Kwas 9 cikin 10: Guje wa Shinge ta amfani da Motar Wayo 4WD Raspberry Pi Pico

Kwas 9 cikin 10: Guje wa Shinge ta amfani da Motar Wayo 4WD Raspberry Pi Pico

Gabatarwa

Wannan jagorar, wanda ya dogara da Darasi na 9 daga cikin 10 na Robojax, yana nuna yadda ake gina mutum-mutumi mai guje wa cikas ta amfani da kayan aikin SunFounder Raspberry Pi Pico 4WD Smart Car. Aikin ya haɗa firikwensin ultrasonic da ke motsawa da servo tare da sarrafa motoci don ƙirƙirar mutum-mutumi wanda zai iya kewaya muhallinsa da kansa. Ta hanyar jujjuya firikwensin kamar radar, motar tana gano cikas kuma tana zaɓar hanya mai kyau don ci gaba da hikima, wanda hakan ya sa ya zama kyakkyawar gabatarwa ga fasahar mutum-mutumi, haɗin firikwensin, da kewayawa mai zaman kanta.

Wannan aikin ba abin wasa kawai ba ne; tushe ne ga aikace-aikace masu amfani da yawa. Ga wasu ra'ayoyi don ƙarfafa ku:

• Mutum-mutumi na Bincike mai Zaman Kansa: Gina mutum-mutumi wanda zai iya taswira da bincika ɗaki ko yanki na waje ba tare da sa hannun ɗan adam ba.
• Na'urar Tsabtace Mai Hikima: Yi amfani da ƙa'idodi iri ɗaya don ƙirƙirar mutum-mutumi wanda ke kewaya ɗaki, yana guje wa kayan daki da bango yayin tsaftacewa.
• Bot na Tsaro: Shirya motar don sintiri a kewayen wuri kuma yi amfani da firikwensin ultrasonic don ganowa da ba da rahoton cikas ko kutse marasa tsammani.
• Dandalin Ilimi na AI: Yi amfani da wannan aikin a matsayin mataki na farko don koyon algorithms masu rikitarwa kamar neman hanya da taswira na lokaci guda (SLAM).

Wannan darasi yana mai da hankali kan ainihin dabaru da lambar da ke ba motar damar yanke shawara. Motar tana amfani da motar servo don jujjuya firikwensin ultrasonic, yana aiki azaman radar don auna nisa daga digiri 0 zuwa 180. Lambar tana nazarin wannan bayanan don nemo mafi faɗin hanya mara cikas kuma tana jagorantar motar don tafiya gaba, hagu, ko dama daidai da haka. Bidiyon yana nuna dukkan tsari, daga gwada ɓangarorin guda ɗaya zuwa gudanar da tsarin guje wa cikas na ƙarshe a cikin maze na gaske.

Kayan Masu Amfani/Abubuwan Haɗi

Wannan aikin ya dogara ne akan kayan aikin SunFounder Raspberry Pi Pico 4WD Smart Car. Abubuwan da ake buƙata a wannan darasi sune:

• Kwamfutar Raspberry Pi Pico microcontroller
• SunFounder 4WD Smart Car chassis tare da motoci huɗu
• Allon sarrafa motoci
• Firikwensin nisa na ultrasonic (nau'in HC-SR04)
• Motar servo (don jujjuya firikwensin ultrasonic)
• Samar da wutar lantarki (batura don motar)

Jagorar Haɗin Waya

Kayan aikin SunFounder an tsara su ne don sauƙin haɗawa, kuma haɗin waya yawanci an riga an haɗa su ta hanyar allon faɗaɗawa na musamman. Firikwensin ultrasonic an dora shi akan motar servo, wanda aka haɗa shi da babban allon sarrafawa. Wannan saitin yana ba da damar jujjuya firikwensin don duba muhalli. Don cikakken zanen haɗin waya na musamman ga kayan aikin ku, da fatan za a koma ga takaddun SunFounder na hukuma.

Babban haɗin ya ƙunshi fil ɗin trigger da echo na firikwensin ultrasonic, da fil ɗin siginar motar servo, duk an haɗa su zuwa wasu fil ɗin GPIO na musamman akan Raspberry Pi Pico. Hakanan an haɗa allon sarrafa motoci zuwa Pico don sarrafa motocin tuƙi huɗu. Bidiyon ya ambata cewa cikakken takardu, gami da zanen haɗin waya, ana samunsu don saukewa tare da kayan aikin.

Bayanin Lambar

Wannan darasi yana mai da hankali kan dabaru a cikin misalin `obstacle_avoid`. An rubuta lambar a cikin MicroPython. Yayin da cikakken shirin yana samuwa don saukewa, za mu mai da hankali kan mahimman sigogi waɗanda mai amfani zai iya daidaita su waɗanda ke sarrafa halayen motar. Waɗannan yawanci ana samun su a saman rubutun.

Ga manyan masu canji waɗanda zaku iya daidaita su don inganta aikin mutum-mutumin ku:

# Sigogin radar da motsi
radar_reference = 20  # Mafi ƙarancin nisa a cm da za a ɗauka a matsayin lafiya
step_angle = 10       # Ƙarin kusurwa ga kowane mataki na binciken radar
forward_speed = 30    # Gudun motar don tafiya gaba (0-100)
turn_speed = 50       # Gudun motar don juyawa (0-100)
forward_scan_angle = 50  # Kusurwar da servo ke bincika lokacin da ba a gano cikas ba

• radar_reference: Wannan shine muhimmin nisan aminci a santimita. Idan an gano cikas kusa da wannan ƙimar, motar za ta ɗauke shi a matsayin "haɗari" kuma ta fara aikin guje wa. A cikin bidiyon, an saita wannan zuwa 20 cm.
• step_angle: Wannan yana bayyana ƙudurin binciken radar. Ƙarami (misali, digiri 10) yana nufin cikakken bincike amma yana ɗaukar lokaci mai tsawo. Babba zai yi sauri amma zai iya rasa ƙunƙuntattun cikas.
• forward_speed & turn_speed: Waɗannan suna sarrafa ƙarfin da ake aikawa zuwa motoci. Kuna iya daidaita su don canza gudun motar gabaɗaya da ƙarfin motsi. Gudun juyawa yawanci ana saita shi mafi girma don tabbatar da cewa motar na iya juyawa yadda ya kamata.
• forward_scan_angle: Lokacin da babu haɗari nan take a gaba, motar tana ƙara ƙunƙuntar bincikenta zuwa wannan kusurwa (a tsakiya akan gaba) don duba cikas akai-akai a hanyarta kai tsaye, yana ba da damar motsi gaba mai sauƙi.

Bidiyon ya kuma bayyana ainihin dabarun yanke shawara. Wani aiki `get_direction()` yana nazarin jerin karatuttukan nisa (wanda aka canza zuwa 1s da 0s don aminci/rashin aminci) don nemo mafi faɗin hanya mai ci gaba na "1"s. Dangane da inda wannan mafi faɗin hanya take, aikin yana mayar da alkibla: "gaba", "hagu", ko "dama". Babban madauki sannan ya aiwatar da matakin da ya dace, yana juya motar da sake dubawa har sai hanyar da ke gaba ta bayyana.

Aiki Kai Tsaye/Nunawa

Bidiyon yana ba da cikakken nunin aikin. Ya fara da gwada firikwensin ultrasonic shi kaɗai don nuna yadda yake auna nisa da buga ƙimar zuwa shell. Mai koyarwa sannan ya bayyana algorithm na guje wa cikas ta amfani da flowchart, yana dalla-dalla tsarin yanke shawara don juya hagu da dama. A ƙarshe, an sanya motar a cikin ƙaramin maze da aka ƙirƙira daga akwatuna don nuna cikakken halin guje wa cikas a aikace. Motar tana samun nasarar kewaya maze, tana juya hagu da dama don samun hanya bayyananna a gaba.

Babban Fannonin Bidiyo

• [00:00] Gabatarwa ga Guje wa Cikas
• [01:31] Bayanin SunFounder Smart Car Kit da Fasaloli
• [02:47] Yadda Fasalin Guje wa Cikas ke Aiki
• [03:34] Gwajin Firikwensin Ultrasonic
• [07:45] Bayanin Algorithm na Guje wa Cikas da Flowchart
• [12:49] Nazarin Babban Lambar Guje wa Cikas
• [15:43] Nunin Kai Tsaye na Dabarun Guje wa Cikas
• [22:53] Nunin Ƙarshe tare da Maze na Cikas
• [24:35] Ƙarshe da Matakai na Gaba

Hotuna

pico-4wd_main

PICOBOARDWHITEANGLE2_1200x857

Sunfounder_Pico4DW-09-Obstacle-avoidance setup with obstacle on the floor

Sunfounder_Pico4DW-09-Obstacle-avoidance_when ultrasonic detects obstacle

pico-4wd_main

PICOBOARDWHITEANGLE2_1200x857

Sunfounder_Pico4DW-09-Obstacle-avoidance setup with obstacle on the floor

Sunfounder_Pico4DW-09-Obstacle-avoidance_when ultrasonic detects obstacle

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