Line inspection balance car based on linear CCD

Two-wheeled tour balance car is a complex system model which contains a variety of variables with no definite parameters. It is characterized by nonlinearity and strong coupling. The balance car can be used to detect the advantages and disadvantages of control methods. It has broad application prospects. In this paper, an inverted pendulum model is constructed to simulate the balance conditions of the car. Kalman filtering method is used to optimize the inclined angle of the car. The control parameters are adjusted by PID to achieve the balanced operation . A new image acquisition scheme based on TSL1401 linear CCD is adopted. The STM32 processor processes heartbeats to control the speed of the left and right motors for autonomous line patrol. After testing, CCD line performance is better than infrared, with forward-looking, low jitter, relatively fast and other advantages.