MIA-1 Open Source Advanced Hand Made Humanoid Robot !: 4 Kauj Ruam

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:26

Nyob zoo txhua tus, hnub no kuv yuav los qhia yuav ua li cas kuv ua tus neeg hlau MIA-1, uas tsis yog tsuas yog Advanced thiab tshwj xeeb tab sis kuj qhib qhov chaw thiab tuaj yeem ua yam tsis muaj luam ntawv 3D !! Yog, koj tau txais nws, tus neeg hlau no yog ua tiav tes. Thiab qhib qhov txhais tau tias - koj tau txais cov lej cim thiab txhua yam ntxaws pub dawb, koj ib yam tuaj yeem ua tus neeg hlau no yog tias koj xav tau.

Ntawm no peb pom tsuas yog nws hais lus, tab sis muaj ntau yam ntxiv uas nws tuaj yeem ua!

Nov yog yam uas nws tuaj yeem ua tau:

• Tau mloog thiab tham rov qab rau koj
• Pom thiab paub koj siv nws lub qhov muag sab laug lub koob yees duab
• tuaj yeem ntes cov lus tsa suab thiab ntes duab
• muaj GUI nrog kov lub vijtsam LCD kom txib nws
• qhia cov duab ntawm nws lcd
• rub cov duab thiab qhia ntawm nws lub vijtsam
• tuaj yeem tsom cov khoom siv tus pointer laser ntawm nws sab tes xis
• txav tes thaum tham
• Sawv ntawm nws ko taw yam tsis muaj kev pab ntawm lwm tus
• Nws tseem tuaj yeem hneev (saib daim vis dis aus)

thiab ntau ntxiv, cia ua nws!

Khoom siv

Txhawm rau ua tus neeg hlau no kuv tau siv txhua yam uas muaj nyob ntawm peb lub khw hauv nroog.

MicroControllers + Khoos phis tawj (Lub hlwb):

• Arduino Mega (rau kev tswj cov servo motors)
• Lub khoos phis tawj puv (Koj tuaj yeem siv raspberry pi, tab sis kuv tau siv kuv lub laptop ua nws lub hlwb pib)

Servo Tsav:

MIA-1 muaj 13 qib kev ywj pheej.

• LDX227 dual axis servo motors 8x
• MG996r / MG996 servo motors 3x
• Rau figers ive siv micro servo sg90

Nco ntsoov tias kuv tau ntxiv cov neeg hlau claw thiab nws siv lwm MG996r servo motor.

Thiab jumper xov hlau thiab lwm yam

Yuav cov khoom siv hluav taws xob ntawm utsource.net

Lub Zeem Muag:

Txog kev ua duab xws li thaij duab thiab kuaj pom lub ntsej muag thiab lwm yam. Kuv tau siv lub koob yees duab USB.

NCO TSEG: Cov ntawv qhia no yog rau cov ua haujlwm nruab nrab thiab qib siab, Kuv yuav tsom mus rau cov lej feem ntau vim nws yog cov cai uas ua rau MIA-1, MIA-1. Thiab yog tias koj tau txais cov cai txhua yam yooj yim rau koj.

Kauj Ruam 1: Lub Cev thiab Lub Cev Muaj Zog

Lub cev tau ua los ntawm kev siv PVC ntawv, cov khoom sib txawv tau txuas nrog Siv Cov Kua Kub thiab cov ntsia hlau (saib daim duab). Kuv tau txiav daim ntawv pvc siv riam txiav (ua tib zoo saib !! tsis txhob txiav koj cov ntiv tes !!). Los ntawm daim duab ib thiab ob koj tuaj yeem pom qhov kev teeb tsa servo. Raws li kuv tau ua tus ntxhais hlau kuv tau muab nws ua poj niam lub cev thiab lub cev.

Cov khoom siv sib txuas tau tsim los siv cov ntawv pvc nyias vim lawv khoov zoo.

Lub taub hau yog siv lub zais pa, tshuab cua hauv lub zais pa (saib daim duab), ntxiv cov ntawv ntub me me thiab tom qab ntawd ziab nws. Tom qab ntxiv 8 txheej nws tau dhau los ua muaj zog thiab ruaj khov.

Tom qab ntawd tsuas yog xim nws dawb (tag nrho lub cev) siv tshuaj tsuag xim.

Tig tawm qhov kev tsim tsim yog qhov sib npaug zoo kawg nkaus thiab nws (MIA-1) sawv ntawm nws ob txhais taw !!

Ntxiv cov zaub:

Tom qab ntawd tsuas yog siv qee qhov ntsia hlau thiab cov kua nplaum kub los tso lub lcd ntawm nws lub hauv siab (daim duab kawg).

Kauj Ruam 2: Daim duab Circuit Court

Daim duab qhia chaw zoo li nyuaj tab sis nws tsis yog. Kuv kos lub voj voog raws li kev teeb tsa lub cev ntawm lub cev kom koj nkag siab nws yooj yim dua. Nco ntsoov ua kom sib haum hauv av. Arduino siv lub zog los ntawm lub khoos phis tawj ntawm nws lub usb cable. Muaj lub laser diode uas ua rau mia rau lub hom phiaj siv lub zog los ntawm tus pin 13 (coj tus pin) ntawm arduino.

Raws li koj tuaj yeem pom tias txhua lub cav thiab arduino nws tus kheej yog nyob sab nraub qaum ntawm lub cev. Kuv kuj tau tso tag nrho cov kab hluav taws xob rov qab. Yuav ib qho txuas USB txuas kom nws tuaj yeem txuas nrog lub khoos phis tawj.

Kauj ruam 3: CODE

Raws li koj paub kuv tau siv lub arduino mega. Arduino mega tswj cov Servo motors, cov motors tau npaj ua ntej. Tau txais cov cai tsav tsheb los ntawm no. Thov nco ntsoov txoj haujlwm servo lub neej ntawd, thaum tsim cov neeg hlau tswj hwm qhov no. Tsuas yog siv lub tshuab hluav taws xob nrog arduino yam tsis ua rau lub cev thiab cov servo motors yuav mus txog rau txoj haujlwm tsis raug (default pos hauv qab no)

/*default/standby position of servos*/komor.write (4); #waist servo left1.write (120); rFinger.write (0); servo1.write (55); cov. clawOpen (); rightStandBy (); leftStandBy (); headTilt.write (134); headPan.write (90);

Txoj cai tswj hwm lub cev muaj ntau dua 750 kab (ceev faj thaum kho).

Kev ua haujlwm tseem ceeb yog ua tiav siv tsab ntawv nab npawb 3.

Nab hab sej muaj lub tsev qiv ntawv pySerial uas sib txuas lus nrog arduino ntau dua. Nco ntsoov 'COM PORT'.

#Txuas nrog mia tsav tsav lub rooj tsavxwm hla kev sib txuas lus txuas: mia = serial. Serial ("COM28", 9600) tshwj tsis yog: dhau

Koj kuj yuav tsum tau pip nruab cov tsev qiv ntawv no

"" "ntshuam cov tsev qiv ntawv uas tsim nyog" "" #ntshuam thov #rau kev tshaj tawm/tau thov ntshuam pyttsx3 #offline cov ntawv rau kev hais lus ntshuam hais lus kev lees paub raws li sr #Speech rau cov ntawv (xav tau internet kom ua haujlwm) ntshuam lub sijhawm los ntawm random import randint #random integer de tsev qiv ntawv ntshuam tkinter #tkinter gui lub tsev qiv ntawv los ntawm tkinter ntshuam Tk, Khawm, Ntawv cim, Tk #import yam tsim nyog ntshuam ntshuam #serial tsev qiv ntawv rau kev sib txuas lus ntau dua USB los ntawm PIL ntshuam duab #fro qhia cov duab ntshuam cv2 #Computer Vision lub tsev qiv ntawv ntshuam wikipedia #kom tau cov ntaub ntawv direcly los ntawm wikipedia

Txhua yam yog yooj yim siv pip nruab. Rau hom opencv hauv qhov hais kom ua:

pip nruab opencv-contrib-python

GUI (Graphical User Interface) koj pom tau tsim los siv tkinter. Txog qhov no thiab txhua lwm lub tsev qiv ntawv koj tuaj yeem teeb tsa los ntawm cov lus txib no:

pip nruab library_name

ces nws yuav raug teeb tsa.

Kuj ua tib zoo saib yog tias koj siv lub webcam nws zoo li lub cam tau hais ua 1

cap = cv2. VideoCapture (1) #camera

Thiab yog tias koj xav paub ntau ntxiv txog yuav ua li cas tus neeg hlau no thiaj tham rov qab thov nyeem cov lus qhia no.

MIA-1 txoj cai tsuas yog txuas ntxiv ntawm qhov no.

Raws li kev hais kom ua arduino, khoos phis tawj xa mus tom, arduino ua raws li qhov tom nws tau txais, yog li nws zoo li Mia kev txav chaw thiab tham tsis sib xws.

mia.write (b'p ') #hais kom lub taub hau nce ces downcount_down (3) teb ("Thov luag ntxhi", 100)

Tam sim no kom tau txais cov cai mus rau qhov txuas hauv qab no.

Rub tawm MIA-1 tus lej ntawm no.

Kauj Ruam 4: Lub zog thiab ua tiav

Kuv tau siv lub neeg hlau siv lub roj teeb li 7.4 v. LDX227 servos yog lub zog tshaib plab heev (tab sis yog qhov zoo) yog li ua kom lawv tau txais tsawg kawg 7.3 v txhua lub sijhawm. Ntawm qhov tod tes MG996r servo motors yog pheej yig tuaj yeem ua puas yooj yim, nco ntsoov tias lawv tsis tau ntau dua 7.8V. Yog li lub zog loj tshaj plaws rau tus neeg hlau no yuav tsum yog nyob nruab nrab ntawm 7.4 txog 7.8 volts.

Zoo siab ua !! Yog tias koj nyiam tus neeg hlau no nco ntsoov txhawb nqa los ntawm kev tso npe rau hauv channel rau ntau txoj haujlwm zoo thiab thov pov npav rau kuv rau kev sib tw neeg hlau.

Tus neeg hlau no yog thawj zaug tau qhib qhov chaw ua haujlwm humanoid neeg hlau ntawm Bangladesh !! Thiab qhov pheej yig tshaj ntawm nws yog yam. Kuv ua tus neeg hlau no qhib qhov chaw kom lwm tus tub ntxhais kawm thiab cov neeg txaus siab tuaj yeem paub cov laj thawj ntawm cov neeg hlau. Tej zaum yav tom ntej tsis muaj leej twg yuav siv cov neeg hlau li cov ntawv tshawb fawb. Txog rau lub sijhawm neeg hlau !!