I-Abstract: Ngokuthuthuka kobuchwepheshe ngesikhathi sejubane kanye nohlelo, ezenzakalelayo zohlelo lwe-robotic ziqala ngokoqobo. Kuleli phepha uhlelo lokutholwa kwezithiyo kuchazelwa ngezinhloso ezahlukahlukene kanye nezicelo. Izinzwa ze-ultrasonic AndrinFrared ziyenziwa ukwahlukanisa izithiyo ngendlela yamarobhothi ngokudlulisela izimpawu ku-anrrinterfaced microcontroller. Umlawuli omncane we-miniature uphambukisa irobhothi ukuthi asuse esikhundleni sendlela yokuvuselela ama-motors acela ukugwema isithiyo esivelele. Ukuhlolwa kombukiso kohlaka kukhombisa ukucaciswa kwamaphesenti angama-85 namathuba okudumazeka ngawodwana. Ukuthatha konke ku-akhawunti, umjikelezo wokutholwa kwesithiyo wawungokoqobo ngempumelelo usebenzisa izinzwa ze-infrared and ultrasonic ezazifakwe ephaneli.
I-OcudURON
Uhlelo lokusebenza kanye nokwakhiwa okuningiliziwe kwamarobhothi aguqukayo akunyathelo ngesinyathelo esakha nsuku zonke. Zithuthuka njalo kuzilungiselelo eziyiqiniso kuma-Diflelentlffields, ngokwesibonelo, amasosha ezempi, amasimu, ukuhlolwa kwesikhala, nokugcinwa kwendlu ngokwezifiso. Ukuthuthukiswa kokuba yisici esibucayi samarobhothi avumelana nezimo ezivumelana nezimo eziguqukayo ngokugwema kanye nendlela yokuvuma indlela athonya kakhulu ukuthi abantu basabela kanjani futhi babone isakhiwo esizimele. I-PC Vision and Range Sensors iyi-athikili eyisisekelo yezinhlelo ezibonakalayo ezibonakalayo ezisetshenziselwa i-ID yerobhothi ehlukahlukene. I-PC ukuvumelanisa i-Proofinimethod iyinqubo ejulile futhi ebanzi ye-Provererthan isu lezinzwa. Ukusetshenziswa kwe-Oilradar, infrared (Ir) ye-AndrUltrasonic inzwa yokusebenzisa uhlelo lokuqashelwa kwezithiyo kwaqala ngokunembile ngesikhathi njengohlelo lokuqashelwa kwesithiyo. 1980. Akunandaba nendlela yokuthi, ngemuva kokuhlola le nqumo ibicatshangelwa ukuthi intuthuko ye-radar ilungele ukusetshenziswa njengoba ezinye izinketho ezimbili zokuthuthuka zanqunyelwa emikhawulweni yezemvelo, ngokwesibonelo, isivunguvungu, iqhwa, usuku lweholide, nomhlaba. Indlela yokulinganisa yedivaysi yayiphindeka kakhulu ngentuthuko enengqondo yemali ngayinye yalokhu futhi okuzobuya [3]. Izinzwa azibonakali zikhawulelwe ebufakazini obuqinisekile besithiyo. Izinzwa ezahlukene zingasetshenziswa ukuqeda izici ezahlukahlukene zokumelwa kwezitshalo ezitshalweni, kuvumela irobhothi eliziphathelayo ukuhlinzeka ngomanyolo ofanele ngendlela ebaluleke kakhulu, okubonisa izitshalo ezahlukahlukene njengoba kuchaziwe
Kunezinto ezintsha ezihlukile zokuhlakulela ezifaka ukuhlangana kwemininingwane eqhubekayo ngesimo sezulu samanje esifaka ukuhlaselwa kwengqondo, imibumba, izinga lokushisa, ukufudumala nokunye ukuhamba phambili. Ngaleso sikhathi imininingwane eqoqwe ingasetshenziswa ukuze isetshenziswe ukwenza imisebenzi yokutshala izindlela futhi ingafundiswa ekukhetheni ukuveza inani nekhwalithi ukunciphisa ingozi kanye nekhwalithi, futhi kukhawulele imisebenzi okulindeleke ukuthi iqhubeke nokuvuna. Imodeli, ama-ranchers njengamanje angakwazi ukushelela ukuncipha komhlaba kanye nokushisa kwe-ranch kusuka esifundeni esikude futhi asebenzise imisebenzi edingekayo ukuze uthuthuke.
I-2.methodology kanye nokuqalisa
Inqubo ehlolwe kuleli phepha ikhipha izigaba ezilandelayo. Ngaphezu kwalokho, imininingwane etholakele inakekelwa iBhodi le-Arduino eliyisibili elilungiselelwe ngohlelo lwe-Arduino [8]. Umdwebo weBlock wohlelo ukhonjiswa kuMfanekiso 1.
Umdwebo 1:I-Block DIAGRAM Yesistimu
Intuthuko yohlaka yayidinga i-arduino ungo yokuphatha inzwa (echo Ultrasonic sensor) imininingwane kanye nokuhlaba umkhosi we-actuator (izinjini ze-DC) ukumfaka. Imodyuli ye-Bluetooth iyadingeka ukuze ibhalwe ngohlaka nezingxenye zalo. Lonke uhlaka luhambisana nebhodi lesinkwa. Izinkinga zalezi zinsimbi zinikezwa ngezansi:
2.1Inzwa ye-ultrasonic
Umdwebo 2. Kunenzwa ye-ultrasonic ezungeze imoto esetshenziselwa ukubona noma yisiphi isithiyo. Inzwa ye-ultrasonic idlulisa amaza omsindo futhi ikhombisa umsindo ovela entweni. Esikhathini lapho into isiqephu se-expode yamagagasi e-ultrasonic, i-energy umbono wenzeka kuze kube ngama-degree angama-180. Esimweni lapho isithiyo sisondelene nama-episode amandla aboniswa emuva kakhulu ngaphambi kwesikhathi eside. Uma kwenzeka into leyo nto ikude, ngaleso sikhathi isibonakaliso esibonisiwe sizothatha isikhathi esilinganiselwe sokufika ngesikhathi.
Umdwebo 2 Inzwa ye-ultrasonic
2.2I-Arduino Board
I-Arduino ihlangana ekusetshenzisweni kwe-Nursing Open Supply Supply kanye nohlelo oluzokwakha i-shopper ukuzama ukwenza umsebenzi onamandla kuwo. I-Arduino ingaba yi-microcontroller. Lawa magajethi we-microcontroller asizakala ebusheni nasekuvezeni izihloko eziphakathi kwezimo eziqhubekayo futhi, isimo sezulu. Lawa mashidi atholakalayo abiza kakhulu emakethe. Kunentuthuko ehlukahlukene eyenziwe kuyo futhi, kuseqhubeka. Ibhodi le-Arduino likhonjiswa ngaphansi kwesibalo 3.
Umdwebo 3:I-Arduino Board
2.3Dc motors
Ngemoto ejwayelekile ye-DC, kukhona ama-magren aphakade ngaphandle futhi, i-armature eguqukayo ngaphakathi. Kwesokudla lapho usebenza amandla kule-electromagnet, kwenza inkanyezi yokuhlekisa e-armature edonsela phansi futhi ihlehlise ama-magnets esitsheni. Ngakho-ke, i-armature iphenduka ama-degree angama-180. Avele ngaphansi kwesibalo 4.
Umdwebo 4:DC motor
3. Imiphumela Nengxoxo
Lesi sakhiwo esiphakanyisiwe sifaka amagiya afana ne-Arduino Uno, into yesinkwa, amasiginali okubona abathengi ngokubhekisisa isithiyo, noma yiziphi izitika zomaduna, noma yiziphi izitika zokwenza izinto eziguquguqukayo, noma yiziphi izitika zokwenza izinto eziguquguqukayo, noma yiziphi izitika zokwenza izinto eziguquguqukayo, noma yiziphi izitika zokwenza izinto eziguquguqukayo. I-wiring ye-contrappeation yenziwa ku-Associate in ubuhlengikazi ngemuva kwendlela. I-Crystal Rictifier Ground Ringer ixhunyiwe ku-Arduino GND. I-The + ixhunyiwe kwi-LED's Arduino Pin 5 kanye nomlenze we-switch ophakathi nendawo. I-buzzer ixhumeke emlenzeni ojwayelekile wokushintsha.
Ngasekupheleni, ngemuva kokuba konke lokhu kuhlangana kwenziwa ebhodini lase-Arduino Hambisa ikhodi ebhodini le-arduino futhi kuphoqe amamojula ahlukene asebenzisa i-Force Bank noma amandla. Iphuzu lokubuka eliseceleni kwimodeli elihleliwe liyabonakala ngaphansi kwesibalo sesi-5.
Umdwebo 5:Umbono ohlangothini lwemodeli eyenzelwe ukutholwa kwezithiyo
Into yokuzwakala ye-ultrasonic lapha esetshenziswa njengocingo lwesiFulentshi. Amagagasi e-ultrasonic athunyelwe nguTransmitter uma izinto zibonile. Indawo ngayinye ye-Transmitter nendawo yenzuzo ngaphakathi kwento yokuzwakala kwe-ultrasonic. Sinokuthambekela kokuthola isikhathi sokwelula phakathi kwalesi sinikeziwe futhi sathola isibonakaliso. Iphasela phakathi kwempikiswano nento ezwayo lixazululwa lilisebenzisa lokhu. Ngemuva nje kwethu ukukhulisa ukwahlukana phakathi kwe-athikili ngakho-ke into ezwayo umngcele wokucabanga angancipha. Into yokuzwakala ihlanganise iziqu ezingamashumi ayisithupha. Uhlaka lokugcina lwamarobhothi luvela ngaphansi kwesibalo 6.
Umdwebo 6:Uhlaka lwe-robot luqediwe ekubukeni kwangaphambili
Uhlaka oludaliwe lwenziwe ngokubeka isithiyo ekuhlukanisweni okuhlukile ngendlela yalo. Ukuphendula kwezinzwa kwahlolwa ngokwahlukile, ngoba babesendaweni ehlukahlukene yerobhothi elibusayo.
4. Isiphetho
Ukutholwa kanye nohlaka lokubalwa kohlelo lwe-automaton oluzenzakalelayo. 2 Amasethi wezinzwa zezinsuku zezinsuku zasetshenziselwa ukwamukela izithiyo ngendlela ye-automaton yokuthutha. Ibanga leqiniso kanye nethuba elincane lokudumazeka kwakungelonakeleko. Ukuhlola ngohlaka lwamahhala kukhombisa ukuthi ifakwe izithiyo ezibalekayo, amandla okuhlala kude kude nokuphahlazeka bese uguqula isikhundla sayo. Ngokusobala, lapho lolu hlelo oluphawuleka kakhulu lungangezwa ukuthi luhlose ukwenza imikhawulo ehlukahlukene ngokuseduze kokungenelela kwe-zero. Ekugcineni, usebenzisa i-IR, ithe, i-robot uSermaderto ilawulwa kude. umzuzi kanye nomlawuli kude. Lokhu kwenziwa kuzoba wusizo ezimweni ezinobungane, ukuvikela izingxenye zezwe.
Isikhathi Seposi: Jul-21-2022