Trng : i Hc Khoa Hc T Nhin

B Gio Dc V o To

Trng i Hc Khoa Hc T Nhin TP.HCM

NHIM V N
Phm vn c
Ngc Minh K
Vt L in T
i hc chnh quy
2005
Lp :

Sinh vin thc hin:

Ngnh:
H o to:
Kha:

MSSV: 0913182
MSSV: 0913

I. Tn ti:

Thit K V Thi Cng Robot iu Khin Bng C Ch Tay

II. Nhim v ti:

Thit k v thi cng phn c kh cho m hnh robot iu khin bng c ch bn tay.
Vit chng trnh iu khin m hnh cho vi iu khin.
Vit gii thut nhn dng c ch bn tay truyn tn hiu xung vi iu khin .
Hun luyn file (.xml) nhn dang bn tay .
Thit k, tnh ton v thi cng mch iu khin cho m hnh dng chip vi iu khin
Atmega32.

III. Ngy giao n: Ngy thng nm 2013

IV. Ngy hon thnh n: Ngy thng nm 2013
V. Gio vin hng dn: Hunh Thi Hong

Ngy thng nm 2013

Gio vin hng dn

Trng : i Hc Khoa Hc T Nhin

B Gio Dc V o To

Trng i Hc Khoa Hc T Nhin TP.HCM

NHN XT CA GIO VIN PHN BIN

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Trng : i Hc Khoa Hc T Nhin

NHN XT CA HI NG KHOA HC

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Trng : i Hc Khoa Hc T Nhin

LI NI U
Thi gian tri qua tht nhanh. Ngy u tin bc vo ging trng i hc vn cn
b ng. Gi hn bn nm tri qua. Lc ny khi chng em ang chun b bo v n
tt nghip cng chnh l lc chng em chun b bc vo ngng ca cuc i.
n tt nghip l mt dp chng em tp ng dng kin thc hc vo mt vn
c th mt cch hon chnh v c h thng, cng l mt thc o tng i khch
quan nhng iu chng em lnh hi c sau hn bn nm mit mi di s du dt
ca cc thy c. Nhng kin thc chng em hc trong trng i hc l nhng kin thc
s i cng chng em ha nhp vo nn khoa hc k thut trong nc v th gii
Trn th gii cng ngh Robot ang trn pht trin rt mnh. cc nc pht
trin nh: Trung Quc, Anh, M, Nht Bn h thng nhn dng ra i t rt lu. Ngy
nay h thng nhn dng v bm i tng nhn dng cng tr nn phong ph vi nhiu
loi nhn dng khc nhau cng nh s tch hp cng nhiu nhng k thut cng ngh
cao. Bi l cng vi s tin b ca x hi loi ngi, nn cng nghip ngy cng pht
trin, th nhu cu s dng robot thay th sc lao ng ca con ngi ngy cng tng.
Vit Nam, sau thi kz hu chin, nn kinh t c nhiu khi sc r rt, ngy nay
mc sng ca ngi dn c nng cao hn. Nhu cu robot trong cng nghip ngy
cng nhiu
Chnh v l , c s nh hng ca thy Huznh Thi Hong nhm chng em
chn ti tt nghip l: Thit K V Thi Cng Robot iu Khin Bng C Ch Tay .
Vi m hnh cha thc s hon thin, n ca chng em cha th p dng vo
thc t ngay c. M ch yu l lm quen, m phng quy trnh vn hnh, tm hiu
cng ngh robot iu khin bng c ch bn tay.
Tuy nhin, mt { ngha quan trng m chng em c c l: qua ti ny, chng
em c c mt tri nghim nhng kin thc hc, t khu thit k thi cng cho ti
lp trnh iu khin hon chnh m hnh.

Trng : i Hc Khoa Hc T Nhin

LI CM N
Li cm n u tin nhm chng em xin gi n l thy Huznh Thi Hong , mc d
thy c rt nhiu cng vic ging dy v nghin cu phi lm trong thi gian qua, nhng
thy ng { lm gio vin hng dn cho nhm em. Trong qu trnh lm n, thy
Huznh Thi Hong thng xuyn nhc nh, quan tm, to rt nhiu iu kin thun
li cho chng em hon thnh ng tin ca n. Bn cnh , nhng li nhn xt
gp ca thy cng gip chng em c nhng nh hng ng n hn khi thc hin
ti.
Nhn dp ny, nhm chng em cng xin by t lng bit n su sc ti tt c qu thy
c trong vt l , qu thy c trong b mn vt l in t l nhng ngi dy d, du
dt chng em t nhng kin thc c bn nht, ng thi thng xuyn gip rt
nhit tnh khi chng em c kh khn trong hc tp cng nh a ra cc gii php nh
hng cho chng em gii quyt vn . V rt nhiu nhng iu qu bu khc na
m chng em c lnh nhn t mi trng i hc Khoa Hc T Nhin TP.HCM m
trong khun kh ny chng em cha ni ht c lng bit n ca mnh. Chng em ha
s c gng phn u hn na trong s nghip sau ny lm rng danh mi trng
thn yu.

Sinh vin thc hin

Phm Vn c
Ngc Minh K

Trng : i Hc Khoa Hc T Nhin

TM TT N
M hnh n l mt robot c hnh dng nh chic xe tng , vi hai ng c 24v
l 2 ng c truyn ng chnh, hai bnh xe pha trc c tc dng iu hng. Mt
webcam tc dng nh mt con mt xc nh bn .
B iu khin ca robot l mt mch in s dng Atmega32 dng iu khin
chuyn ng chnh v b iu khin l298 iu khin chiu quay ca ng c .
B truyn nhn sng RF c th truyn dn tn hiu khng dy .

Phn mm gim st l C++ trong b Visual Studio 2010 v iu khin bng

nt nhn bng c# trong c#.NET .
ti ny gm c cc chng:
Chng 1

Tng quan.

Chng 2

C s l lun.

Chng 3

Thit k phn c kh.

Chng 4

Thit k phn mch in.

Chng 5

Thit k phn mm iu khin.

Chng 6

Kt lun v hng pht trin.

Trng : i Hc Khoa Hc T Nhin

ABSTRACT

Monitoring software is C #. NET in Visual Studio 2008.

This thesis contains:

Chapter 1 Overview.
Chapter 2 theoretical basis.
Chapter 3 Design of mechanical parts.
Chapter 4 Designing the circuit.
Chapter 5 Control Design Software.
Chapter 6 Conclusion and development.

Trng : i Hc Khoa Hc T Nhin

MC LC
Nhim v n
Nhn xt ca gio vin hng dn
Nhn xt ca gio vin phn bin
Nhn xt ca hi ng khoa hc
Li ni u
Li cm n
Tm tt n
Abstract
Mc lc
Chng 1:TNG QUAN
1.1 Gii thiu chung
1.2 Nhn dng khun mt v l{ do chon ti
Chng 2:C S L LUN
2.1 L thuyt nhn dng khun mt ngi
2.1.1 Khi nim
2.1.2 ng dng ca phng php nhn dng khun mt ngi
2.2 Cc phng php nhn dng khun mt ngi
2.2.1 Hng tip cn da trn tri thc
2.2.2 Hng tip cn da trn c trng khng thay i
2.2.3 Hng tip cn da trn so khp mu.
2.2.4 Hng tip cn da trn din mo.

Trng : i Hc Khoa Hc T Nhin

2.3 Gii thut Adaboost v t trng Haar ca khun mt
2.3.1 Gii thut Adaboot
2.3.2 t trng Haar-like ca khun mt
2.4 Gii thiu chung v Atmega 32
2.4.1 Kin trc RISC
2.4.2 c im
2.4.3 S khi
2.5: x l nh vi th vin open cv.
Chng 3:THIT K C KH
3.1 Yu cu t ra
3.2 Thit k
3.2.1 Hnh dng
3.2.2Vt liu
3.2.3 c im k thut
Chng 4: PHN MCH IN .
4.1 Tng qut
4.2 Mch iu khin
4.2.1 Yu cu
4.2.2 Gii php
4.3 Mch iu khin ng c l298 .
4.4 ng c truyn chuyn ng chnh
4..4.1 Yu cu t ra
4.4.2 Chn ng c

Trng : i Hc Khoa Hc T Nhin

4.4.3 Ch hot ng
Chng 5:THIT K PHM MM
5.1 Giao din trn my tnh
5.1.1 Yu cu
5.1.2 Gii php
5.1.3 Thit k giao din
5.2 Chng trnh nhn dng v x l
5.2.1 Lu dy thut:
5.2.2 Hot ng ca chng trnh
5.3 Chng trnh trn chip VK
5.3.1 Yu cu
5.3.2 Gii Php
5.3.3 Lu chng trnh VK
5.3.4 Chng trnh con
5.3.5 chng trnh chnh vit cho VK
5.3.6 Chng trnh vng lp chnh
5.4 Kt qu t c
Chng 6: KT LUN V PHT TRIN
6.1 Nhng iu lm c
6.2 Nhng iu cha lm c
6.3 Hng pht trin ca ti
Ti Liu Tham Kho
Ph Lc

Trng : i Hc Khoa Hc T Nhin

I.
II.
III.
IV.

Gii Thiu Trnh Bin Dch Code Vision AVR .

Code ton b chng trnh vit cho VK .
Giao din ton b chng trnh C# v code c#.
Giao din ton b chng trnh C++ v code c++.

Chng 1:
TNG QUAN
1.1 Gii thiu chung:
Hn mt thp k qua c rt nhiu cng trnh nghin cu v bi ton xc nh bn
tay ngi t nh en trng, xm n nh mu nh ngy hm nay. Cc nghin cu i t
bi ton n gin, mi nh ch c mt bn tay ngi t trc thit b thu hnh v tm
cch nhn ra c u l bn tay ngi v v tr ca n trn nh. Cho n ngy hm nay
bi ton m rng cho nh mu, c nhiu bn tay trong cng mt nh, v cng tm cch
nhn ra u l bn tay, u l khng, nhm p ng nhu cu m con ngi t ra.

H
thng
nhn
dng
bn tay

Hnh 1.1 Mt v d v nhn dng bn tay

1.2Nhn dng bn tay v l do chon ti .

Trng : i Hc Khoa Hc T Nhin

Bi ton nhn dng bn tay l bi ton c nghin cu t nhng nm 70. Tuy
nhin y l mt bi ton kh nn vic nghin cu vn cha t c nhng kt qu
mong mun.
Trong nc ta, nhng nm nay th x l nh l mt mn hc tuy cn nhiu mi
m nhng c s quan tm ca rt nhiu nh khoa hc, ging vin, sinh vin,
Hin nay cng ngh nhn dng c ng dng vo thc t nh ti vi k thut
s. Do phn ln ngi s dng mun in khin nhanh v khng mun dng iu khin
s dng nt nhn bng tay . Trong khi ,ti vi li khng tch hp nhn dng bn tay V
th cng ngh nhn din bn tay c tch hp vo ti vi k thut s , nhm gip cho ti vi
c th cho ra nhng ng dng c tnh ng dng cao tin li v chnh xc trong ch
iu khin t xa .

Hnh1.2

: Smart TV ES8000

Cng ngh nhn dng bn tay cng c a vo laptop Toshiba, Asus, Lenovo,..
cn ci t b phn mm Leap do hng Leap Motion chuyn cho my v a vo tt c
cc dng laptop c webcam, h tr h iu hnh Windows Vista, XP. Ch nhn, thay v
g mt khu hoc xc thc bng vn tay, ch cn ngi trc mn hnh my tnh l c th
ng nhp c,hoc c th chi nhng tr chi hay m nhng ng dng bng c ch
bn tay m khng cn bn phm .

Trng : i Hc Khoa Hc T Nhin

Hnh 1.3 Laptop vi cng ngh nhn dng bn tay ngi .

Cc bi bo co v nhn dng bn tay da vo c trng haar future ca Nguyn
Anh Dng iu khin xe ln dng cho ngi khuyt tt hay nhn dng bin s xe
dng x l nh v th vin open cv ca i hc bch khoa tp HCM . c nhng im
tng ng vi ti m chng em ang thc hin .

Tht s y l mt ti nghin cu kh khn nhng cng khng km phn

th v. H thng nhn dng c ch bn tay l mt h thng s c ng dng
nhiu trong tng lai. y cng l mt hng i ca cng ngh mi,do vy di
s hng dn thy Huznh Thi Hong nhm chng em quyt nh chn ti
Thit k v thi cng Robot nhn dng c ch bn tay.

Trng : i Hc Khoa Hc T Nhin

Chng 2
C S L LUN
2.1 L thuyt nhn dng bn tay ngi :
2.1.1. Khi nim:
Nhn dng bn tay ngi (hand Detection) l mt k thut my tnh xc inh cc v
tr cc kch thc ca bn tay ngi trong cc nh bt kz. K thut ny nhn bit cc
c trng ca cc bn tay v b qua nhng th khc nh ta nh, cy ci, c th,
2.1.2.ng dng ca phng php nhn dng c ch bn tay ngi :
H thng tng tc gia ngi v my: s gip nhng ngi tn tt hoc khim
khuyt c th trao i. Nhng ngi cm s ni chuyn vi ngi bnh thng bng
ngn ng tay, ngi bi lit c th thng qua cc k hiu nh nhy mt, nhng c ch
bn tay ra hiu cho ngi bnh thng,
Cc h thng m ca, chm ngy cng lao ng ca cc nhn vin vo ra trong cng
ty. H thng nhn dng bn tay s cho php cc nhn vin vo ra nhng khu vc cho
php, hay ng nhp my tnh hoc ng nhp my tnh c nhn ca mnh m khng
cn mt khu,
Tng lai s pht trin cc loi th thng minh c tch hp sn c trng ca ngi
dng trn , khi bt c ngi dng no khc dng truy cp hay x l ti cc h
thng s c yu cu kim tra cc c trng ca bn tay so vi th bit c phi l
ch th hay khng.
2.2 : Cc phng php xc nh c ch bn tay v xc nh bn tay ngi
C rt nhiu phng php xc nh c ch bn tay ngi t nh xm n nh
mu. Tuy nhin bi lun vn ny chng em s i su vo hng nhn dng chnh
xc bn tay ngi v nhn dng c c ch bn tay .

A : Xc nh bn tay .
2.2.1 :

Hng tip cn da trn c trng khng thay i:

Trng : i Hc Khoa Hc T Nhin

y l hng tip cn theo kiu bottom-up. Cc tc gi c gng tm cc
c trng khng thay i ca bn tay ngi xc nh chnh xc nht bn tay.
Da trn nhn xt thc t, con ngi d dng nhn bit cc bn tay v cc i
tng trong cc t th khc nhau v iu kin nh sng khc nhau, th phi tn
ti cc thuc tnh hay c trng khng thay i. C nhiu nghin cu u tin
xc nh cc c trng bn tay ri ch ra c bn tay trong nh hay khng. Cc
c trng nh: 5 ngn tay, mi ngn c 3 khp ni , mng tay, cc ng rnh
trn long bn tay .
2.2.2 : Hng tip cn da trn so khp mu:
Trong so khp mu, cc mu chun ca bn tay (thng l bn tay c
chp thng) s c xc nh trc hoc xc nh cc tham s thng qua mt
hm. T mt nh a vo, tnh cc gi tr tng quan so vi cc mu chun v
ng vin bn tay, di cc ngn, s ngn v khp ni cc ngn. Thng qua
cc gi tr tng quan ny m cc tc gi quyt nh c hay khng c tn ti
khun mt trong nh. Hng tip cn ny c li th l rt d ci t, nhng
khng hiu qu khi t l, t th, v hnh dng thay i .c vn khi to nh
vi khp mu ,s khng th kim sot ht mi trng hp c th xy ra vi c
ch bn tay khi so snh vi mu nh
2.2.3 : Da vo mu da
Thng qua khng gian mu Perceptual
N gm rt nhiu :HIS,HSV/HSB v HSL(HLS) .ph bin nht trong
pht hin da .n phn bit r rang ba thnh phn : mu sc (H), bo ho
(S)v sang (I ,V ,L).v c bn HSV loi bin dng ca RGB (thong qua
chuyn i phi tuyn).li th ca khng gian mu trong vic pht hin da l
chng cho php ngi dng trc gic xc nh c ng bin ca lp da
v mu sc v bo ho .khng gian ny c s ng v phats trin thnh
cng nh SKIN[15] and Albiol [16]
Skin Classifiers
Thng qua khng gian mu RGB .

Trng : i Hc Khoa Hc T Nhin

L khng gian mu ph bin nht hin nay trong cc my nh k thut
s .n m ho mu sc nh s kt hp gia ba mu : (R),xanh l (G),xanh
dng(B) .khng gian mu RGB nh mt khi lp phng 3D trong
R,G,B l ba trc vung gc .tuy nhin trong khng gian RGB khng ng
nht vi nhn thc ca con ngi v khng c sang ring bit v sc nt
tuy nhin RGB vn c s dng ph bin do tnh n gin ca n .khng
gian ny c s ng thnh cng bi Jones, M.J., Rehg[17].
B : xc nh c ch bn tay
a) Tnh li lm
Nhng ti lin quan n tnh li lm
Nm 1983 ,James L.crowley a ra khi nim ridge v peak
.Ridge [3][4]l cc im li trn nh .Tp cc dim ridge trn nh s to
thnh nhng ng ng sng sng v cc ng ny s to thnh cc
chm tia gi l peak . James L.crowley s dng php lc low pass rt
ra cc im ridge trn nh v sau mt thut ton kt chng li vi
nhau thnh cc c trng li vi nhau thnh cc c trng ridge v peak
.tip sau ,mt s phng php c xut rt trch cc thong tin v
ridge v valley(lm)[5][6][7][8][9][10].hu ht cc phng php ny
dung mt b lc tng cng thong tin v cnh trn nh sau d tm
cu trc cc im cc tr .qu tichs cc im cc tr ny c xem l cc
c trng li lm .tuy nhin cc c trung li lm ny ph thuc kh
nhiu vo iu kin chiu sang cng nh mc phn gii la chn ban
u . gii quyt s ph thuc ny .Lindeberg[11] xut phng
php t ng chn phn gii tt nht .
Hng tip cn lin quan n li lm
p dng c trng tng t cho bi ton nhn din c ch bn tay
c hng tip cn ca Pulkit Kathuria Atsuo and Yoshitaka .hai nh khoa
hc ny a ra khi nim convex hull and convexity defects .c trng

Trng : i Hc Khoa Hc T Nhin

ny da trn khi nm bao li : l tp hp cc im lp nn mt a gic
li nh nht cha ton b im li tn ti trn bn tay [1] .hay ni chnh
xc convex nh mt ng m cho bn tay [2]v a ra khi nim v
convexity defects : l phn tip gip gia im li vi cnh bn tay

T A n H l convexity defects
b) Haar feature
Haar feature [13]l mt loi c trng thng c dung cho bi ton
nhn dng trn nh .Haar feature c xy dng t cc hnh ch nht c kch
thc bng nhau ,dung tnh chnh lch gia cc im nh trong cc vng
k nhau .

Haar c bn

Trng : i Hc Khoa Hc T Nhin

Li ch ca Haar feature l n din t c tri thc v cc i tng trong
nh (bi v n din t mi lin h gia cc b phn ca i tng ),diu m bn
thn tng im nh khng din t c .

Haar feature cho mt ngi

2.3 Gii thut Adaboost v t trng Haar ca khun mt:

2.3.1 Gii thut Adaboost:
AdaBoost l mt b phn loi mnh phi tuyn phc da trn hng tip cn
boosting c Freund v Schapire a ra vo nm 1995. Adaboost cng hot ng trn
nguyn tc kt hp tuyn tnh cc weak classifiers hnh thnh mt strong classifier.
L mt ci tin ca tip cn boosting, AdaBoost s dng thm khi nim trng s
(weight) nh du cc mu kh nhn dng. Trong qu trnh hun luyn, c mi
weak classifiers c xy dng, thut ton s tin hnh cp nht li trng s chun
b cho vic xy dng weak classifier k tip: tng trng s ca cc mu b nhn dng sai
v gim trng s ca cc mu c nhn dng ng bi weak classifier va xy dng.
Bng cch ny weak classifer sau c th tp trung vo cc mu m cc weak classifiers
trc n lm cha tt. Sau cng, cc weak classifers s c kt hp ty theo mc
tt ca chng to nn strong classifier.
Viola v Jones dng AdaBoost kt hp cc b phn loi yu s dng cc c trng Haarlike theo m hnh phn tng (cascade) nh sau:

Trng : i Hc Khoa Hc T Nhin

Vng nh
con
cn xt
fafafdffffff

H1

khng l bn tay

l bn tay
H2

khng l bn tay

hhhh
Khng phi
bn tay

l bn tay
H3

khng l bn tay

..
Hn

Khng l bn tay

L bn tay
Bn tay

Hnh 2.5: M hnh phn tn kt hp cc b phn loi yu xc nh khn mt

Trong , hk l cc b phn loi yu, c biu din nh sau:

Trng : i Hc Khoa Hc T Nhin

x: ca s con cn xt
Ok: ngng (O = teta)
fk: gi tr ca c trng Haar-like
pk: h s quyt nh chiu ca phng trnh AdaBoost s kt hp cc b phn loi
yu thnh b phn loi mnh nh sau:
H(x) = sign(a1h1(x) +a2h2(x) + ... + anhn(x)) (a = alpha)
Vi: at >= 0 l h s chun ho cho cc b phn loi yu

Hnh 2.6: Kt hp cc b phn loi yu thnh b phn loi mnh

2.3.2 t trng Haar-like ca khun mt
Do Viola v Jones cng b, gm 4 c trng c bn xc nh khun mt
ngi. Mi c trng Haarlike l s kt hp ca hai hay ba hnh ch nht "trng"
hay "en" nh trong hnh sau:

Hnh 2.7 4 t trng Haar-like c bn

Trng : i Hc Khoa Hc T Nhin

s dng cc t trng ny vo vic xc nh khun mt ngi, 4 t trng
Haar-like c bn c m rng ra, v c chia lm 3 tp c trng nh sau:
c trng cnh (edge features):

c trng ng (line features):

c trng xung quanh tm (center-surround features):

Dng cc c trng trn, ta c th tnh c gi tr ca c trng Haar-like l s

chnh lch gia tng ca cc pixel ca cc vng en v cc vng trng nh trong cng
thc sau:
f(x) = Tngvng en(cc mc xm ca pixel) - Tngvng trng(cc mc xm ca pixel)

S dng gi tr ny, so snh vi cc gi tr ca cc gi tr pixel th, cc c trng

Haar-like c th tng/gim s thay i in-class/out-of-class (bn trong hay bn ngoi lp
khun mt ngi), do s lm cho b phn loi d hn.
Nh vy ta c th thy rng, tnh cc gi tr ca c trng Haar-like, ta phi
tnh tng ca cc vng pixel trn nh. Nhng tnh ton cc gi tr ca cc c trng
Haar-like cho tt c cc v tr trn nh i hi chi ph tnh ton kh ln, khng p ng
c cho cc ng dng i hi tnh run-time. Do Viola v Jones a ra mt khi
nim gi l Integral Image, l mt mng 2 chiu vi kch thc bng vi kch ca nh cn

Trng : i Hc Khoa Hc T Nhin

tnh cc c trng Haar-like, vi mi phn t ca mng ny c tnh bng cch tnh
tng ca im nh pha trn (dng-1) v bn tri (ct-1) ca n. Bt u t v tr trn,
bn tri n v tr di, phi ca nh, vic tnh ton ny n thun ch a trn php
cng s nguyn n gin, do tc thc hin rt nhanh
.

Hnh 2.8: Cch tnh Integral Image ca nh

Sau khi tnh c Integral Image, vic tnh tng cc gi tr mc xm ca mt
vng bt kz no trn nh thc hin rt n gin theo cch sau:
Gi s ta cn tnh tng cc gi tr mc xm ca vng D nh trong hnh 4, ta c th tnh
nh sau:
D = A + B + C + D (A+B) (A+C) + A Vi A + B + C + D chnh l gi tr ti im P4 trn
Integral Image, tng t nh vy A+B l gi tr ti im P2, A+C l gi tr ti im P3, v
A l gi tr ti im P1. Vy ta c th vit li biu thc tnh D trn nh sau:

Hnh 4: V d cch tnh nhanh cc gi tr mc xm ca vng D trn nh

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Tip theo, chn cc c trng Haar-like dng cho vic thit lp ngng, Viola
v Jones s dng mt phng php my hc c gi l AdaBoost. AdaBoost s kt hp
cc b phn loi yu to thnh mt b phn loi mnh. Vi b phn loi yu ch cho
ra cu tr li chnh xc ch hn vin on mt cch ngn nhin mt cht, cn b phn
loi mnh c th a ra cu tr li chnh xc trn 60%.

2.4 Gii thiu chung v Atmega 32:

2.4.1 Kin trc RISC:
B nh Flash :

32k bytes

B nh EEPROM:

1024 bytes

B nh SRAM:

2k bytes

2.4.2 c im:
Hai b m/nh thi 8 bit vi ch so snh v chia tn s tch bit.
Mt b m/nh thi 16 bit vi ch so snh v ch np li, chia tn s tch
bit .
Bn knh PWM.
Giao tip ni tip SPI master/Slave.
USARTni tip lp trnh c.
C b nh thi Watchdog timer ngy trn chip v lp trnh c vi b dao ng
c lp.
B so snh Analog trn chip.
Mt b bin i ADC 10 bit c n 8 knh li vo.
Mt giao din TWI ng b tng thch I2C.
B m thi gian thc vi b dao ng tch bit.
I/O : 32 ng I/O, trong c 23 ng I/O lp trnh c.
in p hot ng: 4.5 - 5.5V.
Hot ng vi xung nhp: 0-16MHz
2.4.3 S khi:

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Hnh 2.5 Cu trc tng qut ca Atmega 32.

Vic s dng v lp trnh vi EmguCV tht n gin ch cn thm cc dll vo
chng trnh C# th c th gi tt c cc thuc tnh ca EmguCV.

2.4 x l nh vi th vin open cv.

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OpenCV :

* OpenCV (vit tt ca Open Computer Vision) l mt th vin m

ngun m c Intel a ra phin bn u tin vo nm 1993, phc v cho
vic nghin cu v pht trin th gic my tnh.
* Gip cho vic xy dng cc ng dng x l nh, th gic my tnh, ...
mt cch n gin, thun tin hn
* OpenCV c hn 500 hm khc nhau, c chia lm nhiu phn phc
v cc cng vic nh: x l hnh nh an ninh, y t, camera quan st, nhn
din, lp trnh cho robot.
S dng OpenCV :

* X l nh, quan st, an ninh, robot, tt c nhng g bn ngh rng

lin quan ti th gic my tnh th c th s dng OpenCV.
* Thay v lp trnh cho cc thut ton x l nh th bn c sn trong
tay mt th vin v cc hm . Cng vic ca bn ch l s dng n.
i tng s dng OpenCV
* u tin bn cn hiu: OPenCV l m ngun m v chng ta hon
ton khng phi tr bt c 1 ng no.
* OpenCV c th s dng cng nhiu ngn ng lp trnh: C++, C#,
Java. c bit, Intel cng a ra phin bn EmguCV dnh ring cho C#.
OpenCV l mt th vin s v c chia lm 4 phn chnh:
* CxCore: Cha cc cu trc c bn nh im, ng, dy, mt, ma trn v
cc thao tc cp thp lin quan.
* CV: Cha hu ht cc thao tc lin quan n vic x l nh cp thp nh lc
nh, trch bin, phn vng, tm contour, bin i Fourier
* HighGUI: Cc thao tc ln nhng file nh v file Video nh c nh, hin th
nh, chuyn i nh dng
* CvCam: Lm vic vi Camera. V l do phm vi ca bi ny ch lm vic vi
nh nn ta khng trnh by CvCam y.

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Chng 4:
Phn Mch in
Camera

My tnh

Usp to port
(pl232r)

Mch pht song rf

Mch thu song rf

Mch vi iu khin atmega 32

Mch iu khin ng c l298

ng c DC
24V

ng c
24V

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4.2Mch iu khin
4.2.1 Yu cu:
Chip s dng trong mch iu khin phi c ng vo/ra c tn hiu t my
tnh truyn xung v xut tn hiu iu khin ng c.
M hnh s dng cng Com kt ni hai chn PORTD.0 v PORTD.1 truyn tn hiu
cho vi iu khin v 6 chn dng cho xut tn hiu iu khin cc ng c. Nh
vy t nht phi c 8 ng dng cho vo ra.
4.2.2 Gii php:
a) Th nht: Dng h vi iu khin 89xxx c ng vo ra. Ngn ng lp trnh d
hn vi ngi mi bt u hc. Nhng chng trnh thng di dng gy kh
hiu.
b) Th hai: Dng h vi iu khin Atmega. Nu dng Atmega 8 tuy m bo yu cu
t ra nhng t c s dng. Mt cch khc l dng Atmega 32 hoc 64 s to ra
ng ra, p ng yu cu t ra m khng cn phi kt ni thm IC no khc.
c) La chn: Vi yu cu t ra nhm quyt nh chn Atmega 32 lm chip chnh
trong mch iu khin. V c ng ra vo, kt ni n gin v p ng c yu
cu t ra. Di y l nguyn l mch iu khin sau khi c thit k bng phn
mm protus .

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Hnh 4.2 S nguyn l mch iu khin Atmega 32.

4.3 Mch iu khin ng c l298:

S chn ca mch iu khin ng c l298

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Nguyn l board cng sut 2 DC Motor L298

c. Nguyn l hot ng:

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Board cng sut 2 DC motor gm cc khi:
Khi n p ngun: gm ngun 5V cp cho cc mch logic, 6V cp cho RC Servo
Motor.
Khi mch logic : gm cc cng NOT v NAND kt hp nhau nhm to ra cc ng
vo gm tn hiu PWM ( tc ), DIR (o chiu quay) v cc ng ra IN1, IN2 tng
thch vi logic iu khin ca L298 . Bng trng thi tn hiu iu khin 1 knh DC
Motor nh hnh sau:

Bng trng thi tn hiu iu khin 1 knh DC Motor

4.4 ng c truyn chuyn ng chnh:

ng c in mt chiu (hay ng c DC) l mt ng c hot ng

vi dng in mt chiu
4.4.1 Yu cu t ra:
o Cng sut va do ti l chuyn ng chnh iu khin m hnh .
o Tc quay chm, moment quay ln.
o Dng nhanh v chnh xc.
o C kh nng ghim v tr.
4.4.2 Chn ng c:
in p nh mc: 9v-48v
Dng in nh mc: 4A
Tc nh mc: 5500-8320v/p
4.4.3 Ch hot ng:

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Hnh dng ca ng c
iu khin chiu ca ng c in mt chiu.

Khi ta cp in th ng (+) vo mt cc ca ng c v cp in th m
(-) vo cc cn li th ng c s quay theo mt chiu c nh. V khi ta cp in
th ngc li, o chiu dng m th ng c s quay theo chiu ngc li.

iu khin chiu quay ng c in mt chiu

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Chng 5
THIT K PHN MM
5.1 Giao din trn my tnh:
5.1.1 Yu cu:
Giao din thn thin vi ngi dng.
Tc phi nhanh p ng s thay i ca i tng.
Chng trnh phn mm phi giao tip c vi VK nhn d liu v t PC
5.1.2 Gii php:
a. Dng ngn ng Visual C++.Net (VC++.Net )
Trong chng trnh, nhm c hc qua ngn ng lp trnh ny. Tp
lnh ca n rt mnh, phn ha cng p mt. ng thi cc hm, cc th vin
ca n cng rt nhiu vy nn nhm quyt nh s dng cc cu lnh v b th
vin opencv lm .
b. Dng ngn ng Visual Basic.Net (VB.Net)
y cng l mt ngn ng rt mnh trong lp trnh giao din ha. Tuy
nhin nhm chng em cha c hc ngn ng ny, nhng nhm cng c dp
tm hiu trc y. Cu lnh ca VB.Net n gin hn VC++.Net.
c. Dng ngn ng CSharp (C#.Net)
y l ngn ng kt hp gia VB.Net v VC++.Net .Tp lnh ca n mnh
v n gin ca c hai ngn ng trn rt thch hp cho nhng ngi mi lp trnh
v cng n gin d hiu . nn nhm tip tc s dng ngn ng c# thc hin .
5.1.3 Thit k giao din:

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Thit k dao din bng c#

Thit k dao din bng c++

5.2 Chng trnh nhn dng v x l:

Trng : i Hc Khoa Hc T Nhin

5.2.1 Lu dy thut:

begin

pc

camera

No

Bn tay

yes
Xut k t ra seria port

5.2.2 Hot ng ca chng trnh:

Nhn nt Start bt u chng trnh, mt PictureBox s nhn nh lin tc t
camera v s nhn dng u l bn tay c trong nh. Mt hnh vung c v ln
trong bn tay pht hin l c ngi trong nh. Trong trng hp khng c nh
c xc nh, ta c cc button iu khin bng tay iu khin robot di chuyn
theo mun.