THIẾT KẾ VÀ THI CÔNG MÔ HÌNH XE THÁM HIỂM SV2021 105

BỘ GIÁO DỤC VÀ ĐÀO TẠO TRƯỜNG ĐH SƯ PHẠM KỸ THUẬT TPHCM BÁO CÁO TỔNG KẾT ĐỀ TÀI NGHIÊN CỨU KHOA HỌC CỦA SINH VIÊN THIẾT KẾ VÀ THI CƠNG MƠ HÌNH XE THÁM HIỂM SV2021- 105 Chủ nhiệm đề tài: Hồng Ngọc Thanh TP Hồ Chí Minh, 10/ 2021 BỘ GIÁO DỤC VÀ ĐÀO TẠO TRƯỜNG ĐH SƯ PHẠM KỸ THUẬT TPHCM BÁO CÁO TỔNG KẾT ĐỀ TÀI NGHIÊN CỨU KHOA HỌC CỦA SINH VIÊN THIẾT KẾ VÀ THI CƠNG MƠ HÌNH XE THÁM HIỂM SV2021- 105 Thuộc nhóm ngành khoa học: Kĩ thuật SV thực hiện : Hoàng Ngọc Thanh Nam, Nữ: Nam Dân tộc: Kinh Lớp, khoa: Lớp 17142CLA, Điện- Điện tử Ngành học: Electrical Electronic Engineering Năm thứ: /Số năm đào tạo: Contents CHAPTER OVERVIEW .11 1.1 PROBLEMS 11 1.2 GOALS 13 1.3 RESEARCH CONTENT 14 1.4 LIMITATION 14 1.5 LAYOUT 14 CHAPTER METHODOLOGY .15 2.1 WIRELESS COMMUNICATION STANDARDS 15 2.1.1 Some connection technologies in wireless communication 15 2.1.2 IEEE 208.16 Standard 16 2.2 ROBOT ENVIRONMENTAL INSPECTION 16 2.2.1 Classify 16 2.2.2 Types of robot control 17 2.2.3 Types of robot movements .17 2.3 PYTHON PROGRAMMING LANGUAGE 20 2.3.1 Introduction 20 2.3.2 Properties 21 2.4 INTRODUCTION OF HARDWARE .21 2.4.1 RASPBERRY PI 21 2.4.2 MODULE L298N 22 CHAPTER CONSTRUCTION 34 3.1 PREPARATION OF COMPONENTS – MODULE .34 3.2 ASSEMBLY – WIRING 34 3.2.1 Wiring diagram 34 3.2.2 Draw the robot frame .35 3.3 PROGRAMMING SYSTEM 41 3.3.1 Programming on Raspberry Pi 41 CHAPTER RESULTS - DISSCUSSION - ASSESSMENTS 51 4.1 RESULTS 51 4.1.1 Hardware implement results .51 4.1.2 The performance of model .52 4.2 COMMENTS AND REVIEWS .56 CHAPTER CONCLUSIONS AND DEVELOPMENT ORIENTATIONS 58 5.1 CONCLUSION 58 5.2 DEVELOPMENT 58 CONTENT OF IMAGES Figure 1.1 iRobot 210 negotiator 11 Figure 1.2 iRobot 710 Warrior 11 Figure 1.3 iRobot 510 Packbot 12 Figure 2.1 Two-legged robot BRAT 17 Figure 2.2 Robot MANOI AT01 and MANOI PF01 .17 Figure 2.3 Robotic robot with chain movement 18 Figure 2.4 NASA robot moves the wheel 19 Figure 2.5 Raspberry pi 20 Figure 2.6 Module L298N 22 Figure 2.7 Raspberry Pi Camera Rev 1.3 22 Figure 2.8 Deceleration engine V1 23 Figure 2.9 Robot’s wheel V1 23 Figure 3.1 The bottom of the chassis 37 Figure 3.2 Top view of chassis 38 Figure 3.3 Side view (2 sides) chassis .38 Figure 3.4 Front view of chassis .39 Figure 3.5 Side view of car model 40 Figure 3.6 Side view of car model 40 Figure 3.7 Front view of car model 41 Figure 3.8 Raspbian OS download site .41 Figure 3.9 Format the memory card using SD Card Formatter software 42 Figure 3.10 Registered Raspbian OS to memory card using NetBSD Disk Image Tool 42 Figure 3.11 Enable VNC function on Raspberry Pi 43 Figure 3.12 Activate VNC function on Raspberry Pi 44 Figure 3.13 Check wifi connection 44 Figure 3.14 Check Raspberry Pi IP 45 Figure 3.15 Raspberry Pi's IP address .45 Figure 3.16 Enter the Raspberry Pi's IP 46 Figure 3.17 Raspberry Pi's IP 46 Figure 3.18 Login to Raspberry Pi 47 Figure 3.19 Raspberry interface 47 Figure 3.20 Raspberry Pi OS interface 48 Figure 3.21 Python software interface 48 Figure 4.1 Complete model .51 Figure 4.2 Complete model in other view 52 Figure 4.3 Observation results on VLC media Player .52 Figure 4.4 Observation results on VLC media Player .53 CONTENT OF TABLES Table 2.1 Kit Raspberry Pi Specifications 21 BỘ GIÁO DỤC VÀ ĐÀO TẠO TRƯỜNG ĐH SƯ PHẠM KỸ THUẬT TPHCM THÔNG TIN KẾT QUẢ NGHIÊN CỨU CỦA ĐỀ TÀI Thông tin chung: - Tên đề tài: Thiết kế thi cơng mơ hình xe thám hiểm - Chủ nhiệm đề tài: Hoàng Ngọc Thanh Mã số SV: 17142047 - Lớp: 17142CLA Khoa: Điện- Điện tử - Thành viên đề tài: Stt Họ tên MSSV Lớp 17142CLA Khoa Vũ Đức Thắng 17140249 Điện- Điện tử Huỳnh Kiến Trung 17141031 Điện- Điện tử Hồ Nguyễn Thành Long 18142036 Điện- Điện tử Lê Quốc Tuấn 18142071 Điện- Điện tử - Người hướng dẫn: Nguyễn Thanh Nghĩa Mục tiêu đề tài: Sử dụng Raspberry Pi, điều khiển trực tiếp vận hành xe để thăm dị mơi trường, vận chuyển mẫu thí nghiệm mà không cần yếu tố người trực tiếp tham gia, giám sát điều khiển từ xa thơng qua mạng Internet Tính sáng tạo: - Thu video trực tiếp từ camera Raspberry Pi Kết nghiên cứu: - Kit Rapsberry Pi - Điều khiển mơ hình thơng qua module L298N - Phát trực tiếp hình ảnh thu từ camera Raspberry Pi Đóng góp mặt giáo dục đào tạo, kinh tế - xã hội, an ninh, quốc phòng khả áp dụng đề tài: - Phục vụ cho việc học lập trình, giao tiếp vi điều khiển với thiết bị ngoại vi Công bố khoa học SV từ kết nghiên cứu đề tài (ghi rõ tên tạp chí có) nhận xét, đánh giá sở áp dụng kết nghiên cứu (nếu có): Ngày tháng năm SV chịu trách nhiệm thực đề tài (kí, họ tên) SUMMARY Since ancient times, the desire to conquer nature has always motivated people to explore, scientific research and constantly develop technology To date, humans have achieved great scientific achievements in many fields by creating intelligent robots that can operate independently and flexibly in harsh environments, most dangerous It can be said that robotics is an achievement that has appeared early and is undergoing drastic changes, robots are getting smarter, more flexible and more accurate Robots can move with high speed and precision to perform repetitive tasks such as welding or painting Besides, the application of wireless technology to the transmission of information between the operator and the robot helps the robot operate more efficiently The robot is controlled directly by a human in unexpected situations that it cannot handle by itself, in addition, it also provides safety for the operator in hazardous work environments Robots are increasingly diverse and complex, due to their different uses There are many types of robots such as self-propelled robots, house-keeping robots, stair climbing robots, freight robots In this day and age, robots are still used widely used for exploration, topographical and environmental exploration To fulfil the purpose of the robot, which is required to be able to move in complex terrain, observe images and collect parameters of the environment Exploration robots can replace humans to explore and explore harsh and dangerous environments that humans only need to control remotely The topic "Design and construction of an environmental exploration vehicle model" is presented on robot theory and construction of a robot car model that is controlled remotely via a web server connected to wifi to serve as an alternative to humans in limited terrain Due to limited knowledge and time, the group of students working on the topic is looking forward to receiving suggestions from teachers and students OVERVIEW 1.1 PROBLEMS Along with the continuous development of science and technology, the automation industry also develops rapidly The application of modern machinery to production is an indispensable requirement in factories to increase productivity, increase quality and reduce product costs In parallel with that development, robot manufacturing technology is also developing rapidly, especially in developed countries to meet the needs of production, daily life and national security Today's robots are quite diverse in appearance as well as being able to perform many functions such as space exploration, assisting the disabled, transporting objects and monitoring home security The world has witnessed many natural disasters as well as man-made disasters The extent of the damage left by the destruction from these disasters is even more severe when they occur Natural disasters such as earthquakes, forest fires, tsunamis, floods From the human side, there are wars, fires, terrorism, mine collapses Disasters both bring significant loss to humans and material Searching and rescuing missing people is always tricky and dangerous In Vietnam, there are also many cases causing significant damage every year, especially mines, house fires, apartment fires However, rescue work is still challenging due to the dependence mainly on human power Safety for rescuers is not guaranteed because they operate in potentially dangerous environments, with many flammable and explosive substances and toxic gases Starting from the above points, along with the development of many types of robots to serve different human needs, exploration robots have been researched and produced by many countries thanks to its practical application With the outstanding development of the economy, science and technology, human health and life are increasingly valued Therefore, in hazardous working conditions, remote-controlled exploration robots will be substituted by humans Robot exploration with the pioneering mission to search, sketch the terrain, measure some parameters such as temperature and humidity, send images to the control center Thanks to those 10 4.3.1.4 VLC Media Player VLC Media Player is a music player with a user interface that is straightforward and easy to use The majority of consumers who have tried this software are pleased with its simplicity, ease of use, and abundance of useful features During the usage process, VLC can read and watch the majority of existing audio and video formats without any issues Figure 4.25 VLC Media Player The Pi camera delivered streaming video The VLC media player software must be connected to the Raspberry Pi Step 1: Install VLC media player software on Raspberry Using the Raspberry Pi's Terminal, install VLC media player with the following command: sudo apt install -y vlc Figure 4.26 Install VLC media player into Raspberry Pi 51 Step 2: Streaming on Raspberry Pi Using the Raspberry Pi's Terminal, enable streaming using the following command: raspivid –o –t 0-n | cvlc –vvv stream:///dev/stdin- sout’#rtp {sdp = rtsp: //: 8554/}’: demix = h264 Step 3: Connect VLC media player to Raspberry, and click play to streaming Figure 4.27 Streaming on VLC media player 4.3.2 Block Diagram 52 53 Figure 4.28 t chèn đại hình để m làm mục lục, t đổi hình sau 54 RESULTS - DISSCUSSION - ASSESSMENTS 5.1RESULTS Following a time of research on the subject, the group has gained a great deal of knowledge, including:  Understanding of Raspberry connectivity, IP addresses, and the Raspberry operating system  Raspberry Pi and peripheral communication  Understanding of how to communicate with a driver L298N  Using the Raspberry Pi, stream photos and movies from the Pi camera to VLC player 5.1.1 Results of hardware implementation Figure 5.13 Complete model 55 Figure 5.14 Complete model in other view 5.1.2 The performance of model The model can move in three directions: straight, left, and right Simultaneously, the camera Pi can record and display images directly on the VLC media player software for users to monitor Figure 5.15 Observation results on VLC media Player 56 Figure 5.16 Observation results on VLC media Player The research team tested the model by looking at an image obtained from the Pi camera of an object The model moves in response to keyboard commands: Figure 5.5 Start up the program Command: if r-Run is entered, the model will start the engine, and move forward to the object 57 The Pi camera continues to record during the moving process and sends it to the VLC media player software for users to view Figure 5.6 Type “r” to move forward Figure 5.7 Model move forward Command: a- Turn right, the model will make a left 58 Figure 5.8 Type “a” to turn right Command: d- Turn right, the model will make a right Figure 5.9 Type “d” to turn left Command: b- backward is entered, the model will move backwards 59 Figure 5.10 Type “b” to move backward The images obtained with the Pi camera to record the laptop screen are quite good, the colors are stable, and the viewer can readily observe them Figure 5.11 Image obtained from the Pi camera 60 5.2 REVIEWS AND COMMENTS The automobile can travel forward, backward, left, right, stop, and be controlled via Raspberry Pi when linked to wifi after the model is completed In flat terrain, the vehicle may go very steadily Figure 5.12 Dimensions of the model In comparison to reality, the image captured by the Pi camera is quite clear and visible with the naked eye However, there is a delay between the real picture received by the Pi camera and the image communicated to the VLC media player owing to direct recording, and the image is often damaged or fuzzy The quality of the wifi/3G/4G signal also affects the control vehicle 61 CONCLUSIONS AND DEVELOPMENT ORIENTATIONS 6.1CONCLUSION After researching, building, and driving the adventure vehicle model during the project, our team came to the following conclusions: - Control the model's movement on a flat, stable surface - On the Raspberry Pi interface, create a controlling model - Recording movies and photos with the Pi camera, then sending them to VLC media players However, there are still some flaws that need to be addressed in order to meet the topic's actual requirements: - The video that was captured was not saved - The model's application is straightforward, with no unique features 6.2DEVELOPMENT Due to the project's restrictions, we need to investigate the issue in a broader and more comprehensive approach - Create a web server to manage and track the model's movement - Route tracking, GPS global location, and route redrawing were all included to the model - Users can manage photos and movies stored on the web server by using Model 62 REFERENCES [1] Trần Ngân Hạnh – Nguyễn Thành Đạt, “Thiết kế thi cơng mơ hình xe robot thám hiểm”, Đồ án tốt nghiệp, Khoa Điện – Điện tử (2018) [2] Nguyễn Kim Sáng cộng sự, Công nghệ mạng không dây chuẩn cho mạng không dây Đại học điện lực – khoa công nghệ thông tin, 12/2015 [3] Robot vận chuyển mẫu xét nghiệm bệnh viện, Đồ án tố nghiệp, Khoa Điện- Điện tử (2019) [4] Hướng dẫn cài hệ điều hành cho Raspberry Pi, https://raspberrypi.vn/huong-dancai-dieu-hanh-cho-raspberry-pi-2457.pi [5] Control DC and Stepper Motors with L298N Dual Motor Controller Modules and Arduino, https://www.instructables.com/Control-DC-and-stepper-motors-withL298N-Dual-Moto/ [6] Installing the Camera, https://www.dexterindustries.com/howto/installing-theraspberry-pi-camera/ [7] VLC media player software, https://www.totolink.vn/article/620-vlc-mediaplayer-la-gi-huong-dan-cat-video-bang-vlc.html [8] How To Stream Live Video From Your Raspberry Pi Camera, How To Stream Live Video From Your Raspberry Pi Camera | Tom's Hardware (tomshardware.com) [9] VNC: Remote access a Raspberry Pi, https://magpi.raspberrypi.org/articles/vncraspberry-pi 63 PHỤ LỤC - Control code for the model: from picamera.array import PiRGBArray from picamera import PiCamera import time import cv2 import numpy as np import math import RPi.GPIO as GPIO from control_motor import * GPIO.setmode(GPIO.BCM) GPIO.setwarnings(False) TRIG = 23 ECHO = 24 GPIO.setup(TRIG,GPIO.OUT) GPIO.setup(ECHO,GPIO.IN) camera = PiCamera() camera.resolution = (640,480) camera.rotation = 180 camera.framerate = 32 rawCapture = PiRGBArray(camera, size=(640,480)) for frame in camera.capture_continuous(rawCapture, format="bgr", use_video_port=True): image = frame.array crop_img = image[280:480, 200:440,:]#gioi han khung anh de xu ly # Convert to grayscale gray = cv2.cvtColor(crop_img, cv2.COLOR_BGR2GRAY) #chuyen doi khong gian mau median = cv2.medianBlur(gray,5) kernel = np.ones((5,5),np.uint8) op = cv2.morphologyEx(median, cv2.MORPH_OPEN, kernel)#loc nhieu # Gaussian blur blur = cv2.GaussianBlur(op,(5,5),0) #loc trung vi # Color thresholding ret,thresh1 = cv2.threshold(blur,60,255,cv2.THRESH_BINARY_INV) #hinh anh nguong # tao mat na mask = cv2.erode(thresh1, None, iterations=2) mask = cv2.dilate(mask, None, iterations=2) # tim duong vien 64 im,contours,hierarchy = cv2.findContours(mask.copy(), 1, cv2.CHAIN_APPROX_NONE) time.sleep(1) GPIO.output(TRIG, True) time.sleep(0.00001) GPIO.output(TRIG, False) while GPIO.input(ECHO)==0: pulse_start = time.time() while GPIO.input(ECHO)==1: pulse_end = time.time() pulse_duration = pulse_end - pulse_start # khoang cach 65 ... THUẬT TPHCM BÁO CÁO TỔNG KẾT ĐỀ TÀI NGHIÊN CỨU KHOA HỌC CỦA SINH VIÊN THI? ??T KẾ VÀ THI CƠNG MƠ HÌNH XE THÁM HIỂM SV2021- 105 Thuộc nhóm ngành khoa học: Kĩ thuật SV thực hiện : Hoàng Ngọc Thanh... THUẬT TPHCM THÔNG TIN KẾT QUẢ NGHIÊN CỨU CỦA ĐỀ TÀI Thông tin chung: - Tên đề tài: Thi? ??t kế thi cơng mơ hình xe thám hiểm - Chủ nhiệm đề tài: Hoàng Ngọc Thanh Mã số SV: 17142047 - Lớp: 17142CLA... generations This chip is comparable to several varieties seen in today's popular smartphones and can run Linux Broadcom's Video Core IV Dual Core (GPU) graphics core is built right into this chip This