SISTEM KAWALAN ROBOT MUDAH ALIH SECARA INFRAMERAH MELALUI PAPARAN KAMERA RAKAMAN LANGSUNG
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1 SISTEM KAWALAN ROBOT MUDAH ALIH SECARA INFRAMERAH MELALUI PAPARAN KAMERA RAKAMAN LANGSUNG HELMI BIN HASSAN BASRI Laporan projek ini dikemukakan sebagai memenuhi sebahagian daripada Syarat Penganugerahan Ijazah Sarjana Muda Sains (Sains Komputer) Fakulti Sains Komputer dan Sistem Maklumat Universiti Teknologi Malaysia April, 2010
2 PSZ 19 : 16 : (Pind. 1/97) UNIVERSITI TEKNOLOGI MALAYSIA BORANG PENGESAHAN STATUS TESIS JUDUL : SISTEM KAWALAN ROBOT MUDAH ALIH SECARA INFRAMERAH MELALUI PAPARAN KAMERA RAKAMAN LANGSUNG SESI PENGAJIAN : 2009/ Saya HELMI BIN HASSAN BASRI mengaku membenarkan tesis ( PSM/Sarjana/Doktor Falsafah )* ini disimpan di Perpustakaan Universiti Teknologi Malaysia dengan syarat-syarat kegunaan seperti berikut : 1. Tesis adalah hakmilik Universiti Teknologi Malaysia. 2. Perpustakaan Universiti Teknologi Malaysia dibenarkan membuat salinan untuk tujuan pengajian sahaja. 3. Perpustakaan dibenarkan membuat salinan tesis ini sebagai bahan pertukaran antara institusi pengajian tinggi. 4. **Sila tandakan ( ) SULIT TERHAD (Mengandungi maklumat yang berdarjah keselamatan atau kepentingan Malaysia seperti yang termaktub di dalam AKTA RAHSIA RASMI 1972) (Mengandungi maklumat TERHAD yang telah ditentukan oleh organisasi/badan di mana penyelidikan dijalankan) TIDAK TERHAD Disahkan oleh (TANDATANGAN PENULIS) Alamat Tetap : G PERUMAHAN PDRM, KG KELANTAN, PT PERUPUK MUAR, JOHOR. JOHOR DARUL TAKZIM. (TANDATANGAN PENYELIA) DR. MOHD MURTADHA BIN MOHAMAD CATATAN * Potong yang tidak berkenaan. ** Jika tesis ini SULIT atau TERHAD, sila lampirkan surat daripada pihak berkuasa,organisasi berkenaan dengan menyatakan sekali sebab dan tempoh tesis ini perlu dikelaskan sebagai SULIT atau TERHAD. Tesis dimaksudkan sebagai tesis bagi Ijazah Doktor Falsafah dan Sarjana secara penyelidikan, atau disertasi bagi pengajian secara kerja kursus dan penyelidikan, atau Laporan Projek Sarjana Muda (PSM).
3 ii Saya akui karya yang berjudul Sistem Kawalan Robot Mudah Alih Secara Inframerah Melalui Paparan Kamera Rakaman Langsung ini adalah hasil keja saya sendiri kecuali nukilan dan ringkasan yang tiap satunya telah saya jelaskan sumbernya. Tandatangan : Nama Penulis : HELMI BIN HASSAN BASRI Tarikh : 30 APRIL 2010
4 iii Saya akui bahawa saya telah membaca karya ini dan pada pandangan saya karya ini adalah memadai dari segi skop dan kualiti untuk tujuan penganugerahan Ijazah Sarjana Muda Sains (Sains Komputer). Tandatangan : Nama Penyelia : DR. MOHD MURTHADA BIN MOHAMAD Tarikh : 30 April 2010
5 v PENGHARGAAN Bersyukur saya kehadrat ilahi kerana dengan limpah kurnianya akhirnya saya dapat menyiapkan Projek Sarjana Muda 2 saya dengan jayanya. Pertama sekali saya ingin tujukan ucapan ribuan terima kasih dan penghargaan kepada penyelia saya, Dr Mohd Murthada Bin Mohamad yang telah memberikan tunjuk ajar dan nasihat kepada saya. Saya ingin mengucapkan ribuan terima kasih kepada ibu dan ayah saya yang telah banyak memberi semangat dan perangsang untuk saya terus berusaha demi menjamin masa depan saya. Tidak lupa ucapan terima kasih saya tujukan kepada rakan-rakan yang telah banyak memberi bimbingan, tunjuk ajar serta meluangkan masa dan tenaga sepanjang saya menyiapkan projek ini. Kepada sahabat yang sudi memberi idea dan pandangan bagi memastikan projek ini berjaya, segala sumbangan dan bantuan kalian amat saya hargai dan saya kenang selamanya.
6 vi ABSTRAK Pada masa kini teknologi dan pembangunan robot semakin berkembang pesat dan maju. Robot dicipta bagi menggantikan manusia untuk memudahkan kerja-kerja seharian. Robot juga merupakan pengganti manusia yang terbaik bagi kerja-kerja yang berisiko tinggi di mana risiko berlaku kemalangan terhadap manusia dapat dielakkan. Bagi mengatasi masalah ini robot mudah alih yang mempunyai dua mod kawalan iaitu secara manual dan juga secara autonomous dibina. Robot ini dimuatkan dengan kamera tanpa wayar bagi kerakan dari sudut pandangan robot. Rakaman secara langsung tersebut dipaparkan pada skrin komputer. Isyarat kawalan robot adalah menggunakan teknologi inframerah yang dijanakan daripada alat kawalan jauh yang mempunyai papa kekunci yang unik. Penerima isyarat inframerah akan disambungkan kepada mikropengawal Basic Stamp II. Mikropengawal ini bertindak untuk embenarkan gerakan-gerakan tertentu oleh robot mudah alih berdasarkan jujukan butang papan kekunci untuk membenarkan robot mudah alih bergerak tanpa kawalan isyarat inframerah tetapi bergerak secara automatik.
7 vii ABSTRACT Today, the development of robot and its technology has been growing rapidly and progressively. Robots are created to replace human to facilitate their daily work. Robot is also known as the best replacement to the human for highly risk works where the risk of an accident can be prevented. To overcome this problem a mobile robot that has two modes of controlling is built. Firstly, manual control and second is the autonomous control. This robot is attached with wireless camera. The live recording of the front is displayed on a computer screen. Microcontroller is allowed to let the robot to move based on sequence detected from the keypad. The microcontroller is also programmed to a;;ow robot to move without receiving any control signal from keypad
8 vii KANDUNGAN BAB TAJUK HALAMAN PENGAKUAN PENGHARGAAN ABSTRAK ABSTRACT KANDUNGAN SENARAI JADUAL SENARAI RAJAH SENARAI LAMPIRAN ii v vi vii viii xi xiii xvi 1 PENGENALAN Pendahuluan Pernyataan Masalah Matlamat Objektif Skop Justifikasi Projek 4 2 KAJIAN LITERATUR Pengenalan Sejarah Alat Kawalan Jauh Dan Robot Sejarah Autonomuos. 7
9 viii 2.4 Kajian Terhadap Sistem Sedia Ada Sensor Motor Mikropengawal Cadangan Penyelesaian Kajian Terhadap Tekonologi Serta Kaedah 11 Yang Akan Dibangunkan Teknologi Yang Digunakan Basic Stamp Servo Motor Sensor Pengesan (Inframerah) Kaedah 1 (Alat Kawalan Jauh) Bagaimana Alat Kawalan Menghantar 13 Mesej Proses perantaraan robot dan alat kawalan 15 jauh Kaedah 2 autonomous Pergerakan sensor dan servo motor Rumusan 17 3 METADOLOGI Pengenalan Methodologi Model Air Terjun Kaedah Pembangunan Projek Fasa Perancangan Fasa Analisis Fasa Rekabentuk Robot Fasa Pengkodan Fasa Pengujian dan Pengesahsahihan Justifikasi Perisian dan Perkakasan Rumusan. 27
10 ix 4 ANALISA DAN REKABENTUK SISTEM Pengenalan Rekabentuk fizikal robot Peranti dan Komponen utama Mikropengawal BASIC Stamp Motor Servo Pengesan Inframerah Aturcara Bahasa PBASIC Elemen Bahasa PBASIC Operasi Pengiraan PBASIC Ciri-Ciri Pembaikan Rekabentuk Aliran Proses Muat Turun Aturcara Proses Robot(Alat kawalan jauh) Proses Robot(Kawalan autonomous) Rumusan 45 5 HASIL PROJEK Pendahuluan Pembinaan Litar Utama dan Komponen- 47 Komponen Robot 5.3 Rekaan Robot Navigasi Robot (Menggunakan alat 55 kawalan jauh).
11 x Navigasi Robot (Secara autonomous) Rumusan 73 6 PERBINCANGAN DAN KESIMPULAN Pengenalan Kelebihan Projek Kelemahan Projek Kekangan Dan Cabaran Cadangan Pembaikan Projek Rumusan 76 RUJUKAN 79 LAMPIRAN A 80 LAMPIRAN B 84 LAMPIRAN C 88 LAMPIRAN D 92 LAMPIRAN E 94 LAMPIRAN F 96
12 BAB 1 PENGENALAN 1.1 Pendahuluan ROBOT dalam objektif sains ialah sesuatu yang direka/dicipta dan berfungsi untuk menggantikan atau memudahkan kerja-kerja harian manusia terutama bagi kerja-kerja yang berisiko tinggi dan memakan masa yang lama. Sebagai contoh yang amat mudah iaitu, robot sangat diperlukan didalam sektor perindustrian bagi kerjakerja pengimpalan (welding), mengecat (painting) dan menyusun-atur (handling). Robot juga merupakan penyelesaian terbaik bagi kerja-kerja di kawasan persekitaran yang berkaitan dengan bahan yang amat panas, tajam, dan amat sejuk. Kini revolusi robot telah menjangkaui satu tahap di mana perekacipta robot giat meperluaskan objektif robot untuk menggantikan manusia dalam urusan atau pergerakan manusia yang kompleks seperti berjalan, berlari, menari, menyediakan makanan-minuman, mengambil pesanan dan sebagainya. Pada mulanya rekacipta robot ini bukanlah dari disiplin elektronik tetapi berasal dari idealogi para saintis dan pengarang cerita novel pada sekitar abad lapan belas. Ketika itu mereka ingin mencipta sesuatu objek atau alat yang mempunyai sifat-sifat yang mereka mahukan dan menuruti segala apa yang diperintahkan. Robot-robot pintar ini mulai berkembang pantas seiring berkembangnya komputer sekitar tahun1950-an. Dengan semakin cepat berkembangnya kemampuan computer ini dan semakin kecilnya ukuran saiznya,maka robot-robot yang dibuat ini
13 2 semakin memiliki kepintaran yang cukup baik untuk melakukan kerja-kerja yang biasa dilakukan oleh manusia. Ia menjadikan komputer sebagai peranti yang memiliki kemampuan seperti otak manusia. Artificial intelligent atau kepintaran buatan adalah algoritma pemprograman yang membuat komputer memiliki kepintaran seperti otak manusia yang mampu membuat kesimpulan dan keputusan. 1.2 Pernyataan Masalah Ketika ini pergerakan sesebuah robot mempunyai satu ciri tertentu sahaja samada secara Autonomous atau di kawal oleh manusia. Robot pintar atau Autonomous Mobile Robot semakin maju berkembang pada ketika ini. Autonomous boleh didefinisikan sebagai kebolehan untuk membuat keputusan manakala mobile robot ialah robot yang mampu bergerak dan mempunyai ciri-ciri mobility. Secara keseluruhan, autonomous mobile robot merujuk kepada robot yang mempunyai kebolehan untuk bergerak berdasarkan kepada pemikiran robot tersebut. Pemikiran di dalam konteks ini bermaksud penentuan keputusan (decision making) dan setiap keputusan yang dilakukan akan menentukan tingkahlaku (behaviour) dan pergerakan (movement) robot. Semakin tinggi tahap autonomi (autonomy) sesebuah robot, semakin kurang bantuan daripada manusia yang diperlukan oleh robot tersebut. Terdapat masalah bagi robot-robot autonomous ini. Contoh autonomous mobile robot yang popular ialah line-following robot dan map-based navigation robot. Line-following robot adalah sebuah autonomous mobile robot mempunyai tahap autonomi yang sangat terhad. Map-based navigation robot pula banyak digunakan di dalam perindustrian, di mana robot akan bergerak berdasarkan kepada peta yang diberikan kepadanya. Robot ini akan menganggap peta tersebut memberikan maklumat yang tepat berkenaan persekitaran. Terdapat lagi beberapa masalah bagi robot jenis ini dimana sebarang keputusan yang dibuat oleh robot jenis ini adalah bergantung sepenuhnya kepada ini. Pertamanya, sistem robot jenis ini terlalu bergantung kepada informasi daripada
14 3 manusia. Manusia pula menghadapi kesukaran dalam menyediakan peta yang dijamin tinggi peratusan ketepatannya. Selain itu, robot ini juga tiada kebolehan untuk menyesuaikan diri dalam persekitaran dinamik. Secara praktikal, kebanyakan persekitaran adalah dinamik (berubah-ubah) dan dengan hanya bergantung kepada sebuah peta untuk pengoperasian robot adalah sangat-sangat tidak efektif dan kurang kebolehpercayaan (reliability). Ditambah lagi, operasi untuk map-based robot adalah terhad kepada kawasan yang mana manusia mempunyai petanya yang lengkap. Bagaimana jika persekitaran robot tersebut adalah kawasan yang tidak diketahui strukturnya? Tiada peta dan tiada sebarang maklumat. Bolehkah mapbased robot beroperasi tanpa adanya informasi-informasi penting seperti itu? Sudah pasti jawapannya tidak. Maka dengan sebab itulah, robot-robot pintar ini perlu di kendalikan didalam dua keadaan iaitu secara autonomous dan juga secara manual. 1.3 Matlamat Matlamat utama projek ini adalah untuk menghasilkan robot yang boleh dikawal secara autonomous dan juga ia boleh dikawal secara manual iatu menggunakan alat kawalan jauh inframerah ketika melakukan operasi-operasi kawalan robot. 1.4 Objektif iaitu: Dalam membangunkan sistem ini, beberapa objektif utama telah digariskan, i. Mengkaji sistem robotik pada masa kini. ii. Merekabentuk prototaip robot. iii. Membangunkan sistem robotik yang telah direkabentuk. iv. Menguji sistem yang dibangunkan.
15 4 1.5 Skop Skop projek yang dikenal pasti adalah seperti berikut: i. Pergerakan robot dikawal menggunakan alat kawalan jauh dengan menggunakan inframerah sebagai medium perantaran. ii. Keadaan gerakan robot manual adalah dikawal melalui empat butang kekunci dan keadaan gerakan robot autonomous melalui satu butang kekunci yang lain. iii. Robot dimuatkan kamera tanpa wayar yang memaparkan rakaman secara langsung dan paparan secara langsung ini di paparkan pada skrin komputer. iv. Gerakan robot secara manual dikemudi melalui papan kekunci yang mana keputusan pemilihan pergerakan di lihat melalui skrin komputer. 1.6 Justifikasi Projek Projek Sistem Robotik Menggunakan Alat Kawalan Jauh dan Secara autonomous ini dibangunkan untuk mengatasi masalah autonomous robot yang mempunyai tahap autonomi yang sangat terhad. Ini kerana sebarang keputusan yang dibuat oleh robot jenis ini adalah bergantung sepenuhnya kepada aturcara yang telah dibangunkan. Dengan adanya dua fungsi kawalan (automatik dan manual) ini sekaligus, mengatasi kekurangan yang ada pada robot autonomous ini. Oleh itu, dengan adanya dua fungsi kawalan ini, maka keupayaan robot ini dapat di pertingkatkan lagi.
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