Cov txheej txheem:

OAREE - 3D Luam Tawm - Kev Nyuaj Siab Zam Txim Rau Neeg Hlau rau Kev Kawm Txuj Ci (OAREE) Nrog Arduino: 5 Kauj Ruam (nrog Duab)
OAREE - 3D Luam Tawm - Kev Nyuaj Siab Zam Txim Rau Neeg Hlau rau Kev Kawm Txuj Ci (OAREE) Nrog Arduino: 5 Kauj Ruam (nrog Duab)

Video: OAREE - 3D Luam Tawm - Kev Nyuaj Siab Zam Txim Rau Neeg Hlau rau Kev Kawm Txuj Ci (OAREE) Nrog Arduino: 5 Kauj Ruam (nrog Duab)

Video: OAREE - 3D Luam Tawm - Kev Nyuaj Siab Zam Txim Rau Neeg Hlau rau Kev Kawm Txuj Ci (OAREE) Nrog Arduino: 5 Kauj Ruam (nrog Duab)
Video: Saib Mis paub Poj niam (hluas nkauj) tus yam ntxwv lub siab 2024, Kaum ib hlis
Anonim
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OAREE - 3D Luam Tawm - Cov Teeb Meem Zam Txim Cov Neeg Hlau rau Kev Kawm Txuj Ci (OAREE) Nrog Arduino
OAREE - 3D Luam Tawm - Cov Teeb Meem Zam Txim Cov Neeg Hlau rau Kev Kawm Txuj Ci (OAREE) Nrog Arduino
OAREE - 3D Luam Tawm - Cov Teeb Meem Zam Txim Cov Neeg Hlau rau Kev Kawm Txuj Ci (OAREE) Nrog Arduino
OAREE - 3D Luam Tawm - Cov Teeb Meem Zam Txim Cov Neeg Hlau rau Kev Kawm Txuj Ci (OAREE) Nrog Arduino

OAREE (Teeb meem zam kev rau neeg hlau rau Kev Kawm Txuj Ci)

Tsim: Lub hom phiaj ntawm cov lus qhia no yog los tsim OAR (Obstacle Zam Txim Cov Neeg Hlau) neeg hlau uas yooj yim/compact, luam tawm 3D, yooj yim rau sib sau ua ke, siv cov khoom siv sib txuas tas li rau kev txav chaw, thiab muaj ob peb qhov yuav khoom raws li qhov ua tau. Kuv ntseeg tias kuv tau ua tiav hauv kev tsim cov neeg hlau txaus no thiab tau muab nws lub npe OAREE (Obstacle Zam Txim Cov Neeg Hlau rau Kev Kawm Txuj Ci). Tus neeg hlau no yuav nkag siab qhov teeb meem, nres, saib sab laug thiab sab xis, tom qab ntawd tig mus rau qhov tsis muaj kev cuam tshuam thiab mus tom ntej.

Yav dhau los: Internet muaj teeb meem ntau heev zam kev rau neeg hlau, tab sis feem ntau yog qhov hnyav, nyuaj rau sib sau ua ke, thiab kim. Ntau ntawm cov neeg hlau no muaj Arduino code muab, tab sis nws nyuaj rau pom qhov kev xav zoo, ua piv txwv. Kuv kuj xav siv cov kev pabcuam txuas mus txuas ntxiv rau lub log (tsis yog DC lub cev muaj zog), uas tseem tsis tau ua tiav. Yog li, kuv tau teeb tsa lub hom phiaj los tsim kev cog lus, tsim muaj tswv yim OAR neeg hlau los qhia rau ntiaj teb.

Kev Txhim Kho Ntxiv: Tus neeg hlau no tuaj yeem tsim kho ntxiv kom zoo dua pinging qhov tseeb, ntxiv IR cov cim rau kab tom qab muaj peev xwm, LCD npo los tso saib qhov teeb meem nrug deb, thiab ntau ntxiv.

Khoom siv

  • 1x Arduino Uno -
  • 1x V5 Sensor Shield -
  • 1x 4xAA Roj Teeb Nrog Nrog On/Ntawm Hloov -
  • 1x SG90 Servo -
  • 2x Kev Sib Txuas Txuas Txuas Ntxiv -
  • 1x 9V Roj Teeb Hluav Taws Xob Hluav Taws Xob rau Arduino (TSIS MUAJ) -
  • 1x HC -SR04 Ultrasonic Sensor -
  • 4x Poj Niam-Poj Niam Jumper Wires-https://www.amazon.com/RGBZONE-120pcs-Multicolored …
  • 2x Roj Hmab Bands
  • 1x 9V Roj Teeb (XAV TAU)
  • 4x AA Roj teeb
  • 4x Me Me Ntsia Hlau (4 x 1/2 lossis txhua yam zoo sib xws)
  • Phillips Ntsia Hlau Tsav
  • Kua nplaum kom ruaj ntseg cov hlua roj hmab rau lub log

Kauj Ruam 1: 3D Luam Ntawv: Lub Cev, Lub Log, Lub Caster Marble, 6mm Bolt/txiv ntseej, thiab Ultrasonic Sensor Mount

3D Luam Ntawv: Lub Cev, Log, Caster Marble, 6mm Bolt/txiv ntseej, thiab Ultrasonic Sensor Mount
3D Luam Ntawv: Lub Cev, Log, Caster Marble, 6mm Bolt/txiv ntseej, thiab Ultrasonic Sensor Mount
3D Luam Ntawv: Lub Cev, Log, Caster Marble, 6mm Bolt/txiv ntseej, thiab Ultrasonic Sensor Mount
3D Luam Ntawv: Lub Cev, Log, Caster Marble, 6mm Bolt/txiv ntseej, thiab Ultrasonic Sensor Mount
3D Luam Ntawv: Lub Cev, Log, Caster Marble, 6mm Bolt/txiv ntseej, thiab Ultrasonic Sensor Mount
3D Luam Ntawv: Lub Cev, Log, Caster Marble, 6mm Bolt/txiv ntseej, thiab Ultrasonic Sensor Mount

Muaj 5 ntu rau 3D luam tawm.

  1. Lub cev
  2. Log
  3. Marble Caster
  4. 6mm Bolt/Txiv Ntseej (xaiv tau, cov txiv ntoo hlau/ntsia liaj qhov rooj tuaj yeem hloov tau)
  5. Ultrasonic Sensor Mount

Txhua qhov xav tau. STL cov ntaub ntawv suav nrog hauv cov lus qhia no ntxiv rau Sketchup cov ntaub ntawv. 40% infill pom zoo.

Kauj ruam 2: Program Arduino

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Sib sau ua neeg hlau
Sib sau ua neeg hlau

Xa Code rau Arduino UNO: Siv Arduino IDE, xa cov cai (hauv cov ntawv txuas nrog) rau koj tus qauv Arduino. Koj yuav tsum rub tawm thiab suav nrog servo.h thiab cov tsev qiv ntawv tshiabping.h nrog cov duab no.

Cov cai tau hais qhia meej, yog li koj tuaj yeem pom txhua yam lus txib ua. Koj tuaj yeem hloov pauv Ultrasonic Sensor nrug mus rau qhov loj dua lossis tus nqi me dua yog tias xav tau. Nov yog thawj txoj cai thiab txhais tau tias yuav nthuav dav ntxiv thiab siv rau kev txhim kho txoj haujlwm ntxiv.

// OBSTACLE AVOIDING ROBOT // [email protected], [email protected], University of TN ntawm Chattanooga, Hluav Taws Xob Engineering, NTUJ 2019 // Cov Khoom Yuav Tsum Tau: // 1) Arduiino UNO, 2) Servo Sensor Shield v5.0, 3) HCSR04 Ulrasonic Sensor, 4) FS90 Servo (rau Ultrasonic Sensor) // 5 & 6) 2x CONTINUOUS ROTATION SERVOS rau lub log // 7) 16mm Marble rau rear castor pivot, 8 & 9) 2 rubberbands rau lub log // 10- 15) 1x (4xAA) Lub roj teeb nrog qhib/tua hloov, 16 & 17) 9V roj teeb nrog txuas rau lub zog Arduino UNO // 3D PRINT: // 18) ROBOT Lub Cev, 19 & 20) 2x Log, 21) Marble Caster, 22) Ultrasonic Sensor Mount, thiab 6mm Ntsia Hlau (saib cov ntawv txuas nrog) // -------------------------------------- ----------------------------------------------------------------------- ----------------------------------------- #suav nrog // suav nrog Servo Library #include // Xws li Newping Library // ------------------------------------------- ----------------------------------------------------------------------- ------------------------------------ #define TRIGGER_PIN 1 2 // Asmeskas ua rau tus pin 12 ntawm Arduino #define ECHO_PIN 13 // US Echo rau tus pin 13 ntawm Arduino #define MAX_DISTANCE 250 // nrug rau ping (max yog 250) int nrug = 100; // ----------------------------------------------------------------------- ----------------------------------------------------------------------- ------------------------------- Servo US_Servo; // Ultrasonic Sensor Servo Servo Left_Servo; // Sab laug Log Servo Servo Right_Servo; // Txoj Cai Log Servo NewPing sonar (TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE); // NewPing teeb tsa tus pin thiab nrug deb tshaj plaws. // ----------------------------------------------------------------------- ----------------------------------------------------------------------- ------------------------------- teeb tsa tsis muaj dab tsi () // INPUT/OUTPUTS, YUAV UA LI CAS RAU ATTACH, TSEV KAWM NTAWV POSITIION/TSHUAJ {pinMode (12, NTAWV); // Ua tus pin teeb raws li cov zis pinMode (13, INPUT); // Echo tus pin teeb tsa ua tswv yim US_Servo.attach (11); // Asmeskas Servo teeb tsa tus pin 11 US_Servo.write (90); // US SERVO LOOKS FORWARD

Left_Servo.attach (9); // Sab laug log servo rau tus pin 9

Left_Servo.write (90); // LEFT WHEEL SERVO teeb tsa rau nres

Right_Servo.attach (10); // Txoj Cai Log servo teeb tsa tus pin 10

Right_Servo.write (90); // RIGHT WHEEL SERVO teeb tsa STOP ncua (2000); // Tos rau 2 vib nas this nrug = readPing (); // Tau Ping Distance ntawm txoj haujlwm ncaj nraim ncua sijhawm (100); // Tos 100 ms moveForward (); // ROBOT txav mus tom ntej} // ------------------------------------------ ----------------------------------------------------------------------- ------------------------------------- void loop () {int nrugRight = 0; // Pib US nrug deb ntawm sab xis ntawm 0 int distanceLeft = 0; // Pib US nrug deb ntawm 0 //US_Servo.write(90); // Center US servo // ncua (50); // US_Servo.write (70); // Saib Me ntsis Txoj Cai // ncua (250); // US_Servo.write (110); // Saib me ntsis laug // ncua (250); // US_Servo.write (90); // Saib Center

yog (nrug <= 20) // Neeg hlau yog txav mus tom ntej {moveStop (); // Neeg hlau STOPS ntawm qhov deb = nrugLeft) // Txiav txim siab qhov kev taw qhia kom tig {turnRight (); // Sab xis muaj qhov deb tshaj, ROBOT TURNS RIGHT rau 0.3s ncua (500); // Qhov Kev Ncua Sijhawm no txiav txim siab qhov ntev txav moveStop (); // Neeg hlau STOPS} lwm {turnLeft (); // Sab laug sab deb tshaj plaws, ROBOT TURNS LEFT rau 0.3s ncua (500); // Qhov Kev Ncua Sijhawm no txiav txim siab qhov ntev txav moveStop (); // Neeg hlau STOPS}} lwm {moveForward (); // Neeg hlau txav mus tom ntej} nrug = readPing (); // US READS NEW PING for the new direction of travel} // ----------------------------------- ----------------------------------------------------------------------- -------------------------------------------- int saibRight () // Ultrasonic Sensor LOOK RIGHT FUNCTION {US_Servo.write (30); // Asmeskas servo txav mus rau qhov qeeb qeeb (500); int nrug = readPing (); // Teeb tus nqi ping rau txoj cai ncua (100); US_Servo.write (90); // Asmeskas servo txav mus rau Lub Chaw Rov Qab Los; // Qhov kev ncua deb tau teeb tsa} // ------------------------------------------ ----------------------------------------------------------------------- ------------------------------------- int lookLeft () // Ultrasonic Sensor LOOK LEFT FUNCTION {US_Servo.write (150); // Asmeskas servo MOVES LEFT mus rau lub kaum qeeb (500); int nrug = readPing (); // Teeb tus nqi ping rau sab laug ncua (100); US_Servo.write (90); // Asmeskas servo txav mus rau Lub Chaw Rov Qab Los; // Qhov kev ncua deb tau teeb tsa} // ------------------------------------------ ----------------------------------------------------------------------- ------------------------------------- int readPing () // Nyeem Ping Function rau Ultrasonic Sensor. {ncua (100); // 100ms ntawm pings (min lub sij hawm ping = 0.29ms) int cm = sonar.ping_cm (); // PING nrug tau sib sau thiab teeb tsa hauv cm yog (cm == 0) {cm = 250; } rov cm; } // ------------------------------------------------------- ----------------------------------------------------------------------- -------------------------------- tsis muaj dabtsis moveStop () // ROBOT STOP {Left_Servo.write (90); // LeftServo 180 rau pem hauv ntej, 0 thim rov qab Right_Servo.write (90); // RightServo 0 rau pem hauv ntej, 180 rov qab} // --------------------------------------- ----------------------------------------------------------------------- ---------------------------------------- tsis muaj dabtsis moveForward () // ROBOT FORWARD {Left_Servo.write (180); // LeftServo 180 rau pem hauv ntej, 0 thim rov qab Right_Servo.write (0); // RightServo 0 rau pem hauv ntej, 180 rov qab} // --------------------------------------- ----------------------------------------------------------------------- ---------------------------------------- tsis muaj dabtsis moveBackward () // ROBOT BACKWARD {Left_Servo.write (0); // LeftServo 180 rau pem hauv ntej, 0 thim rov qab Right_Servo.write (180); // RightServo 0 rau pem hauv ntej, 180 rov qab} // --------------------------------------- ----------------------------------------------------------------------- ---------------------------------------- tsis muaj dab tsi turnRight () // ROBOT RIGHT {Left_Servo.write (180); // LeftServo 180 rau pem hauv ntej, 0 thim rov qab Right_Servo.write (90); // RightServo 0 rau pem hauv ntej, 180 rov qab} // --------------------------------------- ----------------------------------------------------------------------- ---------------------------------------- tsis muaj dab tsi turnLeft () // ROBOT LEFT {Left_Servo.write (90); // LeftServo 180 rau pem hauv ntej, 0 thim rov qab Right_Servo.write (0); // RightServo 0 rau pem hauv ntej, 180 rov qab} // --------------------------------------- ----------------------------------------------------------------------- ------------------------------ ua tsaug

Kauj Ruam 3: Sib Sau Cov Neeg Hlau

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Sib sau ua neeg hlau
Sib sau ua neeg hlau
Sib sau ua neeg hlau
Sib sau ua neeg hlau

Tam sim no nws yog lub sijhawm los tso koj cov neeg hlau ua ke. Cov kauj ruam tau teev tseg hauv qab no.

1) Txuas Cov Kev Pab Cuam Hloov Hloov thiab Cov Roj Hmab rau Cov Log: Txhua qhov kev pabcuam tuaj nrog yas kho vajtse thiab ntsia hlau. Nrhiav cov discs puag ncig, thiab ntsia hlau rau hauv ob lub qhov ntawm sab tiaj ntawm lub log. Cov roj hmab khawm haum ib puag ncig lub log kom muab tuav. Tej zaum koj yuav xav ntxiv cov kua nplaum me me los khaws cov roj hmab tso rau hauv qhov chaw.

2) Marble Caster Attachment: Siv ob lub qhov me me los txuas cov pob zeb marble rau ob lub voos peb sab tom qab. Cov caster marble yog qhov hloov pauv yooj yim rau lub log tsheb tom qab thiab muab lub nraub qaum pivot.

3) Ntxig Servos rau hauv Slots (tsis xav tau cov ntsia hlau): Muab lub FS90 Servo (rau Ultrasonic Sensor) tso rau hauv lub xub ntiag ntawm lub cev. Ob qhov kev sib hloov tas mus li servos swb rau sab laug thiab sab xis. Cov qhov qhib tau tsim los kom haum, kom tsis muaj cov ntsia hlau xav tau los tuav cov servos nyob hauv qhov chaw. Ua kom ntseeg tau tias cov xaim hluav taws xob ua haujlwm hla cov kab hauv cov kab kom lawv tig mus rau sab nraum qab ntawm lub cev.

4) Kev tso roj teeb 9V (YOOJ YIM): Tso 9V roj teeb + Arduino fais fab txuas tom qab lub hauv ntej servo.

5) Ultrasonic Sensor Mount Assembly: Siv ob lub ntsia hlau me me los txuas ib qho ntawm cov yas yas dawb txuas rau hauv qab ntawm Ultrasonic Sensor mount phaj. Tom ntej no, siv 3D luam tawm 6mm ntsia liaj qhov rooj/txiv ntseej (lossis hloov cov hlau ntsia liaj qhov rooj/txiv ntseej) txhawm rau xa cov ntaub ntawv Ultrasonic Sensor mus rau phaj phaj. Thaum kawg, tso lub sensor rau hauv rooj plaub nrog cov pins tig mus rau sab saum toj thiab khawm hauv qab ntawm rooj plaub.

6) 4x AA Roj Teeb Case: Muab lub roj teeb AA roj teeb tso rau hauv thaj tsam plaub fab loj, nrog lub qhov qhib/tua tig mus rau tom qab.

7) Arduino Uno + V5 Sensor Shield: Txuas daim ntaub thaiv rau Arduino thiab muab tso rau saum cov rooj saum lub roj teeb. Lub hwj huam txuas yuav tsum tig ntsej muag rau sab laug.

Koj tus neeg hlau tau tsim! Tshuav dab tsi? Kev ua haujlwm ntawm Arduino thiab Txuas Txuas Cov Hluav Taws Xob: Servos, Ultrasonic Sensor, thiab Cov Khoom Siv Hluav Taws Xob.

Kauj Ruam 4: Txuas Cov Hluav Taws Xob Sensor

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Tiav lawm !!! Txuas 9V Arduino Cov Khoom Siv Hluav Taws Xob, Qhib Cov Roj Teeb Pob, thiab Pib Zam Kev Ntxhov Siab Nrog OAREE
Tiav lawm !!! Txuas 9V Arduino Cov Khoom Siv Hluav Taws Xob, Qhib Cov Roj Teeb Pob, thiab Pib Zam Kev Ntxhov Siab Nrog OAREE

Txuas Servo cov xov hlau rau V5 Shield:

  1. Sab Nrauv Txuas Ntxiv Kev Pabcuam txuas rau tus lej 9
  2. Txoj Cai Kev Sib Txuas Txuas Txuas txuas mus rau tus lej PIN 10
  3. Pem hauv ntej FS90 Servo txuas rau PIN 11

Txuas Ultrasonic Sensor Pins (ntawm 4x Poj niam rau Poj Niam Jumper Cov Xov) mus rau V5 Shield:

  1. Ua rau tus lej PIN 12
  2. Echo rau tus PIN 13
  3. VCC rau ib qho ntawm tus cim cim nrog 'V'
  4. Hauv av rau ib qho ntawm tus cim cim nrog 'G'

Txuas AA Roj Teeb Case rau V5 Shield:

  1. Txuas qhov zoo, xaim liab rau VCC txuas
  2. Txuas qhov tsis zoo, xaim dub rau hauv av Txuas

Kauj ruam 5: Ua tiav !!! Txuas 9V Arduino Cov Khoom Siv Hluav Taws Xob, Qhib Lub Pob Roj Teeb, thiab Pib Zam Kev Ntxhov Siab Nrog OAREE

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Tiav lawm !!! Txuas 9V Arduino Cov Khoom Siv Hluav Taws Xob, Qhib Cov Roj Teeb Pob, thiab Pib Zam Kev Ntxhov Siab Nrog OAREE
Tiav lawm !!! Txuas 9V Arduino Cov Khoom Siv Hluav Taws Xob, Qhib Cov Roj Teeb Pob, thiab Pib Zam Kev Ntxhov Siab Nrog OAREE

Tiav lawm !

1) Txuas 9V Arduino fais fab mov (Tsis teb los tau)

2) Qhib lub roj teeb

3) Pib Zam Txim Cov Teeb Meem nrog OAREE !!!

Kuv paub tseeb tias koj yuav nyiam koj tus phooj ywg tshiab, OAREE, tom qab saib nws nkag siab tias muaj teeb meem, thim rov qab, thiab hloov pauv. OAREE ua haujlwm zoo tshaj plaws nrog cov khoom loj uas Ultrasonic Sensor tuaj yeem ping tawm ntawm (zoo li phab ntsa). Nws muaj lub sijhawm nyuaj pinging cov khoom me me zoo li lub rooj zaum vim lawv qhov chaw me me thiab cov ces kaum. Thov qhia, txhim kho ntxiv, thiab qhia rau kuv paub txog qhov xav tau hloov kho lossis ua yuam kev. Nov yog qhov kev kawm tau zoo thiab kuv vam tias koj yuav muaj kev lom zem ntau los ua txoj haujlwm no ib yam li kuv tau ua!

Kev sib tw Robotics
Kev sib tw Robotics
Kev sib tw Robotics
Kev sib tw Robotics

Khiav Tawm Hauv Kev Sib Tw Robotics

Pom zoo: