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

THIT K ROBOT MINI T HNH D NG TRONG M CUNG

DESIGN MINI SELF-PROPELLED ROBOT MEASURED IN THE MAZE
Nhm SVTH: Phan Trng t, Phm c Linh, Nguyn Vn Lm,
Nguyn Thi Sn, Phan Lng Tn, L ng Trng
Lp 07CLC, Khoa K s Cht Lng Cao, Trng i hc Bch khoa

GVHD: ThS. Trn Thi Anh u

Khoa in, Trng i hc Bch khoa
TM TT
Robot t hnh hay robot di ng (mobile robot hay c vit tt l mobot) c nh
ngha l mt loi xe robot c kh nng t dch chuyn, t vn ng (c th lp trnh li c) di
s iu khin t ng c kh nng hon thnh 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 t hp gia
chng. a hnh b mt m robot di chuyn trn c th bng phng hoc thay i, li lm. ti
nghin cu ny i su nghin cu robot t hnh d ng trong m cung.
ABSTRACT
Self-propelled robot or mobile robot (abbreviated mobot), defined as a robotic vehicle
capability of self-moving, self-movement (programmable) under automatic control is able to
complete assigned work. In theory, the operating environment of the self-propelled robot may be
ground, water, air, space or combination between them. The surface of terrain on which the robot
can move is flat or changeable, convex and concave. This project has been studied deeply selfpropelled robot in the maze.

1. t vn
Robot t hnh (Mobile Robot) l mt thnh phn c vai tr quan trng trong ngnh
Robot hc. Cng vi s pht trin mnh m ca cc h thng t ng ha, robot t hnh
ngy mt c hon thin v cng cho thy li ch ca n trong cng nghip v sinh hot.
Mt vn rt c quan tm khi nghin cu v robot t hnh l lm th no robot bit
c v tr n ang ng v c th di chuyn ti mt v tr xc nh, ng thi c th t
ng trnh c cc chng ngi vt trn ng i. V vy, vic ch to thnh cng ti
ny s m ra mt hng tip cn mi v gp phn thc y vic ng dng ca robot ngy
cng nhiu vo trong i sng hng ngy v trong nghin cu ch to.
2. Cu to v nguyn l hot ng ca robot
2.1. S khi

Hnh 1. S khi ca ton b robot

72

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

2.2. Cm bin
2.2.1. S mch nguyn l

Hnh 2. S nguyn l mch cm bin

2.2.2. Nguyn l lm vic

Led pht D2 c mch to xung IC555 pht tn hiu truyn n. Bin tr R2 cho
php chnh xung ca IC555 cho ph hp. nh sng phn x vo tng bt li, c quang
tr D3 thu, in tr ca quang tr D3 gim xung, tip s qua so snh LM324 a ra
b vi iu khin. Bin tr R10 cho php chnh mc nhy ca so snh cho ph hp cm
bin vi mi trng.
2.3. ng c
2.3.1. Gii thiu ng c
ng c bc l mt loi ng c in c nguyn l v ng dng khc bit vi a
s cc ng c in thng thng. Chng thc cht l mt ng c ng b dng bin
i cc tn hiu iu khin di dng cc xung in ri rc k tip nhau thnh cc chuyn
ng gc quay hoc cc chuyn ng ca rto c kh nng c nh rto vo cc v tr cn
thit.
2.3.2. Nguyn tc hot ng
ng c bc khng quay theo c ch thng thng, chng quay theo tng bc
nn c chnh xc rt cao v mt iu khin hc. Chng lm vic nh cc b chuyn
mch in t a cc tn hiu iu khin vo stato theo th t v mt tn s nht nh.
Tng s gc quay ca rto tng ng vi s ln chuyn mch, cng nh chiu quay v tc
quay ca rto ph thuc vo th t chuyn i v tn s chuyn i.
ti ny s dng ng c bc n cc, 6 dy.
2.4. Vi iu khin (PIC16F877A)
PIC 16F877A l dng PIC ph bin nht hin nay ( mnh v tnh nng, 40 chn,
b nh cho hu ht cc ng dng thng thng).
2.4.1. Chc nng ca PIC16F877A s dng trong ti
Nhn cc tn hiu t cm bin phn x v.
Cha cc thng tin v x l mi hot ng ca robot.
Tnh ton ng i ngn nht n ch.
73

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

iu khin ng c thng qua IC ULN2803.

2.4.2. S kt ni ca PIC trong ti
PORT B : ni vi cm bin.
PORT D: Ni vi ULN2803 iu khin ng c.
Thch anh : 20Mhz.
2.5. Mch iu khin ng c

Hnh 3. S nguyn l mch iu khin ng c

Mch s dng IC ULN2803 v ngun s dng l 5v.

ULN2803 l mt IC m dng vi cc chc nng ca cc chn tng ng vo, ra
nh sau:
IN1 OUT1
IN2 OUT2
IN3 OUT3
IN4 OUT4
2.6. Khung my

IN5 OUT5
IN6 OUT6
IN7 OUT7
IN8 OUT8

Chn GND l chn ni t.

Chn 10 l chn Common, ni ngun +Vcc
Nu u vo l 0 u ra th ni
Nu u vo l 1 u ra l 0

Hnh 4 l s cu trc ca robot:

DC1, DC2 : l 2 ng c bc s dng trong m
hnh.
B1, B2 : 2 bnh xe c ng knh 6cm.
B3: Mnh nha ma st nh.
PIN: Khi pin.
CB: Khi mch cm bin t pha trc ca
robot.
PIC: Khi iu khin trung tm t trn mt.
74

Hnh 4. S cu trc ca robot

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

2.7. Ngun
S dng ngun my tnh vi cc u GND, +5V, +12V.
L do: Gii php dng cc
ngun khc khng ph hp.
2.8. M cung
Tng m cung (hnh 7):
Cao 10 cm
Dy 1,2 cm
c im : Bc 1 lp giy
trng trn tng phn x
nh sng.
3. Thut ton tm ng flooding
Thut ton flooding l thut
ton phn phi vt liu cho mi
phn t ca mt mng kt ni.
Thut ton
nguyn l nh sau:

flooding

Mi nt hot ng nh mt
b truyn v nhn.
Mi nt c gng chuyn
tip tt c mi tin nhn n
mi hoc mt trong nhng
nt c cnh n, tr nt ngun.

Hnh 5. S thut ton flooding

Kt qu l tin nhn c truyn t ngun n ch.

Thut ton flooding ph hp gii quyt rt nhiu trong vn ton hc, trong c
gii quyt vn di chuyn trong m cung v l thuyt th.

Hnh 7. Robot chy trong m cung

Hnh 6. Robot hon thnh

75

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

4. Kt lun
4.1. Tnh nng ca robot
Robot c th di chuyn trong m cung.
Robot trnh c tng v tm c ng v ch.
Robot chy c vi m cung khc nhau.
4.2. Cng vic thc hin c
Nghin cu cu trc v nguyn l hot ng ca robot.
Thit k v ch to m hnh robot cng nh m cung.
Xy dng thut ton v lp trnh iu khin robot.
4.3. Nhng tn ti ca ti
B phn cm bin cha c hiu qu khi thay i cc mi trng nh sng khc
nhau.
Phn c kh cha t chnh xc yu cu.
Cha s dng c ngun di ng, m phi h tr ngun ngoi.
4.4. Hng pht trin
Hon thnh n nh cm bin.
Nghin cu ngun di ng ph hp vi robot.
Gia cng chnh xc phn bnh xe di chuyn n nh, thng v u.
Lp trnh robot c kh nng tnh ton ng i v di chuyn nhanh nht.
Tng ln ca m cung.

TI LIU THAM KHO

[1] Trn Th San (2005), C s Nghin Cu & Sng to robot, NXB Thng K.
[2] Picvietnam, http://www.picvietnam.com
[3] Dientuvietnam, http://www.dientuvietnam.net
[4] Micromouse trng i hc Cng Ngh, http://micromouse.tk

76