{"id":39336,"date":"2019-10-31T22:30:33","date_gmt":"2019-10-31T19:30:33","guid":{"rendered":"https:\/\/prohoster.info\/blog\/opyt-sozdaniya-pervogo-robota-na-arduino-robot-ohotnik\/"},"modified":"2019-10-31T22:30:33","modified_gmt":"2019-10-31T19:30:33","slug":"opyt-sozdaniya-pervogo-robota-na-arduino-robot-ohotnik","status":"publish","type":"post","link":"https:\/\/prohoster.info\/et\/blog\/news\/opyt-sozdaniya-pervogo-robota-na-arduino-robot-ohotnik","title":{"rendered":"Esimese roboti loomise kogemus Arduinoga (robot-\"jahtija\")","gt_translate_keys":[{"key":"rendered","format":"text"}]},"content":{"rendered":"

Tere.<\/p>\n

Selles artiklis tahan ma kirjeldada oma esimese Arduino roboti kokkupanemise protsessi. Materjal on kasulik teistele algajatele nagu mina, kes soovivad valmistada m\u00f5ne \u201eise liikuv kaubiku\u201c. Artikkel keskendub etapiviisile minuga koos ja erinevate n\u00fcansside kirjeldamisele. Kood, mille tulemused (t\u00f5en\u00e4oliselt mitte k\u00f5ige ideaalsem) on antud artikli l\u00f5pus.<\/p>\n

\"Esimese
\n
\nV\u00f5imaluse korral kaasasin oma poja (8 aastat). Mida t\u00e4pselt temaga v\u00e4lja tuli, ja mida mitte \u2014 sellele p\u00fchendasin osa artiklist, v\u00f5ib-olla on see kellegi jaoks kasulik.
\n<\/a><\/noindex><\/p>\n

Roboti \u00fcldine kirjeldus<\/h2>\n

\nAlustuseks paar s\u00f5na roboti kohta (idee<\/b>). Esialgu ei olnud mul suurt tahtmist koguda midagi tavalist. Samas oli komponentide komplekt \u00fcsna standardne \u2014 \u0161assiid, mootorid, ultraheliandur, jooneandur, LED-lambid, k\u00f5lar. Esmalt m\u00f5tlesin v\u00e4lja roboti, mis kaitseb oma territooriumi. Ta s\u00f5idab ebaseadusliku isiku suunas, kes on \u00fcletanud ringi joone, ja siis naaseb keskele. Kuid selles variandis oli vajalik joon, pluss lisamatemaatika, et pidevalt ringis p\u00fcsida.<\/p>\n

Seet\u00f5ttu p\u00e4rast m\u00f5ningaid kaalutlemisi muutsin ma ideed veidi ja otsustasin teha roboti-\u201ejahtija\u201c. Alguses p\u00f6\u00f6rdub ta \u00fcmber oma telje, valides l\u00e4hima sihtm\u00e4rgi (inimese). Kui \u201eohver\u201c on avastatud, l\u00fclitab \u201ejahtija\u201c sisse vilkuva valguse ja sireeni ning hakkab tema poole liikuma. Kui inimene l\u00e4heb eemale v\u00f5i jookseb \u00e4ra, valib robot uue sihtm\u00e4rgi ja j\u00e4litab seda, ja nii edasi. Sellisele robotile ei ole piiratud ring vajalik ning ta suudab t\u00f6\u00f6tada avatud alal.<\/p>\n

Nagu n\u00e4ha, sarnaneb see paljuski m\u00e4nguga \"jahti minema\". Kuigi robot pole l\u00f5puks piisavalt osav, suhtleb ta ausalt teda \u00fcmbritsevate inimestega. Eriti meeldib see lastele (m\u00f5nikord tundub t\u00f5esti, et nad kohe tallavad ta maha, s\u00fcdames teeb hirmu... ). Arvan, et see on tehnilise konstruktsioneerimise populariseerimiseks hea lahendus.<\/p>\n

Roboti struktuur<\/h2>\n

\nNii et oleme idee paika pannud, liigume edasi komponeerimise<\/b>. Elementide loetelu koostatakse sellest, mida robot peab oskama. Siin on k\u00f5ik \u00fcsna ilmne, seega vaatame kohe nummerdamist:<\/p>\n

\"Esimese
\n
\nRoboti \"aju\" - arduino uno plaat (1); see oli tellitud komplektis Hiinast. Meie vajaduste jaoks on see t\u00e4iesti piisav (toetume kasutatavate pinnade arvule). Samast komplektist v\u00f5tsime valmis \u0161assi (2), millele on kinnitatud kaks esitavat ratast (3) ja \u00fcks taga (vabalt p\u00f6\u00f6ratav) (4). Samuti oli komplektis valmis akuhoidik (5). Roboti ees asub ultraheliandur (HC-SR04) (6), taga - mootori juhtimis\u00fcksus (L298N) (7), keskel - vilkuv LED (8) ja veidi k\u00f5rvale - k\u00f5lar (9).<\/p>\n

Kokkuv\u00f5tte koostamise etapis vaatame:<\/p>\n

\u2014 et k\u00f5ik mahuks
\n \u2014 et see oleks tasakaalus
\n \u2014 et k\u00f5ik oleks ratsionaalselt paigutatud<\/p>\n

Osaliselt on selle meie eest teinud Hiina kolleegid. Seega on raske akuhoidik paigutatud keskele ja ligikaudu tema all asuvad esitavad rattad. K\u00f5ik \u00fclej\u00e4\u00e4nud plaadid on kerged, seega saab neid paigutada perifeeriasse.<\/p>\n

Detailid:<\/p>\n

    \n
  1. Komplekti \u0161assiis on palju tehaseavasid, kuid milline on nende loogika - ma pole seda siiani m\u00f5istnud. Mootorid ja akupakk kinnitusid probleemideta, edasi algas \"kohandamise\" etapp uute avade puurimisega, et kinnitada erinevad plaadid.<\/li>\n
  2. Messingist toestikud ja muu kinnitus, mis mul varudes oli, aitasid mind v\u00e4ga (m\u00f5nikord pidin v\u00e4lja tulema).<\/li>\n
  3. Iga plaadi kaablid viisin l\u00e4bi klambrite (leidsin samuti varudest). See on v\u00e4ga mugav, k\u00f5ik kaablid on kenasti paigutatud ja ei poga.<\/li>\n<\/ol>\n

    <\/p>\n

    Erilised moodulid<\/h2>\n

    \nN\u00fc\u00fcd tutvustan mooduleid<\/b> ja r\u00e4\u00e4gin iga\u00fche kohta.<\/p>\n

    Akuhoidik<\/b><\/p>\n

    On selge, et robot peab olema hea energiaallikas. Variant v\u00f5ib olla erinev, valisin 4 AA aku variandi. Kokku annavad nad ligikaudu 5 V, ja seda pinget saab otse toita arduino plaadi 5V pinnale (stabilisaatorit vahele j\u00e4tmata).<\/p>\n

    M\u00f5ningane ettevaatus muidugi oli, kuid see lahendus on t\u00e4iesti t\u00f6\u00f6kindel.<\/p>\n

    Kuna toide on vajalik igal pool, tegin mugavuse huvides robotile keskuses kaks pistikut: \u00fcks \"jagab\" maapinda (paremal), teine - 5 V (vasakul).<\/p>\n

    \"Esimese
    \n
    \nMootorid ja juhtimisseade<\/b><\/p>\n

    Esiteks mootorite kinnitamisest. Kinnitamine on tehase, kuid tehtud suurte taluvustega. Teisis\u00f5nu, mootorid saavad liikuda paar millimeetrit vasakule-poole. Meie \u00fclesande jaoks pole see kriitiline, kuid kuskil v\u00f5ib see m\u00f5jutada (robot hakkab kalduma). Igaks juhuks keerasin mootorid rangelt paralleelselt ja kinnitasin liimiga.<\/p>\n

    \"Esimese
    \n
    \nMootorite juhtimiseks, nagu ma varem mainisin, kasutatakse L298N draiverit. Dokumentatsiooni kohaselt on igal mootoril kolm pinni: \u00fcks kiirusreguleerimiseks ja kaks p\u00f6\u00f6rlemissuuna jaoks. Siin on \u00fcks oluline moment. Selgus, et kui toitepinge on 5 V, siis kiirusreguleerimine lihtsalt ei t\u00f6\u00f6ta! See t\u00e4hendab, et kas ei p\u00f6\u00f6rdu \u00fcldse v\u00f5i p\u00f6\u00f6rleb maksimumi peal. Selline omadus, mille t\u00f5ttu ma \u201etapnud\u201c paar \u00f5htut. L\u00f5puks leidsin mainimise kuskil \u00fchel foorumil.<\/p>\n

    \u00dcldiselt vajasin madalat p\u00f6\u00f6rlemiskiirust roboti p\u00f6\u00f6ramiseks \u2014 et tal oleks aega ruumi skaneerida. Kuid kuna sellisest ideest ei tulnud midagi v\u00e4lja, pidi minema teistmoodi: v\u00e4ike p\u00f6\u00f6ramine \u2014 peatumine \u2014 p\u00f6\u00f6ramine \u2014 peatumine ja nii edasi. J\u00e4lle, mitte nii elegantne, kuid t\u00f6\u00f6korras.<\/p>\n

    Lisaks mainin, et p\u00e4rast iga j\u00e4litamist valib robot uue p\u00f6\u00f6rde suuna juhuslikult (kella suunas v\u00f5i vastupidi).<\/p>\n

    Ultraheli andur<\/b><\/p>\n

    \"Esimese
    \n
    \nVeel \u00fcks riist, kus pidi otsima kompromisslahendust. Ultraheli andur annab tegelike takistuste korral ebastabiilseid n\u00e4itajaid. Tegelikult oli see ootusp\u00e4rane. Ideaalselt t\u00f6\u00f6tab ta kuskil v\u00f5istlustel, kus on siledad, tasased ja risti pinnad, kuid kui tema ees \u201evilguvad\u201c kellegi jalad \u2014 siis tuleb rakendada t\u00e4iendavat t\u00f6\u00f6tlemist.<\/p>\n

    Sellise t\u00f6\u00f6tlemise puhul paigaldasin mediaanfiltri<\/a><\/noindex> kolme m\u00f5\u00f5tmise jaoks. Reaalsete laste testide p\u00f5hjal (katsete k\u00e4igus ei kannatanud \u00fckski laps!) oli see piisav andmete normaliseerimiseks. F\u00fc\u00fcsika on siin lihtne: meil on signaalid, mis on peegeldunud vajalikelt<\/b> objektidelt (millel on vajalik kaugus) ja peegeldunud kaugematelt, n\u00e4iteks seintelt. Teised esindavad juhuslikke k\u00f5rvalekaldeid m\u00f5\u00f5tmistes nagu 45, 46, 230<\/b>, 46, 46, 45, 45, 310<\/b>, 46\u2026 Just neid mediaanfilter ja eemaldate.<\/p>\n

    P\u00e4rast kogu t\u00f6\u00f6tlemist saame kauguse l\u00e4hima objekti juurde. Kui see on v\u00e4iksem teatud piirm\u00e4\u00e4rast, siis l\u00fclitame sisse h\u00e4ire ja suundume otse \"rikkuja\" juurde.<\/p>\n

    Vilkuv tuli ja sireen<\/b><\/p>\n

    Need on v\u00f5ib-olla k\u00f5ige lihtsamad elemendid, mida siin loetletud. Nende vorme on n\u00e4ha \u00fclalolevatel fotodel. Varustusest ei ole m\u00f5tet r\u00e4\u00e4kida, seega liigume n\u00fc\u00fcd edasi koodi<\/b>.<\/p>\n

    Juhtimisprogramm<\/h2>\n

    \nKoodi detailne kirja panemine ei tundu m\u00f5ttekas, kes vajab \u2014 link artikli l\u00f5pus, seal on k\u00f5ik piisavalt arusaadav. K\u00fcll aga oleks hea selgitada \u00fcldstruktuuri.<\/p>\n

    Esimene asi, mida pidin m\u00f5istma: robot on reaalajas seade. T\u00e4psemalt \u00f6eldes tuleb see meelde tuletada, kuna olen enamasti tegelenud elektroonikaga. Seega unustame kohe \u00e4ra delay()<\/b>, mida v\u00e4ga armastatakse kasutada n\u00e4idisteskeemides, ja mis lihtsalt \"k\u00fclmutab\" programmi m\u00e4\u00e4ratud ajaperioodiks. Selle asemel, nagu soovitavad kogenud inimesed, kasutame igas plokis ajastajaid. Kui soovitud periood on m\u00f6\u00f6das, siis teeme toimingu (suurendame LED valgustust, l\u00fclitame mootori sisse jne).<\/p>\n

    Ajastajad v\u00f5ivad olla omavahel seotud. N\u00e4iteks, helina t\u00f6\u00f6tamine toimub s\u00fcnkroonselt vilkuva tulega. See lihtsustab programmi.<\/p>\n

    Muidugi jagame k\u00f5ik eraldi funktsioonideks (vilkuv tuli, heli, p\u00f6\u00f6rde, edasiviimine jne). Kui seda ei tehta, siis hiljem ei saa enam aru, kust mis tuleb ja kuhu l\u00e4heb. <\/p>\n

    Pedagoogika n\u00fcansid<\/h2>\n

    \nKogu eel\u00f6eldut tegin ma oma vabal ajal \u00f5htuti. Aeglasemas tempos kulus mul roboti peale umbes kolm n\u00e4dalat. Sellega v\u00f5ikski l\u00f5petada, kuid lubasin teile ka r\u00e4\u00e4kida, kuidas t\u00f6\u00f6tada lastega. Mida on sellises eas v\u00f5imalik teha?<\/p>\n

    T\u00f6\u00f6 juhendiga<\/b><\/p>\n

    Iga detaili kontrollisime esmalt eraldi \u2014 LEDid, heliseja, mootori, andurid jne. On palju valmis n\u00e4iteid \u2014 m\u00f5ned otse arenduskeskkonnas, teised leiate internetist. See on kindlasti r\u00f5\u00f5mustav. V\u00f5tame koodi, \u00fchendame detaili, veendume, et see t\u00f6\u00f6tab, ja siis hakkame seda oma \u00fclesande jaoks muutma. Laste \u00fchendused vastavalt skeemile ja mu teatud kontrollile teevad nad ise. See on hea. T\u00e4pselt juhendi j\u00e4rgi t\u00f6\u00f6tamiseks peab samuti oskama.<\/p>\n

    T\u00f6\u00f6korraldus (\"\u00fcldiselt konkreetse kaudu\")<\/b><\/p>\n

    See on keeruline punkt. Tuleb harjuda, et suur projekt (\"robot ehitamine\") koosneb v\u00e4ikestest \u00fclesannetest (\"sensori \u00fchendamine\", \"mootorite \u00fchendamine\"...), ja need omakorda koosnevad veelgi v\u00e4iksematest sammudest (\"programmi leidmine\", \"plaadi \u00fchendamine\", \"firmveebi laadimine\"...). T\u00e4ites enam-v\u00e4hem arusaadavaid madalama taseme \u00fclesandeid, \"lahendame\" keskastme \u00fclesanded ja nendest moodustub juba \u00fcldine tulemus. Olen selgitanud, kuid arvan, et arusaamine ei tule veel kaua. Kusagil ilmselt teismelise ea paiku.<\/p>\n

    Paigaldamine<\/b><\/p>\n

    Drilling, threading, screws, nuts, soldering, and the smell of rosin \u2014 how could we do without this? The child has acquired the basic skill of 'Working with a soldering iron' \u2014 we managed to solder a few connections (I did help a bit, I won't deny). Do not forget about explaining safety techniques.<\/p>\n

    Working on the computer<\/b><\/p>\n

    I wrote the program for the robot, but we still managed to achieve some incidental results.<\/p>\n

    First: English. They just started teaching it at school, so we were 'struggling' with understanding what pishalka, migalka, yarkost, and other transliteration terms meant. At least we got that part. I consciously avoided using native English words, since we hadn't reached that level yet.<\/p>\n

    Second: effective work. We learned hotkey combinations for quickly performing standard operations. Periodically, when writing the program, my son and I switched places, and I explained what needed to be done (replacement, search, etc.). I had to repeat over and over: 'highlight by double-clicking', 'hold Shift', 'hold Ctrl', and so on. The learning process is not quick here, but I think the skills will gradually settle into 'the subconscious'.<\/p>\n

    Peidetud tekst<\/b>You might say that the above is almost obvious. But honestly, this fall I had the misfortune of teaching computer science to 9th graders in one school. It was terrible. The students don't know basic things like Ctrl + Z, Ctrl + C, and Ctrl + V, text highlighting while holding Shift, or double-clicking on a word, and more. This is after they\u2019ve had three years of computer science education... You can draw your own conclusions. <\/p>\n

    Third: touch typing. I entrusted my child with typing comments in code (let them practice). We immediately positioned the hands correctly so that the fingers would gradually memorize the key placements.<\/p>\n

    As you can see, we're still just getting started. We will continue honing our skills and knowledge; they will come in handy in life.<\/p>\n

    By the way, about the perspective...<\/p>\n

    Edasine areng<\/h2>\n

    \nRobot on tehtud, see s\u00f5idab, vilgub ja piiksub. Mis n\u00fc\u00fcd edasi? Inspireerituna saavutatuist plaanime seda veel edasi arendada. On m\u00f5te luua kaugjuhtimine - nagu kuulaht, oleks huvitav istuda m\u00f5nel puldil ja juhtida roboti liikumist, mis liigub t\u00e4iesti uues kohas. Kuid see on juba muu lugu\u2026<\/p>\n

    Ja l\u00f5puks, p\u00f5him\u00f5tteliselt, selle artikli kangelased (video lingil):<\/p>\n

    \"Esimese<\/a><\/noindex><\/p>\n

    Ait\u00e4h t\u00e4helepanu eest!<\/p>\n

    \u2192 Link koodile<\/a><\/noindex>
    \n
    Allikas:     habr.com<\/a><\/p>","protected":false,"gt_translate_keys":[{"key":"rendered","format":"html"}]},"excerpt":{"rendered":"

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