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C s tr tu nhn to

LEGO MINDSTORMS

B mn Khoa Hc My Tnh

Khoa Cng ngh thng tin

i hc Khoa hc t nhin TP HCM

Ging vin hng dn :

L Hoi Bc

Nguyn Quang Anh

Nguyn Tin Huy

Trn Trung Kin

MC LC Cc ni dung chnh ............................................................................................

1 Thng tin nhm ......................................................................................... 1

2 tng ...................................................................................................... 2

3 Thit k ...................................................................................................... 3

4 Thc hin ................................................................................................... 7

5 Vn hnh .................................................................................................... 7

C s tr tu nhn to Lego Mindstorms

H Khoa hc t nhin TP HCM | B mn Khoa hc my tnh 1

1 Thng tin nhm

MSSV H Tn Email in thoi

1312335 Mai Thanh Long [email protected] 01267595614

1312614 Hong Xun Ton [email protected] 01659624010



2 TNG 2.1 Cc tnh nng ca sn phm

MVR l 1 robot xe khng ngi li c th :

+ T ng di chuyn trn ng m khng ri khi ln ng

+ T ng n trnh cc vt cn trn ng

+ i theo 1 l trnh c nh sn : l trnh l 1 dy cc hng i : i thng, r tri, r phi

2.2 Cc vn chnh cn gii quyt

+ Lm th no robot c th di chuyn m vn trong ln ng ? Khi robot i ra khi ln

ng th phi x l nh th no ?

+ Lm sao robot c th nhn bit c vt cn trc mt ? Khi gp vt cn robot phi x l ra

sao ?

+ Lm sao input 1 l trnh nh sn vo cho robot ? Khi input l trnh th robot phi hot

ng th no c th i theo ng l trnh ?

2.3 Cng dng thc t ca sn phm

+ Xe vn chuyn hng ha, sn phm

+ Xe vn chuyn hnh khch : taxi, xe bus

+ Xe vn chuyn ngi tn tt, khuyt tt khng th t li xe

Da trn sn phm thc t : self-driving car ca Google.



3 Thit k 3.1 Cu trc :

Robot gm c cc thnh phn chnh :

+ 1 b vi x l trung tm NTX 2.0

+ 1 Color Sensor : cm bin nhn dng mu sc

+ 1 Ultrasonic Sensor : cm bin siu m nhn dng vt cn

+ 3 Motor gm : 2 motor cho 2 bnh xe, 1 motor iu khin xoay cm bin siu m

3.2 Bn v phc tho :



3.3 Thut ton vn hnh :

3.3.1 T ng di chuyn trn ng m khng ri khi ln ng

iu kin :

Ln ng phi phng v c t ng nht 1 mu(en). Khu vc bn ngoi ln ng c t

mu khc (trng)

Khi to :

S dng cm bin nh sng (c tch hp trong cm bin mu sc) o cng sng ca

mu ln ng (en) v cng sng ca mu ca khu vc bn ngoi ln ng(trng) .Khi

to bin mid = trung bnh cng ca 2 cng sng va o. t robot st bin phi ca ln

ng cm bin nh sng nm chnh gia bin phi ca ln ng v khu vc ngoi ln ng

Vn hnh :

Lin tc s dng cm bin nh sng c cng sng ca mt ng, gi tr c c lu

vo bin cur. Nu :

+ cur < mid : cm bin nh sng b lch v bn tri (v pha trong ln ng). Xoay robot

v pha bn phi A0 .Gi tr A t l thun vi |cur mid|

+ cur > mid : cm bin nh sng b lch v bn phi (v pha ngoi ln ng). Xoay robot

v pha bn tri A0 .Gi tr A t l thun vi |cur mid|

+ cur = mid : cm bin nh sng khng b lch. Cho robot i thng

Nh vy robot s khng i chnh gia ln ng nh chng ta mong i m phi i st bin

phi

3.3.2 N trnh vt cn

iu kin :

Chiu rng ca vt cn khng qu ln xe c th vt qua m khng ri khi ln ng

Vn hnh :

- Bc 1 : Di chuyn theo thut ton 1 ng thi s dng cm bin siu m kim tra vt cn

trc mt. Nu pht hin vt cn trc mt trong phm vi 50 cm th cho robot dng li

- Bc 2 : Xoay robot sang tri 900. Xoay cm bin siu m sang phi 900. i thng cho n khi

1 trong 2 trng hp sau xy ra :



+ TH1 : Cm bin siu m khng cn thy vt cn na. Qua bc 3

+ TH2 : Cm bin mu sc nhn c mu trng (robot ri khi ln ng). Qua bc 4

- Bc 3 : Cho robot xoay phi 900. i thng n khi cm bin siu m khng cn thy vt cn.

Xoay cm bin siu m sang tri 900. Quay li bc 1

- Bc 4 : Cho robot xoay phi 1800. Xoay cm bin siu m sang tri 1800. i thng n khi cm

bin siu m khng cn thy vt cn. Cho robot xoay tri 900. Xoay cm bin siu m sang phi

900. Quay tr li bc 1

3.3.3 Di chuyn theo l trnh nh sn

iu kin : Trc khi n cc giao l th khu vc bn gc phi ca ln ng ang i phi c

t mu khc 2 mu en v trng. Chn mu xanh

Vn hnh : Sau khi input l trnh. Cho robot i theo thut ton 1 v 2. Trong qu trnh i lin tc

kim tra cm bin mu nu nhn c mu xanh th dng li. c hng i t l trnh quyt

nh i thng hay r tri, r phi

3.4 Chi ph d kin :

Tn S lng

NTX 1

Ultrasonic sensor 1

Color sensor 1

Tachor Motor 3

Bnh xe 4

Technic 9M Beam 5

Technic 11M Beam 6

Technic 13M Beam 4

Connector Peg 20

Cross Axle 3M 3

Cross Axle 7M 3

Cross Axle 9M 1



Cross Axle 12M 2

......

3.5 Cc ri ro d kin :

V thit b :

+ Sai s khi xoay robot, xoay cm bin siu m

+ Cm bin siu m khng hot ng chnh xc

+ Ri ro v chy n ,h hng thit b

V thut ton :

+ Khi cm bin mu nm lch v bin tri ca ln ng th robot s xoay u v i ngc

ng

+ Trong qu trnh robot di chuyn vt qua vt cn nu gp phi 1 vt cn khc th

robot khng th nhn bit v n trnh c



4 Thc hin

5 Vn hnh

Tn

Module

Chc nng u im Nhc im

nh

gi

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