Alpha Bot 1.0: 13 Cov Kauj Ruam

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:25

qhia… ALPHABOT 1.0the 2-Raspberry-Pi-Cluster Robot nrog 2 DOF, 8 megapixel CameraTxoj haujlwm no muaj ntau yam zoo nrog ntau mus. tsis yog txhua tus yam ntxwv yuav tshwm sim hauv qee cov duab lossis yeeb yaj kiab saum toj no, vim qhov tseeb tias tus neeg hlau tau dhau los ntawm ntau theem kev tsim kho lub sijhawm, thiab tseem muaj ntau yam ua.

Lus ceeb toom tseem ceeb:

2 ntawm Cov Duab saum toj no qhia tus neeg hlau nrog lub tshuab tiv thaiv lub cev rau saum cov neeg hlau thiab 7 Touch Screen mounted.

Koj tuaj yeem tsim nws li ntawd, los ntawm 3D luam tawm lub vijtsam mount (tom qab hauv cov lus qhia no), thiab los ntawm kev rho tawm, siv cov kab 40-tus lej hloov kho. Kuv yuav tshaj tawm cov ntaub ntawv ntxiv raws li txoj haujlwm no txuas ntxiv ntawm no lossis ntawm kuv qhov blog. Nyob twj ywm ntawm alphabot-blog.herokuapp.com/ lossis ntawm no.

Khoom siv

Nov yog cov khoom siv hauv qab no kuv tau siv los tsim cov neeg hlau no. Koj tuaj yeem yuav lawv ntawm qhov chaw kho vajtse online:

• MOUNTAIN_ARK Tracked Neeg Hlau Ntse Tsheb Platform Hlau Aluminium Alloy Tank Chassis nrog Lub Hwj Chim Dual DC 9V Tsav
• SunFounder PCA9685 16 Channel 12 Bit PWM Servo Driver rau Arduino thiab Raspberry Pi
• GPS Module GPS NEO-6M (Arduino GPS, Drone Microcontroller, GPS Txais)
• 50pcs 5mm 4 tus pin RGB Multicolor Common Cathode LED rau Arduino DIY
• Gikfun Infrared Diode Led IR Emission thiab Txais Rau Arduino (Pob ntawm 10 Pairs) (EK8460)
• ELEGOO MEGA 2560 R3 Board ATmega2560
• Gikfun 5mm 940nm LEDs Infrared Emitter thiab IR Receiver Diode rau Arduino (Pob ntawm 20pcs) (EK8443)
• Iduino Mega 2560 Starter Kit Rau Arduino W/ 33 Lessons Tutorial Over 200pcs Complete Electronic Component Project Project Kit
• TFmini-s, 0.1-12m Lidar Detector Sensor Lidar Tiny Module Ib Leeg-Point Micro Ranging Module nrog UART / I2C Kev Sib Txuas Lus
• TalentCell Rechargeable 12V 3000mAh Lithium ion Battery Pack for LED Sawb, CCTV Camera and More, DC 12V/5V USB Dual Output External Battery Power Bank with Charger, Dub
• Raspberry Pi 3 Qauv B (2X)
• Raspberry Pi Lub Koob Yees Duab Module V2
• Raspberry Pi NoIR Lub Koob Yees Duab V2
• 4 Pcs 5.5X2.1mm DC Lub Hwj Chim Txiv Neej Txuas Txuas Cable
• Adafruit Flex Cable rau Raspberry Pi Lub Koob Yees Duab - 18 " / 457mm (2x)
• Adafruit USB Micro-B Breakout Board (ADA1833)
• LM386N-1 Semiconductor, Tsawg Voltage, Suab Lub Hwjchim Amplifier, Dip-8, 3.3 mm H x 6.35 mm W x 9.27 mm L (Pob ntawm 10)
• Portable Charger Power Bank 26800mAh Ultra-High Capacity External Battery Pack Dual Output Port with 4 LEDs
• Freenove Ultimate Starter Kit rau Raspberry Pi 4 B 3 B+, 434 Nplooj Ntawv Qhia Qhia Kom Paub, Python C Java, 223 Yam Khoom, 57 Cov Haujlwm, Kawm Hluav Taws Xob thiab Kev Ua Haujlwm, Tsis Siv Neeg Breadboard
• Cov Khoom Siv Hluav Taws Xob - Cov Hluav Taws Xob Hluav Taws Xob 60W kho qhov kub thiab txias, Cov Hluav Taws Xob Hluav Taws Xob, Cov Hluav Taws Xob Hluav Taws Xob, Cov Hluav Taws Xob, Cov Khoom Siv Hluav Taws Xob, Cov Hluav Taws Xob Desoldering, Tweezers, Rosin, Heatshrink Tubes [110V, US Plug]
• Ob Chav Sided PCB Board Prototype Kit, Quimat 35Pcs Universal Luam Circuit Court Board nrog 5 Qhov Loj rau DIY Soldering thiab Electronic Project (QY21)
• Breadboard Solderless With Jumper Cables– ALLDE BJ-021 2Pc 400 Pin and 2pcs 830 Pin Prototype PCB Board and 3Pc Dupont Jumper Wires (Male-Female, Female-Female, Male-Male) rau Raspberry Pi thiab Arduino
• 2mm zip ties (pob ntawm 500)

• Raspberry Pi 7 nti Touch Screen Display

Kauj Ruam 1: Teeb RPI Software

Thawj kauj ruam: teeb tsa raspbian, rau koj li RPIs (https://www.raspberrypi.org/downloads/)

Lus software: Java nrog NetBeans IDE. Kuv muaj qhov chaw sib koom ua haujlwm sib txuas nrog raspberry pi. (Yav dhau los, cov neeg hlau tseem ceeb ua haujlwm tau ua tiav.org)

Txog software: Kev ua haujlwm tau tsim los ua cov software hloov pauv yooj yim. Nws tso cai rau koj ua haujlwm nrog 2D thiab 3D duab hauv Java lus, lossis nrog lwm "Qauv" (cov lus programming). Nws siv Swing (UI), JOGL (OpenGL (3D)), thiab lwm yam Java platforms. Ib qho teeb meem. Nws tsuas yog npaj rau cov pib programmer thiab cov haujlwm me me. Kuv hloov kuv lub platform software vim lwm qhov kev txwv tshwj xeeb ib yam nkaus, tshwj xeeb vim tias tag nrho koj cov ntaub ntawv.pde hauv koj qhov project, hauv Kev Ua IDE yuav sau rau saum. Tam sim no kuv tab tom siv NetBeans IDE (netbeans.apache.org/download), nrog cov phiaj xwm sib nrug ntawm kuv lub khoos phis tawj thiab kuv lub raspberry pi loj, yog li ntawd cov phiaj xwm xws li GPIO pins thiab tej zaum yuav yooj yim dua. Thiab kuv tab tom saib java FX rau kuv tus neeg hlau UI.

Koj tuaj yeem kawm paub teeb tsa NetBeans IDE nrog cov phiaj xwm sib nrug nyob hauv kab lus no:

www.instructables.com/id/Efficient-Development-of-Java-for-the-Raspberry-Pi/

Kauj Ruam 2: Sib Sau Cov Khoom rau Chassis

Daim ntawv ua ke muaj txiaj ntsig tshaj plaws: Kuv pom daim ntawv muaj txiaj ntsig tshaj plaws ntawm kev sib sau ua zip zip. Nrog cov zauv sib txuas, koj tuaj yeem txuas ib yam dab tsi rau koj lub cev neeg hlau. Kuv yuav 2mm zip txuas, yog li lawv tuaj yeem haum los ntawm txhua qhov hauv kuv lub chassis.

Yog tias muaj qhov chaw zoo los tso ob peb lub screws txawm li cas los xij, hauv kuv qhov IMU sensor (hauv cov duab saum toj no), tom qab ntawd cov screws yuav tsum tau muab tso rau hauv.

Kuv kuj siv 3D tshuab ntxhua khaub ncaws (pom hauv cov duab saum toj no) rau qhov sib nrug thiab kom cov xim ntawm lub cev tsis txhob khawb.

Kauj Ruam 3: Txheej txheem cej luam

Cov khoom yuav tsum tau muag, tom qab hauv cov lus qhia no:

• Raws li tau teev tseg saum toj no: IR sensors
• Arduino 5.5x2.1 fais fab cable
• 5v Lub taub hau 5v+GND kev sib txuas
• 12v LiOn roj teeb Fais Fab System thiab 5v Lub Hwj Huam Pob Lub Hwjchim
• 40-tus lej hloov kho kab kom txav lub cav thaiv 1cm ntawm lub cav

Cov lus qhia Soldering: Thaum kuv muab 2 IR sensors, Kuv siv cov xov hlau uas raug rau kev sib txuas ntev dua. Nws yog qhov yooj yim dua los siv tinned tooj liab hlau. Kuv tau txais 24 AWG xaim. Kuv siv nws los txhawm rau sab nraum qab ntawm kuv tus pin tawg thiab nws ua haujlwm tsis muaj qhov zoo dua li cov xaim hluav taws xob.

Kauj Ruam 4: Cov laug cam tawg tawm

Nws tsis zoo li tsim nyog thaum xub thawj, tab sis yog tias koj xav xaim 10 lub cim rau ib qho arduino, nws yog qhov xav tau tiag tiag. Koj muab GND xaim rau ntawm qhov kawg ntawm lub rooj tsavxwm, thiab koj tau txais 26 lub xov tooj cua GND ntxiv rau siv. Kuv yuav siv qhov no ntawm txhua qhov ntawm arduino's 5V, GND thiab 3.3V pins.

Kauj Ruam 5: Teeb Lub Teeb

Thaum siv lub teeb taub hau (suav nrog lub chassis) kuv tau siv cov GND xaim ua ke txhawm rau ua kom yooj yim thaum txuas txhua yam rau Arduino. Kuv siv 220 ohms resistor, rau ob lub taub hau, thiab siv cua sov-ntsws tubing kom cov pob qij txha txuas los ntawm kev sib tsoo.

Kauj Ruam 6: Solder IR Sensors

Tom ntej no, koj xav kom siv cov kab hluav taws xob IR, raws li daim duab qhia saum toj no.

Ib yam li kuv tau hais, Thaum kuv tau siv 2 lub ntsuas hluav taws xob IR, Kuv tau siv cov hlau txuas rau txuas ntev dua, tab sis nws yooj yim dua siv 24 AWG tinned tooj liab hlau rau qhov ntawd. Tsuas yog xyuas kom cov xov hlau tsis hla!

Kauj Ruam 7: Lwm Txoj Haujlwm Soldering

Lwm qhov chaw hauv tsev uas yuav tsum tau muag

• fais fab cable rau Arduino MEGA 2560 (5.5x2.1 fais fab cable rau USB 2.0 cable)
• 12v LiOn roj teeb Fais Fab System thiab 5v Lub Hwj Huam Pob Lub Hwjchim

Kauj Ruam 8: Ntxiv Lub Cev Tsav Tsheb

Koj yuav tsum tau solder 40-tus pin hloov kho kab:

Lub cev tiv thaiv kab mob yog 1 cm ze rau ntawm lub cav, yog li koj yuav tsum tsim 40-tus lej hloov kab kom txav lub cav thaiv rov qab los ntawm 1 cm

- Qhov no yog qhov twg 24 lub ntsuas cua tinned tooj liab hlau yog qhov tseem ceeb tshaj plaws.

Kauj Ruam 9: 3D Luam Lub Koob Yees Duab

Tam sim no koj xav tau 3d Luam lub koob yees duab thiab lub koob yees duab mount.

Nqa cov ntawv G-Code no thiab qhib lawv hauv Ultimaker Cura lossis lwm yam 3D luam ntawv software program uas koj siv. Thaum cov qauv ua tiav luam tawm, tso lub servo rau hauv qhov mount thiab kua nplaum-phom lub hau ntsaws rau sab saum toj, tom qab ntawd nplaum phom rab phom txuas mus rau hauv qab servos yas txuas

Kauj Ruam 10: 3D Luam Lwm Yam Khoom Tsim Nyog

Txhua ntu tau siv cov xim dub PLA

• Sab saum toj Arduino board mount

• 7 "screen mount (tsuas yog luam qhov no yog tias koj xav tau teeb tsa 7" screen rau saum lub cav thaiv)

  YOOJ YIM: Koj yuav tsum tau laum qhov hauv Lub Vev Xaib Mount Platform, nkag mus rau Screen Mount Tsa cov khoom, thiab ua kua nplaum phom rau lawv

• Ceev thiab Washers (hais ua ntej)

  Koj tuaj yeem rub nws ntawm no: alphabot-blog.herokuapp.com/downloads/Nuts_and_Washers_3D_print.zip

Tsim thiab 3d luam ntawv Kuv tsim cov ntawv luam tawm 3d hauv cov tshuab ziab khaub ncaws, thiab siv lub tshuab luam ntawv kawg los luam lawv.

Saum toj no yog G-Codes rau cov khoom ntxiv los luam rau koj tus neeg hlau.

Kauj Ruam 11: Hlau Txhua Yam

Txuas tag nrho cov xov hlau los ntawm ib qho kev ntsuas koj tau txuas nrog AlphaBot, thiab txuas lawv mus rau Arduino Mega 2560. txuas ib qho GND, 5V lossis 3.3V txuas rau pawg tswj hwm.

Txuas tag nrho cov laug cam ntu

Txhawm rau kom cov laug cam sib tham nrog lwm tus, raspberry Pis thiab Arduino board yuav tsum tau txuas nrog ntu.

Cov kab hluav taws xob xav tau (koj yuav xav tau txuas ib qho, yog tias koj tsis muaj nws):

• 1 USB (tus qauv) - USB (me dua) (Arduino board's USB cable)
• 1 USB (tus qauv) - USB (tus qauv) cable.

Java tsev qiv ntawv rau kev sib txuas lus yooj yim:

Kauj Ruam 12: Txuas Cov Roj Teeb rau Chassis

Tus neeg hlau no yog siv los ntawm: 5v 2.61A lub hwj huam pob (sab saum toj) thiab 12v LiOn roj teeb (hauv qab) Koj tuaj yeem them lub roj teeb siv lub micro USB breakout board (5v) thiab 12v 5.5x2.1 fais fab cable.

12v roj teeb: Lub TalentCell 12v roj teeb txuas nrog lub cav tiv thaiv thiab lub arduino mega 2560 (5v tso tawm), kom muab lub zog rau lub cav. Nws tau them los ntawm 12v fais fab cable, uas yog vim li cas kuv thiaj xav tau los tsim lub charger sib cais ntawm tus neeg hlau rau nws.

5v roj teeb pob: Lub roj teeb 5v txuas nrog 2 RPIs thiab raug them los ntawm lub rooj sib tham micro-usb breakout.

Kauj ruam 13: Nyob twj ywm

Kuv yuav tshaj tawm cov ntaub ntawv ntxiv raws li txoj haujlwm no txuas ntxiv mus. Nyob twj ywm ntawm alphabot-blog.herokuapp.com/

Yog tias koj nyiam qhov kev qhia no, thov ua siab ntev rau nws (saum toj no) thiab pov npav rau nws thawj zaug sau kev sib tw (hauv qab)