摘要
为使机器人躲避路障,开发了基于TCS230的颜色检测装置.红外传感器或色标传感器作为检测颜色的手段无法实现场景中多种颜色分辨,而颜色检测装置中的传感器TCS230能够将颜色信号转变成为相对应的频率信号并传递给单片机,单片机获取频率信号后,应用测频程序分辨物体颜色,适用于多颜色分辨场合.该颜色检测装置装配到智能装配机器人上进行动态避障应用时,受到临界位置和振动等多种因素的影响,检测准确率不高.采用并行双测法和延时检测法解决了临界位置影响产生的误判,研发出T型槽联结双传感器结构和软件均值滤波方法,减少了运动过程中振动引起的测量误差.该装置应用到智能装配机器人的避障策略中,取得了良好的效果.该颜色检测装置的开发应用可以推广到工业生产相关的颜色分辨场合.
A color detection device based on TCS230 is developed for the robot obstacle avoidance. Infrared sensor or color sensor are always used as color detection means, but it can not be achieved in a multicolor distinguish scenes. Using TCS230 as a probe, different color information can be converted into a corresponding frequency signal of different impulse. The 89C51 controller would distinguish the object color by the program after acquiring the frequency signal. It can be applied to the multi-color distinguish scenes. This device can＇t get the exact color information in a dynamic environment because of the bad influence causing by the boundary position and vibration. Time delay detection and parallel real-time meas- uring method was used to avoid the color misjudge when the device was moving across the boundary position. Dual sensor structure with T type shape and the mean filter method in the software reduces the wrong result for the vibration. The device was applied to the intelligent assembly robot for obstacle avoidance and achieved good results. This color detection device can be applied to industrial product color detection and other related areas.
出处
《工程设计学报》
CSCD
北大核心
2013年第1期60-64,共5页
Chinese Journal of Engineering Design
基金
安徽省教育厅自然科学研究项目(KJ2011B036)
关键词
颜色分辨
TCS230
机器人避障
单片机测频
T型槽结构
color detection
TCS230
robot obstace avoidance
frequency measurement by microcontroller
T groove shape
