轮式智能小车行驶距离和速度的检测

(JournalofTransducerTechnology)2005247(,215011):,2,2,Handyboard:200cm25cm/s,,:;;;:TP242.6:A:1000-9787(2005)07-0066-03DistanceandspeedmeasurementofintelligentdollywithwheelsWANGJian(DeptofElctandInfoEngin,UniversityofScienceandTechnology,Suzhou215011,China)Abstract:Reflectingincrementencoderconsistingofblack2and2whitestripecodetrayandinfraredemitter2receiverismade,thenquadratureencoderisconstructedbyinstallingtwoincrementencodersinproperangle.Theoutputvaluesofquadratureencoderistestedbysingle2chipcomputerininterruptmode,andthedrivedistanceandspeedofintelligentdollybasedonHandyboardiscalculated.Theexperimentshowsthatthemeasuringresultscanbeappliedtopositionestimation,pathplanningandnavigationinthedistanceof200cmandatthespeedof25cm/s.Keywords:intelligentdolly;drivedistance;speedmeasurement;quadratureencoding0(,);[1],,[2],2P8557,2,2,Handyboard:3.3cm,1.3cm/s,:2005-01-241,,,,,LL=Dnnx,D;n;nx32,55mmvv=L/t,t2HandyboardP85572.1HandyboardHandyboard667::a.8Motorola68HC11A1FN;b.32kRAM;c.24L293D;d.16x2LCD;e.79/2.2P8557P8557,Schmitt68HC11PAPE32,,2mm,2.3P8557Handyboard1,P855768HC11PE,,,4.5V,0.5V,P8557,PE4.5V0.5V0.5V4.5V,P855768HC11PA,2.5V,,2.5V,PA,,PE1P8557PEFig1P8557connectedwithPE3P8557P8557,,87.5r/min,,32,47Hz,,,250Hz68HC11HandyboardLCDTOC4,1000Hz250Hz,,LCDTOC44LCD,1TOC4,,TOC4,,,,DTOC4,,,,68HC11,122Fig2Diagramofinterruptprogram44.1,,,,2,,3,1/4,1,2,,1/4,2,,2,1,,76243Fig3Mountingofquadratureencoder24AB10,AB=00,,1;AB=11,,14Fig4Statetransitiondiagraminquadratureencoder5,2AB44,;1,11;2,,21/45Fig5Statetransformdiagramofquadratureencoder4.2,2,,,TOC45,,,,X,,,B,B1,,B0,2,46,4B,3,,B0,8,1632,4,X,X(0,+1,-1),,5Handyboard,,,,:Handyboard,,,,,57.5,87.5r/min2,50,200cm2,811Tab1Experimentaldataofdistanceandspeedmeasurement/(r/min)57.587.557.587.5(cm)50200502005020050200(cm)48.4198.148.2197.947.3197.047.0196.7(cm/s)16.616.625.225.215.715.724.324.3(cm/s)16.015.824.324.015.014.423.123.0:3.3cm,1.3cm:,;,;,,,,(75)867:(),,3:,(25,26,),,2.14%,7.0%(3),,BP3Fig3Predictedresultsofpropane222olgasvolumefraction3,3,:3100%;,,,:[1]OrtegaA,MarcoS,PereraA,etal.Anintelligentdetectorbasedontemperaturemodulationofagassensorwithadigitalsignalprocessor[J].SensorandActuatorsB,2001,78:32-39.[2].SnO2SPME[D].:,2004.33-34.[3],,.[J].,2003,19:25-28.:(1976-),,,,(68)62,:200cm,25cm/s,,:[1],,,.[J].,2002,(5):43-44.[2].().[M].:,2001.117-118.:(1956-),,,,(71)[6],,:m,n(mn),m2n2,4D2S,,:,,,,:[1].[J]..2003,5:36-38.[2]DelmotteF,SmetsP.Targetidentificationbasedonthetransfera2bleBeliefmodelinterpretationofDempster2Shafermodel[J].IEEETransonSystem,2004,34(4):457-471.[3],.D2S[J].,2002,30(2):221-223.[4],.[J].,2003,28(1):29-32.[5],,,.D2S[J].(),2001,41(2):53-59.[6],,.[J].,2003,22(4):51-53.:(1979-),,,,57