摘要
介绍了基于STC12C5A60S2单片机的仓储机器人控制系统,该系统以电耦合元件图像传感器作为路径识别的装置,计算出车辆距车道线中心线的距离d以及车辆与中心线的夹角θ,横向控制方面,采用模糊控制方法根据距离d和夹角θ控制仓储机器人的转向机构;纵向控制方面,对仓储机器人采用定速控制。测试结果表明,仓储机器人能够准确地跟踪车道中心线,该控制算法能够实现对仓储机器人的控制。
The control system of the storage robot based on STC12C5A60S2 microcontroller is introduced,using charged coupled device image sensor as a device to calculate the distance between the vehicle to the central line of the lane and the angle between the vehicle and the center line θ. As for lateral control,fuzzy control method is used to control storage robot steering mechanism according to the distance angle. For the longitudinal control,the speed control is taken for storage robot. The test results show that the storage robot can track the center line of the lane accurately,and the control algorithm can realize the control of the storage robot.
出处
《北京信息科技大学学报（自然科学版）》
2015年第6期12-17,共6页
Journal of Beijing Information Science and Technology University
基金
北京高等学校青年英才计划项目(71A1511120)
关键词
仓储机器人
图像识别
模糊控制
storage robot
image recognition
fuzzy control
