坛乡忏蒌铃跻。三、Systemimpleme
tatio
Systemiscomposedofthreepartsasupervisorvisio
a
d5robotsAsupervisorisaPCpe
tiumprocessorwhichmakespla
i
realtimea
dvisio
systemhastwocameraswhichhavereda
dbluefilterrespectivelya
dimageprocessi
gboardwhichhasaDSPa
dmemoryArobothasaCPUcommu
icatio
moduleIRse
sorsmotorsetcThesethreepartsarerelatedo
ea
otherDetaileddescriptio
saregive
i
followi
gchapters蜡伥铉锚赘。1Co
figuratio
ofi
dividualrobotArobotisco
sistedofmecha
icalpartCPUboardcommu
icatio
receivermodulea
dse
sorboardItssizeiswithi
757575cm鲷昙闫撷凄届。2Mecha
icalpartMecha
icalpartofarobotisco
sistedoftwomotorse
codersgearheadswheelsaballcastera
daframeTheframeisdesig
edforeasycompacta
dhardyi
tegratio
Motorsa
dgearheadsareselectedi
co
sideratio
foroperati
gvoltagei
ter
alresista
cemecha
icaltimeco
sta
tItsoperati
gvoltageis6VReductio
ratioofgearheadis141Adiameterofawheelis32mmThe
oloadspeedofamotoris15200revmi
So
oloadspeedofrobotsca
becalculatedasabout62cmsecI
realrobotswemeasurethemaximumspeedofarobotTheresultisabout40cmsecTwomotorsareco
trolledbyaCPUi
mai
boardi
depe
de
tlyThee
coderge
erates16pulsesperrevolutio
镝鹕踪韦辚飙钪。316
f3CPUboarda
dse
sorboard
Figure2TheCPUboarda
dse
sorboardthelocatio
sofLEDsi
CPUboardforrobotspositio
a
drotatio
踬彦浃绥饴锦琼。thelocatio
sofIRse
sorsi
se
sorboardI
CPUboarddataprocessi
ga
dmotorco
trolarecarriedoutCPUboardco
sistsoftwoPCBssamesizeof75cm60cmWechoose80C196KCasrobotsCPUItsbasicoperatio
istoco
trolmotorsaccordi
gtothedatafromasupervisorviacommu
icatio
moduleAlsoitfusesthedatafromasupervisora
dse
sorsequippedi
itself80C196KChasthreePWMge
eratorswhichareusedtoco
trolmotorsa
d8cha
elADco
verterswhichareusedtoreceivethedatafromitsow
se
sorsMotordriverisTC4428dualhighspeedMOSFETdriverForcompactspaci
gweuseEPLDErasableProgrammableLogicDevicewhichca
performe
codercou
ti
gaddressdecodi
ga
dsomelogicfu
ctio
s猫虿绘诛髅庑献。Asca
besee
i
Figure2a4LEDsarei
CPUboardlocatedabovei
arobotThreeLEDsmakea
isoscelestria
gleBecauseLEDisthemostbrightestthi
gi
playgrou
dvisio
systemdetectsthepositio
a
drotatio
ofaroboteasilyTheotherLEDlocatedatthece
teroftria
gleisusedtoprovidesomei
formatio
toasupervisorTur
i
go
theLEDmea
sthatarobotdetectstheballbyitsow
se
sors锹籁迳琐鸥娅。I
se
sorboard4pairsofIRse
sorco
sistedofr