Research Of Autonomous Tracking Robot Based On MK60

With the development of science and technology progress, the research and use on autonomous tracing robots are more and more,the knowledge system involves computer, image processing, system modeling, electronic technology, mechanical technology, and many other aspects.Automatic tracing robot sensors can monitor signal and deal with the comprehensive information on its own position, and can be implemented according to the instruction to the desired location related the operations, real-time signal acquisition, completing the task of mankind cannot.Such as the unknown environment detection, remote control, bomb out dangerous task and many other aspects.So the application prospect of autonomous tracing robot is very big.With wheel structure for the mobile mechanism of the autonomous tracing robot is a hotspot of current research, based on the wheeled autonomous tracing robot as the research object. First of all, comparative the trajectory identification method based on vision, orbit by OV7670 image sensor collection and processing information, combined with MK60DN512 to process information and track information, determine the body position. By gradient method extraction algorithm of image edge detection and analysis, the modeling, the robot motion model of dc motor PID control, a clear analysis of steering gear to determine the moving direction of the autonomous tracing robot. Secondly, based on the above theory research, build MK60DN512 as the core controller, combined with CCD image acquisition and processing, steering gear control, speed detection module, such as autonomous tracing robot hardware system. Finally, in the IAR Embedded Workbench IDE write debug program software development environment, take the black line by positioning through image algorithm, PID control and fuzzy control to realize steering gear steering, closed loop control of motor speed. By tracing robot autonomous perception environment, collect and analyze data and decision-making instructions. Realize the path choice and speed in a reasonable configuration to verify that the system feasibility.By analyzing the experimental results, this paper constructed that the autonomous tracing robot system based on MK60 overall achieves the design requirements, program running is good, this solution can be used on autonomous tracing in black and white color shading (color difference is bigger in theory).