Professional Documents
Culture Documents
04.06.r.khanh Dung
04.06.r.khanh Dung
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
196
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.
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.
197
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
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
Gim nhiu
Tnh tm lch tm
198
d. iu Khin
Bt u
Cn hoa?
Khong cch>80cm? Y
H hoa
tri
Lch?
phi
Khng tm thy
Quay tm i tng
Kt thc
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.
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.
199
Y
Li
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.
200