Short Distance Detection and Control System Based on Photoelectric Sensor and Its Application in Target Detection of Handling Robot

Abstract

The photoelectric sensor is an electronic device that is widely used in industrial automation processes. The device uses light to detect whether an object exists. The photoelectric sensor detection control system is the core part of the photoelectric sensor. The system includes sensor processing chip, control circuit, detection optical structure and automatic teaching control algorithm. In this research, the core control chip of the automatic teaching system and the core part of the control circuit of the short-distance photoelectric sensor are set up. The modular circuit around the above chip is designed. The optical structure of the sensor is designed by Position sensitive sensor (PSD) photoelectric accessories and triangulation method. Meanwhile, the core circuit control chip (CSP) is applied to complete the basic functions of the short-distance photoelectric sensor. Among them, the optical structure is designed to collect and process the optical signal of the detected object. Based on this, the I/V conversion is needed after collecting the optical signal by PSD, and then the signal processing is carried out. The fuzzy PID control model is used to solve the problem that the control object cannot accurately establish the mathematical model. The designed photoelectric sensor is used for the handling robot, and the D-H mathematical model of the handling robot is established. The Robotics toolbox provided by MatLab is used to simulate the movement of the robot, and the sensor is used to detect the target of the robot grabbing. The experimental results show that the sensor uploads the coordinate information of the object to be grabbed to the software interface, and the handling robot can accurately grab the object with the help of the photoelectric sensor, and place it in the corresponding position according to the appearance color of different objects to be grabbed.