Sledovanie čiary Projekt MRBT

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1 VYSOKÉ UČENÍ TECHNIC KÉ V BRNĚ BRNO UNIVERSITY OF T ECHNOLOGY FAKULTA ELEKTROTECHNIKY A KOMUNIKAČNÍCH TECHNO LOGIÍ ÚSTAV AUTOMATIZA CE A MĚŘÍCÍ TECHNIKY FACULTY OF ELECTRICAL ENGINEERING AND COMUNICATION DEPARTMENT OF CONTROL AND INST RUMENTATION Sledovanie čiary Projekt MRBT AUTORI PRÁCE VEDÚCÍ PRÁCE Pavol Jenča, Juraj Mihaľko, Maroš Macej, Gabriel Sárközy, Bohumil Michalčík, Štefan Krampoťák Ing. František Burian BRNO 2011

2 1. ZADANIE Implementujte modul do podvozku robotu, který umožňuje jízdu robotu po předem definované trase. Trasa robotu by měla být pro člověka na první pohled neodhalitelná, proto zvažte přednostně použití magnetické pásky přilepené k podlaze pod kobercem. Řízení robotu bude realizováno po některé ze standardních sériových sběrnic (RS-485, Ethernet apod.).

3 2. RIEŠENIE Celý projekt je rozdelený na 5 základne časti: - Magnetická páska - Snímače - Zosilňovače - Riadenie - RS MAGNETICKÁ PÁSKA Magnetické pásky majú širokú oblasť využitia - od označovania tovarov v obchodoch, výrobu skladových štítkov, cenoviek, výrobu reklamných a darčekových predmetov a podobne. Niektoré typy pások sa používajú v reklamnom priemysle na výrobu bannerov a pop-up standov, iné pri výrobe sprchových kútov, klimatizácií a pod. Ako magnet sme si vybrali anizotropný flexibilný magnet samolepiaci. Tento magnet má axiálnu magnetizáciu a následnými parametrami: Remanence BR: 230 mt Koercitivní síla HC: 167 ka/m Max. energetický součin (BxH)MAX: kj/m3 Povrchová úprava: samolepící, UV ochrana Hustota: g/cm3 Pevnost v tahu: kg/cm2 Rozsah pracovních teplot: C Doporučená teplota skladování: C Cena: 120Kč/m

4 2.2 SNÍMAČE Použili sme magnetorezistívny snímač magnetického poľa KMZ10b, ktorý sa využíva v kompasoch. KMZ10b je citlivý senzor magnetického poľa, využívajúci magnetorezistívny účinok tenkej vrstvy permaloya. Jeho vlastnosti umožnujú tento senzor použiť v širokom spektre aplikácii merania prúdu a poľa, otáčkomer, meranie uhlovej alebo lineárnej polohy, detektor vzdialenosti atď. obrázok č. 1 : Parametre snímača KMZ10b 2.3 ZOSILŇOVAČE Zosnímaný signál snímačom KMZ10b bolo potrebné zosilniť, pretože nasnímaná hodnota výstupného napätia sa pohybovala rádovo v mv a kvantovaním by sa táto hodnota zle spracovávala, pričom by bola značne ovplyvnená šumom. Pre zosilnenie signálu sme navrhli zapojenie s operačným zosilňovačom, ktorý výstupné napätie zosilní na hodnotu v rádoch voltov.

5 Obrázok č. 2 : Schéma zapojenia zosilňovača a snímačov Obrázok č. 3 : Plošný spoj zosilňovača a snímačov

6 2.4 RIADENIE Upravená zosnímaná analógová hodnota napätia je privedená na A/D prevodník mikroprocesora ATMEGA16, ktorý prevedie analógovú hodnotu na číslicovú hodnotu a ďalej ju v riadiacom programe spracuváva. Po spracovaní na výstup vyšle 8-bitovú hodnotu rýchlosti otáčania pravého motora a 8-bitovú hodnotu rýchlosti otáčania ľavého motora. Obrázok č. 4 : Schéma zapojenia riadiaceho obvodu Obrázok č. 5 : Plošný spoj riadiaceho obvodu

7 2.5 RS485 KOMUNIKAČNÁ ZBERNICA Pre komunikáciu po zbernici sme pripojili k mikrokontroléru obvod MAX485 na pin UART mikrokontroléra. TXD mikrokontroléra je pripojené na DI(Driver Input), RXD je pripojené na RO (Receiver Output) a ďalší pin mikrokontroléru je pripojený na DE(Driver Output Enable) pre povolenie vysielania dát (pripojený cez pull-up rezistor k Vcc pre nastavenie do stavu prijímača). Pre povolenie prijímania sa RO musí pripojiť na nízky potenciál. Obrázok č. 6 : Fyzické prepojenie pre realizáciu komunikácie pomocou RS485 Obrázok č. 7 : Dátový rámec protokolu Nastavenia pre komunikáciu RS485: baud rate: bps parity: bez parity počet stop bitov : 2

8 A/D prevod Výpočet mediánu Prekážka Áno Výpočet rýchlosti motorov Nie Obrázok č. 8 : Zjednodušený vývojový diagram riadenia

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