Phau Ntawv Qhia Taug Kev Txhim Kho Kev Mobility ntawm Cov Neeg Tsis Pom Kev: 6 Kauj Ruam

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

Lub hom phiaj ntawm kev qhia yog los tsim phau ntawv qhia kev taug kev uas tuaj yeem siv tau los ntawm cov neeg xiam oob khab, tshwj xeeb yog cov neeg tsis pom kev. Cov lus qhia npaj siab yuav tshuaj xyuas seb phau ntawv taug kev tuaj yeem siv tau zoo li cas, yog li cov qauv tsim los rau kev txhim kho phau ntawv qhia taug kev no tuaj yeem tsim. Txhawm rau ua tiav lub hom phiaj, cov lus qhia no muaj cov hom phiaj tshwj xeeb hauv qab no.

• Txhawm rau tsim thiab siv qhov ua yeeb yam ua qauv coj los qhia rau cov neeg tsis pom kev
• Txhawm rau tsim phau ntawv qhia kev taug kev txhawm rau txo kev sib tsoo nrog kev cuam tshuam rau cov neeg tsis pom kev
• Txhawm rau txhim kho txoj hauv kev txhawm rau tshawb pom lub qhov dej ntawm txoj kev nto

Peb daim ntawm qhov ntsuas ntsuas nrug (ntsuas ntsuas ultrasonic) tau siv hauv phau ntawv qhia taug kev txhawm rau txhawm rau txhawm rau txheeb xyuas qhov teeb meem hauv txhua qhov kev coj ua suav nrog hauv ntej, sab laug thiab sab xis. Ib qho ntxiv, lub kaw lus pom cov potholes ntawm txoj kev saum npoo av siv lub sensor thiab kev sib txuas ntawm neural network (CNN). Tus nqi tag nrho ntawm peb cov qauv tsim yog kwv yees li $ 140 thiab qhov hnyav yog li 360 g suav nrog txhua yam khoom siv hluav taws xob. Cov khoom siv tau siv rau cov qauv yog 3D luam tawm cov khoom, raspberry pi, raspberry pi lub koob yees duab, ultrasonic sensor thiab lwm yam.

Kauj Ruam 1: Cov Ntaub Ntawv Xav Tau

• 3D Luam Tshooj

  1. 1 x 3D luam tawm sab laug lub tuam tsev
  2. 1 x 3D luam tawm lub tuam tsev sab xis
  3. 1 x 3D luam tawm lub ntsiab lus tseem ceeb

• Cov Khoom Siv Hluav Taws Xob thiab Cov Khoom Siv Hluav Taws Xob

  1. 04 x Ultrasonic sensor (HC-SR04)
  2. Raspberry Pi B+ (https://www.raspberrypi.org/products/raspberry-pi-3-model-b-plus/)
  3. Raspberry pi lub koob yees duab (https://www.raspberrypi.org/products/camera-module-v2/)Lithium-ion roj teeb
  4. Hlau
  5. Lub mloog pob ntseg

• Cov cuab yeej

  1. Kub nplaum
  2. Roj Hmab Siv (https://www.amazon.com/Belts-Rubber-Power-Transmis…

Kauj Ruam 2: 3D Luam Qhov Chaw

Qhov pom kev ua qauv yog ua qauv hauv SolidWorks (3D qauv) txiav txim siab qhov dav ntawm txhua qhov khoom siv hluav taws xob. Hauv kev ua qauv, lub hauv ntej ultrasonic sensor tau muab tso rau hauv qhov pom kom pom lub teeb meem pem hauv ntej nkaus xwb, sab laug thiab sab xis lub ntsuas hluav taws xob ultrasonic tau teeb tsa rau 45 degree los ntawm lub ntsej muag qhov chaw nruab nrab txhawm rau txhawm rau txheeb xyuas cov teeb meem hauv lub xub pwg thiab caj npab ntawm cov neeg siv; lwm lub ntsuas hluav taws xob ultrasonic tau teeb tsa rau hauv av tig mus rau qhov pom ntawm lub qhov taub. Lub koob yees duab Rpi nyob ntawm qhov chaw nruab nrab ntawm qhov pom. Ib qho ntxiv, sab xis thiab sab laug lub tuam tsev ntawm qhov pom tau yog tsim los tso rau raspberry pi thiab roj teeb feem. SolidWorks thiab 3D qhov chaw luam tawm tau pom los ntawm kev sib txawv.

Peb tau siv 3D tshuab luam ntawv los txhim kho 3D qauv ntawm qhov pom kev. 3D tshuab luam ntawv tuaj yeem tsim tus qauv mus txog qhov siab tshaj plaws ntawm 34.2 x 50.5 x 68.8 (L x W x H) cm. Dhau li ntawm qhov no, cov khoom siv uas tau siv los tsim cov qauv ntawm qhov pom yog Polylactic acid (PLA) filament thiab nws yooj yim kom tau txais thiab tus nqi qis. Txhua qhov ntawm lub ntsej muag tau tsim hauv tsev thiab txheej txheem sib dhos tuaj yeem ua tiav tau yooj yim. Txhawm rau txhim kho tus qauv ntawm lub ntsej muag, tus nqi PLA nrog cov khoom siv txhawb nqa xav tau raws li kwv yees li 254gm.

Kauj Ruam 3: Sib Sau Ua Ke

Txhua lub Cheebtsam tau sib sau ua ke.

1. Ntxig raspberry pi mus rau 3D luam tawm lub tuam tsev sab xis
2. Ntxig lub roj teeb mus rau 3D luam tawm sab laug lub tuam tsev
3. Ntxig lub koob yees duab rau pem hauv ntej ntawm lub thav duab loj uas lub qhov tsim los rau lub koob yees duab
4. Ntxig lub ultrasonic sensor ntawm qhov qhia tshwj xeeb

Kauj Ruam 4: Kev Sib Txuas Kho Vajtse

Kev sib txuas ntawm txhua feem tiv thaiv tau teeb tsa nrog raspberry pi thiab pom tias qhov ua rau thiab tus ncho tus pin ntawm lub hauv ntej sensor txuas nrog GPIO8 thiab GPIO7 tus pin ntawm raspberry pi. GPIO14 thiab GPIO15 txuas lub ntsuas thiab echo tus pin ntawm lub qhov paum qhov ntsuas pom. Lub roj teeb thiab lub mloog pob ntseg tau txuas nrog Micro USB lub zog thiab Lub suab tso rau ntawm raspberry pi.

Kauj Ruam 5: Tus Neeg Siv Khoom Ua Qauv

Cov menyuam yaus qhov muag tsis pom hnav tus qauv thiab zoo siab tau taug kev hauv ib puag ncig yam tsis muaj kev sib tsoo. Lub kaw lus tag nrho muab kev paub zoo thaum sim nrog cov neeg tsis pom kev.

Kauj Ruam 6: Xaus thiab Npaj Yav Tom Ntej

Lub hom phiaj tseem ceeb ntawm cov lus qhia no yog txhawm rau txhim kho phau ntawv qhia kev taug kev txhawm rau pab cov neeg tsis pom kev kom taug kev ntawm nws tus kheej hauv ib puag ncig. Lub kaw lus nrhiav kom pom qhov teeb meem lub hom phiaj qhia pom tias muaj teeb meem nyob ib puag ncig ib puag ncig ntawm cov lus qhia ntawm pem hauv ntej, sab laug thiab sab xis. Lub qhov dej txhawm rau txhawm rau txhawm rau pom qhov potholes ntawm txoj kev nto. Lub ntsuas hluav taws xob ultrasonic thiab Rpi lub koob yees duab tau siv los ntes lub ntiaj teb ib puag ncig tiag ntawm txoj kev qhia taug kev. Qhov kev ncua deb ntawm qhov teeb meem thiab tus neeg siv tau suav los ntawm kev txheeb xyuas cov ntaub ntawv los ntawm cov ntsuas ultrasonic. Cov pothole cov duab tau qhia paub thawj zaug siv kev sib txuas neural network thiab lub potholes raug kuaj pom los ntawm kev ntes ib daim duab txhua lub sijhawm. Tom qab ntawd, tsab ntawv ntawm phau ntawv qhia kev taug kev tau tsim tiav nrog qhov hnyav txog 360 g suav nrog txhua yam khoom siv hluav taws xob. Kev ceeb toom rau cov neeg siv tau muab nrog qhov muaj teeb meem thiab lub qhov dej los ntawm lub suab qhia los ntawm lub mloog pob ntseg.

Raws li kev ua haujlwm theoretical thiab sim ua thaum lub sijhawm qhia no, nws tau pom zoo tias kev tshawb fawb ntxiv tuaj yeem ua tiav txhawm rau txhim kho kev ua tau zoo ntawm cov lus qhia taug kev los ntawm kev hais cov ntsiab lus hauv qab no.

• Phau ntawv qhia kev taug kev tau dhau los ua qhov hnyav me ntsis vim yog siv ntau yam khoom siv hluav taws xob. Piv txwv li, raspberry pi tau siv tab sis txhua qhov kev ua haujlwm ntawm raspberry pi tsis tau siv nyob ntawm no. Yog li ntawd, tsim Daim Ntawv Thov Kev Sib Koom Tshwj Xeeb (ASIC) nrog rau kev ua haujlwm ntawm daim ntawv qhia kev taug kev tuaj yeem txo qhov loj me, hnyav thiab tus nqi ntawm tus qauv.
• Hauv ntiaj teb ib puag ncig tiag tiag, qee qhov teeb meem tseem ceeb uas tau ntsib los ntawm cov neeg tsis pom kev yog cov neeg poob rau ntawm txoj kev saum npoo av, cov xwm txheej ntaiv, txoj kev du nto, dej ntawm txoj kev saum npoo thiab lwm yam. nto. Yog li, kev txhim kho cov lus qhia taug kev xav txog lwm yam kev cuam tshuam tseem ceeb tuaj yeem pab txhawb kev tshawb fawb ntxiv rau kev pab cov neeg tsis pom kev.
• Lub kaw lus tuaj yeem txheeb pom qhov muaj teeb meem tab sis tsis tuaj yeem cais cov teeb meem, uas yog qhov tseem ceeb rau cov neeg tsis pom kev hauv kev taug kev. Semantic pixel-wise segmentation ntawm ib puag ncig tuaj yeem ua rau faib cov teeb meem ib puag ncig.