Momwe Mungapangire Robot Yosavuta
Kupanga loboti yosavuta ndi njira yosangalatsa yophunzirira zamagetsi, makina oyambira, ndi mapulogalamu. Anthu ambiri amaganiza kuti maloboti ayenera kukhala okwera mtengo komanso ovuta, koma mutha kuyamba ndi pulojekiti yaying'ono yomwe ndi yosavuta kuimanga kunyumba. M'nkhaniyi, tipanga loboti yosavuta yopewera zopinga pogwiritsa ntchito masensa a ultrasound. Loboti iyi imatha kuyenda patsogolo ndikutembenuka yokha ikazindikira chinthu chomwe chili patsogolo pake. Ntchitoyi ndi yoyenera oyamba kumene, ophunzira, kapena aliyense amene akufuna kuyamba kuphunzira maloboti.
1. Kumvetsetsa lingaliro la maloboti osavuta
Kawirikawiri, maloboti ali ndi zigawo zitatu zazikulu: ubongo (wowongolera), masensa (zowunikira), ndi minofu (zowunikira). Mu polojekitiyi:
– Wowongolera: Arduino Uno (kapena yogwirizana)
– Sensor: Sensor ya HC-SR04 yoyezera mtunda
- Choyambitsa: Injini ya DC yomwe imayendetsa mawilo
– Dalaivala wa mota: Dalaivala wa mota wa L298N (kapena L293D) kuti motayo iziyendetsedwa ndi Arduino
Sensa ikawerenga mtunda patsogolo pa loboti ndipo mtunda uli pafupi kwambiri, Arduino imalamula dalaivala wa injini kusintha njira yoyendera, mwachitsanzo kutembenukira kumanja kapena kumanzere.
2. Zida ndi zipangizo zofunika
Nayi mndandanda wa zinthu zomwe zimagwiritsidwa ntchito kwambiri zomwe zimapezeka mosavuta m'masitolo amagetsi kapena m'misika:
1. Arduino Uno (chidutswa chimodzi)
2. Dalaivala wa mota wa L298N (chidutswa chimodzi)
3. Sensa ya ultrasound ya HC-SR04 (chidutswa chimodzi)
4. DC motor + gearbox ndi mawilo (zidutswa ziwiri) za loboti ya mawilo awiri (differential drive)
5. Gudumu la Caster (chidutswa chimodzi) gudumu laling'ono lolinganiza kutsogolo kapena kumbuyo
6. Mabatire (monga 2×18650 kapena paketi ya 7,4V) kapena 6xAA, malinga ndi zosowa za mota
7. Chitsulo cha roboti (chingagulidwe chopangidwa kale kapena chopangidwa ndi acrylic/plywood)
8. Zingwe zolumikizira (zachimuna ndi zachikazi ndi zachimuna ndi zachimuna)
9. Chosinthira choyatsa/chozimitsa (ngati mukufuna, koma chothandiza kwambiri)
10. Bolodi laling'ono la mkate (ngati mukufuna)
11. Maboluti, mtedza, ma screwdriver ndi guluu wotentha ngati pakufunika
Ngati mukufuna chinthu chosavuta (popanda masensa a ultrasound), mutha kupanga loboti "yotsatira mzere" yokhala ndi masensa a mzere, koma mitundu yopewera zopinga nthawi zambiri imamveka ngati "yamoyo" chifukwa imayankha zinthu zomwe zili patsogolo pawo.
3. Kupanga chassis ya loboti
Chitsulo ndi chimango chomwe zida zonse zimayikidwapo. Mutha kugwiritsa ntchito zida zopangidwa kale kapena kupanga zanu kuchokera ku zipangizo zopepuka monga acrylic, PVC, kapena matabwa owonda. Mfundo yake ndi iyi:
- Ikani ma DC motors awiri mbali zonse zakumanzere ndi zakumanja.
- Ikani mawilo pa njinga yamoto.
- Onjezani gudumu la caster ngati balancer kuti loboti ikhale yokhazikika.
- Ikani batri pamalo omwe sangapangitse lobotiyo kuwerama.
– Madalaivala a Arduino ndi injini ayenera kuyikidwa pamwamba kuti zikhale zosavuta kuzifikira.
Onetsetsani kuti chingwecho sichikugwa pansi kuti chisagwidwe ndi mawilo.
4. Chithunzi choyambira cha mawaya
Nayi lingaliro la kulumikizana konsekonse (mapini amatha kusinthidwa):
a) Mota kupita kwa dalaivala L298N
- Mota yakumanzere kupita ku OUT1 ndi OUT2 yotulutsa
- Injini yakumanja kupita ku OUT3 ndi OUT4 yotulutsa
b) Dalaivala wa L298N kupita ku Arduino
– IN1, IN2 ya mota yakumanzere kupita ku mapini ena a digito a Arduino
– IN3, IN4 ya injini yakumanja kupita ku mapini ena a digito a Arduino
– ENA ndi ENB (yatsani) zitha kulumikizidwa ku ma pin a Arduino PWM kuti muwongolere liwiro (ngati mukufuna). Ngati sichoncho, ma module ena a L298N ali kale ndi jumper yoyatsira kuti injini izigwira ntchito pa liwiro lonse.
c) Sensor ya HC-SR04 ku Arduino
- VCC kupita ku 5V Arduino
– GND kupita ku GND Arduino
- TRIG kupita ku pini ya digito ya Arduino
- ECHO kupita ku Arduino digito pini
d) Mphamvu
Injini imafuna mphamvu yamagetsi yochulukirapo kuposa momwe Arduino ingapereke. Chifukwa chake:
– Batire yaikulu imapita kwa dalaivala wa mota (+12V ndi ma terminal a GND pa L298N).
- Arduino imathanso kugwiritsidwa ntchito ndi batri (kudzera mu VIN) kapena power bank/USB yosiyana.
– Pansi: Batire/dalaivala GND ndi Arduino GND ziyenera kulumikizidwa kuti chizindikiro chowongolera chikhale chokhazikika.
Cholakwika chofala kwambiri pakati pa oyamba kumene ndi kuiwala kuyika GND pamodzi, kotero loboti imayenda molakwika.
5. Nzeru yogwira ntchito ya loboti yopewera zopinga
Roboti idzagwira ntchito ndi njira yosavuta:
1. Werengani mtunda kuchokera ku sensa ya ultrasonic.
2. Ngati mtunda uli > malire (monga 20 cm), lobotiyo imayenda patsogolo.
3. Ngati mtunda uli ≤ 20 cm, loboti imayima pang'ono.
4. Loboti imabwerera mmbuyo pang'ono kenako n’kutembenukira (monga kumanja) kwa ma milisekondi mazana angapo.
5. Werengani mtunda kachiwiri ndikubwereza.
Ndi chitsanzo ichi, lobotiyo idzaoneka kuti "ikupewa" zopinga, ngakhale itakhala kuti sisankha njira yabwino kwambiri.
6. Chitsanzo chosavuta cha khodi ya Arduino
Pansipa pali chitsanzo cha khodi yoyambira. Mutha kusintha ma pin kuti agwirizane ndi dera lanu:
“`cpp
fotokozani TRIG 8
fotokozani ECHO 9
// Galimoto yakumanzere
fotokozani IN1 2
fotokozani IN2 3
// Mota yakumanja
fotokozani IN3 4
fotokozani IN4 5
nthawi yayitali;
mtunda wamkati;
int readDistance() {
digitoWrite(TRIG, LOW);
kuchedwa kwa ma Microseconds (2);
digitoWrite (TRIG, HIGH);
kuchedwa kwa ma Microseconds (10);
digitoWrite(TRIG, LOW);
nthawi = pulseIn(ECHO, HIGH);
int cm = nthawi 0.034 / 2;
bwererani cm;
}
opanda patsogolo () {
digitoWrite(IN1, HIGH);
digitoWrite(IN2, LOW);
digitoWrite(IN3, HIGH);
digitoWrite(IN4, LOW);
}
opanda kanthu () {
digitoWrite(IN1, LOW);
digitoWrite(IN2, HIGH);
digitoWrite(IN3, LOW);
digitoWrite(IN4, HIGH);
}
opanda turnRight() {
digitoWrite(IN1, HIGH);
digitoWrite(IN2, LOW);
digitoWrite(IN3, LOW);
digitoWrite(IN4, HIGH);
}
chopanda kuyimitsa () {
digitoWrite(IN1, LOW);
digitoWrite(IN2, LOW);
digitoWrite(IN3, LOW);
digitoWrite(IN4, LOW);
}
kukhazikitsa opanda pake () {
pinMode(TRIG, OUTPUT);
pinMode(ECHO, INPUT);
pinMode(IN1, OUTPUT);
pinMode(IN2, OUTPUT);
pinMode(IN3, OUTPUT);
pinMode(IN4, OUTPUT);
Serial.begin (9600);
}
chingwe chopanda kanthu () {
mtunda = kuwerengaDistance();
Serial.println (kutalika);
ngati (mtunda > 20) {
pitirizani ();
} china {
Imani();
kuchedwa (200);
bwererani ();
kuchedwa (300);
Imani();
kuchedwa (200);
Khotani kumanja();
kuchedwa (400);
Imani();
}
kuchedwa (50);
}
``
Khodi iyi ndiyo yophweka kwambiri. Ngati loboti yagwa mobwerezabwereza, mutha kuwonjezera malire kufika pa 25–30 cm kapena kuwonjezera nthawi yozungulira.
7. Kuyesa ndi kukonza
Loboti ikangokonzedwa, yesani pang'onopang'ono:
1. Yesani injini kaye: yendetsani ntchito yakutsogolo/kumbuyo kuti muwonetsetse kuti mawilo akuzungulira mbali yoyenera.
2. Yesani sensa ya ultrasonic: onani zotsatira za mtunda mu Arduino IDE Serial Monitor.
3. Phatikizani dongosolo: yendetsani pulogalamu yonse ndikuwona momwe lobotiyo ikuchitira.
Ngati loboti ikutembenuka kapena kusuntha chammbuyo pamene ikuyenera kupita patsogolo, mungafunike kusinthana mawaya a injini kapena kusintha njira ya IN1-IN2 (ndi IN3-IN4).
8. Mavuto ndi mayankho ofala
Zopinga zina zomwe nthawi zambiri zimabuka:
– Roboti siisuntha konse: yang'anani batire, yang'anani dalaivala wa injini, onetsetsani kuti jumper yoyatsa ikugwira ntchito.
– Arduino imayambiranso pamene mota ikugwira ntchito: mphamvu siikwanira kapena phokoso la mota. Yesani kugwiritsa ntchito batire yosiyana ya Arduino, kuwonjezera capacitor, ndikukonza pansi.
– Kuwerenga kwa sensa ya mtunda sikukhazikika: onetsetsani kuti sensa ikuyang'ana molunjika, itetezeni kuti isagwedezeke kwambiri, ndipo onetsetsani kuti chingwe sichikumasuka.
- Roboti "yakhazikika" pakona: onjezani njira yosinthira mwachisawawa kapena gwiritsani ntchito ma servo kusuntha masensa kuti "ayang'ane" kumanzere ndi kumanja.
9. Malingaliro a chitukuko pambuyo pa kupambana
Roboti yoyambira ikayamba kugwira ntchito, mutha kuyisintha kukhala chinthu chosangalatsa kwambiri:
- Kuonjezera ma servo kuti asunthe masensa a ultrasound kuti loboti isankhe njira yabwino kwambiri.
- Yawonjezera Bluetooth control (HC-05) kuti igwiritsidwe ntchito pafoni yam'manja.
- Kugwiritsa ntchito masensa a mzere kupanga loboti yotsatira mzere.
- Sinthani liwiro la PWM kuti muyende bwino.
- Onjezani chowunikira kapena LED ngati chizindikiro mukazindikira chopinga.
Mapeto
Kupanga loboti yosavuta sikuyenera kukhala kovuta. Ndi Arduino, mota ya DC, dalaivala wa mota, ndi sensa ya ultrasound, mutha kupanga loboti yomwe imatha kusuntha ndikupewa zopinga zokha. Makiyi opambana ndi mawaya abwino, zinthu zokwanira, komanso kuyesa bwino. Mukamaliza ntchitoyi, mudzakhala okonzeka bwino kuthana ndi mapulojekiti ovuta kwambiri a roboti, monga loboti yanzeru yochokera ku kamera kapena yomwe imatha kutsatira zinthu.
Ngati mukufuna, ndingakuthandizeni kupanga chithunzi cha mawaya mwatsatanetsatane malinga ndi ma pini omwe mwasankha, kapena kusintha code kuti lobotiyo itembenukire kumanzere/kumanja mwachisawawa ndikukhala "wanzeru" kwambiri.
