摘要
根据2018年中国机器人大赛机器人抢道越野比赛命题要求,设计了一种基于TSL1401线性CCD进行图像采集和处理的抢道越野机器人.当TSL1401线性CCD检测到白线后,把信号传送给K60微控制器,K60对检测信号进行一系列处理后控制各电机差速,进而实现了机器人自主巡线前进.通过对机器人稳定性和速度的测试实验表明,该机器人使用TSL1401线性CCD具有扰动小、速度快和稳定性高等优点.竞赛实践证明了该处理思路的可行性,且效果良好.
According to the proposition requirements of the 2008 China Robot Competition, an off-road robot based on TSL1401 linear CCD for image acquisition and processing is designed. When the white line is detected by TSL1401 linear CCD, the signal is transmitted to the K60 microcontroller. After a series of processing of the detected signal, K60 controls the differential speed of each motor, and then realizes the robot’s autonomous patrol. The experiments on the stability and speed of the robot show that the TSL1401 linear CCD has the advantages of small disturbance, fast speed and high stability. Competition practice has proved the feasibility of this approach, and the effect is very good.
作者
桑勇
李丹
洪明峰
张家熹
SANG Yong;LI Dan;HONG Ming-feng;ZHANG Jia-xi(School of Electrical and Information Engineering,Anhui University of Technology,Maanshan 243002,Anhui,China)
出处
《兰州文理学院学报（自然科学版）》
2019年第3期82-87,共6页
Journal of Lanzhou University of Arts and Science(Natural Sciences)
基金
教育部产学合作协同育人项目"激光加工实训教学内容和课程体系改革"(201702120071)
国家级大学生创新创业计划训练项目"智能巡回农业搬运机器人"(201810360050)
国家级大学生创新创业计划训练项目"基于地图寻宝的游历机器人设计"(201810360052)
