跟随原理

下面介绍红外感应的跟随小车的自动跟随部分。

基本原理：在小车上安装一个红外接收器（能测量红外入射角的感应器），人手持一个红外发射模块。

根据不同的入射角，调整小车前进方向。若入射角在右边，就控制小车右转，若入射角在左边，就控制小车左转。

效果展示

百度网盘链接：https://pan.baidu.com/s/1PGTwDxvUbdksDmyfcXAMOw?pwd=vddg

提取码：vddg

代码

以ESP32芯片(Arduino开发环境)为例。

void loop() {if (millis() - Run_Time > 200) {Run_Time = millis();LeftSpeed = 0; RightSpeed = 0;PineMotorRun(0);}GetIRData(&Angle, &Distance);if (Distance > 30 && Angle > 0 && Angle < 180) {LeftSpeed = 50 - (Angle - 90) * 0.5;RightSpeed = 50 + (Angle - 90) * 0.5;PineMotor_Run(LeftSpeed, RightSpeed);Run_Time = millis();OutStr = "L/R speed:" + String(LeftSpeed) + "," + String(RightSpeed);}}

红外感应代码 "IRSensor.h"

#ifndef __IRSENSOR_H__
#define __IRSENSOR_H__#define IRPINCOUNT 7
#define MaxIRShotCount  300
#define MaxHistoryCount 10
#define InValidAngle -360.0struct IRSENSOR_DATA{uint16_t IRCount[IRPINCOUNT];//红外感应器接受的脉冲数uint16_t IRValidCount[IRPINCOUNT];//红外感应器接受的有效脉冲数（脉冲间隔时间满足一定的范围）int IRTimeHistory[IRPINCOUNT][MaxIRShotCount];//红外感应器接受到脉冲时的时刻，单位为微秒long FirstTime[IRPINCOUNT];//单个感应器的首次脉冲时刻，单位为微秒long LastTime[IRPINCOUNT];  //单个感应器的最后脉冲时刻，单位为微秒long IRFirstTime, IREndTime;//整组感应器的首次，最后脉冲时刻，单位为微秒uint8_t ValidPinCount;//接受到有效信息的红外感应器个数double IRZone;double IRDistance;
};//红外感应器初始化
void iniIR();
static void IRPinCallBack(uint8_t i);
void DisableIRInterrupt();
void ResetIRSensorData();
void ResetIRData();void ResetIRSensorData();
long GetFirstIRTime_ms();
long GetFinalIRTime_ms();
double CalculateAngleMovingMean(uint8_t LastCount);void SumIRDataLoop();
void GetIRDataFromPin();//NotConfirmTime
double GetIRAngle();
void GetIRData(double *angle, int *distance);
String GetIRSignalStatus();uint8_t GetHighLevelPinCount(uint16_t IRCount[], uint16_t LL);
void AnalysisIRValues_OneSide(IRSENSOR_DATA* mData, uint8_t Angle[]);void RecordIRData(double Currentdata);void GetValidCount(IRSENSOR_DATA* mData);void Record_DoubleArray(double DArray[], double mydata, uint8_t * index, uint8_t Length);
void Push_DoubleArray(double History[], int Length);
void Reset_Array16(uint16_t IRCount[], int Length);#endif

红外感应代码 “IRSensor.cpp”

#include <Arduino.h>#include "IRSensor.h"struct IRSENSOR_DATA mIRData;int  LineCount, Count2 = 0;
bool IsIniIRPin = false, IsReceivedIRData = false;char strIR[140], Head[] = {"Angle:"};//IR, Pin从左到右，角度从大到小
uint8_t IRPin[] = {33, 32, 34, 35, 23, 21, 19}; //
uint8_t Angle_Pin[] = {165, 140, 115, 90, 65, 40, 15};bool IsHaveIRData = false, IsInNearArea = false;double IRAngleHistory[MaxHistoryCount];
uint8_t IRRecordIndex = MaxHistoryCount - 1;char IRs[256];
String IRStatus, AngleStatus, IRResponseTime_String, IRTimeStatus;long LastTime_AnalysisData;
bool IsFinishAnalysis;
long SimulatedTime;//static void IRPinCallBack(uint8_t i) {long CurrentTime = micros();if (!IsHaveIRData) {mIRData.IRFirstTime = CurrentTime;}if (IsFinishAnalysis) {IsFinishAnalysis = false;}mIRData.IREndTime = CurrentTime;if (mIRData.IRCount[i] < MaxIRShotCount) {if (mIRData.IRCount[i] == 0) {mIRData.FirstTime[i] = CurrentTime;mIRData.IRTimeHistory[i][mIRData.IRCount[i]] = 0;mIRData.LastTime[i] = CurrentTime;} else {mIRData.IRTimeHistory[i][mIRData.IRCount[i]] = CurrentTime - mIRData.LastTime[i];}mIRData.LastTime[i] = CurrentTime;mIRData.IRCount[i]++;} else {mIRData.IRCount[i] = 0;}IsHaveIRData = true;
}
/////
void IRAM_ATTR IntCallbackIR0() {uint8_t i = 0;IRPinCallBack(i);
}void IRAM_ATTR IntCallbackIR1() {uint8_t i = 1;IRPinCallBack(i);
}void IRAM_ATTR IntCallbackIR2() {uint8_t i = 2;IRPinCallBack(i);
}void IRAM_ATTR IntCallbackIR3() {uint8_t i = 3;IRPinCallBack(i);
}void IRAM_ATTR IntCallbackIR4() {uint8_t i = 4;IRPinCallBack(i);
}void IRAM_ATTR IntCallbackIR5() {uint8_t i = 5;IRPinCallBack(i);
}void IRAM_ATTR IntCallbackIR6() {uint8_t i = 6;IRPinCallBack(i);
}
///void SumIRDataLoop() {if (IsHaveIRData && !IsFinishAnalysis && (millis() - GetFirstIRTime_ms() > 30)) {//一个发射周期是200毫秒，一个脉冲105*2微妙，共25个脉冲，共5.26毫秒。 在30毫秒后分析数据LastTime_AnalysisData = millis();GetIRDataFromPin();IsFinishAnalysis = true;}if (millis() - LastTime_AnalysisData > 200) {ResetIRData();}}void GetIRDataFromPin() {String IRstr = "";IRStatus = "";//SimulateIRData();if ( GetHighLevelPinCount(mIRData.IRCount, MaxHistoryCount) >= 6) {IsInNearArea = true;//Serial.printf("近距离\n");}AnalysisIRValues_OneSide(&mIRData, Angle_Pin);char SS[256];sprintf(SS, "Angle:%.2f\r\n", mIRData.IRZone);IRstr = String(SS);if (IsInNearArea) {IRstr += "IRD:30\r\n";mIRData.IRDistance = 30;} else {IRstr += "IRD:500\r\n";mIRData.IRDistance = 500;}IRstr += IRStatus;//Serial.print(IRstr);ResetIRSensorData();
}double CalculateAngleMovingMean(uint8_t LastCount) {double sum = 0, validcount = 0;uint8_t i;if (LastCount > MaxHistoryCount) LastCount = MaxHistoryCount;for (i = 1; i <= LastCount; i++) {if (0 <= IRAngleHistory[MaxHistoryCount - i] && IRAngleHistory[MaxHistoryCount - i] <= 180 ) {sum += IRAngleHistory[MaxHistoryCount - i];validcount++;}}if (validcount > 1) {return sum / validcount;} else {return -1;}}String GetIRSignalStatus() {return IRStatus;
}String GetIRResponseTime() {return IRResponseTime_String;
}double GetIRAngle() {return mIRData.IRZone;
}void GetIRData(double *angle, int *distance) {*angle =  mIRData.IRZone;*distance =  mIRData.IRDistance;
}void ResetIRData() {mIRData.IRZone = InValidAngle;mIRData.IRDistance = 0;IRStatus = "";IRResponseTime_String = "";IsReceivedIRData = false;
}void ResetIRSensorData() {uint8_t i;for (i = 0; i < IRPINCOUNT; i++) {mIRData.IRCount[i] = 0;}long TempTime;TempTime = micros();for (i = 0; i < IRPINCOUNT; i++) {mIRData.IRTimeHistory[i][0] = 0;uint16_t j;for (j = 0; j < MaxIRShotCount; j++) {mIRData.IRTimeHistory[i][j] = 0;}mIRData.LastTime[i] = TempTime + 20 * 1000;mIRData.FirstTime[i] = TempTime + 20 * 1000;}mIRData.ValidPinCount = 0;IsHaveIRData = false;IsInNearArea = false;
}uint8_t GetHighLevelPinCount(uint16_t IRCount[], uint16_t LL) {uint8_t i, Count = 0;for (i = 0; i < IRPINCOUNT; i++) {if (IRCount[i] > LL) {Count++;}}return Count;
}void AnalysisIRValues_OneSide(IRSENSOR_DATA *mData, uint8_t Angle[]) {uint16_t i, j;boolean IsAbnormal = false;double AngleMean = InValidAngle, AngleSum = 0.0;  //arduino无float型数据int CountSum = 0, ValidCountSum = 0;String IRStr = "", SideStr = "";SideStr = "IR:";IRStr = SideStr;for (i = 0; i < IRPINCOUNT; i++) {IRStr += String(mData->IRCount[i]) + ",";CountSum += mData->IRCount[i];}IRStr += "Valid:";if (CountSum <= 4) {  //偶尔几个脉冲，无需理会for (i = 0; i < IRPINCOUNT; i++) {mData->IRValidCount[i] = 0;IRStr +=  "0,";}IRStr += "\r\n";IRStatus += IRStr;//Serial.println(IRStatus);mData->IRZone = InValidAngle;//Serial.println("No IR Signal.");return;}//  Serial.printf("Signal Count: %d \n", CountSum);boolean isCheckPulseTime = false;String strOut;if (isCheckPulseTime) {GetValidCount(mData);} else {for (i = 0; i < IRPINCOUNT; i++) {mData->IRValidCount[i] = mData->IRCount[i];}}ValidCountSum = 1;//相除时，不会是0for (i = 0; i < IRPINCOUNT; i++) {IRStr += String(mData->IRValidCount[i]) + ",";ValidCountSum += mData->IRValidCount[i];}IRStr += "\r\n";IRStatus += IRStr;//  Serial.println(IRStr);for (i = 0; i < IRPINCOUNT; i++) {if ( mData->IRCount[i] > 100) {  //脉冲太多，是干扰信号IsAbnormal = true;mData->IRZone = InValidAngle;break;}}if (CountSum / ValidCountSum >= 3) {  //少于33%的有效脉冲，极有可能是干扰信号IsAbnormal = true;mData->IRZone = InValidAngle;}if (IsAbnormal) {Reset_Array16(mData->IRCount, IRPINCOUNT);//Serial.printf("abnormal\n");return;}//加权平均//  Serial.println("");AngleMean = 0;    AngleSum = 0;mData->ValidPinCount = 0;ValidCountSum = 0;for (i = 0; i < IRPINCOUNT; i++) {if (mData->IRValidCount[i] < 1) {    //脉冲数量少，认为是干扰，就置0mData->IRValidCount[i] = 0;} else {(mData->ValidPinCount)++;}AngleSum += Angle[i]  * mData->IRValidCount[i];ValidCountSum += mData->IRValidCount[i];}if (ValidCountSum > 0) {AngleMean = AngleSum / ValidCountSum;} else {AngleMean = InValidAngle;}sprintf(IRs, " Zone: %.2f Valid Signal Count: %d \n", AngleMean, ValidCountSum);strOut = SideStr + String(IRs);AngleStatus += strOut;mData->IRZone = AngleMean;Record_DoubleArray(IRAngleHistory, AngleMean, &IRRecordIndex, MaxHistoryCount);}void GetValidCount(IRSENSOR_DATA *mData) {int CL = 500; uint8_t Error = 50;int IRTime;uint16_t i, j;//用于调试程序String IRStr = "", strOut;for (j = 0; j < IRPINCOUNT; j++) {IRStr = String(j) + ":";for (i = 0; i < mData->IRCount[j]; i++) {IRStr += String(mData->IRTimeHistory[j][i]) + " ";}//    Serial.println(IRStr);}for (j = 0; j < IRPINCOUNT; j++) {mData->IRValidCount[j] = 0;for (i = 0; i < MaxIRShotCount; i++) {IRTime = (mData->IRTimeHistory[j][i] + CL / 2) % CL + CL / 2;if (CL - Error < mData->IRTimeHistory[j][i] && CL - Error < IRTime  &&  IRTime < CL + Error) {mData->IRValidCount[i]++;}}}}long GetFirstIRTime_ms() {return mIRData.IRFirstTime / 1000;
}long GetFirstIRTime_us() {return mIRData.IRFirstTime;
}long GetFinalIRTime_ms() {return mIRData.IREndTime / 1000;
}////
void iniIR() {uint8_t i;uint8_t Model = FALLING; //CHANGEif (!IsIniIRPin) {for (i = 0; i < IRPINCOUNT; i++) {pinMode(IRPin[i], INPUT_PULLUP);}i = 0;attachInterrupt(digitalPinToInterrupt(IRPin[i]), IntCallbackIR0, Model);//FALLINGi++;attachInterrupt(digitalPinToInterrupt(IRPin[i]), IntCallbackIR1, Model);i++;attachInterrupt(digitalPinToInterrupt(IRPin[i]), IntCallbackIR2, Model);i++;attachInterrupt(digitalPinToInterrupt(IRPin[i]), IntCallbackIR3, Model);i++;attachInterrupt(digitalPinToInterrupt(IRPin[i]), IntCallbackIR4, Model);i++;attachInterrupt(digitalPinToInterrupt(IRPin[i]), IntCallbackIR5, Model);i++;attachInterrupt(digitalPinToInterrupt(IRPin[i]), IntCallbackIR6, Model);ResetIRSensorData();IRStatus = "";AngleStatus = "";IRResponseTime_String = "";IRTimeStatus = "";IsIniIRPin = true;}}void DisableIRInterrupt() {uint8_t i;for (i = 0; i < IRPINCOUNT; i++) {detachInterrupt(digitalPinToInterrupt(IRPin[i]));}IsIniIRPin = false;
}//
void Reset_Array16(uint16_t IRCount[], int Length) {int i;for (i = 0; i < Length; i++) {IRCount[i] = 0;}}void Record_DoubleArray(double DArray[], double mydata, uint8_t * index, uint8_t Length) {DArray[*index] = mydata;(*index)++;if ((*index) >= Length) {Push_DoubleArray(DArray, Length);*index = Length - 1;}}void Push_DoubleArray(double History[], int Length) {int i;for (i = 0; i < Length - 1; i++) {History[i] = History[i + 1];}}//

采购清单

序号	物品	数量	备注
1	小车底座（含1块亚克力板，2个马达，2个车轮，1个万向轮，1个电池盒）	1
2	电路板	1
3	ESP32芯片	1
4	Mico-USB线	1
5	红外感应器	1	https://item.taobao.com/item.htm?spm=a2oq0.12575281.0.0.50111debsOkWHG&ft=t&id=674576373037
6	马达驱动板（L298N）	1
7	充电板	1
8	18650锂电池	1
9	红外发射器	1

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基于红外感应的远距离智能跟随小车，自动跟随小车

跟随原理

效果展示

代码

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