- 學位論文
掃描二進制條碼之高速循跡自走車
High speed tracking robot that Scanning binary barcode
摘要
本論文將探討自走車如何使用八路紅外線感測器模組進行高速循跡以及掃描二進制條碼。一般而言，未使用PID控制的循跡自走車，要使其穩定循跡在多變的循跡路線上，其修正力道是難以掌握的。且因軌道多變，修正力道要隨著軌道的改變而要有所不同，所以難以達到高速循跡。當自走車在轉角過彎時，因為慣性力的影響，導致自走車會沿著原本行進方向繼續滑行，所以無法順利地轉彎。在掃描二進制條碼時，如果自走車過快，會遇到紅外線感測器模組辨識錯誤甚至讓自走車脫離路線之問題。本論文有四個研究步驟。第一，利用PID控制法進行循跡。第二，針對轉彎處進行適當修正，使自走車快速回到路線上。第三，當掃描二進制條碼時，降低自走車速度以防止條碼讀取錯誤。第四，解讀二進制條碼所代表之數值，並做出運算或是執行該數值所指定的動作，例如:數值加減乘除、分岔路的選擇、路邊停車、倒車入庫等。本論文研究結果為自走車提高循跡穩定性，加快整體循跡速度，並在高速循跡下正確解讀二進制條碼。
並列摘要
This paper discusses how a line-tracking robot uses Line Follower Array with eight sensors for high-speed tracking and scanning of binary barcodes. In generally, a line-tracking robot without PID control is very difficult to control if it tracks on a unpredictable tracking line. And because of the changeable line, the correction power must to be different as the line changes, so it is difficult to achieve high-speed tracking. When passing a corner, the line-tracking robot will continue to slide along the original direction of travel due to inertial force, so it cannot turn smoothly. If the line-tracking robot scan a binary bar code too fast, it will encounter problems of identification errors or leaving the line. This paper has four research steps. First, use PID control method to adjust motor power to improve tracking speed and stability. Second, make appropriate corrections to the corners to make the line-tracking robot quickly back to the line. Third, when scanning binary barcodes, reduce the speed to prevent barcode reading errors. Fourth, interpret the value represented by the binary barcode, and perform calculations or perform actions specified by the value, such as numerical arithmetic, selection of branch roads, pull over, reverse parking. Finally, the result of the research is to improve the tracking stability of the line-tracking robot, and then correctly decode the binary barcode at high-speed tracking.