CN105652865A - Line-hunting control system of robot - Google Patents
Line-hunting control system of robot Download PDFInfo
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- CN105652865A CN105652865A CN201410669332.9A CN201410669332A CN105652865A CN 105652865 A CN105652865 A CN 105652865A CN 201410669332 A CN201410669332 A CN 201410669332A CN 105652865 A CN105652865 A CN 105652865A
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Abstract
Disclosed in the invention is a line-hunting control system of a robot. The system is composed of a photoelectric sensor, an optical transmitting-receiving board, a comparator comparison board, a photoelectric coupler, a gating device, and a single-chip microcomputer for receiving a signal from the gating device, outputting a digital signal, and generating pulse, enabling, and direction signals. The photoelectric sensor is connected with the input terminal of the optical-transmitting-receiving board; the output terminal of the optical transmitting-receiving board is connected with the input terminal of the comparator comparison board; the output terminal of the comparator comparison board is connected with the input terminal of the photoelectric coupler; the output terminal of the photoelectric coupler is connected with the input terminal of the gating device; the output terminal of the gating device is connected with the input terminal of the single-chip microcomputer; the output terminal of the single-chip microcomputer is connected with an amplifying circuit; the output terminal of the amplifying circuit is connected with a stepping motor driving panel; and the output terminal of the stepping motor driving panel is connected with a stepping motor. Compared with the traditional line-hunting control system, the provided line-hunting control system has advantages of easy realization and low cost and is suitable for occasions with the low precision requirement, for example, a robot competition occasion.
Description
Technical field
The invention belongs to technical field of robot control, it is specifically related to a kind of Line-tracking Control System of Robot.
Background technology
In recent years, along with the development of society improves, science and technology is constantly in lifting. In the application of a kind of automatic walking robot, it is desirable to robot can arrive point of destination according to certain white indicatrix on ground automatically. If adopting driving stepper motor can meet above requirement, but the various factors due to ground, such as ground is more smooth, causes robot to occur skidding or losing step in moving process, robot in motion once have skid or lose step phenomenon, then can not accurately arrive point of destination.
Summary of the invention
It is an object of the invention to overcome above-mentioned deficiency of the prior art, it is provided that a kind of Line-tracking Control System of Robot. This Line-tracking Control System of Robot compared with tradition hunting Controlling System, be easy to realize, cost low, and be applicable to the robot match not too high occasion of equally accurate requirement.
For achieving the above object, the technical solution used in the present invention is: a kind of Line-tracking Control System of Robot, it is characterized in that: comprise for gathering ground indicatrix signal at any time with the photo-sensor of measuring robots drive wheel position state, detected result for being exported by described photo-sensor carries out the light emission dash receiver of amplification process, comparer for receiving described light emission dash receiver outputting analog signal and be converted into numerary signal compares plate, the photoelectricity coupling mechanism of the numerary signal that plate exports is compared for transmitting described comparer, for receiving the numerary signal of described photoelectricity coupling mechanism output and control the gating device whether described numerary signal is passed through, and for receiving described gating device output digit signals and produce pulse, the enable micro-chip with direction signal, described photo-sensor connects with the input terminus of described light emission dash receiver, the input terminus that the output terminal of described light emission dash receiver compares plate with comparer connects, the input terminus of output terminal and photoelectricity coupling mechanism that described comparer compares plate connects, the output terminal of described photoelectricity coupling mechanism connects with the input terminus of gating device, the described output terminal of gating device connects with the input terminus of micro-chip, the output terminal of described micro-chip is connected to the pulse for being exported by micro-chip, the amplification circuit that enable and direction signal amplifies, the output terminal of described amplification circuit is connected to for receiving the pulse through amplifying, enable and direction signal also controls the driving stepper motor plate of stepper-motor after carrying out scaling down processing, described stepper drive motors drives the output terminal of plate to connect with stepper-motor.
Above-mentioned a kind of Line-tracking Control System of Robot, it is characterised in that: the quantity of described stepper-motor is two, is respectively left stepper-motor and right stepper-motor.
Above-mentioned a kind of Line-tracking Control System of Robot, it is characterised in that: described micro-chip adopts AT89c52 micro-chip.
Above-mentioned a kind of Line-tracking Control System of Robot, it is characterised in that: described gating device is 74150 gating devices.
Above-mentioned a kind of Line-tracking Control System of Robot, it is characterised in that: described photoelectricity coupling mechanism adopts precision photoelectric coupler.
The present invention compared with prior art has the following advantages:
1, the structure of the present invention is simple, rationally novel in design.
2, the present invention is set using more convenient, and long service life.
3, the present invention
4, the implementation cost of the present invention is low, it may also be useful to effective, is convenient to promote the use of.
In sum, this system is under the control of micro-chip, gather, store, process the religion word signal of hunting system input. and control stepper-motor by drive system. robot is walked according to default route, this system also has automatic deviation correction, accurately and reliably, the features such as immunity from interference is strong, for the accuracy of robot ambulation provides Reliable guarantee. This system is easy to realize, cost is low, is applicable to the robot match not too high occasion of equally accurate requirement, is worth of widely use.
Below by drawings and Examples, the technical scheme of the present invention is described in further detail.
Accompanying drawing explanation
Fig. 1 is the schematic block circuit diagram of the present invention.
Description of reference numerals:
1 photo-sensor; 2 light emission dash receivers; 3 comparers compare plate;
4 photoelectricity coupling mechanisms; 5 gating devices; 6 micro-chips;
7 amplification circuit; 8 driving stepper motor plates; 9 left stepper-motors;
10 right stepper-motors.
Embodiment
A kind of Line-tracking Control System of Robot as shown in Figure 1, comprise for gathering the photo-sensor 1 of ground indicatrix signal with measuring robots drive wheel position state at any time, for the detected result that described photo-sensor 1 exports being carried out the light emission dash receiver 2 of amplification process, comparer for receiving described light emission dash receiver 2 outputting analog signal and be converted into numerary signal compares plate 3, the photoelectricity coupling mechanism 4 of the numerary signal that plate 3 exports is compared for transmitting described comparer, for receiving the numerary signal of described photoelectricity coupling mechanism 4 output and control the gating device 5 whether described numerary signal is passed through, and for receiving described gating device 5 output digit signals and produce pulse, the enable micro-chip 6 with direction signal, described photo-sensor 1 connects with the input terminus of described light emission dash receiver 2, the input terminus that the output terminal of described light emission dash receiver 2 compares plate 3 with comparer connects, the input terminus of output terminal and photoelectricity coupling mechanism 4 that described comparer compares plate 3 connects, the output terminal of described photoelectricity coupling mechanism 4 connects with the input terminus of gating device 5, the output terminal of described gating device 5 connects with the input terminus of micro-chip 6, the output terminal of described micro-chip 6 is connected to the pulse for being exported by micro-chip 6, the amplification circuit 7 that enable and direction signal amplifies, the output terminal of described amplification circuit 7 is connected to for receiving the pulse through amplifying, enable and direction signal also controls the driving stepper motor plate 8 of stepper-motor after carrying out scaling down processing, described stepper drive motors drives the output terminal of plate 8 to connect with stepper-motor.
In the present embodiment, the quantity of described stepper-motor is two, is respectively left stepper-motor 9 and right stepper-motor 10.Described micro-chip 6 adopts AT89c52 micro-chip. Described gating device 5 is 74150 gating devices. Described photoelectricity coupling mechanism 4 adopts precision photoelectric coupler.
In the present embodiment, the core of this Controlling System have employed AT89c52 micro-chip as control chip, AT89C52 micro-chip be a kind of low-power consumption, high performance containing 8KB dodge speed able to programme/8 CMOS microcontrollers of erasable read only storer. Whole single-chip computer control system produces pulse, enable, direction signal by A189C52 micro-chip, these signals are input to driving stepper motor plate after amplifying, pulse signal is carried out frequency division by driving stepper motor plate, so-called frequency division is i.e. " segmentation ", after being segmented by paired pulses, be conducive to improving the operating performance of stepper-motor. Frequency division pulse, enable and direction signal input stepper-motor, drive the rotation of stepper-motor, thus the driving wheel of band mobile robot rotates, and makes robot motion. Robot utilizes hunting system to gather the position state of signal detection self of indicatrix on ground at any time in motion. and after being amplified by light emission dash receiver, simulating signal is input to comparer and compares plate, it is converted into numerary signal, and after photoelectricity coupling isolation, it is input to 74150 gating devices, more successively signal is input to AT89C52 micro-chip. The theory signal value that this defeated people's signal value and program are preset is compared by micro-chip, is judged the accuracy of current robot position by comparative result. If two signal values are consistent, then robot thinks that the route of walking is correct. If two signal values are not consistent, then robot thinks that the route of walking is incorrect, so micro-chip responds according to comparative result immediately, immediately to align current incorrect position.
The above; it it is only the better embodiment of the present invention; not the present invention being imposed any restrictions, every any simple modification, change and equivalent structure conversion above embodiment done according to the technology of the present invention essence, all still belongs in the protection domain of technical solution of the present invention.
Claims (5)
1. a Line-tracking Control System of Robot, it is characterized in that: comprise for gathering ground indicatrix signal at any time with the photo-sensor (1) of measuring robots drive wheel position state, for the detected result that described photo-sensor (1) exports being carried out the light emission dash receiver (2) of amplification process, comparer for receiving described light emission dash receiver (2) outputting analog signal and be converted into numerary signal compares plate (3), the photoelectricity coupling mechanism (4) of the numerary signal that plate (3) exports is compared for transmitting described comparer, for receiving numerary signal that described photoelectricity coupling mechanism (4) exports and control the gating device (5) whether described numerary signal is passed through, and for receiving described gating device (5) output digit signals and produce pulse, the enable micro-chip (6) with direction signal, described photo-sensor (1) connects with the input terminus of described light emission dash receiver (2), the input terminus that the output terminal of described light emission dash receiver (2) compares plate (3) with comparer connects, the input terminus of output terminal and photoelectricity coupling mechanism (4) that described comparer compares plate (3) connects, the output terminal of described photoelectricity coupling mechanism (4) connects with the input terminus of gating device (5), the output terminal of described gating device (5) connects with the input terminus of micro-chip (6), the output terminal of described micro-chip (6) is connected to the pulse for being exported by micro-chip (6), the amplification circuit (7) that enable and direction signal amplifies, the output terminal of described amplification circuit (7) is connected to for receiving the pulse through amplifying, enable and direction signal also controls the driving stepper motor plate (8) of stepper-motor after carrying out scaling down processing, described stepper drive motors drives the output terminal of plate (8) to connect with stepper-motor.
2. a kind of Line-tracking Control System of Robot according to claim 1, it is characterised in that: the quantity of described stepper-motor is two, is respectively left stepper-motor (9) and right stepper-motor (10).
3. a kind of Line-tracking Control System of Robot according to claim 1, it is characterised in that: described micro-chip (6) adopts AT89c52 micro-chip.
4. a kind of Line-tracking Control System of Robot according to claim 1, it is characterised in that: described gating device (5) is 74150 gating devices.
5. a kind of Line-tracking Control System of Robot according to claim 1, it is characterised in that: described photoelectricity coupling mechanism (4) adopts precision photoelectric coupler.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410669332.9A CN105652865A (en) | 2014-11-20 | 2014-11-20 | Line-hunting control system of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410669332.9A CN105652865A (en) | 2014-11-20 | 2014-11-20 | Line-hunting control system of robot |
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| Publication Number | Publication Date |
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| CN105652865A true CN105652865A (en) | 2016-06-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410669332.9A Pending CN105652865A (en) | 2014-11-20 | 2014-11-20 | Line-hunting control system of robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106141461A (en) * | 2016-07-21 | 2016-11-23 | 成都福誉科技有限公司 | Kinetic control system and laser cutting device for industrial lasers cutter sweep |
| CN111694363A (en) * | 2020-06-24 | 2020-09-22 | 华北水利水电大学 | Robot navigation signal processing circuit |
| CN112386282A (en) * | 2020-11-13 | 2021-02-23 | 声泰特（成都）科技有限公司 | Ultrasonic automatic volume scanning imaging method and system |
-
2014
- 2014-11-20 CN CN201410669332.9A patent/CN105652865A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106141461A (en) * | 2016-07-21 | 2016-11-23 | 成都福誉科技有限公司 | Kinetic control system and laser cutting device for industrial lasers cutter sweep |
| CN111694363A (en) * | 2020-06-24 | 2020-09-22 | 华北水利水电大学 | Robot navigation signal processing circuit |
| CN111694363B (en) * | 2020-06-24 | 2021-04-02 | 华北水利水电大学 | Robot navigation signal processing circuit |
| CN112386282A (en) * | 2020-11-13 | 2021-02-23 | 声泰特（成都）科技有限公司 | Ultrasonic automatic volume scanning imaging method and system |
| CN112386282B (en) * | 2020-11-13 | 2022-08-26 | 声泰特（成都）科技有限公司 | Ultrasonic automatic volume scanning imaging method and system |
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Application publication date: 20160608 |
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