The Research Of The Self-balancing Automated Food Conveyor

The aim of self-balancing automated food conveyor is to study the control strategy and control algorithm, but not purely for meals. In order to improve the understanding of automation control theory further and lay a solid foundation for the application in the future. After watching the video over and over again, the main three big problems which should be solved are provided. In addition, the feasibility is proved. The specific solution is worked out at last. The control system of self-balancing automated food conveyor, its energy source is provided by12V lithium battery with large capacity, which is often used in smart car. The system is mainly controlled by MCU STC12C5A60S2. Choosing three axis acceleration sensor MMA7260and MUTATA gyroscope ENC-03MB build attitude sensors for obtaining tilt angle and tilt angle velocity information of the conveyor. Two wheels of the conveyor, respectively, are drived by two independently coaxial gear servo DC motor MAXON139885. DC motor driven circuit is mainly composed of LM298N. The fusion value based on the information and the angle velocity are input to the balance-PID controller. Besides, the devitation between caculated speed and given speed is the inputted value of the speed-PID controller. Through the above control the conveyor balance movement is completed. In order to trace the path of the conveyor, and realize accurate position, three photoelectric switch RPR220and four voltage comparator LM339M are built three-road detection circuits. With the circuits reliable route information can be getted, which provides a powerful guarantee for the advancement and position of the conveyor. Two infrared obstacle-avoided sensors E18-D80NK can measure different distance obstacles in front of. This is well achieving the aim of obstacle avoidance put forward in principle chapter. Finally, for the sake of convenient debugging and control, the system introduces the serial port communication based on wireless bluetooth module; and LCD YB12864-ZA with Chinese character to display some information of the conveyor, such as the target table number, the current position and so on. Ultimately, the issue of the food conveyor balance is figured out. And simpler methods are adopted to realize the path selection, positioning, target obstacle avoidance, etc.