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Mc tiu n mn hc
Thit k v ch to Robot do line theo sa bn c cho trc vi nhng c im:
Mu sc line: en
Mu nn: Trng
B rng ng line: 26mm
B mt da hnh di chuyn l mt phng.
Bn knh cong ln nht l 500mm
Yu cu hot ng ca robot: Khi bt u, robot c t ti v tr START (im A), sau
robot chy theo th t i qua cc im nt quy nh ln lt nh sau:
(START) A B C D E F C G A C E (END).
TNG QUAN
S lc v xe ua d line
Line following robot l mt dng Wheeled Mobile Robot, c nh hng di chuyn bng cch
bm theo cc ng line nh sn. Cc ng line ny c th n gin l ng line mu en
trn nn trng v ngc li. hoc c th phc tp hn l dng ng line t, hoc ng lazer
dn hng
Line following robot xut hin t rt sm. Vo nm 1970, vin nghin cu Stanford cho ra i
mt line following robot tn l Stanford Cart, c th di chuyn bm theo mt ng line mu
trng nh sn, bng cch dng camera quang st. V mi n ngy nay th line following robot
rt pht trin cho cc ng dng trong cng nghip nh: Di chuyn hng ha trong sn xut,
trong kho hng Trong dn dng c ng dng ht bi, Ngoi ra line following robot
cn l mt ti nghin cu trong cc trng i hc.
Tng quan v kt cu c kh
Ngy nay line following robot (LFR) c ph bin rng ri, c rt nhiu cc LFR c thit
k v ch to vi cc cu hnh c kh khc nahu t n gin cho n phc tp. Sau y l mt s
kt cu c kh thng c dng cho bi ton LFR, v cc m hnh LFR c ch to, cng
vi nhng u nhc im ca n.
Xe ua d line Pololu

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Hnh 1. Xe ua d line Ponlolu (a) v s nguyn l (b)

u im
Khng hn ch bn knh cong c th li ca xe.
Kt cu c kh n gin.
Nhc im
Xe khng t cn bng c trong mt phng, nu khng thit k sao cho trng tm xe trng vi
trung im hai bnh dn ng.
Xe ua d line HBFS

Hnh 2. Xe ua d line (a) v s nguyn l (b)

u im
Kt cu c kh n gin.

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Khng hn ch bn knh cong c th li ca xe.

Trng tm xe thp, nn xe cn bng tt, d t tc cao v kh b lt khi chy trn ng cong.
Nhc im
Xe d b trt nhng on ng c bn knh cong nh khi chy tc cao.
Xe d line Arrow

Hnh 3. Xe ua d line Arrow (a) v s nguyn l (b)

u im
Xe ba bnh nn lun m bo bm ng ca cc bnh xe.
Xe c dng b vi sai nn hai bnh dn ng lun m bo c ng tc v chy n nh trn
ng thng
Xe dng c cu li bnh trc nn t c sai s bm line nh
Nhc im
Kt cu c kh phc tp do dng b vi sai v c cu li.
Gii thut iu khin phc tp.
Xe ua d line JSumo

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Hnh 4. Xe ua d line JSumo (a) v s nguyn l (b)

u im
Xe bn bnh nn c th chu c ti ln.
Nhc im
Xe dng bn bnh dn ng nn kh m bo cc bnh xe ng tc v vy d b trt.
Do khng dng h thng treo nn kh m bo bm ng ca c bn bnh, dn n xe chy
khng n nh.
Xe ua d line Micom Car

Hnh 5. Xe ua d line Micom Car (a) v s nguyn l (b)

u im
Xe c dng b vi sai nn hai bnh dn ng lun m bo c ng tc v chy n nh trn
ng thng.
Xe dng c cu li bnh trc nn hn ch c hin tng trt khi i hng v t c
sai s bm line nh.

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Xe bn bnh nn c th chu c ti ln.

Nhc im
Kt cu c kh v gii thut iu khin phc tp.
Khng m bo bm ng cc bnh xe.
Bn knh cong nh nht ca xe b hn ch.
Ngoi ra cn c kt cu xe ua a hnh bm ng tt nht
Tng quan v cu trc iu khin
i vi xe ua d line, c hai cu trc iu khin thng c s dng l: iu khin tp trung,
iu khin phn cp.
iu khin tp trung
Mch iu khin ch s dng mt vi iu khin m nhn tt c cc chc nng c tn hiu
sensor, x l sai s, iu khin ng c
y l cu trc c s dng kh nhiu trong cc xe ua d line thc t nh: CartisX04, LeMua
(Robot Challenge 2015), Pika

u im:
Mch phn cng n gin, d thit k.
t linh kin dn n gi thnh r.
Nhc im:

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Khng c s chuyn bit ha dn n kh kim tra, sa li.

Cc cng vic khng c thc hin ng thi, do tc x l chm.
iu khin phn cp
Mch iu khin s dng nhiu hn mt vi iu khin, chia thnh cc slaver thc hin cc
cng vic ring bit nh c tn hiu sensor, iu khin ng c, v mt master x l, tnh
ton cc tnh hiu ring bit . Tn hiu trao i gia cc MCU c th theo nhiu chun khc
nhau: SPI, I2C, CAN

u im:
C s chuyn bit cc cng vic nn d dng vit code, sa li
Mi vi iu khin thc hin mt cng vic ring bit nn tc x l c ci thin.
Nhc im:
Cu trc phn cng phc tp, kh khn khi thit k.
Nhiu linh kin, dn n tn km chi ph.
Tng quan v cm bin

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Hu ht cc xe d line hin nay s dng cc loi cm bin quang nhn bit v tr tng i ca
ng line so vi xe. Hai phng php thng c s dng cho robot d line l phng php
s dng camera v cc loi cm bin quang dn.
Camera c dng ghi hnh nh ng line thc t, sau x l v a ra thng s sai lch
v tr tng i ca xe so vi line.
Cm bin quang dn c dng ph bin hn trong cc cuc thi robot d line hin nay. Nguyn
tc hot ng ca loi ny l: b thu s thu tn hiu nh sng phn x t b pht xung mt t,
t x l xc nh v tr ca ng line.
Mi loi cm bin u c u nhc im ring. Sau y ta s snh camera v cm bin quang
dn.
Camera Cm bin quang dn
chnh xc Camera tr v v tr v gc ca Cm bin quang d b nhiu
xe so vi ng line mi ln bi nh sng mi trng ngoi
ly mu nn chnh xc cao. nn chnh xc khng cao
bng camera.
Tc x l Do camera nhn bit thng Cm bin quang ch gi v x
qua cc gii thut x l nh, l s liu di dng analog
nn khi lng x l ln dn nn tc x l nhanh hn khi
n tc chm hn dng dng camera.
cm bin.
Gii thut x l Do dng camera nn hu ht Cc gii thut nh xp x bc
u phi dng n cc phng hai, hay xp x trng s ch
php x l nh cn tnh ton trn d liu u
vo nn n gin hn so vi
camera.
Gi thnh t tin(t vi triu tr ln) R tin(t vi nghn tr ln)

i vi loi cm bin quan dn th c hai phng php thng c dng l: phng php tr v
tn hiu analog, phng php tr v tn hiu digital.
Phng php digital
Phng php ny dng b so snh xc nh cc trng thi ng/ngt ca cc sensor, sau
suy ra v tr xe theo mt bng trng thi c nh sn

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c dim
Phng php ny cho tc x l nhanh.
Sai s d line ph thuc vo kh nng phn bit cc trng thi ca sensor, v khong cch cc
sensor.
Phng php analog
Phng php ny ta xem cc sensor l mt h, ta dng b ADC c cc tn hiu analog ca
sensor v t cc tnh hiu ta xp x v tr ca ng tm h snesor so vi ng tm line. C
hai cch xp x l: xp x theo trng s, v xp x bc 2.

c im:
Phng php ny c tc x l ph thuc vo tc x l ADC ca vi iu khin, v c bn th
phng php ny c tc x l chm hn phng php so snh.
chnh xc ca sai s d line cao hn hn so vi phng php so snh.
Tng quan v b iu khin
MC TIU THIT K
Vn tc

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Sai s bm line
Ti
PHN TCH V LA CHN PHNG N

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