THIẾT KẾ VÀ THI CÔNG MÔ HÌNH XE THÁM HIỂM SV2021 105

Kết quả nghiên cứu: - Kit Rapsberry Pi - Điều khiển mô hình thông qua module L298N - Phát trực tiếp hình ảnh thu được từ camera Raspberry Pi 5.. The topic "Design and construction of an

BỘ GIÁO DỤC VÀ ĐÀO TẠO

TRƯỜNG ĐH SƯ PHẠM KỸ THUẬT TPHCM

BÁO CÁO TỔNG KẾT

ĐỀ TÀI NGHIÊN CỨU KHOA HỌC CỦA SINH VIÊN

THIẾT KẾ VÀ THI CÔNG MÔ HÌNH XE THÁM HIỂM

SV2021- 105

Chủ nhiệm đề tài: Hoàng Ngọc Thanh

TP Hồ Chí Minh, 10/ 2021

BỘ GIÁO DỤC VÀ ĐÀO TẠO

TRƯỜNG ĐH SƯ PHẠM KỸ THUẬT TPHCM

BÁO CÁO TỔNG KẾT

ĐỀ TÀI NGHIÊN CỨU KHOA HỌC CỦA SINH VIÊN

THIẾT KẾ VÀ THI CÔNG MÔ HÌNH XE THÁM HIỂM

SV2021- 105

Thuộc nhóm ngành khoa học: Kĩ thuật

SV thực hiện : Hoàng Ngọc Thanh Nam, Nữ: Nam

CHAPTER 1 OVERVIEW 11

1.1 PROBLEMS 11

1.2 GOALS 13

1.3 RESEARCH CONTENT 14

1.4 LIMITATION 14

1.5 LAYOUT 14

CHAPTER 2 METHODOLOGY 15

2.1 WIRELESS COMMUNICATION STANDARDS 15

2.1.1 Some connection technologies in wireless communication 15

2.1.2 IEEE 208.16 Standard 16

2.2 ROBOT ENVIRONMENTAL INSPECTION 16

2.2.1 Classify 16

2.2.2 Types of robot control 17

2.2.3 Types of robot movements 17

2.3 PYTHON PROGRAMMING LANGUAGE 20

2.3.1 Introduction 20

2.3.2 Properties 21

2.4 INTRODUCTION OF HARDWARE 21

2.4.1 RASPBERRY PI 3 21

2.4.2 MODULE L298N 22

CHAPTER 3 CONSTRUCTION 34

3.1 PREPARATION OF COMPONENTS – MODULE 34

3.2 ASSEMBLY – WIRING 34

3.2.1 Wiring diagram 34

3.2.2 Draw the robot frame 35

3.3 PROGRAMMING SYSTEM 41

3.3.1 Programming on Raspberry Pi 3 41

CHAPTER 4 RESULTS - DISSCUSSION - ASSESSMENTS 51

4.1 RESULTS 51

4.1.1 Hardware implement results 51

4.1.2 The performance of model 52

4.2 COMMENTS AND REVIEWS 56

5.1 CONCLUSION 58 5.2 DEVELOPMENT 58

CONTENT OF IMAGES

Figure 1.1 iRobot 210 negotiator 11

Figure 1.2 iRobot 710 Warrior 11

Figure 1.3 iRobot 510 Packbot 12

Figure 2.1 Two-legged robot BRAT 17

Figure 2.2 Robot MANOI AT01 and MANOI PF01 17

Figure 2.3 Robotic robot with chain movement 18

Figure 2.4 NASA robot moves the wheel 19

Figure 2.5 Raspberry pi 3 20

Figure 2.6 Module L298N 22

Figure 2.7 Raspberry Pi Camera Rev 1.3 22

Figure 2.8 Deceleration engine V1 23

Figure 2.9 Robot’s wheel V1 23

Figure 3.1 The bottom of the chassis 37

Figure 3.2 Top view of chassis 38

Figure 3.3 Side view (2 sides) chassis 38

Figure 3.4 Front view of chassis 39

Figure 3.5 Side view of car model 40

Figure 3.6 Side view of car model 40

Figure 3.7 Front view of car model 41

Figure 3.8 Raspbian OS download site 41

Figure 3.9 Format the memory card using SD Card Formatter software 42

Figure 3.10 Registered Raspbian OS to memory card using NetBSD Disk Image Tool 42

Figure 3.11 Enable VNC function on Raspberry Pi 43

Figure 3.12 Activate VNC function on Raspberry Pi 44

Figure 3.13 Check wifi connection 44

Figure 3.14 Check Raspberry Pi IP 45

Figure 3.15 Raspberry Pi's IP address 45

Figure 3.16 Enter the Raspberry Pi's IP 46

Figure 3.17 Raspberry Pi's IP 46

Figure 3.18 Login to Raspberry Pi 47

Figure 3.19 Raspberry interface 47

Figure 3.20 Raspberry Pi OS interface 48

Figure 3.21 Python software interface 48

Figure 4.1 Complete model 51

Figure 4.2 Complete model in other view 52

Figure 4.3 Observation results on VLC media Player 52

Figure 4.4 Observation results on VLC media Player 53

CONTENT OF TABLESTable 2.1 Kit Raspberry Pi 3 Specifications 21

BỘ GIÁO DỤC VÀ ĐÀO TẠO

TRƯỜNG ĐH SƯ PHẠM KỸ THUẬT TPHCM

THÔNG TIN KẾT QUẢ NGHIÊN CỨU CỦA ĐỀ TÀI

1 Thông tin chung:

- Tên đề tài: Thiết kế và thi công mô hình xe thám hiểm

- Chủ nhiệm đề tài: Hoàng Ngọc Thanh Mã số SV: 17142047

- Lớp: 17142CLA Khoa: Điện- Điện tử

- Thành viên đề tài:

Stt Họ và tên MSSV Lớp Khoa

1 Vũ Đức Thắng 17140249 17142CLA Điện- Điện tử

- Người hướng dẫn: Nguyễn Thanh Nghĩa

2 Mục tiêu đề tài:

Sử dụng Raspberry Pi, điều khiển trực tiếp vận hành xe để thăm dò môi trường,vận chuyển mẫu thí nghiệm mà không cần yếu tố con người trực tiếp tham gia, có thểgiám sát và điều khiển từ xa thông qua mạng Internet

3 Tính mới và sáng tạo:

- Thu video trực tiếp từ camera Raspberry Pi

4 Kết quả nghiên cứu:

- Kit Rapsberry Pi

- Điều khiển mô hình thông qua module L298N

- Phát trực tiếp hình ảnh thu được từ camera Raspberry Pi

5 Đóng góp về mặt giáo dục và đào tạo, kinh tế - xã hội, an ninh, quốc phòng và khả năng áp dụng của đề tài:

- Phục vụ cho việc học lập trình, giao tiếp giữa vi điều khiển với thiết bị ngoại vi.

6 Công bố khoa học của SV từ kết quả nghiên cứu của đề tài (ghi rõ tên tạp chí

nếu có) hoặc nhận xét, đánh giá của cơ sở đã áp dụng các kết quả nghiên cứu (nếu có):

Ngày tháng năm

SV chịu trách nhiệm chính thực hiện đề tài

(kí, họ và tên)

Since ancient times, the desire to conquer nature has always motivated people toexplore, do scientific research and constantly develop technology To date, humanshave achieved great scientific achievements in many fields by creating intelligentrobots that can operate independently and flexibly in harsh environments, mostdangerous

It can be said that robotics is an achievement that has appeared early and isundergoing drastic changes, robots are getting smarter, more flexible and moreaccurate Robots can move with high speed and precision to perform repetitive taskssuch as welding or painting Besides, the application of wireless technology to thetransmission of information between the operator and the robot helps the robotoperate more efficiently The robot is controlled directly by a human in unexpectedsituations that it cannot handle by itself, in addition, it also provides safety for theoperator in hazardous work environments

Robots are increasingly diverse and complex, due to their different uses Thereare many types of robots such as self-propelled robots, house-keeping robots, stairclimbing robots, freight robots In this day and age, robots are still used widelyused for exploration, topographical and environmental exploration To fulfil thepurpose of the robot, which is required to be able to move in complex terrain,observe images and collect parameters of the environment Exploration robots canreplace humans to explore and explore harsh and dangerous environments thathumans only need to control remotely

The topic "Design and construction of an environmental exploration vehicle model" is presented on robot theory and construction of a robot car model that is

controlled remotely via a web server connected to wifi to serve as an alternative tohumans in limited terrain Due to limited knowledge and time, the group of studentsworking on the topic is looking forward to receiving suggestions from teachers andstudents

1.1 PROBLEMS

Along with the continuous development of science and technology, theautomation industry also develops rapidly The application of modern machinery toproduction is an indispensable requirement in factories to increase productivity,increase quality and reduce product costs In parallel with that development, robotmanufacturing technology is also developing rapidly, especially in developedcountries to meet the needs of production, daily life and national security Today'srobots are quite diverse in appearance as well as being able to perform manyfunctions such as space exploration, assisting the disabled, transporting objects andmonitoring home security

The world has witnessed many natural disasters as well as man-made disasters.The extent of the damage left by the destruction from these disasters is even moresevere when they occur Natural disasters such as earthquakes, forest fires,tsunamis, floods From the human side, there are wars, fires, terrorism, minecollapses Disasters both bring significant loss to humans and material Searchingand rescuing missing people is always tricky and dangerous

In Vietnam, there are also many cases causing significant damage every year,especially mines, house fires, apartment fires However, rescue work is stillchallenging due to the dependence mainly on human power Safety for rescuers isnot guaranteed because they operate in potentially dangerous environments, withmany flammable and explosive substances and toxic gases

Starting from the above points, along with the development of many types ofrobots to serve different human needs, exploration robots have been researched andproduced by many countries thanks to its practical application With the outstandingdevelopment of the economy, science and technology, human health and life areincreasingly valued Therefore, in hazardous working conditions, remote-controlledexploration robots will be substituted by humans Robot exploration with thepioneering mission to search, sketch the terrain, measure some parameters such astemperature and humidity, send images to the control center Thanks to those

features, humans can assess and control environmental hazards and offer reasonableapproaches.

Japan and the United States are pioneers in the application of robots in dailylife I-robot Company is a leading giant robot manufacturing company in the UnitedStates, specializing in researching and providing all kinds of exploration and terrainrobots to serve different needs of people The robot model is in the figure abovespecialized in infiltrating and scouting dangerous areas

Its mission is such as entering a burning building to find victims instead of thefire force or being used in the police hostage rescue mission with the cameratransmitting live images to the operator As a result, they can know the specificlocation of criminals as well as hostages

This robot is used in the military Therefore, it is like a warrior, carryingmilitary weapons as well as transporting other robots for combat

Figure 1.1 iRobot 210 negotiator

Figure 1.2 iRobot 710 Warrior

In addition, it also supports the mission of crossing the terrain to penetrate andspy on dangerous places, they are also equipped with robotic arms to pick up objects,especially for demining mines work.

These days, remote-controlled exploration robots are increasingly invested anddeveloped, used for mine detection, mine exploration, an inspection of undergroundpipelines, operating in hazardous environments and along with many toxicsubstances with a high radioactive concentration This leads to danger with people.Realizing that the study of robotic exploration vehicles is necessary for practice, the

team selected the topic "Design and construction of an environmental exploration vehicle model".

Figure 1.3 iRobot 510 Packbot

1.3 RESEARCH CONTENT

 CONTENT 1: Data collection, the process of robot car

 CONTENT 2: System design solutions, robot car model

 CONTENT 3: Design of vehicle control system

 CONTENT 4: Model design

 CONTENT 5: Evaluation of performance results

1.4 LIMITATION

The robot car model is designed to run on flat terrain, unable to run on swampyterrain and underwater Besides, the car model is powered as a backup batterysource, so there is a limitation on the usage time

1.5 LAYOUT

Chapter 1: Overview.

In this chapter, the project is presented with an overview of robot cars as well asexploration and over terrain robot functions and some practical applications of robotcars From there, go to clarify the goals, limitations and layout of the topic

Chapter 2: Theoretical basis.

In this chapter, some concepts of robot vehicle classification, some types ofrobot vehicle control and movement types of robot vehicles are also mentioned Inaddition, an overview of the web server, some wireless communication standardsand HTML programming language

Chapter 3: Design an environmental exploration vehicle model.

In this chapter, the exploration robot vehicle model is outlined with detailedtechnical requirements Hence, the performer can make the system block diagram,choose the design type and pick up the appropriate hardware as well as the softwaredesign

Chapter 4: Construction results of the robot car model.

This chapter presents the results of the exploratory robot model afterimplementation, the robot car tests according to the set goals

Chapter 5: Conclusion and direction of the topic development.

This chapter draws conclusions about the research process and developmentpossibilities for robotic vehicles in the future.

1.6 WIRELESS COMMUNICATION STANDARDS

1.6.1 Some connection technologies in wireless communication

Connecting to a wireless network can be made using some of followingconnection standards:

 Infrared Data Association (IrDA)

This is an IR infrared data communication technology that is widely used inremote control of radios, air conditioners, computers, printers with short distanceand low cost

 Bluetooth

Bluetooth is a wireless networking technology that allows electrical andelectronic devices to connect over short distances using radio waves in the 2.40–2.48 GHz frequency range This technology is designed to replace cables betweencomputers and personal communication devices, making it easier to connectelectronic gadgets

Whenever Bluetooth is enabled, it will automatically detect and connect to otherdevices in the vicinity that use the same technology

 Wi-Fi

It is a wireless network system that uses radio waves in the same way as cellphones, television, and radio do The system allows access to the internet in areaswith signal strength without the need for cables The radio waves used for wifi aresimilar to those used for handheld devices, mobile phones, and other devices Wifican transmit and receive radio waves, convert binary codes to radio waves, and viceversa

 Worldwide Interoperability for Microwave Access (WiMAX)

Wimax is a technology that allows for wireless access services to be provided atany time and from any location This technology enables wireless communicationacross long distances in several methods, ranging from point-to-point to cellularaccess Wimax enables you to use your laptop's internet browser without physically

1.6.2 IEEE 208.16 Standard

IEEE 208.16 is a system of broadband wireless access standards that providesthe official specification for broadband wireless MAN networks This standardallows for fixed, portable, portable radio broadband connections without being indirect line of sight to a base station The IEEE 208.16 standard has the followingfamilies:

 IEEE 208.16-2001

This standard defines a radio interface consisting of the MAC and PHY layers

of a point-to-multipoint, fixed-point radio access system to enable rapid, widespreaddeployment of wide-bandwidth radio access systems Ensure compatibility betweenbroadband radio access devices

 IEEE 208.16a-2003

This standard specifies non-permanent point-to-multipoint interfaces forbroadband wireless access systems that provide multiple services Medium accesscontrol layers capable of supporting multiple layers of engineering materialoptimized for bands

1.7 ROBOT ENVIRONMENTAL INSPECTION

Robotic inspection has considerable benefits over existing inspection methods,including the capacity to assist human inspectors 24 hours a day, seven days aweek, and in dangerous, harsh, and filthy situations As a result, robots are now in aperfect position to be an essential element of inspection and maintenance programs

1.7.1 Classify

 Robots can classify according to the environment to move:

 There are two types of robots: outdoor and indoor robots Robotshaving legs, such as humanoid, animal, or insectoid robots, aretypically equipped with wheels.

 Aerial robots are often used for aerial vehicles, unmanned vehicles

 Underwater robots are used for underwater vehicles or maneuvers,they work independently

 Categorization of robots based on movement technique:

 Robot with legs

 Robot with wheels x

 Robot moves by crawler

1.7.2 Types of robot control

 Manual remote control

Parts of a manual remote control robot with joysticks or other control devices.Control equipment, such as a wireless lever or a wireless computer attachment, can

be attached directly to the robot Remote control robots assist humans in avoidinghazards

 Robots follow the route

The early autonomous robots followed a path or painted lines cut into the floor,ceiling, or a wire in the floor The majority of these robots run on a basic algorithmthat retains the path in the center sensor at all times, cannot avoid obstacles, andonly stops when anything gets in their way

 The random robot works independently

The robot operates independently of random movements, which are essentiallymovements such as bouncing against walls, which are perceived by physicalobstruction

1.7.3 Types of robot movements

There are other forms of movement, but we will concentrate on the three categorieslisted below:

 Foot movement

Foot-moving robots are robots that have complicated motions by discretizing

contact with the ground based on points This sort of movement makes this type ofrobot useful on complex and difficult terrains ragged and discontinuous At thesame time, the robot walks very smoothly by adjusting the effective length of thelegs to fit the surroundings It is divided into one-legged, two-legged, four-legged,six-legged, or more robots based on the number of legs Despite these benefits, thissort of robot is challenging to manage and build.

Figure 2.4 Two-legged robot BRAT

Above is a picture of the first two-legged robot BRAT, which is still quiteprimitive in appearance, the structure is quite complicated so that the robot canmove easily with two legs The way it works moves quite flexibly because the joints

of the legs can be moved There have been great developments in foot-movingrobots such as the appearance of the MANOI robot generation, the robot with amore beautiful appearance than the old generations, the way of movement is also

Figure 2.5 Robot MANOI AT01 and MANOI PF01

easier and more flexible.

Figure 2.6 Robotic robot with chain movement

The image above depicts two varieties of crawler moving robots, both of whichhave the benefit of being small but capable of navigating over uneven surfaces.Aside from the benefit, this robot travels rather slowly as compared to travelling onwheels or foot

 Move by wheel

NASA deployed the robot above to investigate Mars under the name Curiosity;this robot is configured in a self-propelled mode capable of moving freely acrossflat ground and rather rapidl

This type of robot uses wheels to move because the wheels are easy to control,stable, and fast-moving compared to crawlers or legs But the disadvantage is onlysuitable for smooth and hard surfaces, soft surface robots are easy to get boggeddown.

1.8 PYTHON PROGRAMMING LANGUAGE

1.8.1 Introduction

Python is a popular programming language that is utilized in a range ofenvironments, from schools to big projects Language for building a wide range ofapplications and software, including desktop and server programs, web applicationdevelopment, and so on Furthermore, Python is the recommended language fordeveloping artificial intelligence applications develop a product that combinesmachine learning Python was originally designed to run on the Unix platform, but iteventually operated on all operating systems, including MS-DOS, Mac OS, OS/2,Windows, Linux, and others in the Unix family Guido van Rossum inventedPython in 1989 Python is an open-source project that is administered by the non-profit Python Software Foundation Although many people contributed to thecreation of Python, Guido van Rossum is still the primary creator of Python today

He was instrumental in determining the path of Python's development

coding language Python has numerous uses on many platforms; software developed

in Python may operate on a variety of operating systems, including Windows, MacOSX, and Linux

1.9 INTRODUCTION OF HARDWARE

1.9.1 RASPBERRY PI 3

The Raspberry Pi 3 Model B+ is the newest member of the Raspberry Pifamily, with a 64-bit quad-core processor running at 1.4GHz — the fastest ever!The updated version additionally has Dual-band 2.4GHz and 5GHz Wi-Fi,Bluetooth 4.2/Bluetooth Low Energy, a High-Speed Ethernet connection(300Mbps), and Power over Ethernet (PoE) through a PoE HAT

Processor Broadcom BCM2837, ARMv8 (64bit) quad-core

GPU Broadcom VideoCore IV, OpenGL ES 2.0,

OpenVG 1080p 60 , 400 MHzProcessing speed 1Ghz

Power Ratings 800mA, 5V

10/100mb Ethernetwifi 802.11 nBluetooth 4.1CSI, DSI

Operating system Debian GNU/Linux, Raspbian OS, Arch Linux

ARM, RISC OS, FreeBSD, Plan 9,

Table 2.1 Kit Raspberry Pi 3 Specifications

1.9.2 MODULE L298N

The L298 DC motor driver circuit can operate two DC motors with a maximumcurrent of 2A each The protection diode integrated circuit and the 7805 power ICassist in supplying 5VDC power to other modules There is a location to insertscrews into the model, which is ruggedly constructed The IC has a heat sink,allowing it to be regulated with a peak current of 2A

The L298N IC has inbuilt diodes that protect the CPU from induced currentscaused by motor start/stop

2.4.3 Module Raspberry Pi Camera

The Raspberry Pi camera is a camera module that was created by theRaspberry Pi Foundation and has been in mass production since May 2013 Before

Pi Camera, the only way to add image recognition, video recording, and

Figure 2.9 Module L298N

photography capabilities to the Raspberry Pi was to utilize a USB-connectedwebcam The built-in mjpeg export format on Logitech webcams will make theRaspberry process go more quickly However, Logitech webcams, particularlyhigh-resolution webcams, are rather pricey.

The Raspberry Pi camera includes a 5-megapixel camera with exceptionallight sensitivity that can photograph in a variety of lighting settings, both indoorsand out The camera's unique feature is the ability to capture high-definition photoswhile filming

Figure 2.10 Raspberry Pi Camera Rev 1.3

The CSI socket is securely connected to the camera This reduces bandwidthcongestion for the Raspberry circuit's USB processor chip The camera cable lengthwas carefully calibrated to reach the desired length while maintaining imagetransmission speed from the module to the RPi

2.4.3 Deceleration engine V1

For simple robot designs, the deceleration engine V1-DC motor is the mostpopular and widely utilized version today Cost savings and user convenience areprovided by the V1 geared DC motor's high quality and low cost, as well as its ease

of construction Fast speed and excellent traction

2.4.4 Robot’s wheel V1

The 65mm V1 Geared Motor Yellow Wheel is composed of high-strengthplastic and has black rubber tires for use with the upgraded V1 geared motor.Because of its low cost, high quality, and ease of assembly and application, thegolden wheel is the most commonly utilized wheel in today's robot designs

Figure 2.12 Robot’s wheel V1

CHAPTER 3: CALCULATION AND DESIGN

3.1 INTRODUCTION

The topic "Design and building of an expedition vehicle model" comprises thedesign and construction of a robot model that moves in response to the user'scommands A CCTV camera is also attached to the Raspberry Pi on the robot,which collects images and sends them to the processing center

3.2 CALCULATION AND SYSTEM DESIGN

3.2.1 Block diagram design

Figure 3.1: Block diagram of the entire system

• Power block: This component supplies power to the entire system The Raspberry

Pi requires 5V, but the L298N motor driver requires 12V

• The Raspberry Pi 3 Kit's central processing and control block receives image datafrom the image acquisition block (Camera Pi).

• A process control signal is received by Motor Driver L298N

• Image acquisition block: Capture images using a camera and transfer them to thecontrol and central processing block

• Engine block: Receives movement signals from the control and central processingunits

3.2.2 Hardware design

3.2.2.1 Control block and central processing

Kit Raspberry Pi 3 model B

The Raspberry Pi 3 model B is the Raspberry Pi's third iteration, and the mostrecent up to this point It was born in the month of February of 2016 A number ofadjustments have been made to the Raspberry Pi 3 configuration The Raspberry Pi

3 is made up of ten major components:

Broadcom BCM 2837 SOC (System On Chip) chip: runs at 1.2 GHz, which issubstantially faster than prior generations This chip is comparable to severalvarieties seen in today's popular smartphones and can run Linux Broadcom's VideoCore IV Dual Core (GPU) graphics core is built right into this chip This GPU iscapable of running some light games as well as full HD movies

Micro USB power jack (5V, 2.5A) (minimum 1A)

There are 40 GPIO (General Purpose Input Output) inputs: These IOs of theRaspberry Pi, like the pins of the microcontroller, are used to output signals to leds,devices, and other devices, as well as read input signals from push buttons andswitches There are also IOs that combine data transmission standards such asUART, I2C, and SPI

The HDMI port is used to connect the Pi to an HDMI-compatible computermonitor or television

DSI port (Display Serial Interface): This port connects to an LCD or OLEDdisplay

With the 3.5mm audio input, you can easily connect to external speakers orheadphones There is no need to use this audio input on TVs with HDMI portsbecause the audio input is merged with the HDMI signal line.

The incorporation of four USB 2.0 ports is another great element of the Pi.Enough to connect all of the necessary accessories, including a mouse, keyboard,and a wireless USB dongle

Ethernet port: Provides easy Internet connection Connect the Pi to a computermonitor or television, as well as a keyboard and mouse, and you're ready to surf theweb

A hard drive is not included with the Raspberry Pi Instead, data can be stored

on an SD card Because the full Linux operating system will run on this SD card, itwill require a memory card with a minimum capacity of 4GB and a maximumcapacity of 32GB

The CSI (Camera Serial Interface) port connects to the Raspberry Pi's built-incamera module This module can capture high-resolution photos up to 1080p

In addition, compared to earlier generations, the Raspberry Pi 3 features built-inwifi and Bluetooth 4.1, allowing it to connect to the internet wirelessly

Figure 3.2: Peripheral of Raspberry Pi 3 model B

Figure 3.3: Pin diagram of Raspberry Pi 3 model B

3.2.2.2 Block diagram gather

The camera portion linked to the Raspberry Pi through the CSI connection can

be chosen from the Raspberry Pi Foundation's supported cameras

Figure 3.4: Raspberry Pi Camera Rev 1.3

Specification Module Camera V1 for Raspberry Pi

Image resolution 592x1944 pixel

60fps and 640x480p @ 60/90 fps.

Focus area From 0,69m to infinity (at rate 1,38m)

Table 3.1: Camera Raspberry Pi parameters

Figure 3.5: Geared engine V1

Specifications Geared engine V1

Transmission ratio 1:120Number of rpm 50 rpm at 3VDC

83 rpm at 5VDC

Table 3.2: Geared engine V1 parameter

The H-bridge chip L298N is used in the motor driver module (Motor Driver) to

also controlled by the L298N module The L298N IC's H-bridge can work atvoltages ranging from 5 to 35 volts.

Figure 3.6: Motor Driver L298N

Maximum current for each H-bridge 2A/ each output Motor

Voltage of control signal 5- 7VDC

Current of control signal 0- 36mA

Table 3.3: Engine control module parameter L298N

Simply reverse the direction of current through the motor to regulate thedirection of rotation, and the most popular method for doing so is to employ an H-bridge The motor is in the middle of each H-bridge, which has four diode switchingelements make an H-shaped configuration It is possible to change the direction ofcurrent flow and thus the direction of rotation of the motor by simultaneouslyengaging two unique switches

Figure 3.7: Working principle of H-bridge

Figure 3.7: Principle diagram Module L298N

The current supplied to the Raspberry Pi depends on the number of peripheralsconnected to it If only have Raspberry Pi without connecting to any devices, theModel B current only needs 700mA to 1000mA to work The current recommended

 A: Battery capacity

 V: Operation voltage of Raspberry Pi

 η: Battery utilization factor (usually 0.7)

 P: Load capacity (the maximum power that Raspberry can reach)

Figure 3.8: Backup charger Polymer PJ- JP106S

Figure 3.9: Backup battery connection port

Specifications Backup charger Polymer PJ- JP106S

Charging performance 62.5%