C s tr tu nhn to Document LEGO

C S TR TU NHN TO

BO CO N LEGO

GVLT: Thy L Hoi Bc

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MC LC
1 Thng tin nhm .................................................................................................................. 3
2 Conceive tng ........................................................................................................... 4
2.1 tng .............................................................................................................................................. 4
2.2 Cc tnh nng ca sn phm .................................................................................................... 4
2.3 Cc vn chnh cn gii quyt khi thit k sn phm ............................................... 4
2.4 Cng dng thc t ca sn phm........................................................................................... 4
3 Design Thit k ............................................................................................................... 5
3.1 Cu trc ............................................................................................................................................. 5
3.2 Chi ph linh kin ............................................................................................................................ 6
3.3 Ri ro............................................................................................................................................... 10
3.4 Ci tin............................................................................................................................................ 10
3.5 Thut ton..................................................................................................................................... 11
4 Implement - Thc hin ................................................................................................. 13
5 Operate - Vn hnh ........................................................................................................ 14

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1 Thng tin nhm

MSSV H Tn Email in thoi

1412687 Trn Thanh Tun 1412687@student.hcmus.edu.vn 01635438368

1412429 Nguyn Vn Quang 1412429@student.hcmus.edu.vn 01639758751

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2 Conceive tng
2.1 tng
- Ci g c to ra th cng phi b ph i, chng hn nh mt cn nh hay mt
s vt b h th phi b hy. Do nhm thit k ra mt con robot ph hy
theo tng .

2.2 Cc tnh nng ca sn phm

- Sn phm l mt robot i ph hy cc vt th nh v d v.
- C th di chuyn c.
- C mt u ba p cc i tng.
- C th pht ra ting ci.
- Robot c iu khin bng tay thng qua 2 cm bin chm.

2.3 Cc vn chnh cn gii quyt khi thit k sn phm

- V ch c 2 cm bin chm nhng c nhiu thao tc cn gii quyt nn nhm s
x l nh sau:
o ng thi gi 2 nt th xe s i thng.
o Gi nt tri s r tri.
o Gi nt phi s r phi.
o Bm nt tri th ba s p.
o Bm nt phi s pht ra ting ci.

2.4 Cng dng thc t ca sn phm

- Sn phm ny c th c thit k thnh cc c xe to ln i ph hy cc vt
th ln nh cc ta nh, xe c h,

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3 Design Thit k
3.1 Cu trc

- Robot c 3 motor, 2 motor iu khin 2 bnh v 1 motor ni vi u ba

p.
- u ba dng 1 bnh xe lm u, khi p xung motor ni vi n s xoay
khong 100 theo hng xung ri xoay ln li.
- iu khin dng 2 cm ng chm v ni dy vi cc NXT.

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- C mt bnh th 3 ng sau xe c th ng c, khng gii hn hng

cho bnh ny xe di chuyn bnh thng.

3.2 Chi ph linh kin

Name Picture Quantity

RIM WIDE W.CROSS 30x20 4

TYRE NORMAL WIDE 43,2 X 22 3

Tacho Motor 3

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NXT 1

TECHNIC 3M BEAM 6

TECHNIC 5M BEAM 3

TECHNIC ANG. BEAM 4X2 90 DEG 2

TECHNIC 9M BEAM 3

TECHNIC 11M BEAM 2

TECHNIC 13M BEAM 2

TECHNIC 15M BEAM 2

TECHNIC ANG. BEAM 3X5 90 DEG. 7

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TECHNIC ANGULAR BEAM 4X4 2

DOUBLE ANGULAR BEAM 3X7 45 4

1/2 BUSH 5

2M CROSS AXLE W. GROOVE 2

CONNECTOR PEG W. FRICTION 43

CROSS AXLE 3M 1

BUSH FOR CROSS AXLE 8

CONN.BUSH W.FRIC./CROSSALE 11

CROSS AXLE 4M 2

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CONNECTOR PEG W. FRICTION 3M 17

CATCH W. CROSS HOLE 2

CROSS AXLE 5M 5

DAMPER 2M 2

CROSS BLOCK 90 1

CROSS AXLE 6M 1

2M FRIC. SNAP W/CROSS HOLE 2

CROSS AXLE 7M 2

CROSS BLOCK 3M 8

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Angular beam 90degr. w.4 snaps 2

DOUBLE CONICAL WHEEL Z36 1

Angular beam 90degr. w.4 snaps 2

TECHNIC 7M BEAM 1

Push sensor 2

Total 164

3.3 Ri ro
- u ba b bung ra nu p phi vt qu cng.
- Xe b lt do lc p ba mnh.
- Robot vn hnh khng ng nh d tnh.

3.4 Ci tin
- S dng thm cm bin m thanh t ng xc nh i tng v ph hy
n.

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3.5 Thut ton

Lp trnh cho nt th nht (nt bn tri)

- Khi nhn c tn hiu bm, bin time1 s reset v 0, bin button1 s c

t l true.
- Delay 0.1s, sau nu thy cm bin chm c bm khng qu 0.2 giy (xt
bin time1) th s pht ra ting ci, t li bin button1 l false, thm 0.1s
delay v ht tin trnh.

Lp trnh cho nt th hai (nt bn phi)

- Khi nhn c tn hiu bm, bin time2 s reset v 0, bin button2 s c

t l true.
- Delay 0.1s, sau nu thy cm bin chm c bm khng qu 0.2 giy (xt
bin time1) th thc hin thao tc p ba : xoay motor gi ba theo hng
xung trong 0.3s vi lc mnh nht (100) sau cho n xoay theo hng
ngc li vi lc yu hn (75) trong 0.5s quay v v tr c, t li bin
button1 l false, thm 0.1s delay v ht tin trnh.

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Lp trnh cho xe di chuyn

- Xt nu button1 l true -> iu c ngha l bnh bn tri c di chuyn

- Tnh ton tc ca motor gi bnh tri theo cng thc power = ms/10 v
max power = 100 -> lm th ny th xe s di chuyn nhanh dn v t tc
ti a sau 1s.
- Nu button2 cng l true -> xe i thng, thit lp power ca motor gi bnh
phi tng t nh bnh tri, chiu xoay tng t motor gi bnh tri.
- Nu button2 l fail -> xe r tri, thit lp power ca motor gi bnh tri tng
t nh bnh phi nhng chiu xoay ca motor ny theo hng ngc li.
- Tng t vi trng hp button1 l fail -> di chuyn bnh phi.

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4 Implement - Thc hin

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5 Operate - Vn hnh
Tn
Chc Nng u im Nhc im nh Gi
Module
iu khin motor
gi u ba xoay
p ba theo hng xung
p u ba
vo i tng.
Pht ra ting ci
Ci
hahaha
Di
Di chuyn robot i
chuyn
thng
thng
Di
Di chuyn robot
chuyn
sang bn tri
tri
Di
Di chuyn robot
chuyn
sang bn phi
phi

H Khoa hc T nhin TPHCM 14