Untitled e ISSN 2582 5208 International Research Journal of Modernization in Engineering Technology and Science Volume 03/Issue 05/May 2021 Impact Factor 5 354 www irjmets com www irjmets com @Interna[.]
Trang 1ABSTRACT
Realistic learning is a method that has been widely used in programs In this study, a project for students to learn in practice according to practical exercises A group of students majoring in information technology was selected and applied this method The results show that the students effectively understand the knowledge of programming techniques very well At the end of the course, students can build a realistic self-propelled robot This is also a method to stimulate the creativity and self-study of students in the information technology sector
Keywords: Information Technology, Self-Propelled Robots, Students
Self-propelled robot or mobile robot is defined as a type of robot vehicle capable of self-moving, autonomously operating under automatic control to successfully perform assigned tasks According to the theory, the operating environment of a self-propelled robot can be land, water, air, outer space or a combination of them [1] The surface terrain on which the robot moves can be flat or variable, convex According to the part that performs the movement, we can divide the self-propelled robot into 2 classes: legged and wheeled In the first class movement is achieved by mechanical legs that mimic human and animal movements Robots of this type can move very well on convex and complex shapes However, the coordination of the legs as well as the problem of maintaining the posture is extremely difficult work The other layer (wheel movement) proved to be more realistic, they can work well on most of the terrain that man-made The condition that the robot moves by wheel is also much simpler, almost always ensuring the stability of the robot This class can be divided into 3 types of Robots: wheel-driven (common), chain-driven (when large torque is needed or when moving on swamps, sand and ice), and wheel and chain mixtures (rare) [2-3]
The application potential of Autonomous Robots is very wide These include Robots transporting materials and goods in buildings, factories, shops, airports or libraries, Robots performing street cleaning, vacuum compartments, Robots inspecting dangerous environments, Robots guarding, spying, Robots exploring space, moving on the planet, Welding and painting robots in factories, Wheelchair robots serving the disabled, Robots serving family activities, etc Despite the application needs However, the unresolved limitations of Autonomous Robots, such as high manufacturing costs, have not allowed them to be widely used [3-4] Another disadvantage of self-propelled robots is the lack of flexibility and adaptability when working in different positions The problem of finding the way of a self-propelled robot is not as simple as many people think at first
In this essay, the problem of path finding will be solved at a not too complicated level
Some pictures of self-propelled robots moving with wheels:
Figure 1: Self-propelled robot cleaning the swimming pool
Trang 2Figure 2: Self-propelled Mini robot measuring the way in the maze
a) Design and construction of Robot frame
In fact, the robot frame is made of many materials such as iron, aluminum, plastic With the preeminent advantages of mica material, the robot frame is grouped with the idea of designing transparent mica material Mica is one of the most preferred materials in the advertising industry today, because of its superior features Using mica is an effective method for designing beautiful and impressive signs, because mica has a very flat and high-gloss surface, especially mica has many rich colors and has a thin thickness different so it will be more flexible when using mica for marine production
In addition, due to the durable, flexible and transparent properties of mica, one can use cnc cutting machines (automatic machines with a hard alloy cutting head) or laser machines (laser cutting heads) to Display the desired content on the mica
Figure 3: Robot frame b) Select the engine and design the Robot wheel
Because the robot is designed to use a 12VDC power source, the choice of motor for the robot must also have an operating voltage of 12VDC The 12VDC motor with a gearbox was selected by the group as the motor running for the robot
Figure 4: Robot cake
Trang 3Figure 5: Engine
Figure 6: Robot frame c) Design and construction of electrical part
Diagram of connecting arduino to L298N board ENA pin connected to pin 5 of arduino ENB pin connected to pin 6 of arduino
Pin IN1 connected to pin 3 of arduino
Pin IN2 connected to pin 4 of arduino
Pin IN3 connects to pin 1 of arduino
Pin IN4 connected to pin 2 of arduino
Figure 7: Arduino connection diagram with L298N d) Diagram of connecting arduino with ultrasonic sensor
Connect VCC pin to arduino's 5V sourceV
Connect GND pin to arduino's 0V sourceV
TRIGGER pin connected to pin 12 of arduino
ECHO pin connected to pin 13 of arduino
Trang 4e) Diagram of connecting arduino to servo motor
Red wire of servo connected to VCC pin of arduino
Servo brown wire connected to arduino's GND pin
Servo yellow wire connected to pin 10 of arduino
Figure 9: Arduino connection diagram with servo f) Connection diagram of L298N board with Robot wheel motor
The right motor positive pin is connected to the positive OUT pin of L298N
The right motor negative pin is connected to the negative OUT pin of L298N
The left motor positive pin connects to the positive OUT pin of L298N
The left motor negative pin connects to the negative OUT pin of L298N
Figure 10: Connection diagram of L298N board with motor
III RESULT
Figure 11 shows us the complete configuration of the Autonomous Robot The control circuit is located on the top part of the robot body The size of the robot is (24 x 16 x 14) cm The robot will work in automatic mode after it is turned on, it will move automatically to successfully do the job Self-propelled robots that can move are land, water, air, space or a combination of them The surface terrain on which the Robot moves can be flat
or variable, convex, or anywhere
Trang 5Figure 11: Fully assembled devices on the robot frame
The self-propelled robot has been successfully built and works as expected Hardware was developed according
to the original design and modified based on current conditions and improvements In addition, the input voltage port and ground port of the sensors, Bluetooth module and relay have been connected and soldered in series on the PCB This is because there is only one 5V supply port from the Uno, but 8 components are required to provide voltage for operation, the coding was designed and developed using the Arduino software
At the end of the course, students can build a practical self-propelled robot, helping them to master more knowledge in the learning process This is also a method to stimulate the creativity and self-study of students in the information technology sector
[1] Ge, S and Cui, Y (2002) Dynamic motion planning for mobile robots using potential field method
Autonomous Robots, 13, 207–222 Jetto, L., Longh
[2] Fulgenzi, C., Spalanzani, A., and Laugier, C (2007) Dynamic obstacle avoidance in uncertain
environment combining PVOs and occupancy grid In Proceedings 2007 IEEE International Conference
on Robotics and Automation, 1610– 1616 Roma, Italy
[3] Borenstein, J and Koren, Y (1989) Real-time obstacle avoidance for fast mobile robots IEEE
Transactions on Systems, Man, and Cybernetics, 19, 1179–1187
[4] Khatib O Real-time obstacle avoidance for manipulators and mobile robots In Autonomous robot
vehicles 1986, Springer, p 396-404
[5] Desai, J.P., Ostrowski, J., and Kumar, V (1998) Controlling formations of multiple mobile robots In
Proc IEEE International Conference on Robotics and Automation, volume 4, 2864–2869