Chidziwitso: Ndikupita patsogolo kwaukadaulo pa liwiro komanso modularity, makina opangira ma robotic amakwaniritsidwa.Mu pepala ili njira yodziwira zopinga yomwe yafotokozedwa pazifukwa zosiyanasiyana ndikugwiritsa ntchito.Ma ultrasonic andrinfrared sensors amapangidwa kuti athe kusiyanitsa zopinga panjira ya loboti popereka zizindikiro kwa anrinterfaced microcontroller.Chowongolera chaching'ono chimapatutsa loboti kuti isunthire m'malo mwa kulimbikitsa ma motors powapempha kuti asakhale kutali ndi chopinga chodziwika.Kuwunika kwachiwonetserochi kumawonetsa kulondola kwa 85 peresenti ndi mwayi wa 0,15 wokhumudwitsidwa payekhapayekha.Poganizira zonse, chotchinga chopezekapo chinakwaniritsidwa bwino pogwiritsa ntchito masensa a infrared ndi akupanga omwe adayikidwa pagawo.
1.Chiyambi
Kugwiritsa ntchito komanso mawonekedwe osiyanasiyana a maloboti osinthika ndikumangika pang'onopang'ono tsiku lililonse.Akupita patsogolo mosalekeza m'malo ovomerezeka a diflerentlfields, mwachitsanzo, zankhondo, zachipatala, zoyesa zakuthambo, ndi kusamalira nyumba mwachizolowezi.Chitukuko kukhala chikhalidwe chofunikira cha maloboti osinthika popewa zopinga komanso njira yotsimikizira zimakhudza kwambiri momwe anthu amachitira ndikuwona mawonekedwe odziyimira pawokha.Mawonekedwe a PC ndi masensa osiyanasiyana ndi machitidwe ovomerezeka ovomerezeka omwe amagwiritsidwa ntchito mu ID yamaloboti osiyanasiyana.Njira yodziwira umboni wa PC ndiyochulukira komanso yochulukirapo kuposa njira zamasensa osiyanasiyana.Kugwiritsa ntchito oilradar, infrared (IR) andrultrasonic sensors kuti agwiritse ntchito njira yozindikiritsa zopinga kunayamba munthawi yake monga njira yozindikirira zotchinga.Zaka za m'ma 1980.Mosasamala kanthu kuti, pambuyo poyesa kupititsa patsogolo uku, zidawoneka kuti kukonza radar kunali koyenera kugwiritsidwa ntchito popeza njira zina ziwiri zotsogola zidatsatiridwa ndi zoletsa zachilengedwe, monga mphepo yamkuntho, ayezi, tsiku latchuthi, ndi dziko lapansi. .Njira yoyezera zida inalinso chitukuko chanzeru chandalama chilichonse pa izi ndi zomwe zibwereranso [3].Masensa akuwoneka kuti amangokhala ndi umboni wodziwika wa chopinga.Masensa osiyanasiyana angagwiritsidwe ntchito kuthetsa zinthu zosiyanasiyana zoimira zomera muzomera, kulola loboti yodziyendetsa yokha kuti ipereke fetereza yoyenera m'njira yabwino kwambiri, kusonyeza zomera zosiyanasiyana monga momwe tafotokozera.
Pali zaluso zosiyanasiyana za IOT pakulima zomwe zimaphatikiza kusonkhanitsa zidziwitso zomwe zikupitilira zanyengo zomwe zikuphatikiza kuwukira kwazovuta, kuwononga, kutentha, mvula ndi zina zotero.Pamenepa mfundo zomwe zikusonkhanitsidwa zitha kugwiritsidwa ntchito pokonza njira zolima ndipo zitha kuphunzitsidwa za kusankha kuchulutsa kuchuluka kwake ndi ubwino wake kuti muchepetse ngozi ndi kuononga, ndi kuchepetsa ntchito zomwe zikuyembekezeka kupitiliza kukolola.Mwachitsanzo, alimi atha kuyang'ana chinyontho cha nthaka ndi kutentha kwa famu kuchokera kumadera akutali komanso kugwiritsa ntchito ntchito zomwe zimafunikira kulima ndendende.
2.Njira ndi Kukhazikitsa
Ndondomeko yomwe yafufuzidwa mu pepala ili ikupanga magawo otsatirawa.Kuphatikiza apo, zomwe zapezedwa zimasamalidwa ndi board awiri a Arduino omwe adakonzedwa ndi pulogalamu ya Arduino [8].Chojambula cha block cha dongosolo chikuwonetsedwa mu Chithunzi 1.
Chithunzi 1:Chojambula cha block cha system
Kupita patsogolo kwa chimango kumafuna Arduino UNO kuti igwire chidziwitso cha sensor (Echo ultrasonic sensor) ndikuyika chizindikiro cha actuator (mainjini a DC) kuti alimbikitse.Ma module a Bluetooth amafunikira pamakalata ndi chimango ndi magawo ake.Dongosolo lonse limalumikizidwa ndi bolodi la mkate.Zobisika za zida izi zaperekedwa pansipa:
2.1Akupanga Sensor
Chithunzi 2. Pali ultrasonic sensor kuzungulira galimoto yomwe imagwiritsidwa ntchito kuzindikira chopinga chilichonse.Sensa ya ultrasonic imatumiza mafunde amawu ndikuwonetsa mawu kuchokera ku chinthu.Pamene chinthu chimakhala ndi mafunde akupanga, mphamvu yamagetsi imapezeka mpaka madigiri 180.Kukachitika kuti chopingacho chili pafupi ndi gawo mphamvu zimawonekeranso posachedwa.Ngati chinthucho chili kutali, pamenepo chizindikiro chowonekera chidzatenga nthawi yochepa kuti chifike kwa wochilandira.
Chithunzi 2 Akupanga Sensor
2.2Arduino Board
The Arduino is Associate in Nursing open supply instrumentation and programming which will create a shopper to try and do a powerful activity in it.Arduino ikhoza kukhala microcontroller.Izi zida zowongolera ma microcontroller zimathandizira kuwongolera ndikuwongolera zolemba nthawi zonse, komanso nyengo.Mapepalawa ndi otsika mtengo pamsika.Mulinso zochitika zosiyanasiyana m'menemo, komabe zikuchitikabe .Gulu la Arduino likuwonetsedwa pansipa chithunzi 3.
Chithunzi 3:Arduino Board
2.3DC Motors
Mugalimoto yanthawi zonse ya DC, pali maginito osatha kunjanso, ndi zida zotembenukira mkati.Pomwe mumagwiritsa ntchito mphamvu mu electromagnet iyi, imapanga gawo lokopa mu zida zomwe zimakopa ndikuthamangitsa maginito mu stator.Chifukwa chake, zida zimatembenukira ku madigiri 180.Zawonekera pansipa chithunzi 4.
Chithunzi 4:DC Motor
3. Zotsatira ndi Zokambirana
Kapangidwe kameneka kakuphatikiza zida ngati Arduino UNO, chinthu chosapirira, bolodi la mkate, ma sign owonera zopinga ndikuwunikira ogula potengera chopinga, ma LED ofiira, masinthidwe, mawonekedwe a Jumper, banki yamagetsi, ndodo zamutu zachimuna ndi chachikazi, chilichonse. zosunthika komanso zomata kuti apange chida kuti chiveke kwa ogula ngati gulu lamasewera.Wiring wa contraption amachitidwa mu Associate in Nursing after-way.Crystal rectifier ground ringer imalumikizidwa ndi Arduino GND.The + ve yolumikizidwa ndi pin 5 ya Arduino ya LED ndi mwendo wapakati wa switch.Buzzer imalumikizidwa ndi mwendo wokhazikika wakusintha.
Chakumapeto, pambuyo pa mayanjano onse ku gulu la Arduino kusuntha kachidindo ku bolodi la Arduino ndikukakamiza ma modules osiyanasiyana pogwiritsa ntchito banki yamphamvu kapena mphamvu.Mawonekedwe am'mbali pamawonekedwe okonzedwa akuwonetsedwa pansi pa chithunzi 5.
Chithunzi 5:Mawonedwe am'mbali a mtundu wopangidwira wa Obstacle Detection
Ma ultrasonic sensing element pano amagwiritsidwa ntchito ngati foni yaku France.Mafunde a ultrasonic ar amatumizidwa ndi transmitter zinthu zitadziwika.aliyense chopatsira ndi opindula malo mkati mwa akupanga sensing chinthu.timakhala ndi chizolowezi chowerengera nthawi yayitali pakati pa chizindikiro choperekedwa ndi cholandira.Gawo lomwe lili pakati pa vuto ndi chinthu chozindikira limathetsedwa pogwiritsa ntchito izi.Tikangowonjezera kulekanitsa pakati pa nkhaniyo kotero kuti chinthu chomverera m'mphepete mwake chikhoza kuchepa.sensing element ili ndi kuphatikiza kwa madigiri makumi asanu ndi limodzi.Chojambula chomaliza cha robot chikuwonekera pansi pa chithunzi 6.
Chithunzi 6:Robot Yotsirizidwa Framework kutsogolo
Chikhazikitso chopangidwacho chinayesedwa poika chopinga pamapatuko osiyanasiyana panjira yake.Zochita za masensa zidawunikidwa padera, popeza zinali pamitundu yosiyanasiyana ya robot yodzilamulira.
4. Mapeto
Kutulukira ndi kuzemba chimango cha automaton System.Ma seti a 2 a masensa a heterogon adagwiritsidwa ntchito kuvomereza zopinga panjira ya automaton yonyamula.chowonadi ndi kuthekera kocheperako kokhumudwitsidwa kunali kosaloleka.Kuwunika pa chimango chaulere kukuwonetsa kuti ili ndi zida zopewera zopinga, kuthekera kokhala kutali ndi ngozi ndikusintha momwe zilili.Mwachiwonekere, ndi dongosololi kuphweka kochititsa chidwi kungathe kuwonjezeredwa pakufuna kuchita malire osiyanasiyana ndi pafupifupi ziro kulowererapo kwa anthu.Pomaliza, pogwiritsa ntchito IR, loboti imayenera kuyendetsedwa kutali.wopindula ndi wowongolera wakutali.Ntchitoyi idzakhala yothandiza m'madera opanda ubwenzi, chitetezo ndi chitetezo cha dziko.
Nthawi yotumiza: Jul-21-2022