S KHOA HC V CNG NGH H NI NAM

VIN KHOA HC V CNG NGH VIT

CHNG TRNH T NG HAININ T VIN THNG

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BO CO CHUYN
Thuc ti

Nghin cu thit k v ch to h thng iu khin bng ting ni tch hp vo robot ht bi t ng thng minh
M s : 01C-02/05-2011-2 C quan ch tr: VIN CNG NGH THNG TIN, VIN KHOA HC V CNG NGH VIT NAM Ch nhim ti: CN Ng Hong Huy Thi gian thc hin: 1/2011- 12/2012

Chuyn :

Ngi thc hin:

H Ni , 10/2012

MC LC
I. Gii thiu chung v cc loi cm bin

I Gii thiu chung v cc loi cm bin trong robot Cm bin thng c nh ngha theo ngha rng l thit b cm nhn v p ng li vi nhng kch thch v cc tn hiu. y l thit b v cng quan trng robot c th nhn bit c chnh mnh v vt xung quanh n. Chng ta phi cn nghin cu r hn v vn ny, gip cho robot tr ln thng minh hn. Qua hai s sau ta c th hnh dung s lc v b cm bin :

Hnh 1: M hnh mch ca 1 cm bin

Hnh 2 : H thng iu khin t ng qu trnh

II. Cc b cm bin c dng trong Robot ht bi Cm bin xc nh ta chuyn ng ca Robot s dng cng ngh nhn dng nh Di Chuyn rt nh ca bnh xe c th c iu khin bng k thut mi vi hai mch phn hi d gim ln sai lch v tr. Sai lch c centimet l hiu s v tr thc hin trn mt bnh xe v v tr o v tnh trn bnh xe cn li. Sai s ny tng t ngun ca b chp hnh v cm bin v m hnh ng hc s dng trong tnh ton iu khin. So vi phng php sn xut hin nay vic iu khin chuyn ng ca robot vi phn hi bng mt, phng php mi khng i hi chnh nh khng gian lm vic cng khng s dng to chun tuyt i tnh ton bin i gia khng gian lm vic. H thng nhn ca robot gm c 1 camera c nh cung cp gc nhn ca khng gian lm vic. H thng nhn c kh nng nhn bit i tng cn nhn v thao tc, pht d liu to ca i tng cm nhn v tr tm nhn. Phng php nhn mi ny c th c thc hin theo hai bc: 1. Camera ban u c iu khin nhn i tng trong phm vi hp. B cm nhn cui c iu khin di chuyn ti v tr bnh thng gn i. Ni chung c cu chp hnh dng v tr gn , v tr ny do camera o,sau sai s v tr o c s dng tnh n sai s nh v v tr o c v chuyn ng tng i nh,c th iu chnh mt cch chnh xc. 2. nh x trc tip gn ng gia cc to nhn v to Robot c cu chp hnh c th c thit k khng qua chuyn i trung gian v t cc to tuyt i.
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Thc ra iu ny c ngha l vic nh chun i hi t im hn vic nh chun thng thng trong to tng i. Vic nh chun c tin hnh bng vic o v tr ca i tng (trong to th trng) khi i tng c gi cng bng c cu thao tc v tr iu khin (trong ta khp ni ca c cu thao tc) v khi cc camera c t ti cc v tr iu khin khc nhau .Tip theo st ni suy v ngoi suy n cc v tr chun c thc hin bng cch s dng cc bin i ng hc phi tuyn. Cm bin vn tc v gia tc o tc ng c ta s dng nhng phng php sau y: - S dng my pht tc - S dng b cm bin quang tc vi a m ho - S dng my o gc tuyt i - Xc nh tc gin tip qua php o dng in v in p stato m khng cn dng b cm bin tc Hin nay ta thng s dng phng php dng b cm bin tc vi a m ho v xc nh gin tip Cm bin lc Cc phng php cm bin lc c th thc hin bng 2 cch: Cn bng mt lc cha bit vi mt lc i khng sao cho lc tng cng v momen tng cng chng bng 0 - o gia tc ca vt c khi lng bit xc nh lc - Cn bng lc cha bit vi mt lc in t - Bin i lc thp p sut cht lng v o p sut ny - o ng sut to nn khi vt b bin dng n hi v suy ra lc. Trong o c lc ta thng dng phng php gin tip. Cm bin sonar Khong cch cm bin bng cch s dng mt tn hiu siu m o khong cch gia cm bin v i tng gn nht.
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Cm bin hng ngoi Nhng cm bin ny tng t nh cm bin sonar ngoi tr vic ta s dng tn hiu nh sng hng ngoi thay v cc tn hiu m thanh siu m o khong cch. Cm bin cao Khi robot lm vic nhng vng c bc thang, khng b ri, robot phi c h thng sensor cm nhn c cao. Nguyn l cm nhn: S dng ba cp diode thu pht hng ngoi c lp t ti 3 gc pha trc ca robot. Bnh thng, tn hiu pht t sensor pht s phn x t mt sn ln sensor thu, nhng nu gp phi cao (tc l khong cch gia sensor v mt sn ln hn mt ngng no ) th tn hiu phn x s rt yu hoc khng c. Tn hiu thu c trn sensor thu s qua b lc, khuch i ri so snh chuyn thnh tn hiu dng s. Do phi lm vic vi nhiu loi mt sn, chu nh hng ca nhiu loi nhiu, ch yu l nhiu tn s thp, v vy ta phi iu ch tn hiu pht ln tn s cao, trong ti ny l 1KHz. Tn s ny c to ra bi mch s dng LM124 III .Thit k Sensor: Robot nu khng cm bin th n ch nh ch l ci my .Nhng robot cn phi c Sensor c th gii quyt nhng chuyn xy ra th gii bn ngoi v phn hi li nhng thay i trng thi. Trong chng ny chng ti gii thiu nhiu loi cm bin v gii thch nhng tnh in ca chng s dng v thc hnh ng dng chng. Sensor nh my bin i vn nng Chc nng c bn ca Sensor l o lng cc nt c trng ca mi trng n hot ng, nh nh sng, m thanh, hoc p sut v chuyn i thnh cc tn
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hiu in, thng l in p hoc dng in. Nhng kiu m Sensor p ng li nhng kch thch thch l thay i in tr ca chng (nh t bo quang in), thay i dng in (Cm bin quang), hoc thay i in p ra(Cm bin hng ngoi). Nhng ngun in ra ca nhng Sensor c th d dng chuyn thnh nhng in khc c trng . Sensor lin tc v s : C hai kiu Sensor c bn: lin tc v s. Hu ht hai loi ny khc nhau v chc nng, ng dng, v cch s dng chng vi bo mch ca robot. Tn hiu ca Sensor lin tc l mt dy s o lin tc u ra. V d n gin nht v Sensor l mt ci cng tc in. c th ci cng tc in l mch h (in tr l v cng ln) khi cng tc khng bt v mch kn (in tr bng khng) khi cng tc bt. c tn hiu vo t cm bin. Trong th vin hm ca C c hm analog(-#) s dng tr li gi tr ring ca cng cm bin lin tc. Cho v d,v IC Val=analog(27) y l b gi tr ca bin val u ra ca cng #27 Ti u vo s ca bo mch robot c mt in tr bin i ko mc in p u vo lc no cng bng 5V khi khng kt ni. Khi ng hoc n cng tc kt ni vi mt cng s c th lm thay i in p v 0V do lm ni ngn mch v t. Kt qu nhn c u ra l : m =5V v ng =0V,l logic ngc m chng thng xuyn mun.iu l ta thng a thch s dng cng s mang gi tr 0 hoc thng l sai v chuyn i v 1 hoc ng khi ci cng tc bt ci g (ging nh tng hoc con robot khc ) v khi n cng tc. Th vin hm IC digital(port -#) s dng c gi tr True-False kt hp vi cng s ni vi sensor bin i ngc li tn hiu o lng nhn c trn mt cng s. Ngha l t y khi ta n cng tc (tc l 0V trn phn cng) th hm digital() s tr li gi tr 1 hoc gi tr True V d: If(digital(2)) do _it();
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tr li gi tr True (hoc 1 ) v gi hm do_it() nu ti cng 2 c gi tr 0V (biu th ang n kho) Kt ni chun

Hnh 3: c im chung ca cm bin dy

Hnh 4: Mch cm bin

III. Cm bin trong Robot Romba

Roomba c mt s cm bin v c cu chp hnh c sn s dng. Cc thit b truyn ng bao gm hai ng c a, loa, n LED, v trong mt s m hnh, chn khng v ng c chi quyt. Cc cm bin bao gm cc b m ha
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bnh xe, cm bin va chm, Cm bin IR bc tng, mt my thu hng ngoi, cm bin vch , cc nt, bnh xe, cm bin gim, mt s cm bin pin, v trong mt s m hnh c cm bin pht hin bi bn. Cm bin ng c bnh li: Li bnh xe ca Roomba. Loa: Cho php Roomba pht trng thi bng ting bp. n LED: n trn nh ca Roomba c s dng hin th thng tin trng thi. ng c chn khng / chi quyt: y l nhng ng c kim sot h thng ht bi ca Roomba. Bi v Roomba Create khng phi l mt robot ht bi hon chnh, m hnh khng c ng c. B m ha bnh xe: C th o c bao nhiu mi bnh xe c th xoay t thng tin ny, v tr tnh tin v quay ca Roomba c th c tnh ton. Cm bin Bump: C 2 cm bin va chm pha trc ca Roomba. y c th ni nu Roomba va chm vi mt i tng pha trc bn tri hoc pha trc bn phi ca Roomba. IR tng cm bin: y l nhng b cm bin khong cch hng ngoi c th pht hin tng pha bn phi ca Roomba. Nu va chm vi hn hai bc tng, m phng ch tnh n hai bc tng gn nht. Gi lp rng Robot vn phi lm vic khi n chm nhiu hn 1 thnh tng v nu robot bt u di chuyn n gc tng, bc tng khng b pht hin th chnh n s tr thnh 1 trong 2 bc tng c pht hin. Tuy nhin Robot c kh nng nhch theo cch ca mnh thng qua mt gc bng cch chuyn qua li gia cc bc tng khc nhau nhng lun lun hng ti chng.

Nu va chm vi bn cnh mt bc tng v mt gc, m phng ch c tnh n tng. iu ny l trnh nhm ln khi n va chm vi mt vt g ging nh mt gc phi cc robot khng c gng xoay quanh gc trong khi cng trt dc theo bc tng. Tuy nhin, iu ny c th gy ra vn khi gc khng c kt ni vo tng.

Nu va chm gia cc gc nhiu, m phng ch c tnh n gc gn nht. Vn ny n gin ha vic tnh ton, nhng c th gp phi cc vn tng t nh vi trng hp nhiu bc tng. Nu c gc nhiu cc bc tng cc robot c th mc gia cc bc tng v gp kh khn.

IR nhn: y l mt my thu hng ngoi cho mt tn hiu hng ngoi khng khong cch t mt trong nhng tng o Roomba. Tng o pht ra mt chm tia c th c s dng hn ch khu vc du lch ca Roomba hoc cho thng tin v tr gn ng.

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Qung sng tng o c m phng v c pht ra t v tr ging nh chm tia.Trong thc t qung sng ny l mt vi cm ng sau b pht chm tia.Tuy nhin, iu ny l nh ca mt s khc bit m n c chng minh l m phng ti cng mt v tr. Cm bin ri cu thang: cm bin ri cu thang nhn xung v pht hin khi mt trc ca Roomba bt u i qua mt vch ht (cu thang). Bnh xe th cm bin: Roomba c kh nng pht hin khi mt bnh xe gim. iu ny thng xy ra nu Roomba c chn hoc l b mc kt trn mt ci g v d nh mt bnh xe b nhc ln khi mt t. Pin / cm bin: C mt s l nhng cm bin pht hin tnh trng ca pin hoc hin ti ng c. Cm bin pht hin bi bn: Trong cc m hnh chn khng ca Roomba, c cm bin pht hin bi bn m n s pht hin khi Roomba i qua khu vc c bi bn cao, khi n bo bi bn s lin tc bt cho n khi robot ht sch bi bn.

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