Grayscale sensor and tracking control method based on grayscale sensor

Abstract

The invention relates to a grayscale sensor and a tracking control method based on the grayscale sensor. The grayscale sensor comprises a grayscale detection module, a sampling trigger module, an AD converter, a calculating and comparing module and an output interface, wherein the output end of the sampling trigger module is electrically connected with the control end of the grayscale detection module; the output end of the grayscale detection module is electrically connected with the input end of the AD converter; the output end of the AD converter is electrically connected with the input end of the calculating and comparing module; the output end of the calculating and comparing module is electrically connected with an output interface. A sampling signal is sent out through the sampling trigger module, the grayscale detection module is made to perform automatic sampling, an analog signal is converted into a digital signal, automatic sampling is achieved, and a grayscale average value is automatically calculated; when a current grayscale value is compared with the grayscale average value, a control signal is output; when a robot advances in a tracking mode, automatic reversing of the robot is performed according to the control signal, full-automatic control is achieved, the robot can advance in the tracking mode more accurately, and simple adjustment is achieved.

Description

technical field [0001] The invention relates to a grayscale sensor, in particular to a grayscale sensor and a tracking control method based on the grayscale sensor. Background technique [0002] At present, grayscale sensors are widely used in the detection field. Usually, the grayscale sensor is used to obtain the real-time grayscale of the measured object, and the judgment of the real-time grayscale is used to determine whether the surface of the measured object meets the standard. [0003] The grayscale sensor is also used in the control of the robot tracking. In the past, when the robot is tracking forward, it is generally necessary to adjust the grayscale contrast value by manual visual inspection. The user can only roughly estimate the grayscale comparison state based on experience ( The size of the gray scale contrast value), and manually adjust it, usually by adjusting the adjustable resistance on the gray scale sensor with a screwdriver, which is not only troublesom...

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Problems solved by technology

[0003] The grayscale sensor is also used in the control of the robot tracking. In the past, when the robot is tracking forward, it is generally necessary to adjust the grayscale contrast value by manual visual inspection. The user can only roughly estimate the grayscale comparison state based on experience ( The size of the gray scale contrast value), and manually adjust it, usually by adjusting the adjustable resistance on the gray scale sensor with a screwdriver, which is not only troublesome to adjust, but also prone to large deviations in the gray scale contrast value, causing the robot to move forward while tracking error prone

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