DIGITAL MODULE FOR LINE-ROBOT(ЦИФРОВОЙ МОДУЛЬ ДЛЯ LINE-РОБОТА)
June 22, 2010
Digital module after installation roboplatformu, keeps it on the line while moving forward. In sostavtsifrovogo module includes the following functional units: a memory element in the trigger, PWM variable speed motors, adjustable brightness infrared LED, a differential controller sensitivity phototransistor circuit active engine braking.
Memory element to trigger remembers the direction of descent and produces a correction signal to the engine in a direction opposite way down the line.
PWM controller allows you to change the speed of movement of the robot in a wide range from minimum to maximum. This regulation provides an opportunity to choose the optimum speed required for the sustainable movement on the highway.
Tuning adjustment of brightness infrared LED can be set to the sensitivity of the phototransistor of the reflected radiation.
Differential regulator allows to equalize the sensitivity for both phototransistor, so that the robot to react properly without the "distortions" in the sensitivity of a phototransistor.
How active inhibition immediately stops one of the motors, provided that the appropriate phototransistor is on the black line. The active inhibition prevents idling engine and an opportunity to go robot from the line of inertia.
To transfer a picture of the PCB by Louth in the archive is given termoklishe in exact
sizes. Fit sizes, introduce drawing termoklishe in pages and others do not have to, because it will change the proportions.
Upon receiving the picture, set in a laser printer on glossy paper
magazines or glossy brochures. Open the picture in termoklishe or another program without making any changes, give the command to print. Then you will get quality print termoklishe. Then by well-known method for translating an iron image Glass. PCB Figure 2 is made of one-sided sheet of glass-thickness 1-1,5 mm. Dimensions of the PCB 60x50mm. Installation of radio components is performed on the drawing shown in Figure 3. All resistors are domestic or imported
production capacity of 0,125 Tues The resistors and capacitors must comply with those in Table 1. Note especially the installation of the condenser 3 large containers. It must be soldered so that later you can bend the findings, and place it in a horizontal position. LED infrared utaplivayut to the base case and soldering as any other element. The best results are when used in the construction of LEDs in the case of imported 5mm bright luminosity C. The assembly jumpers use a thin single-strand wire or findings from other radio components such as resistors. As photovoltaic cells are used phototransistors FT-2K, optional import phototransistor. For the phototransistor FT-2K in the wiring diagram indicated the position of the reservoir (marked square). Structural length output from phototransistor FT-2K (structure - n) is a collector. Before installation, check
resistance of both phototransistor irradiation with bright light table lamp with the same distance. Perhaps this resistance will be different and this is better to know in advance. Since it is required when configuring the robot. When installing the phototransistors to tinker with an indent from the circuit board of approximately 0,5 cm Power supply digital modules - the three batteries of 1.5 volts each, for a total of 4.5 volts. The power supply is used on the robot, on which the module will be installed. The collected digital module is shown in foto.1 and foto.1.b and at different angles. The digital module is installed on a robot running on the line from the column for beginners (foto.2). If you install this robotplatformu, you need
prepare a robot to install digital module. And so it begin .. First, the dismantling of transistors KT972 with the back of the robot, then dismount the phototransistors on the reverse side and all connecting wires, connected to the engine, also remove the power switch, if installed. To dismount, Proceed the photograph (foto.3 and foto.4). Install beneath the bottom of your robot and attach it as shown in the photos. In the corner areas on the left and right of the PCB module drilled hole diameter 1,2 mm. As the fastener by using paper clips. Take paper clip and straighten it in bars, then cut about 40mm. Pass through the left hole and vygnite with the letter "G", then do the same and
with the right hole. Zaludite ends bent paper clips (foto.5 and foto.5 and, b). Cut a rectangle of cardboard and put it kA. insulator on the rear surface of the robot. Attach the top board digital module and set it so that the two mounting clips are ahead, and connectors and switch
Power rear. Payayte clips to tin-plated parts of the card robot. Now the digital module securely under the bottom of the robot. You can also use their own ways of fasteners that are available to you at home. Connect power to the digital module, from the sheath with three batteries, which is located
on the robot. Assembling wire motors the robot and the terminals at the bottom of the figure drawings of the mounting plate.
On the shafts of both engines need to wear rubber rollers of small diameter 6-8mm for the normal adhesion to the surface (foto.6). A front bearing cap clip from the ordinary pen (foto.7). It is necessary to improve the sliding front support.
After mounting the radio components needed an easy adjustment model robot.
Before setting, make sure the batteries installed in a case gives the total voltage of not less than 4 volts. Or better, install a "fresh" batteries because adjustment may take some time. Set the robot on a clean sheet, turn the speed control of movement of the robot to the maximum. Turn on the power. If the robot does not move, then you set the speed control to the minimum, or allowed other errors during assembly. Remove all noticed deficiencies and repeat the procedure. If the robot goes, turns on the spot or coming back, determine what the engine rotates in the opposite direction, and resolder the wires connected to it, swap them. Once the robot is go straight (on a white sheet) to check PWM speed regulation. Take a small screwdriver and turn the engine trimmer R. If the rate varies from minimum to maximum, then control is working. If not, try to carefully inspect pins, the quality of rations, or possible short circuit soldering. Set the speed of movement is small and remove the lights brightness LEDs (power) 1 closer to the minimum. In this regulation "Differ" trimmer 2 must be set in the middle position. Set the robot on the line, so that the line was between the phototransistor. If your track is too broad and covers both the phototransistor, carefully peel back the phototransistors slightly toward the outside. Make sure that the conclusions of the phototransistor not been closed after the bend. Note that the phototransistors to be
located at some distance from the surface of the sheet otherwise (if they will be pressed to the surface), they will not respond to the reflected radiation. Spend the first trial run on the track. If your robot loses track, determine which side is more going on. Then adjust the trimmer two differential sensitivity between left and right phototransistor. If the robot does not react to the black line tracks, perhaps the intensity of infrared radiation is too great. Adjust the level of radiation close to the minimum resistor 1. How to visually identify the radiation power? Very simply, if your cell phone equipped with a camera. Turn the camera on your cell phone and move toward LED HL 1, HL 2. When powering on the light-emitting diodes, they will shine! Thus, you can see the invisible radiation, and adjust its intensity with trimmer R1. An important factor de-Line is the speed of movement. At high speeds, this probability increases in direct proportion, so to increase the stability on the line slows down the speed as possible! In addition, the movement at a slower speed saves power, hence, the robot will work for much longer.
Another factor in the stability of the robot on the line is the width of the road. What is more, the easier it is to move the robot and "easier" to respond to the meeting with her. If your robot is running steadily along my congratulations you have finished assembling and properly set up an!