€ 1 N G H I E N C l f U K H O A H O C
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P H A T T R I E N M O T M A U
R O B O T D U t i l N U O p
P H U C V U Q U O C P H O N G V A N G H I E N C t f U B I E N DEVELOPING A N UNDERWATER ROBOT FOR DEFENSE A N D MARINE RES
TANG QUOC NAM, LE TUAN ANH, VU QUANG CHIEN, VO THE HOANG Hoc vien Ky thuat Quan su
e-Mail: ntangquocsryahoo.com
PHAN BIEN 1: PGS.TS. PHAM ANH TUAN
Vien Cong nghe vu tru - Vien Khoa hoc va Cong nghe Viet Nam PHAN BIEN 2: TS. PHAM MINH TUAN
Vien Cong nghe thong tin - Vien Khoa hoc va Cong nghe Viet Nam
Tom tat
Bao cao trinh bay cac ket qua nghien cdu ban cTau ve thiet ke, che tao robot tham hiem dddi nurac phuc vu quoc phdng va nghien cuu bien.
Day la mot robot dddi nuac dieu khien tdxa, da duoc thiet ke, che tao hoan chinh bao gom ca he thong phan cung va phan mem dieu khien.
Robot duoc trang bi camera chuyen dung dddi nude va cac cam bien gia toe, ap suat,.., de thdc hien chuc nang tham hiem dudi nuoc. Cac thd nghiem trong vung nuoc tinh cho thay robot da van dong on dinh trong moi truong nddc, co kha nang thu thap dd lieu hinh anh ve moi trddng ddcri nddc va truyen ve trung tarn dieu khien vdi
chat Idong tot. C H l f VIET TAT
C'232~"3 "Z ""a "25.
nd manufacture under ise ~z—z -zizz-z'
AUV Autonomous Underwater Vehicle ROY Remotely Operated Vehicle CAD J • . I";? z~
CAE Co—ru.e: Aided Enzir.eer.r.;
.ADC .AnaJoa to Digital Convener DAC Digital to .AnaJoa Converter PSoC Programmable System on Chip VBK \'i dieu khien
PTN Phona thi nahiem
ter 32'
1. OAT V A N OE
Td nhdng nam 1970, robot dudi nuoc (underwater robot! da duoc nghien cuu phat trien de hd tro va/hoac thay the con ngudi lam viec d nhung vung nude sau sduoi day dai duong). nhung vung nude d nhiem hoac khi lam viec trong then' gian dai
dudi nude Hien nay, robot dudi nude dupe sddung nhieu trong quan sU, ky thuat va nghien cdu bien. Trong nganh dau khi, robot dudi nude duoc sd dung de lam nhung cdng viec nhu kiem tra cac gian khoan va dudng dng dan khi, dan dau. Trong nganh vien thong, robot dudi nude dupe sddung de khao sat day bien trudc khi dat cap trong long bien, chdn cap va kiem tra hien trang cap truyen. Trong quan sd, robot dudi nude dupe su dung de gai hoac tim kiem va thao go thuy Idi, min hoac phdi hop cung con ngudi trong viec tac chien dud' nude. Robot dudi nude con la cac thiet bi quan trong khi cdu hd cac tau thuyen bi dam dudi
day bien. Trong tham hiem va nghien cdu bien, robot dudi nUdc dupe sd dung de khao sat dia hinh dudi day bien, thu thap du lieu ve dp phdng xa, dp rd ri cua cac nguon khi dudi day bien, theo ddi viec sinh san cua cac dan ca,... Trong nganh nang lupng nguyen td cac robot dudi nUdc cd nhd dupe dung de kiem tra cac thiet bi trong nha may dien nguyen td.
Viet Nam la mot quoc gia ven bien, cd dudng bd bien dai hon 3000 km, vung bien rdng Idn va he thong dao kha nhieu.
Nhu cau lam chu bien dao ca ve an ninh quoc phdng, kinh te, mdi trUdng,... rat can den cac thiet bi, may mdc tien tien, trong dd cd robot dudi nUdc. Do dd nhu cau nghien cdu, lam chu cdng nghe va tien tdi thiet ke, che tao cac robot dudi nUdc phuc vu cho an ninh, quoc phdng va ddi song dan sinh la mot ddi hdi tat yeu va cap thiet.
2. TONG Q U A N VE ROBOT D l / O l NUOfC
Cd nhieu loai robot dudi nUdc khac nhau nhu robot dich chuyen tren nen cua day bien nhd cac banh xe hay banh xich.
Loai nay dung de dao ranh de chdn cac loai cap ngam hay dung de thu gom cac vat quy hiem nam dudi day bien. Hai loai robot dudi nUdc dupe nghien cdu va sd dung rdng rai nhat la robot dudi nUdc hoat ddng ddc lap (AUV) va robot dudi nude dieu khien tdxa (ROV).
H. 7 Robot AUTOSUB60O0 kieu AUV cua Trung tarn Hai duong hoc quoc gia Southampton [9] AUV la robot dudi nUdc lam viec theo che dp da dupe lap trinh trUdc. Nang lupng cung cap cho robot la pin hoac ac quy dupe mang tren robot.
Loai robot nay boi dupe tpdo trong nUdc va khdng bi han che ve ban kinh lam viec.
Tuy nhien thdi gian lam viec cua no rat han che, tuy thudc vao nang lupng dptrd lap tren no. Cac robot loai nay thudng duoc trang bi cac cam bien, camera de thpc hien cac nhiem vu tham hiem, thu thap dd lieu. Cac AUV thudng cd ket cau
than kin, hinh tru dai de giam thieu luc can cua nUdc. He thong van ddng thudng dung kieu chan vit vdi cac canh lai dat d phia dudi hoac hai ben sUdn (hinh 1).
ROV la robot dudi nUdc dupe dieu
H. 2 Robot Seaeye Falcon kieu ROV cua Saab Underwater Systems AB[10]
khien va cung cap nang Ippng td trung tarn dieu khien (tren bd, tren tau me) thong qua cap dan. Day cap cd nhiem vu cung cap dien nang va cac lenh dieu khien cho robot va truyen tai du lieu thu nhan dupe td cac camera, cam bien tren robot ve trung tarn dieu khien. Ddi khi day cap con cd tac dung phu giup true vdt cac vat the nang va cd the lam nhiem vu cdu hp robot khi gap sped. Ban kinh lam viec cua loai robot nay bi gidi han bdi chieu dai day cap dan.
Khac vdi robot dudi nUdc hoat ddng ddc lap, robot dudi nUdc dieu khien tdxa cd the lam viec trong khoang thdi gian lau dai dudi nUdc ma khdng phai thoat len khoi mat nUdc de nap them nang lupng. Tren robot loai nay ngoai cac cam bien, camera de thu thap dd lieu con dupe bd tri them cac tay may vdi cac dung cu khac nhau tuy theo yeu cau cua tdng cdng viec cu the. Tai trung tarn, bp phan van hanh cd the dieu khien robot thpc hien dupe mot so cdng viec nhu gap, lap rap, han, cat, lau chui,... Ket cau cua ROV thudng cd dang than hd kieu khung gian de de dang bd tri cac thiet bi cdng tac (hinh 2). He thong van ddng thudng la cac ddng co day cd gan canh quat de tao luc day theo cac phuong khac nhau giup robot thpc hien cac chuyen ddng tien, lui, lan, ndi mot each de dang.
Cac nghien cdu co ban ve md hinh hoa va dieu khien robot dudi nude dupe nhieu tac gia quan tarn [1]-[8],
Do kha nang lam viec va dp tin cay vUpt trdi ma robot dudi nUdc kieu ROV dupe quan tarn phat trien va dng dung pho bien tren the gidi. Da cd nhieu kieu loai ROV dupe phat trien va thuong mai
hoa nhu ddng robot SONIA cua trudng Ecole de Technologie Superieure (Canada), robot Micro REM cua hang REMTECHSTROY Group (Bulgaria), robot Nova Ray M3000 cua hang Nova+ (Ddc), robot ddng Seaeye Falcon cua Saab Seaeye Limited (Canada),... [11].
3. THIET KE CHE T A O M A U ROV_01
3.1. Ket cau chung
Td muc tieu che tao robot tham hiem dudi nude phuc vu quoc phdng va nghien cdu bien, dang robot dupe chpn la loai dieu khien td xa (ROV). Ket cau dupe lpa chpn la kieu khung gian, tren dd lap khoang thiet bi, cac ddng coday va cd the lap cac co cau cdng tac khac khi can.
Robot dupe ket ndi vdi trung tarn dieu khien dat tren mat nUdc (tren bd, tren tau me) thong qua day cap. Day cap cung cap dien nang, cho phep robot cd the lam viec lau dai dudi nUdc ma khdng can quan tarn den nguon nang lupng sd dung. Ngoai ra cap ndi con truyen cac lenh dieu khien tdi robot, truyen dd lieu tham hiem ve trung tarn dieu khien va lam chdc nang cdu hp khi can thiet.
Ket cau chung cua ROV_01 nhu tren hinh 3. Robot cd ket cau khung gian bang thep (1), khoang thiet bi (2) dat trong long robot chda he thong bang mach va cac cam bien (ap suat, gia tdc). Td khoang thiet bi cd mot day dan ndi len trung tarn dieu khien dat tren bd hoac tren tau me.
Robot dupe gan 2 khoang khi (9) phia tren hai ben khoang thiet bi de tao can bang cho robot trong nUdc va ludn hudng mat robot cd nap thung len tren. Phia trUdc robot gan den chieu sang vdi cdng suat cao (8) va camera chuyen dung dudi nUdc (7) de quan sat mdi trUdng nUdc phuc vu cho muc dich nghien cdu, tham hiem. Cac ddng co cd gan canh quat (3, 4, 5, 6) cho phep robot lan, ndi, tien, lui, quay vdng trong mdi trUdng nUdc.
• Ket cau khung va khoang thiet bi
H. 3 Ket cdu chung ciia ROV_01 Automation Today / 6. 2011
Be robot di chuyen dupe linh hoat trong nude, giam lpc can thi phia dau robot phai nhd, gpn, khung robot cd hinh dang thudn, dai ve phia sau. Khung dupe cau tao tdcac thanh thep manh de giam lpc can nude nhung cd dp cdng cao de dam bao dp cdng vdng cho khung.
Khoang thiet bi, cac khoang khi, cac ddng co day, cac thiet bi tham hiem, thiet bi cdng tac se dupe ga lap tren khung nay.
Khoang thiet bi dat ben trong khung la bp phan can nUdc chu yeu khi chuyen ddng do dd dupe thiet ke ddng dang vdi khung robot va can cd kich thudc han che. Tuy nhien khoang thiet bi cung phai cd khdng gian du Idn de chda cac mach dieu khien, cac thiet bi ngoai vi cho hoat ddng cua robot. Ngoai ra kich thudc khoang thiet bi cung dupe tinh toan sao cho lpc day Archimedes do the tich chiem chd cua no trong mdi trUdng nUdc can bang vdi trong lpc cua robot. NhU vay, khi khdng cd tac ddng nao td ben ngoai thi robot se lo Idng trong mdi trUdng nUdc va do dd cd kha nang tp duy tri dupe dp sau. Ngoai ra con cd 2 khoang khi bd tri hai ben canh khoang thiet bi de cd the tang dupe lpc day Archimedes ma khdng phai tang kich thudc khoang thiet bi len qua Idn. Cac khoang khi dupe bd tri phia tren cung giup cho robot khdng bi tat trong qua trinh van ddng.
Viec tinh toan kich thudc khung, khoang thiet bi, khoang khi de thoa man cac dieu kien neu tren dupe thpc hien bang each sd dung cac cdng cu md hinh hoa va phan tich ky thuat cua cac phan mem CAD/CAE thong dung (Autodesk Inventor, MSC.Nastran).
• He thong van ddng
He thong van ddng cua ROV_01 gdm 4 ddng co cd vd chdng nUdc rieng, gan canh quat d true de tao lpc day. Cac ddng CO nay dupe ga lap tren khung cua robot.
Cap ddng co dat phia trUdc va sau (3, 4) tao chuyen ddng lan ndi theo phuong xien hoac cd the theo phuong thang ddng. Cap ddng co hai ben sUdn (5,6) tao cac chuyen ddng tien, lui va quay vdng.
Be robot di chuyen thang (tien hoac lui), cac ddng co hai ben sUdn se quay ddng tdc va cung chieu. Neu hai ddng co nay quay cung chieu nhung vdi tdc dp khac nhau, robot se di chuyen quay vdng
vdi ban kinh xac dinh. Khi hai ddng co nay quay ddng tdc nhung ngupc chieu, robot se quay quanh tarn cua no theo chieu sang phai hoac trai tuy thudc vao chieu quay cua ddng co (hinh 4).
Cap ddng co trudc - sau neu quay cung chieu va ddng tdc se tao chuyen
4 * 4 4
Tien Liii
Quay phai Lin H. 4 So do van ddng cua robot
ddng lan / ndi theo phuong thang ddng cho robot. Neu cac ddng co nay cd tdc dp quay khac nhau se tao cho robot mot gdc ta nhat dinh, rat cd ich khi thpc hien viec quay phim, chup anh hay cac thao tac khac. Khi ket hpp ca cac ddng co hai ben sUdn va ddng co trUdc - sau cd the tao chuyen ddng lan ndi theo phuong xien cho robot.
Cac ddng co dupe I Pa chpn dpa tren cdng suat can thiet de dap dng kha nang di chuyen thang vdi van tdc Idn nhat la Im/s. Lpa chpn canh quat day la loai cd budc tien khdng ddi bang 60mm, dudng kinh 120mm thi cdng suat can thiet cho mdi ddng co la 30W.
• Cac thiet bi
Cac thiet bi cdng tac va thiet bi ngoai vi dupe lpa chpn theo cac nhiem vu cua robot. Vdi mau ROV_01 cd cac thiet bi sau:
Cam bien ap suat: lam nhiem vu do ap suat dudi nUdc tai vi tri hien thdi cua robot de xac dinh dp sau cua robot. Cam bien dupe chpn la loai MPX5700 cd the do dupe ap suat trong khoang
15-^700kPa, dp chinh xac 2,5%, dd nhay 6,4 mV/kPa, thdi gian dap dng 1 ms.
Cam bien gia tdc: lam nhiem vu do gia tdc chuyen ddng cua robot theo 2 phuong x va y de td dd xac dinh vj tri tuong ddi cua robot theo mat phang nam ngang. Cam bien dupe chpn la ADXL230 cd gidi han do ±1,7g, dp nhay
1000mV/g.
Camera: lam nhiem vu thu nhan hinh anh dudi nUdc de thuc hien chdc
nang tham hiem. Camera dupe chpn la JK-212 [10] sddung cam bien anh 1/4 inch CCD Sony, dp phan giai ngang 420 TVL, khoang each chieu sang hong ngoai den 15m.
Can dieu khien: lam nhiem vu dieu khien robot van ddng trong mdi trUdng
nUdc. Thiet bj dupe lpa chpn la Joystick Gravis Extreme Dual, cd 9 nut va 2 can gat, cd the lap trinh tdi 49 lenh, di chuyen 3600.
3.2. He t h o n g dieu khien Vdi ket cau da lua chpn, he thong dieu khien cua ROV_01 phai dam nhiem dieu khien 4 ddng co, thu vaxdlytin hieu til cam bien gia tdc 2 true, cam Quay trai
Noi
C*D dl CU Mivtmk (Ph&o mem
pirn sit
&£ukfai£n)
Tnmz tarn dieu khien Cam bien
£ia toe Cam bien sp suit EHeakUtn I
trunj tim
M*ch ccng soil EHeakUtn
trunj tim
M*ch ccng soil EHeakUtn
trunj tim
H. 5 So do khoi he thong dieu khien
bien ap suat, 2 bp dem xung (encoder) va giao tiep vdi may tinh (hinh 5). Do dd, dieu khien trung tarn phai cd it nhat cac khoi sau: 3 khoi ADC nhan tin hieu tdcac cam bien, 2 khoi dem nhan tin hieu tdcac encoder, 1 khoi UART giao tiep may tinh, 4 bp PWM dieu khien tdc dp va chieu quay cac ddng co. De dap dng cac yeu cau ndi tren, vi dieu khien dupe lpa chpn la ddng PSoC CY829466 cua Cypress [12], Trong vi dieu khien nay da tich hpp san nhdng khoi tai nguyen nhu khoi chuyen ddi tuong tU - so (ADC) 12 hoac 14 bit, khoi khuech dai tuong tu, khoi chuyen ddi so - tuong tu (DAC), khoi dieu che dp rdng xung (PWM) 8, 16 hoac 24 bit, khoi giao tiep UART, bp dem (counter) 8, 16 hoac 24 bit, bp djnh thdi (timer) 8,16 hoac 24 bit,...
( I bo ADC dud^ Cbc CUE '-I.T pi if}
H. 6 Cdu true vi dieu khien CY829466 Ddi vdi robot ROV_01, cac khoi duoc sddung bao gdm (hinh 6): 3 khoi chuyen ddi ADC 12 bit, 3 khoi khuech dai tuong
tu PGA (dung cho cam bien gia tdc, ap suat), 4 khoi PWM 8 bit (dung cho 4 ddng co), 2 bp dem (dung cho 2 encoder), 1 khoi UART (de giao tiep may tinh), khoi dieu khien LCD,....
3.3. Phan mem dieu khien, t h u thap dur lieu va hien t h j hinh anh tham hiem
Nb*i tac- tual lu Cam bien
\p» toe meu ru Cam bien
•putt Nlun tin
bjcu ra
Nhan m hieu til Camera Olao
tier, VDK PC -
Cuaoog mnh dieu khien tren may tinh
Hien thi Video
Cap tin bieu dieu Lhien cac done co
Nhan tin hieu tii Can
dieu Lhien
thong so
—*• vi Hi vi
H.7SO do khoi chdc nang phan mem dieu khien Phan mem dieu khien cho robot ROV_01 dupe thiet ke gdm 2 nhdm chuong trinh: cac chuong trinh tren may tinh va cac chuong trinh tren vi dieu khien. Cac chuong trinh tren vi dieu khien lam nhiem vu dieu khien cac thiet bi ngoai vi va thu thap dd lieu td cac cam bien gan tren robot. Cac chuong trinh tren may tinh cd nhiem vu dieu khien va hien thi hinh anh gdi ve td camera; tinh toan, ve do thi va hien thi thong so ve vj tri cua robot; thpc hien chdc nang dieu khien chuyen ddng cua robot. Ngoai ra con cd cac module chuong trinh ket ndi de truyen thong gida may tinh va vi dieu khien. Cau true cua phan mem dieu khien robot nhu tren hinh 7.
• Thuat toan nhan va xd ly tin hieu td encoder:
Bp dem Counter 1 nhan tin hieu td encoder cua ddng co dupe kich hoat khi gpi lenh Start va thpc hien phep dem H. 8 Thuat toan doc vaxdly tin ngUOC td
255 trong Dong co
Encoder Counter 1 i
Suit Delav 5 ms
Counter 1 x Stop
ep - 255 - bphai bRetdCounter ephau_WritePenod(255):
hieu tir encoder
thdi gian 5ms, sau dd gan cho bien ep.
Khi dd xac djnh dupe van tdc tdc thdi cua ddng cola:
12000 12000 ( , , . x vphai = eyi x — =epx— — = ep x 30 [yong I phut)
a 400
Vdi a = 400 la so xung trong 1 vdng quay cua encoder.
• Thuat toan nhan va xd ly tin hieu td ap suat ke:
Tin hieu analog td cam bien ap suat dupe nhan va ddi thanh tin hieu so qua bp chuyen ddi ADC. Khi gpi lenh apsuat_Start (apsuat_MEDPOWER), bp chuyen ddi ADC bat dau lam viec d mdc tin hieu trung binh (MEDPOW- ER=Medium Power).
Lenh apsuat = apsuatjGetDataO + 2048 gan gia trj dien ap tdc thdi cua ADC apsuat vao bien apsuat.
Khi dd xac djnh dupe dp sau cua robot la:
phi = (apsuat - Voff/(V/P) = (apsuat - 200)/6,4
Vdi Voff = 200mV la dien ap dau ra cua cam bien ap suat tai dp sau bang 0, V/P = 6,4mV/kPa la dp nhay cua cam bien.
Nhieu tp nhien dupe Ipc bang each lay 10 gia trj vdi thdi gian each deu 20ms va chia trung binh, khi dd:
_ ph\ + ph2 + ...+ ph\0
ph 10 (dm)
Ap suit Cam bien X
ap suit ADC
•pant - ipsMtiGttDiaQ + 2048 Do sau rue then thu i ph, - (apsmt - 2O0>6,4
H. 9 Thuat toan xac dinh do sau tdc thdi [ph - (phi* . phlOVIO (dm)
• Thuat toan nhan va xd ly tin hieu td gia tdc ke:
Robot di drayen Cam bien 1
eia toe
H. 10 Thuat toan xac dinh gia tdc tdc thdi
a - asjGetDariO * 2W8 xl =ax-250O(cms) :
Tin hieu td cam bien gia tdc dupe nhan qua 2 bp chuyen ddi ADC tuong dng cho tin hieu gia tdc theo true x va true y.
Khi gpi lenh ax_Start(ax_MEDPOW- ER), bp chuyen ddi ADC bat dau lam viec d mdc tin hieu trung binh.
Lenh ax = ax_iGetData() + 2048 la lenh gan gia trj dien ap tdc thdi cua ADC ax vao bien ax. Khi do xac dinh dupe gia
tdc tdc thdi theo true x cua robot:
x l = a x - 2 5 0 0 (/cm/s2^ Vdi 2500 la dien ap dau ra cua cam bien khi gia tdc true x bang 0 va dp nhay cua cam bien la 1000mV/g = 1 mV/(cm/s2).
xl + x2 + ... + x\0
10 (cm/ s2) Nhieu tp nhien dupe Ipc bang each lay 10 gia trj vdi thdi gian each deu 20ms va chia trung binh, khi dd:
Gia tdc theo true y xac djnh tuong tp.
• Thuat toan nhan va xd ly tin hieu td may tinh:
May tinh V Vi dien Ichien
Chuyen chub, du lieu sang sd thuc I 'lenh noa)
Tach nimi.Li.Di bang ds 1000 Tach pa m bed fzh. iU op^ bang cbMCOO
Gan gia tn dieu khien cho p. pa. t. ta. L 1*. x, xo
H. 7 7 Thuat toan nhan va xtily tin hieu dieu khien cdcdqngcotd may tinh
Tin hieu truyen td may tinh tdi vi dieu khien la mot chudi gdm 21 ki tp cd dang:
"OKabcdefghijklmnpq_END". Trong do a, e, i, m mang gia trj la 1 hoac 0 dieu khien chieu quay cua ddng co hai ben va trUdc sau la thuan hay ngUpc. Ba ki tptie'p theo cua mdi gia trj tren la dp rdng xung cua cac ddng co tuong dng. Chuong trinh dung vdng lap for de lay tdng chudi gdm 4 gia trj abed, efgh, ijkl, mnpq. Sau do chuyen ddi td dang chudi thanh so thpc;
tach gia trj a, f, i, m bang phep toan lay phan nguyen cua ds/1000; lay so thpc bed, fgh, ikl, npq bang phep toan lay phan du cua ds%1000 vdi ds lan lupt bang so nguyen abed, efgh, ijkl, mnpq. Td dd gia trj dieu khien 4 ddng co dupe gan cho p, pa, t, ta, I, le, x, xo; nhd dd dieu khien tdc dp va chieu quay ddng co theo tin hieu tdcan dieu khien.
• Thuat toan nhan tin hieu td VDK Trong chieu nhan, OnCOMm cung
Tin hieu vao H. 12 Thudt toan nhan tin hieuttiVOK
COMEvRtcnvt Bo dem = MSCOMm input
Xa bo dem Tinh loan va hien thi ra texrbox
Automation Today 6. 2011
cap thupc tinh Rtheshold de phat hien khi nao dd lieu dope nhan tai cdng. Thudc tinh Rtheshold cua MSCOMm quyet dinh sd ki tp it nhat dupe nhan de gay ra su kien OnCOMm. Thiet lap thudc tinh RThreshold = 0 thi se vd hieu hoa sp kien COMEvReceive tdc khdng dung ngat, va se khdng cd sp kien nhan xay ra. Neu thiet lap thudc tinh RThreshold > 1 thi nhung byte den cudi cung hoac cd rat nhieu byte van khdng doc dupe. Do do thiet lap RThreshold = 1 de neu nhan dupe bat ky tin hieu nao la chuong trinh se biet ngay.
Khi da thiet lap RThreshold = 1 thi bat cd khi nao bp dem nhan dupe tin hieu vao (mot ky tu hoac hon), chuong trinh se xay ra sp kien MSCOMm.
COMmEvent, cu the d day la COMEvReceive. Ngay lap tdc, se thu dupe tin hieu dau vao cho vao bp dem. Caeh thu tin hieu nay rat hieu qua, dam bao khdng bi mat tin hieu. Sau khi da thu dupe tin hieu each don gian nhat la cho hien thi len textbox trong chuong trinh.
Dieu nay giup giai phdng bp dem ddng thdi cd the xd ly chudi tin hieu da thu dupe mot each de dang hon.
• Thuat toan thu nhan tin hieu cam bien tu VDK
Tin hieu cam bien thu dupe td vi dieu khien la mot chudi 37 byte cd dang:
"OKax12345ay12345ph
12345ep12345etl2345". Trong do
"OK" la 2 byte de xac dinh vi tri bat dau cua chudi. 5 byte so sau mdi 2 byte chu lan lupt la gia tri thu duoc cua cam bien gia tdc theo true x, true y, dp sau, tdc dp ddng co phai, ddng cotrai.
Thu toan bp tin hieu vao khi cd bat ky byte nao dupe gul den cdng COM. Sau dd H. 13 Thuat toan thu nhan tin hieu cam bien tir VDK tim den 2 byte danh dau bat dau chudi la
"OK". Neu khdng thay, quay lai doi den khi cd tin hieu gdi vao. Khi thay chudi "OK" chuong trinh se biet day la chudi tin hieu gul len td robot va cat lay chudi 37 byte tiep theo.
Day se mot chudi tin hieu day du thong Tin men vao
Cat 5* trite va anh toan.
hien thi n terbox cac ket qua rucn£ uns
so can thu ve. Dung ham Mid se cat dupe lan lupt cac thong so can thiet trong chudi.
3.4. San pham
• Mau robot ROV_01
Td cac tinh toan, thiet ke neu tren, phien ban dau tien cua ROV_01 da dupe che tao hoan chinh tai PTN Co dien td - Hoc vien Ky thuat Quan sp (hinh 14).
Cac thong so ky thuat chinh: Kich thudc tdng the: 800 x 350 x 350 mm; Khoi lupng: 26 kg; So ddng CO: 4; Nguon cung cap: 24VDC/15A; Van tdc Idn nhat: 1 m/s;
Camera: 420 TVL, chieu sang hong ngoai 15m; Dieu khien td can dieu khien hoac may tinh.
• Phan mem dieu khien ROV Program H. 14 Robot tham hiem dtfdi nu"6e ROV 01
H. 75 Robot ROV_01va ede thiet bi phu trp
Phan mem dieu khien ROV Program
H. 16 Phan mem dieu khien ROV Program (hinh 16) bao gdm cac khoi chuc nang dieu khien va hien thi. Cac chdc nang dieu khien bao gdm: dieu khien ket ndi vdi robot (Connect), dieu khien robot di chuyen thong qua can dieu khien ao (Joystick Position), dieu khien camera (Capture Picture, Capture Video). Cac chdc nang hien thi bao gdm hien thi hinh anh truyen ve td camera, ve do thi vi tri cua robot (XY Position, ROVs Depth) va hien thi cac thong sd trang thai khac cua robot (ROV Index).
• Thd nghiem
Cac thd nghiem da duoc tien hanh trong cac mdi trUdng nUdc tinh nhu be boi, hd nude deu cho ket qua rat tot Robot dupe dieu khien tdxa dung can dieu khien hoac phim bam tren may tinh, da thpc hien tot cac chdc nang van ddng (tien, lui, quay vdng, lan, ndi) theo dung y do cua ngUdi dieu khien. O trang thai tinh, robot duy tri dupe dp sau va trang thai can bang
on dinh.
Cac thiet bi deu hoat ddng on dinh trong mdi trPdng nude.Truyen thong giua trung tarn dieu khien va robot dam bao lien tuc va cd chat lupng tot Tin hieu tdcac cam bien gia tdc, ap suat dam bao xac dinh vi tri hien thdi cua robot Kinh anh rd net truyen vetd camera hong ngoai cho phep thuc hien chdc nang tham hiem trong cac dieu kien mdi trudng nUdc khac nhau (hinh 17).
H. 17 Mot so hinh anh tham hiem ditdi nwdedo ROV_01 truyen ve
4. KET LUAN
San pham robot ROV_01 da dupe thiet ke, che tao va thd nghiem hoat ddng on dinh trong cac vung nude tinh cho phep dng dung ngay vao cac hoat ddng tham hiem, kiem tra mdi trudng ao, hd, cac be chda. Trong giai doan tiep theo, ROV_01 se dupe tiep tuc nghien cuu de "vUOn ra bien"
vdi cac kha nang hoat ddng trong cac vung nude ddng, bd sung cac module cdng tac can thiet khac de cd the dng dung trong cac hoat ddng nghien cuu khai thac va bao ve bien dao cua To quoc
Tai lieu tham khao
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[9] http-y'wwwriovaray.com
[105 httpv VAvwieaeye.com.falconiitml [11 ] httpv/www JOvexchancre.cornrr<_rov_rev^
[12] http-. VAVyv.cypressj:om
