Cov txheej txheem:

1.50m Social Distancing Daim Kab Xev Ntsuas: 3 Kauj Ruam (nrog Duab)
1.50m Social Distancing Daim Kab Xev Ntsuas: 3 Kauj Ruam (nrog Duab)

Video: 1.50m Social Distancing Daim Kab Xev Ntsuas: 3 Kauj Ruam (nrog Duab)

Video: 1.50m Social Distancing Daim Kab Xev Ntsuas: 3 Kauj Ruam (nrog Duab)
Video: Henrik von Eckermann & Dzara Dorchival Win the Prix PremiuMares CSI5* 1.50m | LGCT St Tropez 2023 2024, Kaum ib hlis
Anonim
Image
Image
Schematic
Schematic

Hauv qhov kev tsim no kuv hloov kho kab xev ntsuas ntsuas kom ntsuas thaum qhov deb tau npog ntawm 1.5 m. Kuv yuav hais "ib thiab ib nrab metres". Nws tseem yuav qhia nrog lub teeb ntsuab lossis liab yog tias koj nyob siab dua lossis qis dua qhov no.

Qhov haujlwm no tau ua tiav vim qhov kev sib tw pib los ntawm Henk Rijckaert hauv nws tshooj youtube De Koterij thiab kuv xav txuas nws mus rau qhov teeb meem tam sim no ntawm COVID19 thiab kev nyob sib nrug. Ua lus Dutch hais lus youtube txog kev tsim no tuaj yeem pom hauv Youtube Weyn. Tech (Cov lus Askiv tau ntxiv).

Cov ntaub ntawv siv:

  1. Ib daim kab xev ntsuas
  2. Kho qhov muag Encoder: e4p-100-079
  3. Suab: DFPlayer Mini + sd-card
  4. Lub zog: PowerBoost 1000C
  5. MCU: Adafruit HUZZAH32 - ESP32 Feather (lwm yam arduino tuaj yeem siv tau ib yam vim tias kuv tsis siv BLE lossis Wi -nkaus nta hauv qhov tsim no)
  6. Neopixel
  7. Hais lus
  8. Roj teeb
  9. On/off Hloov

Kauj ruam 1: Schematic

Schematic
Schematic

Txuas cov khoom siv raws li qhia hauv schematic. Lub thawv ntawv tau rov siv dua tshiab thiab hloov pauv los ntawm lwm qhov kev tsim tab sis koj tuaj yeem siv ib lub thawv plaub fab uas loj txaus kom haum cov khoom. Koj xav tau tag nrho rau koj tus neeg hais lus, ntsuas kab xev thiab ntawm/ntawm khawm (thiab qhov zoo tshaj plaws rau usb min kom them lub roj teeb).

Txuas cov phaj hlau nrog cov ntsuas rau qhov tig ntawm qhov ntsuas kab ntawv, xyuas kom tseeb tias koj nruab nrab nws kom zoo li sai tau.

Ntawm SD-Card rau DFPlayer koj yuav tsum theej cov mp3 uas koj xav kom ua si thaum qhov kev ncua deb uas koj tau teeb tsa.

Kauj ruam 2: Code

Code
Code

Txhua tus lej tuaj yeem pom ntawm github.

ESP32 (lwm yam arduino tuaj yeem siv tau ib yam) yuav txuas ntxiv qhov kev xaiv tsa A en B ntawm tus lej cim thiab yuav nce lossis txo tus lej. Thaum nws tshaj -2150, Kuv paub rau kuv daim kab xev ntsuas nws siab tshaj 1.5 meters. Koj yuav tsum ntsuas qhov no rau koj lub 'meter'. Nyob ntawm tus nqi coj cov xim tau hloov pauv thiab DFPlayer tau xaj kom ua lub mp3 uas nyob ntawm daim npav SD.

Kauj ruam 3: Tus piav qhia Encoder

Tus Encoder Piav Qhia
Tus Encoder Piav Qhia

Peb tuaj yeem ntsuas ntsuas deb npaum li cas peb tau sau npe lub ntsuas?

Cov lus piav qhia no yog daim ntawv teev cov vis dis aus:

Zoo, rau qhov kuv siv lub khoos phis tawm kho qhov muag, uas yog tus lej nkag teb chaws zuj zus. Koj kuj muaj lwm tus, piv txwv li tsis muaj tus lej nkag. Lawv tsim nyog heev rau kev paub txoj haujlwm tseeb hauv 1 kev sib hloov. Tab sis qhov nce ntxiv, ntawm qhov tod tes, muab cov mem tes ruaj khov thaum lub sijhawm txav chaw, yog li koj tuaj yeem ntsuas qhov kev sib hloov koj tus kheej, kuj dhau ntawm qhov sib txawv sib txawv. Txoj kev no koj tuaj yeem ntsuas qhov kev sib hloov nws tus kheej, txawm tias dhau qhov sib txawv sib txawv. Kuv siv tus lej quadrature, uas muab ob lub cim qhia kom qhov kev taw qhia tseem tuaj yeem txiav txim siab.

Qhov ntawd ua haujlwm raws nraim li cas?

Muaj cov cim dub rau ntawm daim disk puag ncig. Lub disc no tau txuas nrog daim kab xev ntsuas thiab yog li ntawd yuav tig nrog nws. Lub sensor nws tus kheej muaj LED thiab ob lub ntsuas duab uas ntsuas seb lub teeb pom kev zoo li cas. Yog tias LED ci rau ntawm kab dub, tsawg dua lossis tsis muaj lub teeb pom kev zoo dua li thaum nws ci rau ntawm cov hlau ntawm cov cim dub. Lub teeb liab no yuav hloov pauv mus rau ib puag ncig yoj ntawm qhov tso tawm. Cov zis A thiab B tau muab tso rau hauv txoj hauv kev uas koj tuaj yeem pom los ntawm kev sib xyaw ntawm 2 qhov kev taw qhia tau tig.

Cia peb saib qhov ntawd kom ntxaws

Nrog txhua qhov kev hloov pauv ntawm A koj tuaj yeem hloov tus nqi ntawm B uas peb tig mus. Hauv qhov encoder kuv siv, A mem tes yuav pib ua ntej B mem tes yog tias peb tig lub moos. Thiab rov ua dua yog tias peb tig rov qab. Yog li peb tuaj yeem lees paub 3 lub plhaub taum uas qhia peb qee yam txog ntau npaum li cas tau tig mus. Kuv tus encoder muaj 100 cycles ib kiv puag ncig (CPR). Hauv qhov no nws tau tig yuav luag 10.8 degrees. Yog tias koj saib cov ntawv teev tseg, ua tib zoo saib xyuas txhais li cas los ntawm CPR qee zaum cov no yog cov lej ntawm cov kev hloov pauv ib puag ncig, qee zaum cov lej suav rau ib lub kiv puag ncig (lossis tus kheej sib txawv hauv ib lub xeev). Txhua tus mem tes muaj 4 lub xeev sib txawv. Siab lossis qis ntawm A thiab B. Uas yog 4 npaug ntau dua nrog Cycles per Revolution. PPR lossis cov noob taum pauv ib puag ncig feem ntau yog siv los ntsuas tus lej ntawm cov noob taum pauv ib puag ncig. Tab sis qee cov ntaub ntawv ntawm no txhais tau tias muaj pes tsawg tus mem tes sib txawv hauv ib lub tebchaws. Yog li tseem nyob ntawm no, ua tib zoo saib hauv cov ntawv dab tsi yog lub ntsiab lus. Peb pom ntawm no tias A mem tes los ua ntej mem tes B.

Ib txoj hauv kev yooj yim los ua qhov no hauv cov cai yog thaum A teeb liab hloov pauv kom pom qhov txiaj ntsig ntawm B teeb liab yog dab tsi. Yog tias lub teeb liab B tsis muaj tus nqi ntawm lub teeb liab A, peb tig lub moos thiab peb tuaj yeem nce lossis nce lub txee txhua lub sijhawm.

Tam sim no peb tau txais 200 qhov kev hloov pauv ib zaug puv vim tias peb muaj 2 tus mem tes. Yog li, yog tias lub txee nyob ntawm 200, peb tig tag nrho tig. Los yog tig 360 degrees Lwm txoj kev nyob ib ncig yog tias peb tig mus rau qhov tsis sib xws ces koj tuaj yeem pom tias A lub teeb liab yuav tsim tau 3 lub suab tib yam.

Yog li, peb kuj muaj ntawm no tias nws tau tig 10.8 degrees. Tab sis lub sijhawm no lub teeb liab B muaj tus nqi ib yam li lub teeb liab A, yog li peb paub tias lub teeb liab B twb tau ua ntej ntawm lub teeb liab A lawm. Thiab yog li ntawd, peb tig rov qab. Hauv qhov no peb tuaj yeem txo qis lub txee. Tam sim no peb paub tias muaj pes tsawg zaug daim kab xev ntsuas tau raug txiav. Yog tias peb xav paub qhov tsau nrug, nws yooj yim heev.

Piv txwv li, ntawm no, rau ib thiab ib nrab metres, lub txee yuav tsum yog -2150. Hauv lwm lo lus, 3870 degrees thim rov qab.

Yog tias koj ib txwm xav paub ntau npaum li cas tau raug sau npe koj yuav tsum tau coj mus rau hauv tus account tias txoj kab uas hla tau me dua hauv lwm lo lus, yuav muaj qhov tsawg dua thiab nrug deb ntawm daim kab xev ntsuas ntawm ib qho kev sib hloov tag nrho.

Pom zoo: