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A grayscale sensor and a tracking control method based on the grayscale sensor

A grayscale sensor and control method technology, applied in two-dimensional position/channel control and other directions, can solve problems such as troublesome adjustment, deviation of grayscale contrast value, and robot error-prone, and achieve simple adjustment and accurate grayscale contrast value. Effect

Active Publication Date: 2017-07-07
汕头市快畅机器人科技有限公司
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

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

Method used

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  • A grayscale sensor and a tracking control method based on the grayscale sensor

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Embodiment Construction

[0036] Further description will be given below in conjunction with the accompanying drawings and preferred embodiments of the present invention.

[0037] like figure 1 As shown, the grayscale sensor that automatically calculates the grayscale average value includes a grayscale detection module 1, a sampling trigger module 2, a filter 3, an analog-to-digital converter 4, a calculation and comparison module 5, and an output interface 6; the sampling trigger module The output terminal of 2 is electrically connected with the control terminal of the grayscale detection module 1; the output terminal of the grayscale detection module 1 is electrically connected with the input terminal of the analog-to-digital converter 4 through the filter 3; the output terminal of the analog-to-digital converter 4 is connected with the The input terminal of the calculation and comparison module 5 is electrically connected; the output terminal of the calculation and comparison module 5 is electricall...

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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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 杨小莉谢钦福
Owner 汕头市快畅机器人科技有限公司
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