Abstract: Nekufambira mberi kwetekinoroji munguva yekumhanya uye modularity, iyo otomatiki yerobhoti system inouya muchokwadi.Mupepa rino chipingamupinyi chekuona marobhoti system inotsanangurwa kune zvakasiyana zvinangwa uye mashandisiro.Iwo ma ultrasonic andrinfrared sensors anogadzirwa kusiyanisa zvipingamupinyi munzira yerobhoti nekupa zviratidzo kune anrinterfaced microcontroller.Iyo miniature regulator inotsausa iro robhoti kuti rifambe neimwe nzira nekukurudzira mota mukukumbira kuti irege kubva pane yakasarudzika chipingamupinyi.Ongororo yekuratidzira yegadziriro inoratidza huchokwadi hwe85 muzana uye 0.15 mukana wekuodzwa mwoyo mumwe nemumwe.Tichifunga nezve zvese, dhigirii rekuwanikwa kwezvipingamupinyi rakanyatso shandiswa uchishandisa infrared uye ultrasonic sensors akaiswa papaneri.
1. Nhanganyaya
Iko kushandiswa uye dhizaini yakawanda yemarobhoti anochinjika nhanho nhanho kuvaka zuva rega rega.Vari kuramba vachifambira mberi muzvirongwa zvediflerentlfields, semuenzaniso, mauto, nzvimbo dzekiriniki, kuongororwa kwemuchadenga, uye kuchengetedzwa kwechivanhu.Kubudirira kuve chinhu chakakosha hunhu hwemarobhoti anochinjika mukudzivisa uye nzira yekusimbisa inopesvedzera zvakanyanya maitiro anoita vanhu uye kuona yakazvimiririra chimiro.Kuona kwePC uye masensa emhando chinhu chakakosha chinyorwa chinozivikanwa humbowo masisitimu anoshandiswa mune akasiyana marobhoti 'ID.PC yekusiyanisa proofimethod yakawedzera uye yakawandisa maitiro pane iyo range sensors' zano.Kushandisa oilradar, infrared (IR) andrultrasonic sensors kuti ishandise chipingamupinyi chekucherechedza sisitimu yakatanga sezvakangoita panguva chaiyo seyevhavha yekuziva system.1980's .Zvisinei nekuti, mushure mekuedza kufambira mberi uku kwakafungwa kuti kuvandudzwa kweradar ndiko kwakanyatsokodzera kushandiswa sezvo dzimwe sarudzo mbiri dzekufambira mberi dzakatemerwa zvirambidzo zvezvakatipoteredza, semuenzaniso, dutu, chando, zuva rezororo, uye pasi. .Iyo yekuyeresa mudziyo nzira yaive zvakare kusimudzira kwemari kune imwe neimwe kune iyi uye chii chichadzoka [3].Masensor anoita seanongo ganhurirwa kune humbowo hunoonekwa hwemhinganidzo.Masensa akasiyana anogona kushandiswa kubvisa akasiyana maficha ekumiririra chirimwa muzvirimwa, zvichibvumira robhoti rinozvitonga kuti ripe fetireza yakakodzera nenzira yakanyanya kunaka, zvichiratidza zvirimwa zvakasiyana sekutsanangurwa kwazvino.
Kune akasiyana maIOT magadzirirwo ekurima ayo anosanganisira kuunganidzwa kweruzivo rwuri kuitika pamusoro pemamiriro ekunze azvino anosanganisira kupindira kwemhirizhonga, mugginess, tembiricha, kunaya uye zvichingodaro.Panguva iyoyo ruzivo rwuri kuunganidzwa runogona kushandiswa kugadzira nzira dzekurima uye runogona kudzidziswa nezvesarudzo yekuwedzera huwandu nemhando yekudzikisa njodzi uye kupambadza, uye kuderedza zviitiko zvinotarisirwa kuchengetedza goho.Kune modhi, varimi parizvino vanogona kuongorora kunyorova kwevhu uye tembiricha yepurazi kubva kunzvimbo iri kure uye kunyange kushandisa zviitiko zvinodiwa pakurima chaiko.
2.Methodology uye Implementation
Maitiro akaongororwa mubepa rino anoita kubva pamatanho anotevera.Uyezve, ruzivo rwakaonekwa runochengetwa maviri Arduino bhodhi rakazogadziriswa neArduino programming [8].Iyo block diagram ye system inoratidzwa muMufananidzo 1.
Mufananidzo 1:Block diagram ye system
Iko kufambira mberi kwehurongwa kwaida Arduino UNO yekubata iyo sensor (Echo ultrasonic sensor) ruzivo uye mureza iyo actuator (DC injini) kuti iite.Iyo Bluetooth module inodiwa pakunyorerana neiyo chimiro uye zvikamu zvayo.Iyo yose hurongwa inobatanidzwa kuburikidza nechingwa bhodhi.Izvo zvidiki zvezviridzwa izvi zvinopihwa pazasi:
2.1Ultrasonic Sensor
Mufananidzo 2. Pane ultrasonic sensor yakakomberedza motokari inoshandiswa kuziva chero chipingamupinyi.Iyo ultrasonic sensor inotumira mafungu ekurira uye inoratidza ruzha kubva pane chinhu.Panguva iyo chinhu chiri episode yemafungu e ultrasonic, simba rekuita rinoitika kusvika ku180 degrees.Muchiitiko icho chipingamupinyi chiri pedyo nechikamu simba rinoratidzwa kumashure nguva isati yakwana.Kana chinhu chacho chiri kure, panguva iyoyo chiratidzo chinoratidzwa chichatora imwe nguva shoma kuti chisvike kune anenge achichigamuchira.
Mufananidzo 2 Ultrasonic Sensor
2.2Arduino Board
Iyo Arduino inoshamwaridzana muNursing yakavhurika yekushandisa zvishandiso uye hurongwa izvo zvinogadzira shopper kuyedza uye kuita zvine simba chiitiko mairi.Iyo Arduino inogona kunge iri microcontroller.Aya ma microcontroller gadget anofambisa uye anotonga zvinyorwa mukati meanogara mamiriro zvakare, mamiriro ekunze.Aya mapepa anowanikwa zvishoma zvinodhura pamusika.Pane zviitiko zvakasiyana-siyana zvakaitwa mariri zvakare, zvichiri kuitika.Iyo Arduino board inoratidzwa pazasi mufananidzo 3.
Mufananidzo 3:Arduino Board
2.3DC Motors
Mune yakajairwa DC mota, kune asingaperi magineti kunze zvakare, inotenderera armature mukati.Paunenge uchimhanyisa simba mune iyi electromagnet, inoita nzvimbo inokwezva mune armature inokwezva uye inorasa magineti ari pastator.Saka, iyo armature inotendeuka kuburikidza ne180 degrees.Inoratidzwa pazasi mufananidzo 4.
Mufananidzo 4:DC Motor
3. Migumisiro uye Hurukuro
Ichi chimiro chakarongwa chinosanganisira giya rakaita seArduino UNO, isingatsungirike inonzwa chinhu, bhodhi rechingwa, masaini ekuona zvipingamupinyi uye kuvhenekera mutengi nekutarisa kune chipingamupinyi, Red LEDs, Swichi, Jumper interface, bhangi remagetsi, Varume nevakadzi musoro tsvimbo, chero. anoshanda uye anonamirwa kugadzira mudziyo unopfekwa nevatengi sebhendi remitambo.Wiring ye contraption inoitwa muBatanidza muNursing mushure-nzira.Iyo crystal rectifier pasi ringer yakabatana neArduino GND.Iyo + ve yakabatana neiyo LED's Arduino pini 5 uye switch yepakati gumbo.Iyo Buzzer inobatanidzwa kune yenguva dzose gumbo rekuchinja.
Nechokumagumo, mushure mekunge hukama hwese hwaitwa kubhodhi reArduino fambisa kodhi kuArduino board uye kumanikidza akasiyana mamodule uchishandisa bhangi rechisimba kana simba zvine hungwaru.Nzvimbo yekuona padivi peiyo yakarongwa modhi inoratidzwa pazasi mufananidzo 5.
Mufananidzo 5:Maonero epadivi emhando yakagadzirwa yeObstacle Detection
Iyo ultrasonic sensing element pano inoshandiswa senhare yeFrance.Iwo mafungu e ultrasonic anotumirwa neanotumira kana zvinhu zvaonekwa.imwe neimwe inotapurirana uye inobatsirwa nzvimbo mukati meiyo ultrasonic sensing element.isu tine tsika yekufungidzira nguva yakatambanudzwa pakati pechiratidzo chakapihwa uye chakapihwa.Iyo parcel pakati penyaya uye sensing element inogadziriswa nekushandisa izvi.Mushure mekunge tawedzera kupatsanurwa pakati pechinyorwa uye nekudaro chinhu chekunzwa icho mupendero wepfungwa unogona kudzikira.sensing element ine kubatanidzwa kwemakumi matanhatu madhigirii.Iyo yekupedzisira marobhoti chimiro inoonekwa pasi pemufananidzo 6.
Mufananidzo 6:Iyo Robot Yakapedzwa Framework pamberi pekuona
Iyo yakagadzirwa chimiro yakaedzwa nekuisa chipingamupinyi pakuparadzaniswa kwakasiyana munzira yayo.Mabatiro emasensor akaongororwa akaparadzana, sezvo aive ari pachikamu chakasiyana cherobhoti rinozvitonga.
4. Mhedziso
Kuwanikwa uye kunzvenga chimiro che otomatiki otomatiki System.2 seti dzeheterogonous sensors dzakashandiswa kubvuma zvipingamupinyi munzira yeinotakurika automaton.giredhi rechokwadi uye kakana kadiki kekuodzwa mwoyo zvaisagarwa.Ongororo pane yemahara framework inoratidza kuti yakashongedzerwa kunzvenga zvipingamupinyi, kugona kugara kure nekuparara uye kuchinja nzvimbo yayo.Zviripachena, nehurongwa uhwu, kurerukirwa kwakanyanya kunogona kuwedzerwa, izvi zvinovavarira kuita miganhu yakasiyana nepedyo ne zero kupindira kwevanhu.Chekupedzisira, uchishandisa IR, iro robhoti rakagadzirirwa kudzorwa kure.mubatsiri uye ari kure regulator.Kuita uku kuchabatsira mumamiriro ekunze asina hushamwari, dziviriro nedziviriro nzvimbo dzenyika.
Nguva yekutumira: Jul-21-2022