基于电感数字变换传感器的智能小车自动循迹系统  

Automatic tracking system for intelligent car based on inductance-to-digital conversion sensor

作　　者：高凤强[1,2] 董坤煌 周牡丹[1,2] 郭一晶[1,2] GAO Feng-qiang;DONG Kun-huang;ZHOU Mu-dan;GUO Yi-jing(School of Information Science&Technology,Tan Kah Kee College,Xiamen University,Zhangzhou 363105,China;VIBOT Industrial Robot Innovation Lab,Tan Kah Kee College,Xiamen University,Zhangzhou 363105,China)

机构地区：[1]厦门大学嘉庚学院信息科学与技术学院,福建漳州363105 [2]厦门大学嘉庚学院嘉庚-微柏工业机器人创新实验室,福建漳州363105

出　　处：《工程设计学报》2018年第2期216-222,共7页Chinese Journal of Engineering Design

基　　金：福建省中青年教师教育科研项目(JAT160651);漳州市自然科学基金资助项目(ZZ2017J34);大学生创新创业训练计划项目(201613469024)

摘　　要：为了解决智能循迹小车常用的路径识别传感器易受电磁、光线等干扰的问题,提出了基于电感数字变换传感器的智能小车自动循迹系统。通过分析电感数字变换传感器的工作原理,得出通过扩展传感器感应线圈来扩展感应范围的方法,并基于该方法设计了一种使用单个LDC1000电感数字变换器的传感模块。该模块利用SN74LV4052A模拟开关实现对传感器线圈的扩展;采用MSP430单片机搭建了包括主控模块、电源模块、驱动模块和传感器模块的循迹硬件测试系统;通过实时采集和处理传感器的数据并对小车位置进行调整,实现了硬件测试系统循迹的功能;最后,在测试系统上进行了传感器对金属的感应实验和循迹测试。实验结果表明:该传感器可实时检测到轨道与线圈的水平和垂直距离的变化,可以为循迹功能的实现提供保证;该智能小车在5mm宽的锡箔纸轨道上可以得到良好的循迹效果。研究结果表明该系统具有适用性强、检测技术稳定的特点,可以广泛应用于工业现场智能循迹。An intelligent tracking system based on inductance‐to‐digital converter is proposed to solve the problem that the path identification sensors are susceptible to electromagnetic and light interference.A method of expanding induction range by extending sensor induction coil was ob‐tained through the analysis of the working principle of the inductance‐to‐digital conversion sensor.Then a sensor module with a single LDC1000 inductance digital converter was designed based on this method,and the module realized extending sensor coil through the use of SN74LV4052A an‐alog switch.The MSP430 MCU was used to achieve a tracking test system including main control module,power module,drive module and sensor module.The tracking function of hardware tes‐ting system was implemented through the real‐time acquisition and processing of sensor data to adjust position of the car.At last,the sensor‐to‐metal sensing experiments and tracking tests were performed on the test system.Experimental results showed that the horizontal and vertical distance changes between the track and the coil could be detected by the sensor,which provided guarantee for the tracking function.At the same time,the system could get a good tracking effect in the foil track with width of 5 mm.The research result indicates that this system has character‐istics of strong applicability and stable detection technology,so that it can be widely applied to the industrial field of intelligent tracking in the future.

关 键 词：电感数字变换传感器 循迹小车 涡流感应 金属探测 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP249W[自动化与计算机技术—控制科学与工程]