張千
【摘 要】本文論述了編程機(jī)器人搭配直流電機(jī)跑偏問(wèn)題的分析與研究過(guò)程及改善方案。常規(guī)方案下,機(jī)器人原地轉(zhuǎn)彎角度與直線(xiàn)運(yùn)行角度偏差都大于15度,在組合運(yùn)行時(shí)的角度偏角度最大偏差大于30度,無(wú)法滿(mǎn)足兒童(學(xué)生)用戶(hù)編程教育的使用需求。通過(guò)系統(tǒng)的測(cè)試分析發(fā)現(xiàn),跑偏的原因是左右兩邊直流電機(jī)轉(zhuǎn)速差異偏大、齒輪箱結(jié)構(gòu)干涉、缺少精確的校準(zhǔn)機(jī)制及最大速度的啟停。針對(duì)以上現(xiàn)象,首先在原材料端管控直流電機(jī)轉(zhuǎn)速的一致性;結(jié)構(gòu)干涉修正及裝配的一致性管控;硬件端增加增量式碼盤(pán)與光電開(kāi)關(guān);軟件端加入PID算法,控制轉(zhuǎn)彎角度,實(shí)現(xiàn)機(jī)器人在運(yùn)行中實(shí)時(shí)對(duì)角度進(jìn)行修正,同時(shí)增加階梯式啟動(dòng)與停止方案。此套系統(tǒng)性方案解決了編程機(jī)器人在平整地面直線(xiàn)運(yùn)行時(shí)的跑偏問(wèn)題,極大的提升了用戶(hù)對(duì)產(chǎn)品的體驗(yàn),為該產(chǎn)品按時(shí)量產(chǎn)和及時(shí)推向了市場(chǎng)提供了必要條件。
【關(guān)鍵詞】編程機(jī)器人;傳感器;齒輪;碼盤(pán);PID算法;角度偏差
中圖分類(lèi)號(hào): TP391.41 文獻(xiàn)標(biāo)識(shí)碼: A 文章編號(hào): 2095-2457(2019)11-0060-003
DOI:10.19694/j.cnki.issn2095-2457.2019.11.028
【Abstract】This paper discusses the analysis and research process and improvement scheme of the programming robot with DC motor deviation. Conventionally, a typical deviation between the in-situ turning angle and the straight-line running angle for the robot is greater than 15 degrees, and the combined angular deviation can be 30 degree and higher, which is beyond the acceptable tolerance of children (student) user programming education. Based on analysis and statistic testing data, it is found that the deviation is resulting from the large difference between the left and right DC motor speeds, the interference of the gear box structure, the lack of accurate calibration mechanism,? and the high speed starting and stopping. To improve the performance, the following has been implemented: Firstly, control the DC motor speed consistency for all incoming motor products; Secondly, correct and correct the structural interference during products assembly; thirdly, add incremental opto-interrupter and PID algorithm to realize real time angle control and correction; Also, step based starting and stopping mechanism is implemented. With these systematic solutions in place, the robot running deviation on a flat ground has been reduced to neglectable, and the users experience improved greatly, which secured the mass-production quality assurance and timely to market demands.
【Key words】Programming robot; Sensor; Gear; Opto interrupter; PID algorithm; Angle deviation
1 項(xiàng)目背景
隨著人工智能時(shí)代的到來(lái),非常多的工作崗位將會(huì)被機(jī)器人所取代。家長(zhǎng)也意識(shí)到了這一點(diǎn),為了不讓自己的孩子輸在起跑線(xiàn),從小學(xué),更有甚者從學(xué)前階段就開(kāi)始讓孩子學(xué)習(xí)編程。同時(shí),在國(guó)家層面,教育部在2018年初的1號(hào)文件就已發(fā)布,將人工智能納入了中小學(xué)的課程,也就是說(shuō)STEAM教育將與學(xué)科課程并列設(shè)置成為中小學(xué)生的一門(mén)“必修課”。編程是兒童思考與動(dòng)手實(shí)踐相結(jié)合的課程,不但能培養(yǎng)孩子們的邏輯思維能力,還能在分析問(wèn)題與解決問(wèn)題過(guò)程中激發(fā)孩子無(wú)限的想象力與創(chuàng)造力。
葡萄緯度科技有限公司所創(chuàng)導(dǎo)的理念是“科技陪伴成長(zhǎng)”,在2018年開(kāi)發(fā)了這款編程機(jī)器人產(chǎn)品,這是一款移動(dòng)平臺(tái)和百變積木相結(jié)合的機(jī)器人,在主控上以積木拼搭出不同形象呈現(xiàn)。用戶(hù)可以根據(jù)說(shuō)明書(shū)或APP的指導(dǎo)搭建出自己喜歡的機(jī)器人形象,然后用非常清晰而簡(jiǎn)單的圖形化程序語(yǔ)言去編程控制機(jī)器人,通過(guò)搭建與創(chuàng)造實(shí)體機(jī)器人與對(duì)應(yīng)APP的結(jié)合,讓孩子在玩的過(guò)程中逐步提升動(dòng)手能力和編程能力,益智益趣,可以讓孩子們充分體驗(yàn)在玩中學(xué)習(xí)的快樂(lè)。
2 工作原理