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Cat vs Mini4WD ROBOT
1.
THE CAT VS MINI 4WD
ROBOT 進階嵌入式系統設計與實作_期末專題第10組
2.
作品想法
3.
• 自身有養寵物習慣 • 主人經常不在家 •
貓咪懶惰 • 貓咪怕孤單 • 喜歡看貓咪抓狂的樣子
4.
不過最主要的原因是…………………. 貓很可愛!!
5.
貓咪的特性? • Excellent Hearing •
Great Jumping Ability • High Agility • Full of Curiosity • High Attack
6.
• 吸引貓咪的注意力 • 移動速度快 •
會閃貓 • 要避障 Our Project Need to
7.
MINI 4WD 爆走兄弟 童年回憶
8.
SYSTEM ARCHITECTURE PIR Sensor Ultrasonic Sensor Ultrasonic Sensor PIR
Sensor Ultrasonic Sensor Ultrasonic Sensor Servo Motor ARM Cortex-M4 MCU
9.
四驅車轉彎?
10.
四驅車只用一個馬達來 驅動後輪兩輪 , 故這 樣只能正反轉。 使用一個Servo
motor 來控制轉彎。
11.
所以四驅車 變三輪車了
12.
實際測試三輪車甩尾結果後 翻車
13.
改用第五輪轉向定理 牛車
14.
車身 前後分離
15.
車身重量問題
16.
車子放在地上不會跑? 車身太重…….. 馬達扭力不夠…….. 不加電池的車身重量160克 (電池一共五顆)
17.
改善與解決問題 • 換掉所有的鐵銅柱 改用塑膠銅柱 •
試著減少電池的數量 • 選取高扭力的馬達 TORQUE-TUNED MOTOR PRO
18.
斷開一切的牽連 為了減少MCU的面積,時間不夠來不及Layout板子, 只好………
19.
電路規劃
20.
左邊兩個部分整合在一塊電路板, 並將電路再縮減更小的版本, 以節省面積。 馬達驅動電路(採用兩組Relay) 升壓IC電路(4.5 to 5
) 不時提醒自己重量以及面積的考量
21.
電源規劃 • 總共五顆電池 ,規劃如下:
3顆電池 經過升壓電路 成 5V 供給 MCU。 2顆電池 供給四驅車專用馬達。 • 大電流與小電流的裝置獨立分開,以免馬達驅動時所需的大電流 搶走MCU的電流導致電源不穩定使得系統重置。
22.
閃貓、避障之軟體機制
23.
Idle Front PIR Back
PIR Both PIR Forward Left- Forward Right- Forward Backward Left- Backward Right- Backward Moving Rest CAR_POLLING_PERIOD THRESHOLD_DISTANCE PIR_DEBOUNCE_NUM CAR_MOVING_PERIOD CAR_REST_PERIOD
24.
The Final Version
!!
25.
外觀包裝
26.
平時測試環境 以人代貓
27.
逗貓神器
28.
實驗成果 貓咪很嗨 攻擊力很強
29.
DEMO TIME THE CAT
VS. MINI 4WD ROBOT
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