【摘要】 移动机器人在沿地面彩色引导线运动的时候,线阵CCD采集到的数据是一维线性的,由于CCD本身结构的特点,硬件电路并不能完全除去它固有的噪音,因而提出一种用可编程逻辑器件(CPLD)实现的软件滤波的方法进行抗干扰处理。从仿真中可以看出,该方案能适应多种需要的信号滤波,能有效地滤除干扰信号,能准确地将信号送给控制器。更多还原

【Abstract】 When mobile robot walking along a color indicated line on the ground,the Linear CCD collected data is one dimension and linear.As a result of CCD structural characteristic,hardware circuit can not completely eliminate its intrinsic noises.A kind of software filter method is proposed to process for anti-interference with CPLD.The simulation results indicate that this project is fit for multipurpose signal filtering for noisy.It is able to effectively eliminate interference signal,also can exactly send signal to controller.更多还原