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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

Gii php iu khin tay my phun ht NIX thng qua nh b mt cn lm sch A solution to control a NIX-sprayed manipulator via the image of cleaned surface
Trn Ngc Bnh1, V Quc Huy2, Nguyn Quang Hng Vin T ng ha KTQS 1 e-Mail: binhtn1969@yahoo.com.vn, 2maihuyvu@gmail.com Tm tt
Bi bo trnh by gii php iu khin tay my phun ht NIX lm sch b mt thng qua x l hnh nh chp t camera, qua t ng xc nh din tch vng cn lm sch v xy dng b tham s qu o vi phun iu khin mt tay my chuyn dng thay th ngi cng nhn trong vic tnh ton qu o vi phun nhm tng nng sut lm sch. Abstract: This paper presents a solution to control a specialized manipulator by processing the picture of surface captured from a camera. Thanks to the camera area of cleaned surface and parameters of spray hose orbit are determined. These parameters are applied to control the manipulator on behalf of workers in computing the hose orbit to increase clean productivity. Qu trnh lm sch c thc hin bng cch iu khin vi phun n cc ta cn lm sch. Vi din tch lm sch c hnh dng ngu nhin, vic lp bng tham s iu khin tay my th cng mt rt nhiu thi gian v vy nhim v ca camera l xc nh c v tr ca vng lm sch, t xc nh qu o vi phun iu khin tay my thc hin cng vic trn [1] nhm tng nng sut lm sch cho h thng:

H. 1

My t ng lm sch b mt v sn thnh v tu

K hiu
K hiu h x y n v Radian ngha Gc gia trc quang camera v ng vung gc t camera n b mt cn lm sch Khong cch t camera n b mt lm sch dch chuyn ca vi phun theo trc x dch chuuyn ca vi phun theo trc y

2. Xc nh v tr vng lm sch v qu o vi phun


2.1 Xc nh v tr vng lm sch Vic xc nh din tch v ng bin cn lm sch c thc hin bng phng php nhn dng nh thng qua cc php x l nh c bn nh tch bin, phn on, o m trn mt phng 2D. xc nh ng bin ca mng g st trn hnh nh ta c th thc hin bng nhiu thut ton x l nh. Tuy nhin bi bo ny khng cp n cc thut ton x l nh . Theo hnh v H.2 ta nhn thy camera c gn c nh gc ca cabin kn nn khi cabin p st vo b mt cn lm sch th khong cch t camera n b mt l h xc nh v khng i. Gc nghing gia trc quang camera vi phng thng ng l . Nh ta bit khi camera t cch mt phng o mt khong cch c nh v c tiu c c nh th c th chuyn i t hnh 2D thnh h ta 2D. Gi tr ta tnh ton c chnh bng ta cc im pha trong ng bao ca vng lm sch v c tnh bng ta cc im nh trong khung hnh m camera chp c.

m m m

Ch vit tt
2D Two dimension

1. Phn m u
Tay my phun ht NIX thc hin thao tc ca ngi cng nhn trong qu trnh phun ht lm sch ln b mt cn lm sch trc khi sn trong qu trnh bo dng sa cha tu thy. y l h tay my t ng 5 bc t do c lp t trong mt cabin kn ca h thng my t ng lm sch b mt (s dng cng ngh ht NIX) v sn thnh v tu nhm gim thiu nhim mi trng (hnh v H.1). My t ng lm sch b mt bao gm mt xe nng lm nhim v nng cabin 5 mt kn p st vo b mt cn lm sch. Mt h ca cabin bao ly b mt cn lm sch. Cabin kn c h thng lc bi, cha tay my v c gn mt camera quan st. Mt vi phun p lc cao c gn vo im cui ca tay my. Xe nng a cabin di chuyn p vo thnh tu to ra mt bung phun kn.

H. 2

M hnh camera v tay my trong cabin kn

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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011


Do c tnh hnh nh ca camera nn din tch thc t trn mt phng o tng ng vi mi im trn khung hnh camera l khc nhau. Yu cu t ra l cn xy dng cng thc tnh ta thc da trn ta im nh trn khung hnh. Cc tnh ton y c gi thit coi tiu c f ca camera nh hn nhiu ln khong cch h gia camera v b mt cn lm sch; b qua cc tham s quang sai, mo hnh xuyn tm.
' AYA

AYA CYA CYA


xa f2
2 ya

'

xa

'

(7)

h.cos(a b ) Vy ta ca im A: ya h(tg (a b ) tg (a))


'

xa'

(8)

(9)

H. 3

Biu din camera trong h ta

Gin tnh ta im nh c th hin trn hnh v H.3. Trong : im C l v tr camera. on CH l khong cch gia camera v b mt cn lm sch (h). on CO l tiu c ca camera n mt phng vung gc vi trc quang camera v cch mt khong f chnh l mt phng ca nh nhn c. Mt phng xOy l mt phng nh do camera chp. Mt phng xO y l mt phng b mt cn lm sch. Gc l gc gia trc quang camera v ng vung gc t camera n b mt cn lm sch, n cng chnh l gc gia mt phng nh v mt phng cn lm sch. xc nh mt im A( xa ,ya) trn b mt cn lm sch khi ta c im A(xa ,ya) trn hnh do camera chp c th ta phi thng qua s im nh ca hnh thu c tng ng vi v tr thc t khi ta chuyn h ta t tm nh sang tm trc quang ca camera vi mt phng v khong cch h gia camera v b mt cn lm sch. Xt tam gic CHO ta c:

(10) ya )) f ng bin ca vng lm sch l tp hp ca cc im A. Cn c vo cch xc nh ta nh trn ta hon ton xc nh c ng bin v din tch ca vng lm sch. 2.2 Xy dng qu o vi phun Trn hnh v H.4 l m t lc qu o ca vi phun. Tay my c nhim v iu khin v tr vi phun to vi tip tuyn ca mt phng lm sch mt gc = 450. Vng lm sch S c gii hn trong mt qu o khp kn chnh l ng bin c tch ra t nh chp ca camera. Thc t vng cn lm sch khng phng. Tuy nhin ta c th chia nh thnh tng vng phng. vi phun lm sch c ht din tch S th ln lt phi a vi qut ht mt phng S vi lng dch chuyn y [1]. Tc dch chuyn ca vi phun x l mt thng s quyt nh n nng sut lm sch v c t theo quy trnh cng ngh.

xa'

xa

f2

2 ya

h cos(a

arctg (

H. 4

M t qu o ca vi phun trn vng lm sch

HO'

CHtg (a)
OYA CO

htg (a)

(1)

Gi gc hp bi CO v CYA l

th: (2) (3)

arctg

arctg (

ya ) f

Khi dch chuyn y nh th vic chng kn gia hai ln phun ht lm sch v m bo sch b mt ng u v ng bin ca vng lm sch thc t s gn vi ng bin tch ra t nh chp ca camera do vic quay u vi phun theo gc nm trong vng lm sch mp ca vng lm sch s mn (khng hnh thnh cc vt c hnh dng rng ca).

2 CYA f 2 ya Xt tam gic CHYA ta c: HYA CHtg (a b ) htg (a


'

3. Xy dng thut ton iu khin


thc hin c qu trnh iu khin vi phun thng qua nh chp t camera cn thc hin tch bin vng lm sch, tnh ton dch chuyn (qung ng dch chuyn) ngang ca u vi phun xc nh im bt u v im kt thc ca mt ln chy my. Ta ca im bt u v qung ng dch chuyn ca vi c np vo b nh trong b iu khin di dng bng d liu tnh. Da vo cc tnh ton ng lc hc ngc cho tay my [2], b iu khin s ra lnh iu khin a vi phun qut ln lt

b) b)

(4) (5)

CYA

'

CH cos(a

b)

h cos(a

T ta c:

O'YA

'

HYA

'

HO'

h(tg (a

b ) tg (a))

ya (6)
'

' AYA'

CYA' CYA

AYA

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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011


vng lm sch theo qu o dch-dc nh phn tch trn. 3.1 Xc nh ta im bt u v qung ng dch chuyn ca vi phun Vic tch bin nh chp t camera cho ta bin dng vng lm sch phng S. Coi Oxy l h ta gn vi cabin c cha tay my v chiu vng lm sch S ln mt phng ta . Hnh nh vng lm sch sau khi tch bin v chiu ln mt phng Oxy nh hnh v H.5.

H. 6

Bng d liu v lu thut ton

H. 5

Hnh chiu lm sch S ln ta gc ca tay my v camera

4. Kt qu th nghim
Kt qu c th nghim vi iu kin thay i lng dch chuyn y khc nhau. Kt qu ny cng c so snh vi kt qu ca mt cng nhn thc hin cng vic lm sch trn cng mt din tch (hnh v H.7). Cc ch tiu so snh bao gm: cht lng sch v nng sut lm sch.

Nh vy im bt u ca vi phun s l im c tung gn gc ta nht (im A). Ta im A c xc nh theo (9) v (10). im tip theo vi phun cn n l B. Vi phun di chuyn sang tri n im B. Honh ca im B c xc nh theo (10), cn tung bng tung ca im A. Qung ng dch chuyn t A sang B l: (11) AB xB xA Sau khi phun n im B vi phun dch chuyn theo trc tung lng dch chuyn y v di chuyn sang phi n im C. Honh im C c xc nh theo (11), tung im C bng tung im B cng thm lng dch chuyn y. Qung ng dch chuyn t B sang C c tnh tng t nh qung ng dch chuyn t A sang B. Qu trnh tnh ton tip tc cho n im kt thc Z. 3.2 Xy dng lu thut ton Thut ton iu khin v tr vi phun c phn tch mc 3.1 v c th hin trn hnh v H.6. Cc bc thc hin qu trnh iu khin vi phun t v tr bt u (im A) n v tr cui cng (im Z) c th c tm gn nh sau: Bc 1: Chp vng lm sch; Bc 2: X l nh vng lm sch ly ng bin; Bc 3: Xc nh v tr bt u ca vi phun; Bc 4: Xc nh cc qung ng dch chuyn ca vi phun; Bc 5: Np d liu di dng bng tnh cho b iu khin (bng tnh c 40 hng)

H. 7

Hnh nh minh ha kim tra kt qu lm sch

Vi h thng m t trn nu iu khin tay my vi thng s xc nh qua tnh ton bng tay nng sut lm sch ch t 6,5m2/h nhng nh c camera nng sut lm sch tng ln gp i (13m2/h) v cao hn so vi mt ngi cng nhn phun bng tay (12m2/h) [3] trong khi cht lng lm sch tng ng Sa2.5 [4]. Ngoi ra vi vic s dng camera thay cho mt ngi nhn khc phc c tnh trng bi trc tip chui vo bn trong ngi cng nhn (mc d c bo h lao ng).

5. Kt lun
Bi bo trnh by gii php iu khin tay my phun ht NIX nh hnh nh nhn c t camera gn c nh trong cabin. Gii php gip cho vic t ng iu khin qu trnh lm sch nhm tng nng sut lm sch, loi b s xm nhp ca ht bi ln vo trong ngi cng nhn. Thut ton iu khin trn c ci t cho b iu khin PLC iu khin tay my 5 bc t do lm sch v sn thnh v tu ti nh my ng tu Ph Rng.

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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011 Ti liu tham kho


[1] Trn Ngc Bnh, V Quc Huy, , Nghin cu thit k ch to my t ng lm sch b mt (Bng cng ngh s dng ht NIX) v sn thnh v tu nhm gim thiu nhim mi trng, Bo co ti KC03.10/06-10, Vin T ng ha KTQS, 2010. Nguyn Thin Phc, Robot cng nghip, Nh xut bn Khoa hc - K thut, 2006. Phng Khoa hc - K thut, Tiu chun nng sut lm vic trong mt ca, Nh my ng tu Ph Rng, 2008. Phng Khoa hc - K thut, B mt lm sch tiu chun, Nh my ng tu Ph Rng, 2008. v iu khin ti u. Hng nghin cu chnh l thit k v thc hin cc h thng o lng v iu khin t ng, cc h thng nhng v h thng bt bm.

[2] [3]

[4]

Trn Ngc Bnh sinh nm 1969, tt nghip i hc Bch Khoa H Ni chuyn ngnh o lng iu khin t ng, hc Thc s k thut ti Hc vin KTQS nm 2005, nay ang lm NCS ti Vin KHCN qun s chuyn ngnh L thuyt iu khin v iu khin ti u. ThS Trn Ngc Bnh cng tc ti Vin T ng ha KTQS/Vin KH-CN qun sBQP t nm 1992, l nghin cu vin, trng phng Gim st v iu khin t xa. Hng nghin cu chnh l thit k v thc hin cc h thng o lng v iu khin t ng, cc h thng nhng v h thng bt bm. Nguyn Quang Hng sinh nm 1955, tt nghip i hc k thut Budapest Hungary nm 1981 ngnh o lng iu khin, nhn bng Tin s v ngnh o lng iu khin ti Hungary nm 1991, hin l nghin cu vin cao cp cng tc ti Vin T ng ha KTQS/Vin KH-CN qun s-BQP, tham gia o to NCS Tin s chuyn ngnh L thuyt iu khin v iu khin ti u v chuyn ngnh K thut in t ca Vin KH-CN qun s BQP. V Quc Huy sinh nm 1980, tt nghip i hc Bch Khoa H Ni nm 2003 chuyn ngnh T ng ha, l nghin cu vin cng tc ti Vin T ng ha KTQS/Vin KH-CN qun s-BQP t nm 2003, hin ang lm NCS ti Vin KH-CN qun s-BQP chuyn ngnh L thuyt iu khin

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