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Bo co thc tp tt nghip
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LI M U
Cc Robot t hnh c ng dng trong i sng ngy cng nhiu nh robot vn
chuyn hng ha, robot kim tra nguy him, robot xe ln cho ngi khuyt tt. Robot
phc v sinh hot gia nh im hn ch ca cc robot t hnh hin ti l tnh thiu
linh hot v kh nng thch ng khi lm vic nhng v tr khc nhau. T nhng l do
ny sinh vn trnh vt cn cho robot t hnh nhm nng cao tnh linh hot cho robot.
Hu ht cc robot hin i u c mt kiu trnh vt cn no robot xc nh vt cn v
dng li khong cch ngn so vi vt cn trnh va chm, n cc thut ton tinh t
hn, cho php robot di chuyn theo ng vin quanh vt cn. ti Xe t hnh trnh
vt cn nhm gp phn gii quyt cc vn trn.
Chng em xin gi li cm n chn thnh n c GS.TS Phan Xun Minh gip
v gii thiu chng em n thc tp ti trng Cao ng ngh cng ngh cao H Ni.
Trong qu trnh thc tp, c tn tnh nh hng cng nh cung cp cc kin thc l
thuyt cho chng em. C lun ng vin gip chng em hon thnh t thc tp
Chng em cng xin gi li cm n su sc n trng Cao ng ngh cng ngh
cao H Ni, thy Ths Ng Mnh Tin, thy Nguyn Vn Dng to mi iu kin
thun li ng thi hng dn tn cho chng em trong sut qu trnh thc tp.
Nhm sinh vin
L Trung Kin
L Th Huy
Hong Vn Ngha


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MC LC
LI M U ................................................................................................................................................................... 1
MC LC ....................................................................................................................................................................... 2
DANH MC HNH V ...................................................................................................................................................... 4
CHNG 1 GII THIU TI ..................................................................................................................................... 5
1.1 L do chn ti ............................................................................................................................................. 5
1.2 Mc ch .......................................................................................................................................................... 5
CHNG 2 TNG QUAN H THNG ............................................................................................................................. 6
2.1 Gii thiu v xe t hnh ...................................................................................................................................... 6
2.2 Bi ton trnh vt cn......................................................................................................................................... 8
2.3 H thng xe t hnh trnh vt cn ...................................................................................................................... 9
CHNG 3 M HNH HA I TNG XE T HNH .................................................................................................. 10
3.1 M hnh ng hc xe robot: .............................................................................................................................. 10
3.2 M hnh ng lc hc xe robot: ........................................................................................................................ 11
3.3 nh gi : ......................................................................................................................................................... 13
CHNG 4 CM BIN KINECT .................................................................................................................................... 14
4.1 Mc ch ........................................................................................................................................................... 14
4.2 Gii thiu cm bin Kinect ............................................................................................................................... 14
4.3 Pht hin vt cn s dng Kinect ..................................................................................................................... 23
CHNG 5 MCH IU KHIN V TRUYN THNG ................................................................................................... 27
5.1 i iu hin MP43 ....................................................................................................................................... 27
5.3 i iu hin MP435xx-Kit MSP430FR5739 ......................................................................................... 31
5.4 CC3000 ............................................................................................................................................................ 36
5.5 nh gi ........................................................................................................................................................... 40

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KT LUN .................................................................................................................................................................... 41
TI LIU THAM KHO ................................................................................................................................................. 42


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DANH MC HNH V
Hnh 2-1 Asterisk - Robot nhn di chuyn bng chn6
Hnh 2-2 Curiosity- Robot thm d sao Ha di chuyn bng bnh7
Hnh 2-3 Robot cu h di chuyn bng xch...7
Hnh 2-4 S tng quan h thng.....9
Hnh 3.1 Gn ta cho xe Robot..10
Hnh 4-2 Cm bin Kinect..15
Hnh 4-2 Cu trc phn cng ca cm bin kinect16
Hnh 4-3 Nguyn l cm bin su.18
Hnh 4-4 D liu thu c t cm bin Kinect..18
Hnh 4-5 Bn su thu c t Kinect s dng OpenNI...20
Hnh 4.6 V d ng dng th vin PCL trong vic tch cc i tng trn mt bn22
Hnh 4-7 S x l pht hin vt cn s dng Kinect24
Hnh 4-8 Kt qu thu c khi s dng qua b lc voxel Grid26
Hnh 4-9 Kt qu pht hin vt cn s dng th vin PCL...27
Hnh 5.1 Vi iu khin MSP430...28
Hnh 5.2 Cc dng MSP hin nay..29
Hnh 5.3 Cu trc ca MSP430.30
Hnh 5.4 Cc module ca MSP43031
Hnh 5.5 Cu trc Vi iu khin MSP430FR573934
Hnh 5.6 Cu trc kit pht trin s dng VK MSP430FR57xx..35
Hnh 5.7 Cu trc CC300..38
Hnh 5.8 Hnh nh thc t CC300 TiWi-SL.39
Hnh 5.9 C ch lin kt gia Slave v Host MCU..39
Hnh 5.10 MSP430FR5739 board+CC3000 TiWi-SL.40


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CHNG 1 GII THIU TI
1.1 L do chn ti
Theo d on th sau cuc cch mng ln v internet s l cuc cch mng v lnh
vc robot. Cc Robot c ng dng trong i sng ngy cng nhiu nh robot vn
chuyn hng ha, robot kim tra nguy him, robot xe ln cho ngi khuyt tt. Robot
phc v sinh hot gia nh im hn ch ca cc robot t hnh hin ti l tnh thiu
linh hot v kh nng thch ng khi lm vic nhng v tr khc nhau. T nhng l do
ny sinh vn trnh vt cn cho robot t hnh nhm nng cao tnh linh hot cho robot.
Hu ht cc robot hin i u c mt kiu trnh vt cn no robot xc nh vt cn v
dng li khong cch ngn so vi vt cn trnh va chm, n cc thut ton tinh t
hn, cho php robot di chuyn theo ng vin quanh vt cn.
Nhm tng bc tip cn v to nn tng cho qu trnh nghin cu ng dng cc
cng ngh vo cc sn phm ph hp thc th, nhm n chng em chn ti:
iu khin xe t hnh trnh vt cn.
1.2 Mc ch
Xy dng mt xe t hnh hon chnh c kh nng tm n v tr t trc v c kh
nng trnh vt cn trong qu trnh di chuyn. im mi ca xe t hnh l s dng cm
bin Kinect c kh nng khi phc mi trng pha trc robot di dng 3D t xc
nh c cc thng s cn thit cho gii thut iu khin robot.
Trong khun kh ca t thc tp tt nghip ti phng th nghim robot ca trng
Cao ng ngh cng ngh cao H Ni, nhm thc tp chng em dng li vic tm hiu
cu trc tng quan ca robot. Xy dng c m hnh ng hc, ng lc hc ca robot
ng thi tm hiu cc khi phc v cho vic iu khin robot nh khi cm bin Kinect,
cc KIT s dng chip MSP ca TI v cc giao thc truyn thng gia my tnh v KIT.

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CHNG 2 TNG QUAN H THNG
2.1 Gii thiu v xe t hnh
Xe t hnh hay robot di ng (mobile robots, thng c gi tt l mobots) c
nh ngha l mt loi xe robot c kh nng tdch chuyn, t vn ng (c th lp trnh
li c) di s in khin t ng thc hin thnh cng cng vic c giao.
Theo l thuyt, mi trng hot ng ca robot t hnh c th l t, nc, khng kh,
khng gian v tr hay s t hp gia chng. a hnh b mt m robot di chuyn trn
c th bng phng hoc thay i, li lm.
Theo b phn thc hin chuyn ng, ta c thchia robot thnh lm 2 lp: chuyn ng
bng chn (legged) v bng bnh (wheeled).

Hnh 2-1 Asterisk - Robot nhn di chuyn bng chn

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Hnh 2-2 Curiosity- Robot thm d sao Ha di chuyn bng bnh
Loi chuyn ng bng vng xch (khi cn m men pht ng ln hay khi cn di
chuyn trn vng m ly, ct v bng tuyt)

Hnh 2-3 Robot cu h di chuyn bng xch

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2.2 Bi ton trnh vt cn
Tm ng (navigation) l mt khoa hc dn hng robot t hnh di chuyn trong
khng gian lm vic ca n. Trong vn tm ng, bi ton c quan tm nhiu nht
l bi ton tm ng v ch m khng chm vo vt cn trn ng i.
C 2 loi bi ton tm ng cho robot:
- Bi ton cc b (local): Mi trng lm vic ca robot hon ton khng bit
trc hoc ch bit mt phn. Robot hon ton nh vo s cm nhn mi trng
trong qu trnh di chuyn thng qua cm bin gn trn n d ng.
- Bi ton ton cc (Global):Bn mi trng lm vic ca robot hon ton c
bit trc, vn chnh phi gii quyt l tm ng i cho robot trc khi n
xut pht.
Bi ton ton cc c li th l bit trc ng i c ti ch hay khng, c th chn
ng ti u trc khi robot khi hnh. Tuy nhin hn ch l i hi nhiu ti nguyn
tnh ton v yu cu cao v chnh xc ca bn mi trng lm vic. Vic thay i
mi trng v d nh c vt cn thay pha trc robot khin robot khng hot ng ng
yu cu.
Trong trng hp ny, bi ton cc b t ra c u th, n c tnh linh hot cao nh c
th trnh vn cn khi vt di chuyn. ng thi yu cu ti nguyn phc v tnh ton
thp hn. Nhc im ca bi ton ny l robot ch cm nhn mi trng qua cm bin
gn cng v th c th khng hon thnh vic ti ch mc d c ng i hn na khng
th chn ra c ng i ti u.
Trong bo co, chng em tp trung vo gii quyt bi ton cc b vi cm bin s
dng l Kinect. Mi trng hot ng ca robot l mt phng gii hn bi cc bc tng.
Cc vt cn xut hin ngu nhin. Yu cu t ra l robot t ng tm ng v c ti
ch m khng chm vo vt cn.

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2.3 H thng xe t hnh trnh vt cn
H thng tng quan bao gm 4b phn chnh (Hnh 2-4)(1) B cm bin Kinect,
(2) b phn chp hnh l cc bnh xe c gn ng c in 1 chiu, (3) Laptop,(4) vi iu
khin v driver iu khin ng c.
Cc thnh phn phi hp hot ng nh sau: (1) Cm bin Kinect lin tc thu thp d
liu v hnh nh, khong cch sau gi v (2) Laptop c th khi phc li khng
gian 3D trc robot ng thi s dng cc thut ton thch hp pht hin vt cn cng
nh tm c cc thng s ca vt cn cung cp cho thut ton trnh vt cn.Sau khi
cc tn hiu c x l th s tm ra c qu o t tip theo cho robot. Qu o l u
vo cho b iu khin ci t trong vi iu khin v sau chuyn thnh cc tn hiu
iu khin ng c DC. Khi di chuyn Kinect li thu thp cc d liu mi v qu trnh
ny c lp li.

Hnh 2-4 S tng quan h thng


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CHNG 3 M HNH HA I TNG XE T
HNH
3.1 M hnh ng hc xe robot:

Hnh 3.1 Gn ta cho xe Robot
Xt xe robot trong khng gian lm vic. Ta cn s dng 3 h ta xc nh c
v tr ca xe robot, i tng cn bm, cc vt cn so vi mt t, cng nh v tr tng
i ca xe robot, i tng cn bm, cc vt cn so vi nhau. 3 h ta l:
- H ta OXY gn vi mt t ng vai tr l h gc, xc nh v tr tuyt
i ca xe robot,cng nh cc i tng trn mt phng chuyn ng.
- H ta
m m
Cx y gn vi xe robot.
- H ta ' O xy gn vi cm bin Kinect, c vai tr xc nh v tr tng i
gia i tng bm, vt cn so vi xe robot.
Bin iu khin l vn tc 2 bnh xe (
t
V ,
p
V ), bin c iu khin chnh l ta
ca xe (
0
x ,
0
y ). Phng trnh ng hc ca xe:

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os( ) 0
sin( ) 0
w
0 1
x c
v
y
u
u
u
( (
(
( (
=
(
( (

( (

(3.1)

Trong : v l vn tc thng ca xe, w l vn tc quay ca xe. V c:
2 2
w 2 2
t
p
r r
V v
V r r
D D
(
(
(
(
=
(
(
(
(
(

(3.2)
.
t t
V r e =
(3.3)
.
p p
V r e =
(3.4)
Trong , r l bn nh bnh xe, D l hong cch gia 2 bnh xe.
n gin,trong phm vi n ta ch quan tm n 2 chuyn ng c bn ca xe
robot:
- Chuyn ng tnh tin (w=0, v
0) :V
t
=V
p
xe robot chuyn ng tin hoc li.
- Chuyn ng quay (w0, v =0 ):V
t
= -V
p
xe robot chuyn ng quay quanh trc i
qua trung im 2 bnh xe A.
Kt hp (3.1) v (3.2), ta c:

os( ) os( )
2 2
r r
sin( ) sin( )
2 2
2r 2r
D D
t
p
r r
c c
x
V
y
V
u u
u u
u
(
(
(
(
(
(
(
=
(
(
(

(
(

(
(

(3.5)

3.2 M hnh ng lc hc xe robot:
Xe Robot thuc lp i tng mechanical nonholonomic systems, theo Euler-
Lagrange c phng trnh dng :

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( ). ( , ). ( ) ( ). ( ).
T
M q q C q q q G q B q J q t + + = + (3.6)
Trong :
- ( ) M q l ma trn i xng, xc nh dng
- ( , ) C q q l ma trn hng tm v lc coriolis
- ( ) G q l ma trn vector lc qun tnh
- ( ) B q l vector bin i tn hiu vo
- t l ma trn tn hiu vo
- ( ) J q l ma trn lin t
- l ma trn ca lc lin t

Thc t vi i tng Robot di ng : ( , ) 0 C q q = , ( ) 0 G q = , ( ). 0 J q q = (3.7)

T , h phng trnh ng lc hc ca i tng Robot di ng c vit li nh
sau, vi ( , , )
T
q x y u = :
1
2
0 0 os( ) os( ) sin( )
1
0 0 sin( ) sin( ) os( )
0 0 D 0
m x c c
m y c
r
I D
u u u
t
u u u
t
u
( ( ( (
(
( ( ( (
= +
(
( ( ( (

( ( ( (

(3.8)

t:
1 2
1
( )
l
R
t t t = +
;
1 2
1
( )
a
R
t t t =

Trong : m l hi lng ca xe, I l momen qun tnh ca xe

H phng trnh (3.8) tr thnh :
os( )+ sin( )
m
l
x c
m
t
u u =
os( )- sin( )
m
l
y c
m
t
u u = (3.9)

a
I
t
u =


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o hm 2 v ca cc phng trnh h ng hc (3.1), ta c
.sin( ) . os( ) x v v c u u u = +

. os( ) .sin( ) y v c v u u u = + (3.10)
w u =

So snh cc v ca cc phng trnh (3.9), (3.10):
l
v
m
t
=
(3.11)

a
w =
I
t

B iu khin c thit k s thc hin 2 nhim v :
- Bm vn tc t trc v
c
: b iu khin s s dng m hnh ng lc hc ca xe
robot.
- Bm qu o t trc q
d
: b iu khin s s dng m hnh ng hc ca xe
robot
3.3 nh gi :
- Trong thi gian thc tp, chng em thu c mt s kt qu nh sau:
- Tm hiu c c bn v l thuyt xe robot,tm hiu,xy dng c m
hnh ng hc,m hnh ng lc hc cho xe robot.
- Tm hiu c v nguyn l iu khin xe robot, bc u xy dng c
cu trc h thng iu khin xe robot.
- Trong thi gian hon thnh n, chng em s hon thin h thng iu khin, ci
t b iu khin vi thut ton bm mc tiu + trnh vt cn chy th nghim
trn xe robot.


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CHNG 4 CM BIN KINECT
4.1 Mc ch
Mc ch ca vic s dng cm bin Kinect trong ti l da vo kh nng khi
phc mi trng trc robot t hnh di dng 3D pht hin ng thi tnh ton cc
tham s ca vt cn nh khong cch t robot n vt cn, kch thc vt cn
Vic pht hin vt cn s dng Kinect c xem l s kt hp gia x l nh v
v phng php o c khong cch bng sng hng ngoi. Kt qu thu v chnh xc, n
nh hn so vi cc phng php ph bin nh s dng cm bin siu m hay s dng x
l nh thng thng.
4.2 Gii thiu cm bin Kinect

Hnh 4-2 Cm bin Kinect
Kinect l sn phm ca Microsoft da trn cng ngh camera c pht trin bi
PrimeSense, nhng sn phm u tin c bn ti Bc M vo ngy 4 thng 11 nm
2010 .

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Kinect c coi nh l mt thit b ngoi vi cho Xbox 360, cho php giao tip
vi con ngi thng qua cc c ch, em li nhng cm gic th v cho ngi chi game
trn Xbox. Kh nng hiu c c ch con ngi ca Kinect da trn hai c tnh chnh
sau: thng tin v su nh (depth map), kh nng pht hin v bm theo c tnh c
th ngi (body skeleton tracking).
Bn cnh phc v cho mc ch chi game, sn phm Kinect cn c dng vo
mc ch nghin cu x l nh 3D, pht hin c ch (gesture recognition), bm theo
ngi (body tracking) v nhiu mc ch khc. L do chnh cho s thnh cng ca sn
phm Kinect l gi c kh r (khong 140$ trn 1 sn phm) cho thit b c kh nng
cung cp cc thng tin 3D vi cht lng chp nhn c.
4.2.1 Cu trc phn cng

Hnh 4-2 Cu trc phn cng ca cm bin kinect
Bn trong Kinect bao gm 1 camera RGB, cm bin su , mt dy cc microphone v
1 ng c iu khin gc nng.
Camera RGB
L mt camera c 3 knh d liu c phn gii 1280x960. Camera ny c kh nng
chp li nh nh mu.

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Cm bin su
su thu v nh s kt hp ca 2 b phn l b pht hng ngoi IR v camera hng
ngoi c cc tn hiu phn hi v t tnh ton ra bn su.
DyMicrophone
Dy Micro bao gm 4 micro c b tr dc theo thn Kinect c kh nng thu li m
thanh ng thi xc nh hng ca m thanh. Dy Microphone ny c dng trong cc
ng dng iu khin bng ging ni.
Ngoi ra Kinect cn c 1 cm bin o gia tc xc nh hng v 1 ng c dng
iu khin gc ngng camera.
Trong s nhng cm bin k trn ca Kinect, cm bin su c kh nng ng dng cao
trong ti robot trnh vt cn.

4.2.2 Nguyn l cm bin su
Cp cm bin IR camera v IR projector s phi hp vi nhau to ra gi tr su
bng cng ngh Light Coding ca PrimeSense.
K thut Light Coding dng ngun sng hng ngoi chiu lin tc kt hp vi mt
camera hng ngoi tnh khong cch. Vic tnh ton ny c thc hin bng chip
PS1080 Soc ca PrimeSen.
Projector s chiu mt chm sng hng ngoi, to nn nhng m sng khng gian
pha trc Kinect, tp hp m sng c pht ra ny l c nh. Nhng m sng
ny c to ra nh mt ngun sng truyn qua li nhiu x (diffraction gratings). Tp
hp cc m sng ny c IR camera chp li, thng qua gii thut c bit c tch
hp trong PS1080 SoC cho ra bn su. Bn cht ca gii thut ny l cc php
ton hnh hc da trn quan h gia hai cm bin IR camera v Projector.


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Hnh 4-3 Nguyn l cm bin su
4.1.3 Cc d liu o t cm bin

Hnh 4-4 D liu thu c t cm bin Kinect

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Cc cm bin ca Kinect c iu khin ng thi thu thp v x l d liu thng
qua chip PS1080 c tn s 12MHz, sau c lu tr vo b nh Flash. Cc d liu
ny c th truyn vo my tnh thng qua cng USB 2.0.
Cc tn hiu thu thp bao gm d liu v su, mu sc v m thanh trong tn
hiu v su l d liu quan trng c nhiu dng.
S d d liu v chiu su c tm quan trng nh vy bi n gip vic nhn dng
cc vt th n gin hn nhiu so vi x l nh thng thng. Cc thut ton x l nh
thng thng da vo s tng ng v mu sc, tuy nhin, c th nhng vt c mu sc
tng t nhau nhng khng cng mt vt th hoc cc phn ca cng mt i tng
nhng c mu khc nhau,do vy gy kh khn trong qu trnh nhn dng. Trong khi ,
vi thng tin v su, cc vt th c phn bit vi nhau thng qua v tr. Nhng
im c khong cch gn nhau c xu hng cng mt i tng m khng phn bit mu
sc. Ch khi su gim t ngt nh cnh v mt s phn nh ca i tng th khi
, hnh nh trn bn su mi c s thay i.
Mt u im na ca bn su l d liu c th c nn cao hn so vi nh
mu thng thng do thch hp trong vic truyn dn nhanh tn hiu. Cc thut ton
nhn dng i vi nh su n gin hn v thm ch c th ti to li vt th 3D (B
th vin m ngun m h tr thut ton trn l PCL).
T nhng phn tch trn ta c th thy c nhng u im ca bn su v n
rt thch hp ng dng trong cc ti v robot t hnh.

4.2 Cc th vin x l nh cho Kinect
Hin nay c nhiu b th vin c vit cho Kinect. Ni bt trong s l 2 b
th vin m ngun m OpenNI v b th vin Kinect SDK ca Microsoft.
Trong n ny, nhm sinh vin s dng th vin OpenNI . y l b th vin
m ngun m, dng c trn nhiu h iu hnh khc nhau. Th vin c xy dng h
tr y cc nhu cu c bn khi s dng Kinect trong n xe t hnh trnh vt cn.

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Mc nh chnh khi s dng b th vin OpenNI l thu c bn su (Depth
Map) mang thng tin v khong cch t cc vt th trong khng gian pha trc cm bin
Kinect.OpenNI cho php thu bn su trong gii hn t 0.5-5m pha trc Kinect.

Hnh 4-5 Bn su thu c t Kinect s dng OpenNI
pht huy ti a kh nng ca Kinect, nhm sinh vin kt hp thm b th vin
x l nh 3D l PCL.
PCL l th vin h tr x l nh 3D, c xy dng vi 14 module thc hin cc
thut ton khc nhau.
- Module PCL_Common: Cha cu trc d liu v phng thc c s dng bi
phn ln cc th vin trong PCL
- Module Features: Cha cc cu trc d liu v c ch tnh ton, c lng 3D t
cc d liu im PCD
- Module PCL_filters : Cha cc k thut loi b nhiu.
- Module Geometry: Cha tt c cc cu trc d liu v gii thut tnh ton hnh
hc.
- Module PCL_I O: Cha cc hm v cc lp c v ghi d liu dng PCD, c
th thu thp d liu t nhiu ngun khc nhau (Trong n ny dng Kinect).
- Module PCL_Kdtree:Th vin cung cp cu trc d liu Kd_tree, s dng
FLANN gip nhanh chng tm kim vng gn nht (nearest neighbors searches).

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- Module PCL_Keypoint: L th vin cha thc thi ca 2 thut ton nhn dng
Point clound keypoint.Key Point (hay interest point) l cc im trong nh hoc
trong point cloud m c tnh cht n nh, ring bit v c th d dng pht hin
ra. Thng thng s lng Key Point nh hn tng s im trong cloud.
- PCL_Octree: Cha cc thut ton hiu qu to nn mt cu trc d liu phn
cp t d liu point cloud. N cho php phn vng khng gian, downsampling
(gim s lng cc mu do tng tc tnh ton) v thc hin cc php ton
tm kim trong tp d liu PointCloud
- Module registrantion (PCL_registration): Kt hp cc b d liu vo mt m
hnh chung, thng nht thng c thc hin bng mt k thut gi l
registration. tng chnh l xc nh cc im tng ng trong b d liu v tm
mt chuyn i khong cch ti thiu cc im tng ng.
- Module PCL_sample_consensus:Th vin pcl_sample_consensus c kh nng
tch cc nhm im c cng tnh cht (Sample Consensus hay SAC) ging nh
thut ton RANSAC (Tm kim ng thng trong tp hp cc im). Cc nhm
im c th l cc mt phng, mt cu, tr. Th vin ny rt thch hp trong cc
ng dng d tm cc i tng nh tng, ca, cc vt trn bn
- PCL_Search: Cung cp cc phng php tm kim ln cn (nearest neighbors)
bng cch s dng cc cu trc d liu khc nhau.
- Module PCL_Segmentation: Cha cc thut ton phn chia Point Cloud thnh
cc nhm ring bit. Cc thut ton ny thch hp nht khi x l cc point Cloud
bao gm cc vng khng gian b c lp. Trong trng hp nh vy, cc clustering
thng chia nh sau c th x l c lp.
- Module PCL_surface: L th vin thch hp cho vic xy dng li cc b mt t
d liu qut 3D. Cc i tng chnh gm v, b mt li, b mt nhn hay bnh
thng. Khi c nhiu c th lm mn v ly mu li.
- Module PCL_visualization: Th vin c to ra c th nhanh chng hin th cc
kt qu thut ton trn d liu 3D.

21

Hnh 4.6 V d ng dng th vin PCL trong vic tch cc i tng trn mt bn
Kiu d liu c bn trong PCL l PointCloud.
PointCloud l 1 lp C++ bao gm:
- Width (int): Xc nh chiu di tp d liu bng s lng im. Width c 2
ngha l
o C th xc nh tng s cc im trong cloud (bng s lng cc phn t
trong cloud) cho b d liu c t chc.
o C th xc nh chiu rng (tng s im lin tip) ca mt tp d liu c
t chc
Ch : Tp d liu im c t chc l tp d liu c chia thnh cc hng v ct
ging nh ma trn.
Vd: cloud.width=640;// Tao ra 640 diem tren mot dong
- Height (int): Tng t width nhng i vi ct trong ma trn im.
Nu hieght=1 th d liu khng c t chc (c th dng tnh cht ny kim
tra mt tp d liu c c t chc hay khng)

22

Vd:
cloud.width = 640; // Khai bao mot anh co cau truc, gom 640 dong va 480 cot
cloud.height = 480; // tong so diem anh la 640*480=307200.

- Points (std::vector<PointT>)
Cha cc mng d liu lu tr tt c cc im c kiu pointT.
Kiu PointT c th l
- pcl::PointXYZ Mt cu trc cha thng tin v 3 trc ta X,Y,Z ca im
cn biu din
- pcl::PointXYZRGB Cha thng tin v ta v mu sc dng RGB ca im cn
biu din.
- pcl::PointXYZRGBACha thng tin v ta v mu sc dng RGB v mt
ca im cn biu din.
V d:
pcl::PointCloud<pcl::PointXYZ> cloud;
std::vector<pcl::PointXYZ> data = cloud.points;
- Is_dense(bool)
Tr v gi tr logic, nu tt c gi tr trong points hu hn => True ngc li l
False.
Ngoi ra lp pointCloud cn cha cc thnh phn cha cc ty chn ca sensor
nh Sensor_origin, sensor_orientation. Cc thnh phn ny thng t dng trong
cc thut ton ca PCL.


23

4.3 Pht hin vt cn s dng Kinect
S x l pht hin vt cn s dng Kinect.

Hnh 4-7 S x l pht hin vt cn s dng Kinect
Khi u tin c nhim v thu v bn su t Kinect. Vic ny cn s h tr ca
OpenNI. Cc khi cn li s dng th vin PCL c nhim v x l d liu thu c
tch ra thnh tng nhm im i din cho nhng i tng tng ng.
Sau y l hot ng c th ca tng khi.

4.3.1 Thu thp d liu t Kinect:
c d liu thu c t Kinect, chng ta c th s dng OpenNIGrabber, y l mt
lp c s dng th vin OpenNI c sn trong PCL.
Cc bc thc hin nh sau:
Bc 1: Khai bo
#include <pcl/io/openni_grabber.h>
Bc 2: To mt Grabber mi:

pcl::Grabber* interface =new pcl::OpenNIGrabber();
Bc 3: To callback function:

boost::function<void(const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&)> f

boost::bind (&SimpleOpenNIProcessor::cloud_cb_,this, _1);
// cloud_cb_ l hm dng x l d liu nhn v, v d ny cloub_cb_
hin th //ra mn hnh.

cc lnh trn, d liu ta thu v t Kinect c nh dng PointXYZRGBA, c th
sa li lnh thu v cc loi d liu khc. C th nh sau:

24

D liu thu v lim nh mu 3D pointXYZRGB:
void (const boost::shared_ptr<const pcl::pointCloud <pcl::pointXYZRGB>>&)
- D liu thu v lim nh khng mu 3D pointXYZ:
void (const boost::shared_ptr<const pcl::pointCloud <pcl::pointXYZ>>&)
- D liu thu v lnh RGB t camera :
void (const boost::shared_ptr< openNI_wrapper::Image>&)
- D liu thu v l bn su:
void (const boost::shared_ptr< openNI_wrapper::DepthImage>&)

Bc 4: Kt ni hm callback vi d liu cn quan tm v nhn d liu, dng d liu:
interface->registerCallback(f);

interface->start();

interface->stop();
4.3.2 Voxel grid:
Nhm tng tc x l, ta c th a d liu qua b lc voxel Grid gim s
lng im nh v gii hn vng ly d liu pha trc cm bin.
Tp hp cc im gn nhau s ch ly mt im i din.
Cc hm PCL cung cp cho b lc bao gm:
- pcl::VoxelGrid<PointType> grid_;Khai bo mt b lc VoxtelGrid c tn l grid_,
PointType l cc kiu biu din im nh PointXYZ, PointXYZRGB
- grid_.setLeafSize (leaf_size_x, leaf_size_y, leaf_size_z);Chn mt im theo cc
chiu ln lt l X,Y,Z. n v l Met.
- grid_.setFilterFieldName (field_name); : Chiu cn gii hn v d gii hn theo chiu
Z
- grid_.setFilterLimits (min_v, max_v);Thit lp khong gii hn hong gii hn
Th nghim vi cc thng s
double min_v = 0.5, max_v = 1.5;
std::string field_name ("z");
double leaf_x = 0.02, leaf_y = 0.02, leaf_z = 0.02;

25

Ta thu c kt qu sau:

Hnh 4-8 Kt qu thu c khi s dng qua b lc voxel Grid
4.3.3 Plannar segmentation
Plannar segmentation s tch cc point cloud c cu trc phng, sau tch ra point
cloud c tng s im ln nht, bng gii thut RANSAC (RANdom SAmple
Consensus).
4.3.4 Euclidean cluster extraction
Euclidean cluster extraction lm cng vic tch cc point cloud c mt trn nn nh,
tp hp cc im gn nhau s c nhm li thnh mt point cloud hay cluster, mi
cluster i din mt vt th.

Nh vy d liu sau khi nhn v t Kinect s c lc qua b lc Voxel Grid gim
mt im nh nhm tng tc x l.Sau khi lc d liu, ta s tin hnh phn tch cc
d liu v vt th c th tch ra thnh cc nhm im i din cho vt th (Object
Clusters). Qu trnh ny s dng cc cng c Plannar Segmentation, Euclidean Cluster
Extraction. Mi nhm im i din cho mt vt cn v cung cp thng tin gip nhn
dng vt cn, tnh ton kch thc, khong cch n vt cn c th tnh ton trnh vt
cn.
Kt hp cc module li vi nhau ta thu c kt qu:

26

Hnh 4-9 Kt qu pht hin vt cn s dng th vin PCL
Trong , cc im nh c phn chia thnh 3 phn. Nhm mu xanh dng i
din cho mt sn. Nhm mu l nhm nh i din cho vt th gn Kinect nht. Nhm
xanh l cy i din cho cc vt th cn li.
Ring i vi nhm gn nht, ta xp x vt th thnh mt hnh hp ch nht bao
quanh vi cc thng s hon ton xc nh. T c th coi nh nhn dng vt th
yu cu cung cp cho thut ton trnh vt cn.


27

CHNG 5 MCH IU KHIN V TRUYN
THNG
5.1 Vi iu khin MSP43
5.1.1 c im ni bt
MSP430 l h vi iu khin cu trc RISC 16 bit,c sn xut bi cng ty Texas
Instrument.

- Cng sut tiu th nng lng siu thp v h thng xung clock linh hot gip
ko di tui th ca pin
- Tch hp nhiu ngoi vi tnh nng cao bao gm cc thit b ngoi vi tng t v k
thut s hiu sut cao
- a dng v chng loi chip,gi thnh thp,ph hp vi s la chn hu ht cc
loi ng dng
- Thi gian tip cn v pht trin ng dng rt ngn
Hnh 5.1 Vi iu khin MSP43

28

5.1.2 Cc dng 43 hin nay

Hnh 5.2 Cc dng MSP hin nay.

29

5.1.3 Cu trc bn trong

Hnh 5.3 Cu trc ca MSP43
- Cu trc RISC CPU 16 bit
- Tc CPU 8 MHz -25 MHz
- 0.5 KB-512 KB Flash
- 128 B-64KB RAM
- 14-113 chn
- Tch hp :ADC 1012;cc b Timer 16 bit; DAC 12;RTC;Watchdog
timer;OpAmp;LCD v.v

30

5.1.4 Cc mode hot ng

Hnh 5.4 Cc module ca MSP43

Mc tiu th nng lng gim dn t trn xung di.
5.1.5 ng dng
- Thit b o:ng h in,o kh gas,o lu lng
- ng dng khng dy:Cc cm bin t xa,b iu khin,v.v
- Thit b y t:o lng glucozo trong mu,nhit k,cc thit b cy m
- Cm bin v an ninh:my d khi,my d chuyn ng
- Cc thit b in:ngoi vi PC,chm sc c nhn,iu khin t xa, iu khin ng
c:cc loi ng c bc,BLDC,DC trong cc my in ,qut ,ng ten , chi
5.1.6 Cc trnh pht trin
- Code Composer Studio IDE
- IAR Embedded Workbench
- M ngun m MSPGCC and MSPDEBUG

31

5.3 Vi iu khin MSP43FR57xx-Kit MSP430FR5739
5.3.1 i iu khin 43573
Ngoi cc tnh nng sn c ca dng MSP430,vk MSP430FR5739 cn tch hp
c im ni bt l b nh FRAM.
FRAM Ferroelectric Random Access Memory ,l 1 loi b nh c nh kt hp gia tc
,mc tiu th nng lng siu thp,kh nng chu ng,tnh linh hot ca SRAM vi
tin cy v n nh khi kt hp b nh chng trnh v d liu vo thnh 1 khng gian
nh thng nht.
Li ch ca FRAM:
- Nng lng tiu th siu thp:
- Ch hot ng bnh thng 100AMHz
- Ch ghi <250 ln so vi ghi Flash
- Tc ghi d liu:nhanh hn 100 ln so vi Flash
- Tc Fram max 2000kBs
- Tc Flash max 12kBs
- bn kh nng ghi khng gii hn:chu c 10
^
15 ln chu trnh ghi
Cu trc MSP430FR5739

32

Hnh 5.5 Cu trc Vi iu khin MSP43FR5739
5.3.2 Kit MSP430FR5739: l 1 kit pht trin cho cc thit b s dng VK
MSP430FR57xx

Hnh 5.6 Cu trc kit pht trin s dng VK MSP43FR57xx

33

Cc thnh phn ca kit:
- Tch hp MSP430FR5739:
- 16 KB FRAM/1KB FRAM
- Kin trc RISC 16 bit up ti 8MHz
- 2 Timer A,3 Timer B
- 1 khi USCI(UARTSPIIrDAI2C)
- B o gia tc 3 trc
- Nhit k NTC
- 8 n LED
- 2 switch input
- Kt ni:
- MSP430F5438
- Module Wireless CCxxxxRF
- Hng dn ngi s dng:
- Code demo
- 4 mode test tnh nng FRAM
o Mode 1-Tc ghi max
o Mode 2-nh gi tc ghi Flash
o Mode 3-Ly mu nhanh vi ghi dng b o gia tc
o Mode 4-Ly mu nhanh vi ghi dng nhit k
o Mode 1 v 2 bao gm cc tnh nng ULP tt led v ti u nng
lng
o Ti liu kit MSP430FR5739: http://www.ti.com/tool/msp-exp430fr5739
5.3.3 ch iu khin
a. Mch iu khin chnh: s dng kit MSP430FR5739

34

Hnh 5.7 S nguyn l mch iu khin chnh
b. Mch cng sut:
-Mch cu H: Mch cu H l mch s dng bm xung in p mt chiu v o chiu
quay ng c. Gm 4 con MOSFET IRF3205 Q1,Q2,Q3,Q4, c tc dng ng ct
iu khin chiu ng c v mch kch cho 4 con FET ny dng t Boottrap. Ta dng 2
tn hiu PWM iu khin l PWM 1 v 2.PWM1 iu khin Q1 v Q3. PWM2 iu
khin Q2 v Q4.
Mun kch FET dn th Vgs >0. i vi Q3 v Q4 th n gin v chn S ni xung
GND, mun kch ta ch cn cp xung kch vo chn G l c. Nhng vi Q1 v Q2,
chn S c th khng c nh. V vy mun kch phi cp ngun kch c lp vo 2 chn

35

G v S .K thut Boottrap gip ta ch cn s dng 1 ngun kch 4 FET. V s dng IC
IR2184 trit tiu trng dn, 2 t C4 v C5 ng vai tr lm 2 ngun kch cho Q1 v Q2.
Cc diode D1 ,D2 l trnh t boottrap x ngc li, v phi p ng nhanh kp vi
xung kch . in tr R_shunt hn dng cho FET khi xy ra hin tng trng dn.

Hnh 5.8 Mch cu H
-Khi cch ly OPTO: Khi ny c cng dng cch ly mch cu H vi vi iu khin, v
khi iu khin ng c bng chn PWM kh nng c nhng xung khng mong mun di
t mch cng sut v vi iu khin thng lm h chn PWM. . Khi c xung PWM mc
1 cp vo opto lm con led pht quang => con trans dn v a mc 1 ra output. Khi c
xung t cng sut di v ti trans ca opto th khng qua c, ko lm nh hng ti vi
iu khin.


36

Hnh 5.9 Khi OPTO
5.4 CC3000
5.4.1 Cng ngh ifi
- nh ngha:Wi-Fi (Wireless Fidelity) hay mng 802.11 l h thng mng khng
dy s dng sng v tuyn, ging nh in thoi di ng, truyn hnh v
radio.Wifi c th c truy cp di dng khng c mt khu (cho truy cp t do)
hoc m ha WPAWPA2.
- C 4 chun Wifi thng dng hin nay l 802.11abgn:
- u im:gi thnh thp,tm ph sng rng ,khng d b che khut
- Nhc im:tc thp,c th b nhiu bi cc thit b gia dng cng s
dng tn s 2,4GHz
- Hot ng:Truyn thng qua mng wifi l truyn thng RF 2 chiu:
- Thit b adapter khng dy chuyn i d liu sang tn hiu RF v pht i
bng 1 ng-ten
- Thit b router khng dy nhn nhng tn hiu ny v gii m chng,n gi
thng tin ti Internet thng qua kt ni Ethernet.
Qui trnh ny cng hot ng chiu ngc li,router nhn thng tin t Internet,chuyn
chng thnh tn hiu RF v gi n adapter khng dy ca my tnh
- Sng Wifi:cc sng Wifi gn ging vi cc sng RF dng cho cc thit b cm
tay,in thoi di ng v cc thit b khc.N c th truyn v nhn sng

37

RF,chuyn i m nh phn sang sng RF v ngc li.Tuy nhin ,sng WIfi c 1
s khc bit :
- Truyn v pht tn hiu tn s 2.5 GHz hoc 5 GHz cao hn tn s s
dng cho in thoi di ng ,truyn hnh.Tn s cao gip tn hiu mang
theo nhiu d liu hn
- Dng chun 802.11
Chun 802.11b :pht tn hiu tn s 2.4GHz,x l n 11 megabits ,s
dng m ha CCK
Chun 802.11g:pht tn hiu tn s 2.4GHz ,tc x l t 54
megabits,s dng m ha OFDM
Chun 802.11a:pht tn hiu tn s 5GHz ,tc x l t 54
megabits,s dng m OFDM
Chun 802.11n :pht tn s 2.4GHz ,tc x l 300 megabits
- Wifi c th hot ng qua li gia cc tn s khc nhau 1 cch nhanh chng,gip
gim thiu s nhiu sng,cho php nhiu thit b kt ni khng dy cng lc.
- ng dng chnh:
- Truy cp Internet
- Truyn hnh nh ,m thanh khng dy gia cc thit b gia nh nh
TV,u pht HD
- iu khin t xa qua kt ni Wifi
- v.v.
5.4.2 Tng quan v CC3
SimpleLink CC3000 c cung cp nh l 1 module nhm gim thi gian pht
trin,chi ph sn xut,tit kim kch thc board.Ngoi ra n c cung cp l 1 nn tng
hon chnh gm cc driver,ng dng mu v.v..

38

CC3000 l 1 b x l mng khng dy c lp gip n gin ha vic kt ni Internet
dng cng ngh Wifi.N gip gim cc phn mm ca MCU,thch hp cho cc ng dng
nhng s dng MCU low-cost/low-power.

Hnh 5.10 Cu trc CC3
Cc tnh nng chnh:
- B x l mng khng dy
- Chun IEEE 802.11 bg
- Giao thc IPv4 TCP/IP
- Truyn pht RF:
- Cng sut TX:+18.0 dBm 11 Mbps,CCK
- nhy RX:-88dBm,8%PER,11 Mbps
- Hot ng vi MCU chi ph thp vi b nh nh gn:kch thc code nh cn cho
MCU
- Kch thc nh:16.3 mmx 13.5 mm x 2 mm
- Mi trng lm vic:-20
0
C-70
0
C

39

- Cu hnh wifi n gin dng smartphone,PC hoc may tnh bng
CC3000 TiWi-SL:y l 1 module h tr chun Wifi 802.11bg.Module ny ng vai tr
l Slave giao tip vi 1 Host MCU thng qua SPI nh 1 ng-ten trn board,thng dng
trong cc ng dng lin kt vi kit MSP430FR5739

Hnh 5.11 Hnh nh thc t CC3 TiWi-SL

Hnh 5.12 C ch lin kt gia Slave v Host MCU

40

Hnh 5.13 MSP430FR5739 board+CC3000 TiWi-SL
5.5 nh gi
-Em tm hiu v lp trnh cc v d n gin s dng chip MSP430FR5739,thc hnh
trn kit MSP430FR5739,tm hiu v CC3000 ,thit k mch iu khin v mch cng
sut
-Vn cha lm c: ci t thut ton iu khin,truyn thng gia my tnh v
kit,cch truyn pht Wifi gia kit MSP430FR5739 ti my tnh thng qua CC3000
-Hng tip tc :thit k phn mch cng sut iu khin ng c,ci t thut ton
iu khin,kt ni c pht Wifi


41

KT LUN
Qua qu trnh thc tp ti trng,chng em hon thnh nhng cng vic sau:
- Tm hiu kin thc v robot,xy dng phng trnh ng hc v ng lc hc.
- Tm hiu cc khi lin quan n robot :cm bin,vi iu khin
Tuy nhin cc cng vic trn mi ch dng bc tm hiu v m phng,cha thi
cng thc t v ci t thut ton iu khin
Cc cng vic cha hon thnh v d kin hon thnh trong thi gian ti phc v
cho n tt nghip:
- Thi cng phn cng mch iu khin.
- Ci t cc thut ton iu khin v thut ton trnh vt cn.
- Xy dng c truyn thng qua wifi
Do hn ch v mt kinh nghim thc tin,kh nng bn than,thi gian thc hin,nn cn
rt nhiu thiu st ,nhng phng n cha tt v cn s tranh lun gp pht trin
Chng em xin cm n thy gio Ng Mnh Tin v thy gio Nguyn Vn Dng
hng dn ,to mi iu kin cho chng em trong t thc tp.


42

TI LIU THAM KHO
[1] R. Fierro and F. L. Lewis, Control of a Nonholonomic Mobile Robot:Backstepping
Kinematicsinto Dynamics.University of Texas, 1995.
[2Nguyn Don Phc ,Phan un Minh,Hn Thnh Trung,L thuyt iu hin phi
tuyn,NXB Khoa hc k thut,
[3Nguyn Thin Phc,obot ng Nghip,NXB Khoa hc k thut,2006
[4]http://www.ti.com/
[5]http://www.microsoft.com/en-us/kinectforwindows/
[6]http://www.microsoft.com/en-us/kinectforwindows/
[7]http://processors.wiki.ti.com/index.php/CC3000

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