摘要
为了提升传统搬运车的探测感知能力,设计了一种结合颜色分辨、路径识别和距离测量功能的多传感器搬运小车,其分为传感系统和驱动系统两部分。在传感系统中,通过TCRT5000红外传感器检测地面黑色引导带以实现路径识别,由HC-SR04超声波传感器实时测量小车与障碍物的距离以避免碰撞,利用TCS230颜色传感器读取物料颜色特征以完成分类工作;在驱动系统中,采用L298N驱动芯片驱动直流电机,使用MG995型舵机驱动机械手抓取物料,利用ISD1820语音芯片播报警示音,通过LCD1602显示器显示环境参数和运输记录。实验测试表明,该搬运小车在一定照度范围的环境下工作稳定。
In order to improve the detection and perception ability of traditional carriers,a multi-sensor carrier is designed,which combines the function of color discrimination,path identification and distance measurement.The carrier’s system is divided into two parts:sensing system and driving system.In the sensing system,HC-SR04 is used to measure the distance between the carrier and the obstacle to avoid collision,and TCRT5000 is applied to recognize path in the aid of the black guide belt on the ground,while TCS230 is adopted to read the color feature of materials to complete the classification work.In the driving system,L298N is used to drive motors,and MG995 servo is applied to flex the manipulator to grasp materials,while ISD1820 is adopted to broadcast warnings and LCD1602 is used to display environment parameters and shipping records.The test results show that the carrier worked stably in a certain illumination range.
作者
金琦淳
任俊
袁明新
张金铮
王琪
JIN Qi-chun;REN Jun;YUAN Ming-xin;ZHANG Jin-zheng;WANG Qi(Wuxi City College of Vocational Technology,Department of Electronic&Information Engineering,Wuxi 214153 China;Jiangsu University of Science and Technology,School of Mechatronic and Power Engineering,Suzhou 215600 China)
出处
《自动化技术与应用》
2019年第11期19-25,共7页
Techniques of Automation and Applications
基金
2017年教育部产学合作协同育人项目（编号201701077003）
关键词
单片机
路径识别
距离测量
颜色分辨
搬运小车
single chip microcomputer
automatic guidance
distance measurement
color recognition
carrier
