复杂环境的自适应调速精准循迹小车系统设计  

Design of adaptive speed regulating vehicle system for precise tracking in complex environment

作　　者：霍春光 张嘉怡 刘影[1] HUO Chunguang;ZHANG Jiayi;LIU Ying(School of Electronic and Information Engineering,Liaoning Technical University,Huludao 125000,China;School of Communication Engineering,Xidian University,Xi’an 710000,China)

机构地区：[1]辽宁工程技术大学电子与信息工程学院,辽宁葫芦岛125000 [2]西安电子科技大学通信工程学院,陕西西安710000

出　　处：《电子设计工程》2022年第11期6-11,16,共7页Electronic Design Engineering

基　　金：国家重点研发计划基金资助项目(2018YFB1403300);辽宁省自然科学基金资助项目(2019-ZD-0038);大学生创新训练项目(S202010147003)。

摘　　要：针对当前循迹小车的精准度较低、反应时间较长、环境适用性差等特点,文中设计了一种复杂环境下的自适应调速精准循迹小车系统。该系统采用MSP430F149为控制核心,以直流减速电机为动力,提出利用最大角度排布、分时扫描多组红外传感器的方法并加入遮光装置来实现复杂环境下的精准循迹;可以通过按键调节行驶初速度,并将该速度参数利用液晶屏直观显示出来,数据可断电保存;在行驶过程中,系统可根据转弯角度自适应地调整车速;该系统还设计了停止线停止功能,通过语音来识别小车的启动和停止。测试结果表明,该系统巡检稳定,抗干扰能力较强,全局控制性能良好,可广泛应用于实际生产中。Aiming at the low accuracy,long reaction time and poor environmental applicability of the current tracking car,a kind of intelligent tracking car system with adaptive speed regulation under complex environment was designed.The system uses MSP430F149 as the control core and DC deceleration motor as the power.The method of maximal angle arrangement,scanning multiple groups of infrared sensors and adding shading device are proposed to achieve accurate tracking in complex environment.The initial driving speed can be adjusted by pressing the button,and the speed parameters can be visually displayed on the LCD screen,and the data can be saved after power failure;During the driving process,the system can adjust the speed adaptively according to the turning angle.The stop line stop function is designed to recognize the start and stop of the car by voice.The test results show that the car is stable in inspection,strong in anti-interference ability and good in global control performance,which can be widely used in practice.

关 键 词：MSP430F149 巡线系统 PWM 遮光装置 自适应 E2PROM 

分 类 号：TN492[电子电信—微电子学与固体电子学]