Wenhao LI, Yufei TAN, Dengke ZHOU, Yunbai QIN, Jiaxing YANG. Transport robot integrating multi channel optical sensing and variable integral pid algorithm[J]. Optics and Precision Engineering, 2023, 31(23): 3504
- Optics and Precision Engineering
- Vol. 31, Issue 23, 3504 (2023)
Fig. 1. Framework of intelligent photoelectric handling robot
Fig. 2. Photos of intelligent photoelectric handling robot
Fig. 3. Structure of bottom plate
Fig. 4. Structure of top plate
Fig. 5. Structure of loading platform
Fig. 6. Schematic diagram of grayscale sensor
Fig. 7. Schematic diagram of BTN8982TA
Fig. 8. Flowchart of intelligent optoelectric handling robot
Fig. 9. Schematic diagram of incremental PID control algorithm
Fig. 10. Comparison between variable integral PID algorithm and ordinary PID algorithm
Fig. 11. Comparison of trajectory with different PID parameters
Fig. 12. Map for handling testing
Fig. 13. Flowchart of task 1
Fig. 14. Flowchart of task 2
Fig. 15. Test of intelligent photoelectric handling robot
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Table 1. Weighting coefficients for each sensor after obtaining data
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Table 2. Maximum convergence distance and number of derailments for three sensors
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Table 3. Accuracy and duration of two tracking methods in task 1
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Table 4. Time test for task 1 in different color sequences
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Table 5. Accuracy and duration of three tracking methods in task 2
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Table 6. Test data for each project
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