Tuyn tp Bo co Hi ngh Sinh vin Nghin cu Khoa hc ln th 7 i hc Nng nm 2010

MY TNH NHNG V X L NH TRONG IU KHIN ROBOT

EMBEDDED COMPUTER AND IMAGE PROCESSING IN ROBOT CONTROL
SVTH: L Vn Khanh, L Vn Dng
Lp 05T3, Khoa Cng Ngh Thng Tin, Trng i Hc Bch Khoa

GVHD: KS. Trng Minh Huy

Khoa Cng Ngh Thng Tin, Trng i Hc Bch Khoa
TM TT
Cng ngh x l nh ngy cng c ng dng rng ri trong cuc sng. Ngoi cc ng
dng truyn thng nh phc hi, nng cao cht lng nh, cc ng dng nhn dng, an ninh, iu
khin ngy cng ph bin. T khi xut hin trn sn chi robocon, nht l vi chc v nh
robocon 2007 ca Trung Quc, cng ngh x l nh thu ht s ch c bit ca cc bn sinh
vin yu thch lnh vc robotics. Bi vit ny gii thiu ton din mt robot x l nh vi chc nng
tng hoa. Kt qu nghin cu ny m ra kh nng s dng rng ri cng ngh s l nh trong
robotics vi nhng thit b r tin nh my tnh nhng hoc my tnh cu hnh thp.
ABSTRACT
Image processing technology is increasingly widely used in life. Apart from traditional
applications such as recovery, improve image quality, identification applications, security, control
has become increasingly popular. Since appearing on Robocon playground, especially with the
Championship of China Team in Robocon 2007, image processing technology has attracted
special attention of the students who love robotics. This article introduces a image processing robot
with functional flowers. Results of this research open the possibility widely used imaging
technologies in robotics with expensive devices such as low profile computers or embedded
computer.

1. t vn
Cng ngh x l nh v nhn dng l cng ngh kh phc tp. nh thu nhn c
t camera lun b nhiu. Vic x l kh nhiu v nhn dng mc tiu tr nn kh khn v
tiu tn nhiu ti nguyn. V vy a c cng ngh x l nh vo robot vi nhng
thit b c cu hnh thp i hi cn phi c s h tr ca nhng cng ngh khc nh siu
m, hng ngoi, ci thin chnh xc v tc .
1.1. S lc h thng dn ng cho robot
h tr cho robot trong vic ra quyt nh, bn cn c h thng dn ng. H
thng ny bao gm dn ng theo chiu ngang v theo chiu su. Vic dn ng theo
chiu ngang do module x l nh m nhim. u im ca vic nh v theo chiu ngang
(so vi mc tiu) l robot c th di chuyn trong mi trng bt k m khng cn phi c
cc vch dn ng nh cc bn thng thy trong sn chi robocon. iu ny gip rt
ngn ng i, tit kim nng lng v linh hot hn trong x l.
Phn cn li, h thng dn ng theo chiu su do cc module thu pht sng radio
hoc siu m x l. C nhiu ngi t cu hi ti sao khng dng s l nh o khong
cch lun. Cu tr li l phi thc t mt cht. Vic c lng khong cch bng th gic
ch mang tnh tng i, ngay mt ngi cng ch c th c lng tng i nn th gic
my tnh cng khng th lm tt hn. Trong bi vit ny ti gii thiu cm bin siu m
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Tuyn tp Bo co Hi ngh Sinh vin Nghin cu Khoa hc ln th 7 i hc Nng nm 2010

SRF05, n gin ch v n d mua Vit Nam v vic iu khin cng kh d dng.

1.2. S lc phn cng
Robot x l nh ca ti dng tng hoa, bn c th lm nhng iu th v hn.
V c bn n gm 3 phn chnh: Module x l nh, mch vi iu khin v c cu c kh.
y ti khng cp n c cu c kh m ch gii thiu hai phn u.
1.3. La chn phn cng x l nh
Module x l nh bao gm mt camera v mt my tnh (bao gm c my tnh
nhng), sau y l mt s phn cng bn c th la chn:
NSLU2, fullmax 266Mhz, 32MB SDRAM, 2.1 x 9.1 x 13 (cm), 120 USD
Linksys ngng sn xut.
NAS200, 150Mhz, 32MB RAM, 2.1 x 9.1 x 13 (cm) , 170 USD
Laptop c hoc bo mch cc PC c (khong 400.000-1.500.000 vnd), ti thiu
cng 1.6Ghz, 256MB RAM.
Mun s dng NSLU2 hay NAS200, bn cn phi tho hp ch thm cc chn
giao tip ni tip (ng ngha vi vic khng c bo hnh, h hng th t chu), thm
cng vo bin chng thnh cc my tnh nhng, sau ci t h iu hnh linux ln
chng, c th y l phin bn linux Debian. Nhng thit b ny mua Vit Nam khng
d, c bit l NSLU2, gi trn cha bao gm ph vn chuyn. Li khuyn v gii php
tt cho cc bn sinh vin l nn s dng cc laptop c, n rt r, d mua, v cu hnh cng
kh tt. Ti may mn c c 1 b NSLU2 v Webcam Logitech QuickCam Pro3000. Tuy
nhin do ch li nn thit b thng xuyn trc trc.

Hnh 1. NSLU2 v Webcam Logitech QuickCam Pro3000.

a. Mch vi iu khin
C nhiu la chn thi cng mch, bn c th dng cc vi iu khin (VK)
thuc dng PIC, AVG, 89xxx, min l c h tr giao tip ni tip nhn tn hiu t
module x l nh truyn xung. Trong trng hp ny ti dng PIC16F887 cho khi iu
khin, ngoi ra mch cn c khi cp ngun, khi cng sut v cm bin siu m SRF05.

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Tuyn tp Bo co Hi ngh Sinh vin Nghin cu Khoa hc ln th 7 i hc Nng nm 2010

Hnh 2. Mch iu khin robot v SRF05.

b. Gii thut
Vi iu khin kim tra cc tn hiu v lch theo phng ngang (t modue x l
nh), khong cch n i tng (t SRF05), trng thi cc cng tc hnh trnh, t ra
quyt nh.
Module
X l nh

SRF 05

Cng tc
Hnh
trnh

Vi iu Khin

Cc ng c

Hnh 3. M hnh iu khin robot.

c. Module x l nh
Cng c x l nh c gii thiu y l b
th vin x l nh OpenCV cho C v C++. Th vin
ny c th s dng c c trn windows v linux. Mc
tiu ca module ny l nhn dng mc tiu c mu xc
nh v tnh lch tm ca robot so vi i tng theo
phng ngang. Quy trnh x l ca module ny theo s
hnh bn.
Tn hiu truyn xung cho VK nn dng k
t, trong c cc k t iu khin. Khi nhn tn hiu
ny, VK s x l v thu li gi tr cn thit.

Nhn nh t camera

Chuyn i sang h mu
HSV

Lc tch vng mu ca i
tng t 2 knh H v S

Gim nhiu

nh nhn v trch ra vng

c din tch ln nht

Tnh tm lch tm

Gi tn hiu xung cho

VK

Hnh 4. Hot nng ca

module x l nh.

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Tuyn tp Bo co Hi ngh Sinh vin Nghin cu Khoa hc ln th 7 i hc Nng nm 2010

d. iu Khin
Bt u

Cn hoa?

-Dng
-Nng hoa

c khong cch,
lch
N

Khong cch>80cm?

Khong cch
<50cm?

H hoa

Li
Lch?

tri

Gim tc bnh phi

phi

Khng tm thy

Gim tc bnh tri

Quay tm
i tng

Kt thc

Hnh 5. Lu hot ng ca vi iu khin.

2. Kt qu
Khi s dng laptop x l nh,
Robot hot ng tt c trong iu kin
trong nh v ngoi tri. Vic nhn dng
cho kt qu chnh xc 90% trong mi
trng ng mu nh trc bc tng
trng hay mn xanh, Trong iu kin
ngoi tri vi nhiu nhiu hn, chnh
xc km hn, khong 80%. Tuy nhin vi
nhng vt th c kch thc ln, nh
ngi chng hn, th s nhn dng sai l
khng ng k.

Hnh 6. Th robot sn khu F

Vi NSLU2 chnh xc khng cao, thit b thng xuyn trc trc, v khng th
mua c thit b mi nn gii php ny l khng hiu qu.
3. Kt lun
Bn thn cng ngh x l nh c nhng nhc im nht nh, nhng khi kt hp
vi nhng cng ngh khc hiu qu c ci thin r rt. Robot t vn hnh vi mt chic
camera khng cn l m c ca sinh vin, chng ta c v s a cng ngh ny vo
sn chi robocon trong nhng nm ti.
Vic s dng thit b d tm v r tin hn, cu hnh mnh hn, nh laptop chng
hn, thay th cho NSLU2 s nng cao chnh xc. Nu c s dng trong nhng mi
trng xc nh bit trc v vi nhiu camera hn cng vi nhng cng ngh h tr
khc, Robot x l nh s vt tri cc robot khc.

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Tuyn tp Bo co Hi ngh Sinh vin Nghin cu Khoa hc ln th 7 i hc Nng nm 2010

TI LIU THAM KHO

[1] ng B Khc Triu (2009), X l nh bng th vin OpenCV, Trng i Hc Bch
Khoa i Hc Nng, Nng, slide 171-185.
[2] Gary Bradski, Adrian Kaebler (2008), Learning OpenCV, OReilly Media, Inc.,
Cambridge, USA.
[3] Nigel Gardner (2002), An introduction to programming The Microchip PIC in CCS C,
Bluebird Electronics, USA.
[4] NSLU2-Linux - How to, http://www.nslu2-linux.org/wiki/HowTo/HomePage.
[5] Debian Home Page, http://www.nslu2-linux.org/wiki/Debian/HomePage.

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