微型寻迹小车Desktop Line Following Robot.doc

《微型寻迹小车Desktop Line Following Robot.doc》由会员上传分享，免费在线阅读，更多相关内容在应用文档-天天文库。

1、DesktopLineFollowingRobotRecentlymanykindofrobotcontestshavebeingopenedandsomeinterestingreportsofthechallengearefoundontheweb.TheLineFollowingisoneoftherobotconteststovierunningspeedontheline.Ibuildatinylinefollowingrobotwhichcanrunonthedesk.Itisforonlyapersonaltoyreduceditssizetolessthan

2、onefifthcomparedtotypicallinefollowingrobots,notinformula.ButIbelievethatitissuitableforin-dooruseinthesmallJapanesehousessaidthatrabbitburrow...(^_^;.OfcourseIhavenotimetoappeartherobotcontests:-AboutLineFollowerThelinefollowerisoneoftheselfoperatingrobotthatfollowsalinethatdrawnonthefloo

3、r.Thebasicoperationsofthelinefollowingareasfollows:1.Capturelinepositionwithopticalsensorsmountedatfrontendoftherobot.Mostareusingseveralnumberofphoto-reflectors,andsomeleadingcontestantsareusinganimagesensorforimageprocessing.Thelinesensingprocessrequireshighresolutionandhighrobustness.2.

4、Steerrobottotrackthelinewithanysteeringmechanism.Thisisjustaservooperation,anyphasecompensationwillberequiredtostabilizetrackingmotionbyapplyingdigitalPIDfilteroranyotherservoalgorithm.3.Controlspeedaccordingtothelanecondition.Runningspeedislimitedduringpassingacurveduetofrictionofthetirea

5、ndthefloor.Therearetwolinestyles,whitelineontheblackfloorandblacklineonthewhitefloor.Mostcontestareadoptingthefirstoneinlinewidthofbetween15and25millimeters.HardwareMechanicsRightimageshowsbottomviewandsideviewofthebuiltlinefollowingrobot.Allmechanicalandelectricalpartsaremountedonaprotobo

6、ard,anditalsoconstitutesthechassis.Thelinefollowingrobotisupheldinthreepointsoftwodrivingwheelsandafreewheel.Thedrivingwheelsaremadewitha7mmdiaballbearingandarubbertire.Thefreewheelisa5mmdiaballbearingattachedloosely.Todrivedrivingwheels,twotinyvibrationmotorsthatusedforcellularphone,pager

7、oranymobileequipmentareused.Itsshaftispressedontothetirewithaspringplate,theoutputtorqueistransferredtothewheels.Thesteeringmechanismisrealizedindifferentialmethodthatsteertherobotbydifferenceinrotationspeedbetweentheleftwheelandtherightwheel.Itdoesnotrequirea