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工程设计学报
工程设计学报  2018, Vol. 25 Issue (2): 216-222    DOI: 10.3785/j.issn.1006-754X.2018.02.013
整机和系统设计     
基于电感数字变换传感器的智能小车自动循迹系统
高凤强1,2, 董坤煌1,2, 周牡丹1,2, 郭一晶1,2
1. 厦门大学嘉庚学院 信息科学与技术学院, 福建 漳州 363105;
2. 厦门大学嘉庚学院 嘉庚-微柏工业机器人创新实验室, 福建 漳州 363105
Automatic tracking system for intelligent car based on inductance-to-digital conversion sensor
GAO Feng-qiang1,2, DONG Kun-huang1,2, ZHOU Mu-dan1,2, GUO Yi-jing1,2
1. School of Information Science & Technology, Tan Kah Kee College, Xiamen University, Zhangzhou 363105, China;
2. VIBOT Industrial Robot Innovation Lab, Tan Kah Kee College, Xiamen University, Zhangzhou 363105, China
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摘要：

为了解决智能循迹小车常用的路径识别传感器易受电磁、光线等干扰的问题，提出了基于电感数字变换传感器的智能小车自动循迹系统。通过分析电感数字变换传感器的工作原理，得出通过扩展传感器感应线圈来扩展感应范围的方法，并基于该方法设计了一种使用单个LDC1000电感数字变换器的传感模块。该模块利用SN74LV4052A模拟开关实现对传感器线圈的扩展；采用MSP430单片机搭建了包括主控模块、电源模块、驱动模块和传感器模块的循迹硬件测试系统；通过实时采集和处理传感器的数据并对小车位置进行调整，实现了硬件测试系统循迹的功能；最后，在测试系统上进行了传感器对金属的感应实验和循迹测试。实验结果表明：该传感器可实时检测到轨道与线圈的水平和垂直距离的变化，可以为循迹功能的实现提供保证；该智能小车在5 mm宽的锡箔纸轨道上可以得到良好的循迹效果。研究结果表明该系统具有适用性强、检测技术稳定的特点，可以广泛应用于工业现场智能循迹。
关键词： 电感数字变换传感器;  循迹小车;  涡流感应;  金属探测    
Abstract:

An intelligent tracking system based on inductance-to-digital converter is proposed to solve the problem that the path identification sensors are susceptible to electromagnetic and light interference. A method of expanding induction range by extending sensor induction coil was obtained through the analysis of the working principle of the inductance-to-digital conversion sensor. Then a sensor module with a single LDC1000 inductance digital converter was designed based on this method, and the module realized extending sensor coil through the use of SN74LV4052A analog switch. The MSP430 MCU was used to achieve a tracking test system including main control module, power module, drive module and sensor module. The tracking function of hardware testing system was implemented through the real-time acquisition and processing of sensor data to adjust position of the car. At last, the sensor-to-metal sensing experiments and tracking tests were performed on the test system. Experimental results showed that the horizontal and vertical distance changes between the track and the coil could be detected by the sensor, which provided guarantee for the tracking function. At the same time, the system could get a good tracking effect in the foil track with width of 5 mm. The research result indicates that this system has characteristics of strong applicability and stable detection technology, so that it can be widely applied to the industrial field of intelligent tracking in the future.
Key words: inductance-to-digital conversion sensor    automatic tracking car    eddy current testing    metal detection
收稿日期: 2017-07-10 出版日期: 2018-04-28
CLC:  TP273  
基金资助:

福建省中青年教师教育科研项目（JAT160651）；漳州市自然科学基金资助项目（ZZ2017J34）；大学生创新创业训练计划项目（201613469024）；
通讯作者: 周牡丹(1979-),女,福建福鼎人,副教授,硕士,从事机器人控制、四旋翼飞行器控制研究,E-mail:mudanzhou@xujc.com,http://orcid.org/0000-0002-7891-0018     E-mail: mudanzhou@xujc.com
作者简介: 高凤强(1984-),男,福建漳州人,讲师,硕士,从事工业机器人控制、计算机网络研究,E-mail:fengqianggao@foxmail.com,http://orcid.org/0000-0002-7677-8463
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引用本文:

高凤强, 董坤煌, 周牡丹, 郭一晶. 基于电感数字变换传感器的智能小车自动循迹系统[J]. 工程设计学报, 2018, 25(2): 216-222.

GAO Feng-qiang, DONG Kun-huang, ZHOU Mu-dan, GUO Yi-jing. Automatic tracking system for intelligent car based on inductance-to-digital conversion sensor. Chinese Journal of Engineering Design, 2018, 25(2): 216-222.

链接本文:

https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2018.02.013    或    https://www.zjujournals.com/gcsjxb/CN/Y2018/V25/I2/216

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