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LEGO MINDSTORMS

B mn Khoa Hc My Tnh
Khoa Cng ngh thng tin
i hc Khoa hc t nhin TP HCM

Ging vin hng dn :

L Hoi Bc
Nguyn Quang Anh
Nguyn Tin Huy
Trn Trung Kin

MC LC
Cc ni dung chnh ............................................................................................
1

Thng tin nhm ......................................................................................... 1

tng ...................................................................................................... 2

Thit k ...................................................................................................... 3

Thc hin ................................................................................................... 7

Vn hnh .................................................................................................... 7

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Thng tin nhm

MSSV

H Tn

Email

in thoi

1312335

Mai Thanh Long

1312335@student.hcmus.edu.vn

01267595614

1312614

Hong Xun Ton

1312614@student.hcmus.edu.vn

01659624010

H Khoa hc t nhin TP HCM | B mn Khoa hc my tnh

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TNG

2.1 Cc tnh nng ca sn phm

MVR l 1 robot xe khng ngi li c th :
+ T ng di chuyn trn ng m khng ri khi ln ng
+ T ng n trnh cc vt cn trn ng
+ i theo 1 l trnh c nh sn : l trnh l 1 dy cc hng i : i thng, r tri, r phi

2.2 Cc vn chnh cn gii quyt

+ Lm th no robot c th di chuyn m vn trong ln ng ? Khi robot i ra khi ln
ng th phi x l nh th no ?
+ Lm sao robot c th nhn bit c vt cn trc mt ? Khi gp vt cn robot phi x l ra
sao ?
+ Lm sao input 1 l trnh nh sn vo cho robot ? Khi input l trnh th robot phi hot
ng th no c th i theo ng l trnh ?

2.3 Cng dng thc t ca sn phm

+ Xe vn chuyn hng ha, sn phm
+ Xe vn chuyn hnh khch : taxi, xe bus
+ Xe vn chuyn ngi tn tt, khuyt tt khng th t li xe
Da trn sn phm thc t : self-driving car ca Google.

H Khoa hc t nhin TP HCM | B mn Khoa hc my tnh

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Thit k

3.1 Cu trc :
Robot gm c cc thnh phn chnh :
+ 1 b vi x l trung tm NTX 2.0
+ 1 Color Sensor : cm bin nhn dng mu sc
+ 1 Ultrasonic Sensor : cm bin siu m nhn dng vt cn
+ 3 Motor gm : 2 motor cho 2 bnh xe, 1 motor iu khin xoay cm bin siu m

3.2 Bn v phc tho :

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3.3 Thut ton vn hnh :

3.3.1

T ng di chuyn trn ng m khng ri khi ln ng

iu kin :
Ln ng phi phng v c t ng nht 1 mu(en). Khu vc bn ngoi ln ng c t
mu khc (trng)
Khi to :
S dng cm bin nh sng (c tch hp trong cm bin mu sc) o cng sng ca
mu ln ng (en) v cng sng ca mu ca khu vc bn ngoi ln ng(trng) .Khi
to bin mid = trung bnh cng ca 2 cng sng va o. t robot st bin phi ca ln
ng cm bin nh sng nm chnh gia bin phi ca ln ng v khu vc ngoi ln ng
Vn hnh :
Lin tc s dng cm bin nh sng c cng sng ca mt ng, gi tr c c lu
vo bin cur. Nu :
+ cur < mid : cm bin nh sng b lch v bn tri (v pha trong ln ng). Xoay robot
v pha bn phi A0 .Gi tr A t l thun vi |cur mid|
+ cur > mid : cm bin nh sng b lch v bn phi (v pha ngoi ln ng). Xoay robot
v pha bn tri A0 .Gi tr A t l thun vi |cur mid|
+ cur = mid : cm bin nh sng khng b lch. Cho robot i thng
Nh vy robot s khng i chnh gia ln ng nh chng ta mong i m phi i st bin
phi
3.3.2

N trnh vt cn

iu kin :
Chiu rng ca vt cn khng qu ln xe c th vt qua m khng ri khi ln ng
Vn hnh :
- Bc 1 : Di chuyn theo thut ton 1 ng thi s dng cm bin siu m kim tra vt cn
trc mt. Nu pht hin vt cn trc mt trong phm vi 50 cm th cho robot dng li
- Bc 2 : Xoay robot sang tri 900. Xoay cm bin siu m sang phi 900. i thng cho n khi
1 trong 2 trng hp sau xy ra :

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+ TH1 : Cm bin siu m khng cn thy vt cn na. Qua bc 3

+ TH2 : Cm bin mu sc nhn c mu trng (robot ri khi ln ng). Qua bc 4
- Bc 3 : Cho robot xoay phi 900. i thng n khi cm bin siu m khng cn thy vt cn.
Xoay cm bin siu m sang tri 900. Quay li bc 1
- Bc 4 : Cho robot xoay phi 1800. Xoay cm bin siu m sang tri 1800. i thng n khi cm
bin siu m khng cn thy vt cn. Cho robot xoay tri 900. Xoay cm bin siu m sang phi
900. Quay tr li bc 1
3.3.3

Di chuyn theo l trnh nh sn

iu kin : Trc khi n cc giao l th khu vc bn gc phi ca ln ng ang i phi c

t mu khc 2 mu en v trng. Chn mu xanh
Vn hnh : Sau khi input l trnh. Cho robot i theo thut ton 1 v 2. Trong qu trnh i lin tc
kim tra cm bin mu nu nhn c mu xanh th dng li. c hng i t l trnh quyt
nh i thng hay r tri, r phi

3.4 Chi ph d kin :

Tn

S lng

NTX

Ultrasonic sensor

Color sensor

Tachor Motor

Bnh xe

Technic 9M Beam

Technic 11M Beam

Technic 13M Beam

Connector Peg

20

Cross Axle 3M

Cross Axle 7M

Cross Axle 9M

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Cross Axle 12M

......

3.5 Cc ri ro d kin :
V thit b :
+ Sai s khi xoay robot, xoay cm bin siu m
+ Cm bin siu m khng hot ng chnh xc
+ Ri ro v chy n ,h hng thit b
V thut ton :
+ Khi cm bin mu nm lch v bin tri ca ln ng th robot s xoay u v i ngc
ng
+ Trong qu trnh robot di chuyn vt qua vt cn nu gp phi 1 vt cn khc th
robot khng th nhn bit v n trnh c

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4
5
Tn
Module

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Thc hin

Vn hnh
Chc nng

u im

H Khoa hc t nhin TP HCM | B mn Khoa hc my tnh

Nhc im

nh
gi

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