一种智能寻迹与搬运机器人的控制系统设计  

An Intelligent Robot Control for Tracing and Transferring

作　　者：蒋嵘[1] 吴晨曦[1] 蒋峥[2] 臧荡 

机构地区：[1]湖南工程学院机械工程学院,湖南湘潭411101 [2]武汉科技大学信息科学与工程学院,武汉430081

出　　处：《计算机测量与控制》2015年第4期1209-1211,共3页Computer Measurement &Control

摘　　要：提出寻迹与搬运机器人的一种智能控制系统设计;该系统主要由单片机、传感器和执行舵机组成;通过分析直行、弯道与取物等工作模式,建立相应的舵机驱动控制;传感器将检测到的路线和工件信号传送给单片机进行处理;按照不同的优先级别,由单片机发出脉冲信号,控制舵机的速度与方向,完成抓取、转运工件的任务;实验结果表明:多路传感器的信息融合能有效识别寻迹路径,确定优先级别的控制;舵机的驱动控制能满足寻迹与搬运的要求;系统设计简单,实用可靠,具有良好的开放性与扩展性。An intelligent control system for tracing and transferring robot is proposed. The system consists of a single --chip microcontroller, sensors and servos. The corresponding driving control of the servos was established by analyzing servos＇ operation modes like straight going, turning and grabbing. The signals acquired from the sensors were transmitted to the single--chip microeontroller for processing. Pulse signals were outputted from the single--chip microeontroller to determine the speed and direction of the servos. Thus, the capture and convey was expected to achieve according to different priorities. The experimental results show that the single--chip mierocontroller can effectively recognize tracing path and perform prior control using information fusion of multiple sensors. The driving control of the servos is capable of meeting the requirements for tracing and transferring. The design is simple, reliable as well as good openness and scalability.

关 键 词：舵机 寻迹 传感器 搬运 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]