectory. The image scanning process was simplified and the process time was shortened by just only detecting a few pixels then black sign was extracted accurately. The motor mathematical model was established and the integral separation of proportion integration differential （ PID） algorithm was adopted in order to improve the system control precision and stability of an intelligent robot, and the simulation analysis and verification were then accomplished. Final-ly the experimental results show the proposed algorithm is feasible and effective.