Tus Kws Saib Xyuas Roomba: 6 Kauj Ruam (nrog Duab)

2024 Tus sau: John Day | [email protected]. Kawg hloov kho: 2024-01-30 09:29

Feem ntau ntawm peb siv iRobot Roomba neeg hlau tsuas yog siv rau lub tshuab nqus tsev, tab sis ob peb paub tias nws yog lub hauv paus zoo rau cov phiaj xwm tshiab neeg hlau. Txhua tus tsim khoom yuav tsum sim Roomba Open Interface (OI) txhawm rau nrhiav seb nws yooj yim npaum li cas los tswj tus neeg hlau no. Hauv cov lus qhia no koj yuav kawm paub yuav ntxiv qee qhov txiaj ntsig zoo rau koj li Roomba. Thaum pib kuv yuav piav qhia yuav ua li cas thiaj tswj tau Roomba ntawm bluetooth thiab Android app. Tom qab ntawd kuv yuav qhia koj yuav ua li cas khiav cov vis dis aus raws li RPi thiab thaum kawg kuv qhia tus phiaj xwm rau kev txhim kho ntxiv ntawm txoj haujlwm no.

Qhov xav tau hauv qhov haujlwm no:

1. BTM-222 bluetooth module lossis lwm yam ua haujlwm ntawm 115200 baud tus nqi x1
2. 5V Step-Down Voltage Regulator D24V6F5 x1
3. mini qhob cij x1
4. Ob peb xaim

version nrog casing:

1. 8 tus pin mini DIN txuas x1
2. zog x 1
3. ua 3mm x1
4. resistor 10k x 1
5. casing me 50x40x20 mm x1

ncua version:

1. Raspberry Pi 3 x1
2. RPi tooj liab cua sov x 1
3. USB WiFi adapter x1
4. micro SD daim npav 8GB lossis ntau dua x1
5. RPi lub koob yees duab - Fisheye Lens x1
6. Case rau RPi x1
7. Cov roj teeb muaj peev xwm siab 5V (tsawg kawg 10 Ah) x1
8. Ib daim yas yas txuas x1
9. Ceev thiab ntsia hlau M2 x4

Kauj Ruam 1: Kev Txuas Hluav Taws Xob

Lub sijhawm no, cov kauj ruam no yooj yim heev vim peb tsuas yog xav txuas ob lub qauv kom tuaj yeem tswj hwm peb Roomba. Thawj yog Bluetooth module uas tuaj yeem ua haujlwm ntawm 115200 bps. Qhov thib ob yog 5V Step-Down Voltage Regulator D24V6F5. Charged Roomba roj teeb muaj qhov hluav taws xob txog 14.4V thiab peb lub bluetooth module xav tau 5V yog li peb yuav tsum txo cov roj teeb hluav taws xob mus rau qib 5V siv cov ntsuas hluav taws xob. D24V6F5 tus tswj hwm muaj kev ua haujlwm zoo ntawm 80 thiab 90% uas yog tus nqi zoo heev piv rau cov kev tswj hwm ib txwm uas feem ntau muaj kev ua haujlwm qis dua 40%. Txoj hauv kev yooj yim tshaj plaws los txuas ob qho qauv no yog muab lawv tso rau hauv lub khob cij me me thiab thaiv raws li daim duab thaiv kab lus raws li saud. Ib qho ntxiv, txhua qhov kev sib txuas tau pom hauv cov duab suav. Ceev faj thaum txuas mus rau lub roj teeb txuas. Cov xwm txheej luv luv yuav ua rau roj teeb puas!

Kauj ruam 2: Siv Android Control App

Kuv tau tsim Android app uas tso cai rau koj los tswj Roomba 500 series lub tshuab nqus tsev ntawm bluetooth. Koj tuaj yeem rub kuv lub app dawb los ntawm Google Ua Si - Tswj Roomb. Nws ua haujlwm nrog ob lub xov tooj ntawm tes thiab ntsiav tshuaj.

Yuav siv Roomb Control App li cas:

• coj mus rhaub lub kaum sab xis sab xis ntawm qhov screen (3 kab ntsug)
• xaiv lub tab "Txuas"
• coj mus rhaub rau ntawm "BTM222" tab thiab tom qab ib ntus koj yuav tsum pom cov lus "Txuas nrog BTM222"
• tom qab txuas, koj tuaj yeem tswj hwm koj Roomba
• yog tias koj tsis pom koj lub cuab yeej bluetooth coj mus rhaub "Scan rau cov cuab yeej"
• thawj zaug siv koj lub bluetooth module thov nco ntsoov ua ke nrog koj lub xov tooj ntawm tes los ntawm kev nkag mus rau tus lej ua ntej uas tau hais hauv bluetooth module kev qhia tshwj xeeb

Kauj Ruam 3: Roomba Qhib Kev Sib Tham hauv Piv Txwv

Hauv theem no koj yuav pom cov piv txwv ntawm cov lus txib ib txwm siv los tswj Roomba series 500. Koj tuaj yeem nrhiav cov ntaub ntawv ntau ntxiv txog Roomba Qhib Kev Sib Tham hauv daim ntawv no.

Roomba 500+ tuaj yeem ua haujlwm hauv ib ntawm plaub hom:

• Hom puv muab koj ua tiav kev tswj hwm Roomba (tsis muaj kev txwv kev nyab xeeb vim nws yog rau Safe thiab Passive hom)

• Hom kev nyab xeeb qhia qee qhov kev zam ntsig txog kev nyab xeeb thaum koj tsis tuaj yeem tswj hwm txhua tus neeg ua haujlwm:

  • nrhiav kom tau lub log poob
  • nrhiav pom ntawm lub pob tsuas thaum txav mus rau tom ntej lossis rov qab
  • charger tau txuas thiab txuas nrog
• Hom passive tso cai rau koj thov thiab tau txais cov ntaub ntawv sensor, tab sis hauv hom no, koj tsis tuaj yeem tswj Roomba tus ua haujlwm (lub cav, teeb, hais lus)
• Tawm hom thaum lub hwj chim tau qhib ua ntej lossis tom qab hloov roj teeb (tos rau Pib hais kom ua)

Hom kev nyab xeeb thiab ua haujlwm tau zoo yog Safe mode uas yog hom nyiam rau kev tswj chaw taws teeb. Txhawm rau ua kom muaj kev nyab xeeb ua ntej peb yuav tsum xa cov lus txib 128 uas pib qhib Kev Sib Tham thiab tom qab ntawd hais kom 130 (lossis 131) tso Roomba rau hauv Safe mode. Yog tias peb xav khiav ib qho ntawm cov qauv ua kom huv (huv, qhov chaw, chaw thau khoom, thiab lwm yam) peb yuav tsum xa cov lus txib thib peb nrog cov cai tsim nyog (Clean-135, Spot-134, Dock-143). Cov lej ua ntu zus rau cov qauv no muaj raws li hauv qab no:

• Teeb hom kev nyab xeeb - (128, 130)
• Chaw - (128, 130, 134)
• Ntxuav - (128, 130, 135)
• Ntsaws - (128, 130, 143)

Yog tias Roomba nyob rau hauv Safe mode peb tuaj yeem tswj Roomba lub log tsav siv cov lus txib 137. Tag nrho 5 bytes cov lej sib xws yog raws li hauv qab no: (137, Tshaj tawm nrawm nrawm byte, Tshaj tawm qis byte, Radius siab byte, Radius qis byte). Piv txwv ntawm cov kab ntawv txuas rau Roomba kev tswj kev txav chaw:

• Mus tom ntej - (137, 100, 0, 128, 0)
• Rov Mus - (137, 254, 12, 128, 0)
• Qhib Txoj Cai - (137, 100, 0, 255, 255)
• Lem sab laug - (137, 100, 0, 0, 1)

Lwm txoj hauv kev los tswj cov neeg hlau txav peb tuaj yeem siv cov lus txib 146. Cov lus txib no cia peb tswj PWM (Pulse-Width Modulation) rau sab xis thiab sab laug: (146, Txoj cai PWM siab byte, Txoj cai PWM qis byte, Sab laug PWM siab byte, Sab laug PWM tsawg byte). Piv txwv ntawm PWM tswj:

• Tsiv sab saum toj txoj cai - (146, 0, 130, 0, 255)
• Tsiv Sab Saum Toj - (146, 0, 255, 0, 130)

Cov lus txib 139 tswj cov xim LEDs. Peb tuaj yeem hloov Cov Huv Huv/Lub Hwj Huam LED xim los ntawm kev teeb tsa tus nqi ntawm Xim byte hauv cov lej ib txwm muaj: (139, LED Khoom, Xim, Siv Tau). Yog tias Xim byte tau teeb tsa 0 peb tau txais xim ntsuab. Los ntawm kev nce tus nqi no peb tau txais cov xim nruab nrab (txiv kab ntxwv, daj, thiab lwm yam) thiab xim liab rau tus nqi siab tshaj 255. Piv txwv ntawm LED kev tswj hwm:

• ntsuab - (139, 0, 0, 128)
• txiv kab ntxwv - (139, 0, 128, 128)
• liab - (139, 0, 255, 128)

Qhov lus txib zaum kawg uas kuv xav hais yog lo lus txib 140 uas tso cai rau koj ua cov nkauj yooj yim. Piv txwv ntawm cov ntawv ua ntu zus los ua nkauj:

• nkauj 1 - (140, 0, 5, 72, 32, 74, 32, 76, 32, 77, 32, 79, 32, 141, 0)
• nkauj 2 - (140, 1, 5, 69, 16, 71, 16, 72, 16, 74, 16, 76, 16, 141, 1)

Kauj Ruam 4: RPi Remote Webcam

Txhawm rau tuaj yeem pom cov vis dis aus los ntawm lub koob yees duab ntawm txhua lub cuab yeej txuas nrog kuv lub network hauv zej zog (PC, smartphone, ntsiav tshuaj, thiab lwm yam) Kuv tau teeb tsa Motion webcam serwer. Koj tuaj yeem pom cov ntsiab lus ntawm yuav ua li cas hauv Phau Ntawv Qhia no. Cov kauj ruam tseem ceeb yog raws li hauv qab no:

1. Kho kom raug: sudo nano /etc /modules - ntxiv qhov kawg ntawm cov ntawv: bcm2835 -v4l2
2. Nruab Motion: sudo apt-tau nruab tsab ntawv tsa suab
3. Qhib tsab ntawv tsa suab motion.conf los ntawm kev ntaus ntawv: sudo nano /etc/motion/motion.conf thiab teeb tsa cov vis dis aus (piv txwv li: daemon rau, dav 640, siab 480, thav duab 30, webcam_localhost tawm)
4. Pab kom Daemon (kev pabcuam): sudo nano/etc/default/motion thiab nrhiav thiab hloov start_motion_daemon = yog.
5. Pib kev pabcuam: sudo kev pabcuam tsa suab pib lossis sudo suab -n -c /etc/motion/motion.conf
6. Tam sim no qhib lub vev xaib ntawm koj lub khoos phis tawj lossis lub smartphone thiab ntaus: RPi IP: 8081 (qhov twg "RPi IP" yog IP ntawm koj li Raspberry Pi thiab 8081 yog qhov chaw nres nkoj pib). Piv txwv: 192.168.1.14:8081. Yog tias txhua yam ua haujlwm tau zoo tom qab ib ntus koj yuav tsum pom qhov pom los ntawm koj lub koob yees duab hauv koj lub vev xaib.

Kauj Ruam 5: Npaj rau Kev Txhim Kho Ntxiv

Tam sim no kuv Roomba tau nruab nrog lub caj npab me me uas tau piav qhia hauv cov lus qhia no. Lub caj npab neeg hlau no tuaj yeem tswj tau nyob deb ntawm bluetooth los ntawm Android app. Hauv cov kauj ruam tom ntej no kuv yuav siv saib los ntawm lub koob yees duab rau kev tuav tej thaj chaw deb thiab txav cov khoom mus rau qhov chaw cim (kev ua haujlwm nyob rau hauv ib nrab-tus kheej hom).

Yog tias koj xav pom kuv lwm cov phiaj xwm cuam tshuam nrog neeg hlau thov mus saib:

• kuv lub vev xaib: www.mobilerobots.pl
• facebook: mobile neeg hlau

Kauj Ruam 6: Kev Sib Txuas ntawm Cov Khoom Siv Hluav Taws Xob - Version 2 Nrog Casing

Yog tias koj xav tsim koj tus kheej tus neeg txais tshem tau los tswj lub Roomba cov kauj ruam ntxiv no yog rau koj. Peb ntxiv ob peb lub ntsiab lus ntxiv thiab yuav kaw lawv txhua qhov hauv qhov ua kom zoo. Lub hauv paus tseem ceeb uas peb yuav xav tau hauv qib no yog 8 tus pin mini DIN txuas. Ib qho ntxiv, peb yuav xav tau lub zog hloov pauv thiab ntsuas ntsuas raws li LED thiab resistor 10k.

Tam sim no koj tsis tas yuav txhawj xeeb txog kev tawm xov hlau. Lub mloog xov tooj cua bluetooth raug kaw hauv lub tsev me nrog qhov ntev ntawm 50x40x20 mm. Thaum koj tsis xav siv nws ces koj tuaj yeem tshem nws tau yooj yim los ntawm koj lub Roomba rub lub mini DIN ntsaws.