Cov txheej txheem:
- Kauj Ruam 1: Daim duab qhia chaw ntawm Kab laum
- Kauj Ruam 2: Daim duab Circuit Court ntawm Ntauwd
- Kauj Ruam 3: Yuam Kev Tsim & Ua Ke: Npaj Pawg Thawj Coj
- Kauj Ruam 4: Kev Tsim Kab & Ua Ke: Kho Qhov Tseem Ceeb ntawm Pawg Thawj Coj
- Kauj Ruam 5: Kev Tsim Kab & Ua Ke: Ntxiv Cov Log Tsheb thiab Log Rau Lub Tsheb
- Kauj Ruam 6: Kev Tsim Kab & Ua Ke: Ntxiv Lwm Qhov Ntawm Lub Tsheb & Ib Leeg Saib Ib Leeg
- Kauj Ruam 7: Kev Tsim Ntauwd: Plaub Pillars
- Kauj Ruam 8: Kev Tsim Ntauwd: Qhov Chaw Txhawb Nqa
- Kauj Ruam 9: Kev Tsim Ntauwd: Cov Kab
- Kauj Ruam 10: Kev Tsim Ntauwd: Qhov Txuas Txuas
- Kauj Ruam 11: Kev Sib Tham Ntauwd
- Kauj Ruam 12: Pom Qhov System Kawg & Troubleshooting
Video: Guard Tower Versus Kab: 12 Kauj Ruam
2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:27
Peb yog cov menyuam kawm ntawv thawj xyoo los ntawm UM-SJTU Kev Koom Tes, uas nyob hauv Ming Hang lub tsev kawm ntawv ntawm Shanghai Jiaotong University, Shanghai, Suav.
Peb nyob ntawm no los tsim Pawg 13 rau VG100 Taw Qhia rau Engineering chav kawm ntawm JI, thiab txoj haujlwm no, uas hu ua "GUARD TOWER VERSUS BUGS", yog txoj haujlwm ntawm chav kawm. Cov pab pawg, los ntawm sab laug mus rau sab xis, yog:
Wang Shuhan, 王书涵;
Yu Siyuan, 余思远;
Gong Tianyu, 龚天宇;
Sun Bingqi, 孙秉琪;
Shen Zheyu, 沈哲宇.
Txog thaum lub sijhawm phau ntawv no tshaj tawm, qhov kev ua si zaum kawg tseem tsis tau tawm los. Txawm li cas los xij, peb kab laum yog kab kab thawj kom dhau qhov kev xeem kab thiab ua tau zoo hauv kev ua tau zoo. Hauv phau ntawv qhia no, peb yuav qhia yuav ua li cas txhim kho kab thiab tus pej thuam.
GAME RULES Hauv txoj haujlwm sib tw no, pab pawg sim tsim "kab", uas yog qhov tseem ceeb mini-tsav tsheb, uas tuaj yeem "tua" los ntawm laser, nrog rau cov yees uas yuav tua lwm tus kab nrog nws cov laser. Cov kev cai ntawm qhov kev ua si tau teev tseg raws li hauv qab no:
3 kab nkag mus thiab sim "rub" lub pej thuam los ntawm 3 txoj kab ntawm 4 uas nyob ib puag ncig tus pej thuam. Lub pej thuam yuav tsum tua cov kab ua ntej nws raug "rub tawm"
Cov kab yuav tsum mus raws txoj hauv kev 0.2 ~ 0.3m/s thiab nres tsuav nws tau tawg los ntawm lub laser; qhov kev ua txhaum yog tias nws tsis tuaj yeem raug tua thaum nws nyob hauv chaw nkaum lossis nres ntawm kab dawb
Cov kev txwv ntawm peb qhov kev tsim qauv tuaj yeem ua cov ntsiab lus raws li cov hauv qab no:
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Kab tsim
- Tsiv ntawm 0.2 m/s mus rau 0.3 m/s.
- Tiv thaiv kom tsis txhob raug ntawm laser.
- Muaj peev xwm mus ncaj nraim ua ntej ntawm txoj kev taug.
- Ua raws li qhov yuav tsum tau hais hauv txoj cai game.
-
Ntauwd tsim
- Tsawg kawg 60 cm siab.
- Ua los ntawm 80g / m^2 A4 ntawv.
- Tsis muaj kev sib sau ntau dua 3 txheej ntawm A4 ntawv.
- Cov khoom siv hluav taws xob (tshwj tsis yog cov ntsuas ntsuas) tso rau saum lub pej thuam.
Cov kab yuav tsum dhau qhov kev ntsuas kab mob thaum ntxov li sai tau thiab ua tau zoo nyob rau hnub ua si; lub tsev ua haujlwm tau zoo tso siab rau qee lwm yam, suav nrog:
- Qhov hnyav. Sib zog zoo dua.
-
Ceev, uas suav nrog:
- Tua ntau kab ua ntej raug ntaus, nyiam dua tag nrho ntawm 3;
- Tua cov kab kom ntxov li sai tau, piv txwv li tua lawv ua ntej lawv txav mus ntau.
Txog cov npe khoom, thov mus saib cov ntaub ntawv hauv qab no:
Cov ntaub ntawv teev npe rau tus pej thuam: ntawm no
Cov ntaub ntawv teev cov kab: ntawm no
Kauj Ruam 1: Daim duab qhia chaw ntawm Kab laum
Ob peb sau ntawv ceev:
Cov duab kab hluav taws xob tau muab faib ua 4 qhov sib txawv rau qhov pom tau zoo, piv txwv li lub rooj tsav xwm arduino thiab lub khob cij yog tib yam thoob plaws 4 daim duab
“S.” sawv rau "Sensor"
Cov kab ntawv taug qab cov ntsuas yuav zoo li txawv me ntsis los ntawm cov khoom hauv cov npe khoom uas lawv muaj lub zog ntsuas los kho lawv qhov kev nkag siab. qhov no yuav tsis cuam tshuam rau kev ua haujlwm tag nrho ntawm cov kab
R1 potentiometer kho lub teeb pom kev ntawm LCD
Cov pins ntawm lub khob cij ntawm thawj ob kab sib npaug hauv kab. Yog tias koj pom ntau lub xov hlau txuas nrog rau tus pin, tsuas yog nrhiav lwm tus
_
Txhua daim duab kos nrog Fritzing @ fritzing.org.
- Lub teeb pom kev zoo ntsuas los ntawm
- L298N H-choj schematics muab los ntawm
- LiPoly Roj teeb cov phiaj xwm muab los ntawm
- BH1750FVI cov duab qhia los ntawm
Kauj Ruam 2: Daim duab Circuit Court ntawm Ntauwd
Ob peb sau ntawv ceev:
Txij li cov servo lub cev muaj zog-tshaib plab heev, pawg thib ob Arduino tau siv los muab kev tswj hwm lub zog kom raug rau lub tshuab
Tshem lub roj teeb thaum lub pej thuam yuav tsum nyob twj ywm. Servos ntws lawv sai
Kauj Ruam 3: Yuam Kev Tsim & Ua Ke: Npaj Pawg Thawj Coj
- Siv tus xaum xaum kos duab plaub fab (15cm × 10cm).
- Kos lwm daim duab plaub uas yog 15cm × 30xm.
- Siv rab riam los txiav ob daim duab plaub. Peb lub npe thawj zaug yog Pawg Thawj Coj 1, thiab tus thib ob yog Pawg Thawj Coj 2.
- Txhuam cov duab plaub nrog tus grater thiab ua kom nws qhov loj me zoo sib xws rau qhov loj me.
Kauj Ruam 4: Kev Tsim Kab & Ua Ke: Kho Qhov Tseem Ceeb ntawm Pawg Thawj Coj
- Sau ib lub qhov taub hauv Arduino thiab cim rau ntawm lub rooj tsavxwm 2.
- Siv lub qhov ua lub hauv paus los tsim kom muaj kev sib koom ua ke.
- Ntsuas txhua qhov khoom siv thiab nrhiav lawv ntawm txoj haujlwm tsim nyog ntawm Pawg 2.
- Muab tso rau Arduino Uno, lub rooj tsav tsheb thiab lub rooj mov ci rau hauv Board 2, thiab siv qee qhov ntsia hlau los kho lawv ntawm lub rooj tsavxwm.
- Txuas peb chav nrog cov xov hlau kom raug, raws li daim duab qhia yav dhau los hauv daim duab 1, Daim duab 2, Daim Duab 3 thiab Daim Duab 4 hauv Kauj Ruam 1.
Kauj Ruam 5: Kev Tsim Kab & Ua Ke: Ntxiv Cov Log Tsheb thiab Log Rau Lub Tsheb
- Txuas cov log tsheb thiab cov cav tsheb nrog cov log tsheb thiab kho nws tom qab lub tsheb. Yog tias koj tau ua nws kom raug, lub log nraub qaum yuav tsum zoo ib yam.
- Siv lub log dav thiab ntxiv ob peb lub txiv ntoo ntawm lub tsheb, kom lub tsheb tuaj yeem sib npaug.
- Txhim kho txoj kab taug qab ntsuas ntawm lub tsheb nrog cov ntsia hlau thiab cov txiv ntoo. Txhawm rau kom lub ntsuas hluav taws xob tuaj yeem ua haujlwm tau zoo, tso qee qhov txiv ntoo nruab nrab ntawm lub ntsuas cua thiab Board 2 kom nws ze rau hauv av.
- Txhim Kho Lub Rooj Sab Laj 1 ntsug ntawm Pawg 2 nrog L zoo li tus nkhaus, ntsia hlau thiab txiv ntseej.
-
Punch 4 qhov sib luag rau hauv av, ntawm qhov nruab nrab ntawm qhov ntev dua ntawm Pawg 2 thiab 5cm deb ntawm hauv av.
- Txhim kho lub teeb duab ntawm Pawg 2 nrog cov ntsia hlau thiab cov txiv ntoo, thiab ua kom nws zoo ib yam rau hauv av. Txheeb Daim Duab 3 ntawm cov kauj ruam no ua ntej txhim kho kom ntseeg tau tias cov duab teeb pom kev zoo yog qhov raug.
Kauj Ruam 6: Kev Tsim Kab & Ua Ke: Ntxiv Lwm Qhov Ntawm Lub Tsheb & Ib Leeg Saib Ib Leeg
Khaws lub roj teeb 11.1V lithium rau sab nraum qab ntawm Pawg Thawj 2 thiab txuas nws mus rau tsav nrog cov xov hlau
Cov lus pom ntawm cov kab ua tiav tuaj yeem pom saum toj no.
Kauj Ruam 7: Kev Tsim Ntauwd: Plaub Pillars
Yam koj xav tau rau tus pej thuam:
- A4 ntawv *11
- Cov kua nplaum dawb
- Tus kav uas raug
Plaub tug ncej:
Siv 4 daim ntawv A4. Txiav txhua daim ntawv A4 rau hauv 3 daim, txhua qhov uas yog 70mm dav thiab 297mm ntev. (Qhov tseeb ntau qhov zoo dua)
TSWV YIM: Txiav txhua daim ntawv nrog riam riam ua siab ntev thiab ua tib zoo, yog li cov kauj ruam tom ntej yuav yooj yim dua.
CEEB TOOM: Tsis txhob txiav koj tus kheej.
- Txuas lub quarter cov ntsiab lus ntawm ob sab luv (70mm) los ntawm xaum.
- Kos ib txoj kab uas zoo ib yam rau sab luv thiab qhov deb yuav tsum yog 90 hli.
Kauj Ruam 8: Kev Tsim Ntauwd: Qhov Chaw Txhawb Nqa
- Siv 2 daim ntawv ntawm daim ntawv, hlais lawv rau hauv sib npaug rau ntu thiab qhov loj yuav tsum yog 35mm*297mm thiab yuav tsum muaj 12 ntu.
- Siv tus pas ntsuas ntsuas kom ntsuas qhov ntev ntawm 207mm ntawm 8 ntu thiab txiav nws mus rau 35mm*207mm, cov no yog Tshooj C.
- Ib yam li ua 4 ntu uas qhov ntau thiab tsawg yog 35mm*117mm thiab ntawm no yog Tshooj D.
Kauj Ruam 9: Kev Tsim Ntauwd: Cov Kab
Siv ob ntu A thiab ib feem B, tom qab ntawd lo cov no zoo li daim duab hauv qab no
Tos qee lub sijhawm tshaj li siv cov kua nplaum rau ntawm tag nrho saum npoo, tom qab ntawd yob nws nrog kev saib xyuas zoo thiab ua siab ntev dua li peb tau txais ib lo
TSWV YIM: kom ua tau zoo tshaj plaws, thov cia cov kab xiav hauv daim duab ua ke.
Siv ob partC thiab ib feemD, tso lawv nyob hauv tib txoj haujlwm zoo li daim duab, tom qab ntawd siv cov kua nplaum los ua cov ntu no txuas rau tus pas ua hauv daim duab 3.3.2
Tom qab cov kua nplaum dawb qhuav, ib qho ntawm tus ncej tau ua thiab rov ua dua peb zaug ua plaub zaug hauv txhua qhov
Kauj Ruam 10: Kev Tsim Ntauwd: Qhov Txuas Txuas
Siv 5 daim ntawv, sib faib nws ua rau rau ntu, dua li nws zoo li ib lub yob kom nws 35mm*297mm hauv qhov ntau thiab muaj tuab ntawm rau daim ntawv ntau dua li siv daim nplaum rau lo nws, tom qab cov ntu no qhuav txiav lawv mus rau ib nrab
Kos kab ntawv siv zoo li cov duab hauv qab no ua 2 partE thiab 8 partF, dua li txiav tawm qhov duab ntxoov ntxoo ntau dua li txuas lub hauv paus mus rau hauv lub voj voog thiab sab thiab sab saud yuav tsum yog ob peb daim ntawv tuab
Ua tib zoo saib cov ntu hauv lub voj voog thiab daws nrog lawv ua tib zoo ua kom lawv tsuas yog ib daim ntawv tuab
Kauj Ruam 11: Kev Sib Tham Ntauwd
Sib dhos cov ncej thiab cov khoom sib txuas zoo li txoj hauv kev hauv daim duab hauv qab no. Puag ib daim ntawv tuab tuab ib ncig ntawm tus ncej. Khaws cov no nrog kua nplaum.
TSWV YIM: Kom meej meej tias qhov muaj txiaj ntsig ntev ntawm Ntu E thiab Tshooj F sib txawv, yog li Ntu E tau siv los txuas ntawm kab pheeb ces kaum thaum ntu F tau siv rau cov neeg nyob ze. tag nrho cov ntsiab lus cim hauv daim duab.
TSWV YIM: Yog tias tus pej thuam muaj qee qhov teeb meem hauv kev teeb tsa ruaj khov, sim ua lub qhov nyob nruab nrab ntawm qhov nruab nrab ob qhov sib txuas thiab tshaj li siv ib yam khoom los hla nws ib yam li ua haujlwm kaum-thiab-mortise hauv Suav teb thaum ub.
Kauj Ruam 12: Pom Qhov System Kawg & Troubleshooting
Nov yog qhov system kawg zoo li cas.
Tshooj Teeb Meem:
Kuv kab tsis mus! Kuv yuav ua licas?
Nco ntsoov tias txoj kab-taug qab cov cim ntawm ob sab tsis tau qhib. Tsis tas li, siv IR tus tswj hwm los hloov isRunning? Chij rau "tseeb" thiab forceStop? Chij rau "cuav". (Saib 2.6.)
Kuv qhov kab laum yuav ploj mus
Nco ntsoov tias tsis muaj dab tsi nkag los ntawm lub log, thiab cov motors raug kho kom raug rau lawv qhov chaw. Tsis tas li, koj tuaj yeem kho qhov nrawm ntawm ob lub log los ntawm kev kho qhov sib npaug sib npaug ntawm cov cav. (Saib 2.6.)
Kuv tus pej thuam tab tom raug rho tawm
Txhim kho qhov ntsuas qhov nrug nyob hauv qhov chaw raug. Nco ntsoov tias koj lub cev/koj cov khoom/qee cov rooj tog tsis nkag mus rau hauv lawv txoj kev, thiab tsis muaj ib yam dab tsi tshwm sim nyob rau ntawm lawv xub ntiag.
Tsis muaj ib qho saum toj no daws kuv qhov teeb meem
Nias lub khawm Pib dua ntawm Arduino pawg thawj coj thiab thov kom qhov zoo tshaj plaws.
Pom zoo:
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