【摘要】 为解决现有循线机器人循线不稳定的问题,设计了一种能稳定循线的机器人.该循线机器人利用CCD传感器采集路况信息,利用舵机差速进行转弯,利用线性CCD与灰度传感器配合进行路径识别.在算法上采用了PID算法解决循线不稳定的问题,同时利用循环判断解决CCD容易误判的问题.结果表明:该循线机器人循线速度快,且能在有障碍物的情况下稳定循线.更多还原

【Abstract】 In order to solve the present problem of cable-inspection robot,which cannot patrol the line steadily,now a kind of cable-inspection robot being able to do the patrolling work steadily has been designed. The cableinspection robot collects traffic information by using CCD sensor,turns by the differential rotational speed of steering engine and recognizes the path with the cooperation of linear CCD and grey-scale sensor. It solves the problem of unstable cable-inspection with PID arithmetic. Meanwhile,by applying cycle judgement,it prevents the CCD from easy misjudgment. According to the research results,the cable-inspection robot can patrol line with high speed and keep steady even if some obstacles appear.更多还原