Abstract: Hamwe niterambere ryikoranabuhanga mugihe cyihuta na modularite, automatike ya sisitemu ya robo iba mubyukuri.Muri iyi mpapuro sisitemu yo kumenya inzitizi sisitemu yasobanuwe kubwimpamvu zitandukanye.Rukuruzi ya ultrasonic andrinfrared ikoreshwa muburyo bwo gutandukanya inzitizi munzira ya robo mugutanga ibimenyetso kuri microcontroller.Igenzura rya miniature riyobora robot kugirango yimure inzira isimbuza moteri isaba kwirinda inzitizi zitandukanye.Isuzuma ryimurikabikorwa ryerekana ibyerekana 85 ku ijana na 0.15 bishoboka ko umuntu yatenguha.Urebye ibintu byose, inzitizi yo kuvumbura inzitizi yashyizwe mubikorwa hakoreshejwe ibyuma bya infragre na ultrasonic byashyizwe kumurongo.
1.Iriburiro
Porogaramu hamwe nuburyo butandukanye bwa robot yoroheje ni intambwe ku ntambwe yubaka buri munsi.Bahora batera imbere muburyo butandukanye mubice bitandukanye, urugero, igisirikare, imirima yubuvuzi, isuzuma ryumwanya, hamwe no kwita kumurugo.Iterambere ni ikintu gikomeye kiranga robot zihuza n'imihindagurikire yo kwirinda no kwemeza inzira bigira uruhare runini muburyo abantu bitwara bakabona imiterere yigenga.Icyerekezo cya PC hamwe na sensor sensor ni ingingo yibanze yamenyekanye sisitemu ikoreshwa mubiranga robot zitandukanye.PC itandukanya proofimethod irakomeye kandi irenze urugero murwego rwimikorere ya sensor.Gukoresha amavuta ya radar, infragre (IR) hamwe na sensororo ya andrultrasonic kugirango ukore sisitemu yo kumenya inzitizi byatangiye neza mugihe kimwe na sisitemu yo kumenya inzitizi.1980′s.Hatitawe ku kuntu, nyuma yo kugerageza izo terambere hatekerejwe ko iterambere rya radar ariryo ryiza cyane ryo gukoreshwa kuko andi mahitamo abiri yiterambere yatondekanye kubuza ibidukikije, urugero, umuyaga, urubura, umunsi wikiruhuko, nisi .Uburyo bwo gupima ibikoresho byari byongeye kandi iterambere ryumvikana buri kimwe kuri ibi nibigomba kugaruka [3].Ibyuma bifata ibyuma bisa nkaho bigarukira gusa ku bimenyetso bizwi byerekana inzitizi.Senseri zitandukanye zirashobora gukoreshwa mugukuraho ibintu bitandukanye byerekana ibihingwa mubihingwa, bikemerera robot yiyobora gutanga ifumbire iboneye muburyo bwiza, byerekana ibihingwa bitandukanye nkuko byasobanuwe na
Hariho udushya dutandukanye twa IOT muguhinga ikubiyemo gukusanya amakuru ahoraho kubijyanye nikirere kiriho harimo kwibasirwa n’umuvuduko, ubukonje, ubushyuhe, imvura n’ibindi.Icyo gihe amakuru arimo gukusanywa arashobora gukoreshwa mugukoresha uburyo bwo guhinga kandi birashobora kwigishwa guhitamo gushakisha umubare nubwiza kugirango ugabanye akaga no gusesagura, kandi bigabanye ibikorwa biteganijwe kugirango umusaruro usarurwe.Kuri moderi, aborozi kuri ubu barashobora kwerekana ubutaka bwubushyuhe nubushyuhe bwubworozi buturuka mu karere ka kure ndetse bagashyira mubikorwa ibikorwa bisabwa kugirango bahinge neza.
2.Uburyo no Gushyira mu bikorwa
Inzira yasuzumwe muriyi mpapuro ikora mubyiciro bikurikira.Byongeye kandi, amakuru yamenyekanye yita kubuyobozi bubiri bwa Arduino bwa nyuma bwateguwe na gahunda ya Arduino [8].Igishushanyo mbonera cya sisitemu cyerekanwe mubishusho 1.
Igishushanyo 1:Hagarika igishushanyo cya sisitemu
Iterambere ryibanze ryasabye Arduino UNO kugirango ikoreshe amakuru ya sensor (Echo ultrasonic sensor) no kwerekana ibendera (moteri ya DC) kugirango itere.Module ya Bluetooth irakenewe kugirango yandikirane nurwego n'ibice byayo.Urwego rwose rufatanije nu rubaho rwumugati.Ubuhanga bwibi bikoresho butangwa hepfo:
2.1Ultrasonic Sensor
Igishushanyo 2. Hano hari sensor ya ultrasonic ikikije ikinyabiziga gikoreshwa mukumenya inzitizi zose.Rukuruzi rwa ultrasonic rwohereza amajwi kandi rugaragaza amajwi avuye mu kintu.Mugihe aho ikintu ari igice cyumuraba wa ultrasonic, imbaraga zibaho zigera kuri dogere 180.Mugihe inzitizi yegereye igice ingufu zigaragarira inyuma cyane mbere yigihe kirekire.Mugihe ibintu biri kure, icyo gihe ikimenyetso cyerekanwe kizatwara igihe gito kugirango ugere kubakira.
Igishushanyo 2 Ultrasonic Sensor
2.2Ubuyobozi bwa Arduino
Arduino ni Associate muri Nursing ifunguye ibikoresho byo gutangiza no gutangiza porogaramu bizatanga umuguzi kugerageza no gukora ibikorwa bikomeye muri byo.Arduino irashobora kuba microcontroller.Ibikoresho bya microcontroller byoroha mugusebanya no kuganza ingingo mubihe bihoraho kandi, ikirere.Izi mpapuro ziragerwaho zidahenze ku isoko.Hariho iterambere ritandukanye ryabigizemo uruhare, biracyakomeza.Ubuyobozi bwa Arduino bwerekanwe kumashusho 3.
Igishushanyo 3:Ubuyobozi bwa Arduino
2.3DC Motors
Muri moteri isanzwe ya DC, hariho magnesi zihoraho hanze nayo, armature ihinduka imbere.Burya iyo ukoresheje imbaraga muriyi electromagnet, ikora umurima ukurura muri armature ikurura kandi ikazunguruka magnet muri stator.Noneho, armature ihinduka kuri dogere 180.Biboneka mu gishushanyo cya 4.
Igishushanyo 4:DC Moteri
3. Ibisubizo n'ibiganiro
Iyi miterere yatanzwe ikubiyemo ibikoresho nka Arduino UNO, ibintu bidashobora kwihanganira ibyumviro, ikibaho cyumugati, ibimenyetso byo kubona inzitizi no kumurikira abaguzi hifashishijwe inzitizi, LED itukura, Guhindura, gusimbuka interineti, banki yingufu, inkoni yumutwe wigitsina gabo nigitsina gore, icyaricyo cyose byinshi kandi bifatanye kugirango ukore ibikoresho byambarwa kubaguzi nkitsinda rya siporo.Amashanyarazi ya contraption akorerwa muri Associate muri Nursing nyuma yinzira.Ikirangantego gikosora ibintu byahujwe na Arduino GND.+ Ve ihujwe na LED ya Arduino pin 5 hamwe nu kuguru hagati.Buzzer ihujwe ukuguru gusanzwe kwa switch.
Ahagana ku musozo, nyuma yubufatanye bwose bukozwe mubuyobozi bwa Arduino kwimura kode kubuyobozi bwa Arduino hanyuma uhatira module zitandukanye ukoresheje banki yingufu cyangwa imbaraga muburyo bwitondewe.Uruhande rwo kureba kuruhande rwateganijwe rwerekanwe munsi yishusho ya 5.
Igishushanyo 5:Kuruhande kuruhande rwicyitegererezo cyagenewe gutahura inzitizi
Ultrasonic sensing element hano ikoreshwa nka terefone yubufaransa.Ultrasonic waves ar yoherejwe na transmitter iyo ibintu ar bimaze kubona.buri kintu cyohereza hamwe nabagenerwabikorwa muri ultrasonic sensing element.dufite impengamiro yo kumenya umwanya urambuye hagati yatanzwe kandi twabonye ikimenyetso.Parcelle hagati yikibazo na sensing element ikemurwa ukoresheje iyi.Burya nyuma yo kongera itandukaniro hagati yingingo bityo rero sensing element igitekerezo cyibitekerezo gishobora kugabanuka.sensing element ifite guhuza impamyabumenyi mirongo itandatu.Urwego rwa nyuma rwa robo rugaragara munsi yishusho ya 6.
Igishushanyo 6:Imashini yarangije Imikorere imbere
Urwego rwashyizweho rwageragejwe no gushyira inzitizi kubitandukanya bitandukanye.Imyitwarire ya sensor yasuzumwe ukwayo, kubera ko yari iri mubice bitandukanye bya robo yigenga.
4. Umwanzuro
Ubuvumbuzi no guhunga uburyo bwa sisitemu yikora.Ibice 2 bya sensororo byakoreshejwe kugirango bamenye inzitizi kuburyo bwa moteri itwara.urwego rwukuri kandi byibuze bishoboka gutenguha ntibyari byemewe.Isuzuma ku buntu ryerekana ko rifite ibikoresho byo guhunga inzitizi, ubushobozi bwo kuguma kure yimpanuka no guhindura umwanya waryo.Ikigaragara ni uko iyi gahunda irushijeho kuba iyoroshye irashobora kongerwaho artrtolthis igamije gukora imipaka itandukanye hamwe na zeru yitabiriwe nabantu.Hanyuma, ukoresheje IR, ithe robot wasrmaderto igenzurwa kure.abagenerwabikorwa nuyobora kure.Iki gikorwa kizagira akamaro mu bihe bitarangwa n’ikirere, kurinda umutekano n’umutekano w’igihugu.
Igihe cyo kohereza: Nyakanga-21-2022