基于线性CCD的新型智能循迹机器人的系统设计

摘要

以TSL1401线性CCD作为传感器获取图像信息,以MK60N512单片机作为控制器设计了一种新型智能循迹机器人.针对图像二值化阈值处理计算量较大的问题,提出特征点法.该法仅计算图像特征点的像素值,可以在保证精度的前提下减少了程序的计算量.针对黑线轨迹提取运算量大的问题,提出了一种新的记忆扫描法,该法只需检测少数像素点即可精确提取黑线标识,简化图像扫描过程,缩短了运算时间.为了提高智能机器人系统的控制精度和稳定性,对电机建立了数学模型,并利用积分分离PID算法进行仿真分析与验证.最后通过实验证明文中提出的算法可行有效.%A new-type intelligent tracking robot system was designed based on the TSL1401 linear Charge-coupled Device (CCD) as the sensor to obtain the surrounding image, and the MK60N512 microcontroller unit (MCU) as the core controller.The characteristic point method was proposed to calculate the threshold of the image binarization processing aimed at the problem of a large amount, which only calculated the pixel value of the characteristic points instead of all points.The amount could be reduced in the program calculation on the premise of satisfying the accuracy requirements.A new memory-scanning method was presented by aimed at the problem of a large amount of image computation for the extraction of the black line trajectory.The image scanning process was simplified and the process time was shortened by just only detecting a few pixels then black sign was extracted accurately.The motor mathematical model was established and the integral separation of proportion integration differential (PID) algorithm was adopted in order to improve the system control precision and stability of an intelligent robot, and the simulation analysis and verification were then accomplished.Finally the experimental results show the proposed algorithm is feasible and effective.