視覺輔助光感測器循跡

本文將論述安裝Pixy2視覺輔助系統、光感測器及超音波模組之高速循跡避障機器人，在高速循跡下，如何預先偵測循跡軌道之變化以及障礙物所在，使機器人達成快速循跡、快速過彎甚至穩定閃避障礙物。循跡機器人在高速情況下，若遇急轉或急閃障礙物時，會因慣性之因素而導致機器人打滑，嚴重時甚至會脫離軌道造成循跡機器人無法回到正確軌道之狀況發生。利用Pixy2視覺偵測模組判斷軌道變化，提前預判軌道並減速進而降低高速循跡急轉的慣性。本文透過兩種方式來達成上述目標，其一是使用Pixy2視覺偵測模組偵測循跡線，可得知兩座標(位於軌道前端及末端)，兩座標構成一向量，透過其向量變化進而判斷軌道變化，實現預判循跡線之功能，其二，在易造成機器人嚴重打滑的轉角放置指定顏色色塊或是物件，接著使用Pixy2視覺偵測模組偵測顏色物件，使其達到提前預判之功能，並且機器人在遇到其他指定顏色物件情況下，我們可以賦予它其他新的功能，例如：緊急煞停等……。

關鍵字

光感測器；高速循跡

並列摘要

This paper will discuss how the tracking robot with Pixy2 CMUCam5 and eight light sensor can detect the change of tracking line in advance under high-speed tracking, so that the robot can achieve fast tracking and fast turning. At high speed, if the tracking robot encounters a sharp turn, it will cause the robot to slip or even fall off the track line due to inertia. The visual aid system is used to judge the track line change and make corresponding prediction in advance. For example, when encountering a sharp turn under high-speed tracking, the tracking robot will predict the sharp turn and slow down in advance to reduce the inertia under high-speed tracking. This article achieves goals in two ways.The first method is using the Pixy2 CMUCam5 to detect the tracking lines, and give us two coordinates (at the front and end of the track line), two coordinates constitutes a vector, and then determine which track line change through the change vector, realize the function to judge the tracking line.The second method is placing a specified color block or object at the corner, and then use the Pixy2 CMUCam5 to detect the color object to achieve the function of fast tracking and fast turning.