Nero:控制遠(yuǎn)程設(shè)備的智能手套

描述

探索醫(yī)療保健和醫(yī)藥行業(yè)等眾多行業(yè)的所有可能奇跡已成為一項(xiàng)關(guān)鍵而艱巨的任務(wù)，在這些行業(yè)中，手術(shù)涉及精確度和來自世界各地專家的意見，在化學(xué)制造廠、包裝和生產(chǎn)行業(yè)等地方，以及所有具有惡劣化學(xué)環(huán)境的商業(yè)領(lǐng)域。該項(xiàng)目只是所有所述問題的解決方案。Nero 是一個(gè)飛躍，使所有僅靠人工干預(yù)和技能無法完成的任務(wù)成為可能。

這種手勢(shì)控制的智能機(jī)器人手套使我們能夠使用現(xiàn)有技術(shù)實(shí)現(xiàn)經(jīng)濟(jì)的解決方案。它可以用于控制和自動(dòng)化機(jī)器，如機(jī)械臂、傳送帶、滑輪、起重機(jī)和無數(shù)其他設(shè)備。

您的想象力是 Nero 效率的極限。該項(xiàng)目為我們提供了非凡的精度、準(zhǔn)確性，并為進(jìn)一步的可訪問性和自動(dòng)化提供了自由。

尼祿在行動(dòng)！

概述

在這個(gè)項(xiàng)目中，我們基本上有 2 個(gè)主要部分，傳輸端和接收端。我們利用 WIZnet 串口轉(zhuǎn)以太網(wǎng)板將從 arduino 接收到的數(shù)據(jù)發(fā)布到 MQTT 代理，并使用 nodeMCU 在接收端訂閱數(shù)據(jù)。兩端的技術(shù)步驟將在下一節(jié)中詳細(xì)介紹。

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1 / 2 ?出版方面

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腳步

發(fā)射端

電路連接：

第 1 步：將霍爾效應(yīng)傳感器 (A3144) 和陀螺儀傳感器 (MPU6050) 連接到 arduino，如下所示。（請(qǐng)參閱連接的引腳圖）

o 霍爾傳感器連接到 arduino 的 d9 和 d6

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1 / 5 ?霍爾效應(yīng)傳感器的引腳圖

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第 2 步：使用 RS-232 電纜將 Arduino Uno 連接到 WIZ750SR 板（帶有串口到以太網(wǎng)轉(zhuǎn)換器），如下所示：

o Arduino Uno 的發(fā)送引腳（本例中為引腳 11）使用 RS-232 電纜和跳線連接到 WIZ750SR 串口轉(zhuǎn)以太網(wǎng)的接收引腳。

o Arduino 的接收引腳（本例中為引腳 10）連接到發(fā)送引腳。

o Arduino 的接地引腳連接到 WIZnet 板的接地引腳。

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1 / 3 ? Arduino 與 WIZnet WIZ750SR 的連接

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第 3 步：使用以太網(wǎng) LAN 電纜將 WIZnet 板連接到網(wǎng)絡(luò)（用于 MQTT 連接）。

第 4 步：將兩塊板連接到 PC 以上傳代碼。

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-發(fā)送方代碼：

將代碼上傳到串口轉(zhuǎn)以太網(wǎng)板的步驟：

1. 將開機(jī)開關(guān)從正常模式推到開機(jī)模式。

2、使用ISP工具軟件打開串口。

3. 顯示“serial open complete”后，上傳“os.mbed”編譯代碼。

4.將開機(jī)開關(guān)推回正常位置，重新設(shè)置wiz板。

5.板子接收到的數(shù)據(jù)可以使用“COOLTERM”進(jìn)行監(jiān)控。

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1 / 2 ? WIZnet WIZ750SR

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//Code to publish data from the Wiznet Board
#include "mbed.h"
#include "MQTTEthernet.h"
#include "MQTTClient.h"
#define ECHO_SERVER_PORT   7
Serial a(D1,D0);
   Serial s(USBTX, USBRX);
int arrivedcount = 0;
void messageArrived(MQTT::MessageData& md)
{
   MQTT::Message &message = md.message;
   printf("Message arrived: qos %d, retained %d, dup %d, packetid %d\n", message.qos, message.retained, message.dup, message.id);
   printf("Payload %.*s\n", message.payloadlen, (char*)message.payload);
   ++arrivedcount;
}
void baud(int baudrate) {
   s.baud(baudrate);
}
int main (void)
{
   baud(9600);
   printf("Wait a second...\r\n");
   char* topic = "Ultrasonic";
   MQTTEthernet ipstack = MQTTEthernet();
   MQTT::Client client = MQTT::Client(ipstack);
,>,>   char* hostname = "172.16.73.4";
   int port = 1883;
   int rc = ipstack.connect(hostname, port);
   if (rc != 0)
       printf("rc from TCP connect is %d\n", rc);
   printf("Topic: %s\r\n",topic);
   MQTTPacket_connectData data = MQTTPacket_connectData_initializer;       
   data.MQTTVersion = 3;
   data.clientID.cstring = "parents";
   if ((rc = client.connect(data)) != 0)
       printf("rc from MQTT connect is %d\n", rc);
   if ((rc = client.subscribe(topic, MQTT::QOS0, messageArrived)) != 0)
       printf("rc from MQTT subscribe is %d\n", rc); 
   MQTT::Message message;
   char buf[100];
   while (true) 
   {
       char b;
       int i=0;
       char q[100];
       if(a.readable())
       { 
           for(i=0;i<=1;i++)
           {
           b= a.getc();
           q[i]=b;
           s.printf("%c",q[i]);
           }
       sprintf(buf,"%s",q);
       message.qos = MQTT::QOS1;
       message.retained = false;
       message.dup = false;
       message.payload = (void*)buf;
       message.payloadlen = strlen(buf);
       rc = client.publish("Ultrasonic", message);
       client.yield(2000);
           }
           }
}

將代碼上傳到 Arduino Uno 的步驟：

• 將 Arduino Uno 連接到 PC。

• 從工具->端口選擇正確的 COM 端口。

• 從 Tools->Boards 選擇 Arduino Uno。

• 編譯并上傳代碼。

//Arduino code to recieve values of the sensors and serially transmit it to the wiznet  board
//defines pins numbers
#include#include"Wire.h"
//I2Cdev and MPU6050 must be installed as libraries, or else the .cpp/.h files
//for both classes must be in the include path of your project
#include"I2Cdev.h"
#include"MPU6050.h"
//class default I2C address is 0x68
//specific I2C addresses may be passed as a parameter here
//AD0 low = 0x68 (default for InvenSense evaluation board)
//AD0 high = 0x69
MPU6050accelgyro;
int16_tax, ay, az;
int16_tgx, gy, gz;
SoftwareSerialmySerial(10, 11); // RX, TX
inthPin=9;
intvalue1;
intmyInts[2];
constint trigPin = 3;
constint echoPin = 2;
longduration;
intdistance;
inthPin1=6;
inthState1=0;
intvalue;
inthState=0;
intolds=0;
intod;
intolds1=0;
//accelerometer values
intaccel_reading;
intaccel_corrected;
intaccel_offset = 200;
floataccel_angle;
floataccel_scale = 1; // set to 0.01
voidsetup() {
//join I2C bus (I2Cdev library doesn't do this  automatically)
Wire.begin();
 accelgyro.initialize();
 pinMode(trigPin,OUTPUT); // Sets the trigPin as an Output
pinMode(echoPin,INPUT); // Sets the echoPin as an Input
 //put your setup code here, to run once:
Serial.begin(9600);
 //put your setup code here, to run once:
pinMode(hPin,INPUT);
pinMode(hPin1,INPUT);
 mySerial.begin(9600);
 pinMode(LED_BUILTIN,OUTPUT);
olds=olds1=80;
}
voidloop() {
digitalWrite(trigPin,LOW);
delayMicroseconds(2);
// Sets the trigPin onHIGH state for 10 micro seconds
digitalWrite(trigPin,HIGH);
delayMicroseconds(10);
digitalWrite(trigPin,LOW);
// Reads the echoPin,returns the sound wave travel time in microseconds
duration =pulseIn(echoPin, HIGH);
// Calculating thedistance
distance=duration*0.034/2;
// Prints the distanceon the Serial Monitor
accelgyro.getMotion6(&ax,&ay, &az, &gx, &gy, &gz);
 //accelerometer_X_Axis angle calc
 accel_reading= ax;
 accel_corrected= accel_reading - accel_offset;
 accel_corrected= map(accel_corrected, -16800, 16800, -90, 90);
 accel_corrected= constrain(accel_corrected, -90, 90);
 accel_angle= (float)(accel_corrected * accel_scale);
  // put your main code here, to run repeatedly:
 hState=digitalRead(hPin);
 hState1=digitalRead(hPin1);
if(hState != olds ||hState1 != olds1){
 if(hState==LOW && hState1==LOW){
value=1;
olds = hState;
olds1 = hState1;
}
if (hState1==HIGH&& hState==LOW){
value=2;
olds = hState;
olds1 = hState1; }
if (hState1==LOW&& hState==HIGH){
value=3;
olds = hState;
olds1 = hState1;}
if (hState1==HIGH&& hState==HIGH){
value=4;
olds = hState;
olds1 = hState1;
}
}
else{
  if(accel_angle>=0 &&accel_angle<=30)
  {
 value= 5;
 od=value;
  }
 elseif(accel_angle>=30 && accel_angle<70)
 {
 value=6;
 od=value;
 }
 elseif(accel_angle>=70 && accel_angle<=90)
 {
 value=7;
 od=value;
 }
 else{
 if(od==0){
 value=5;
 }
 else{
 value=od;}
 }
}
mySerial.println(value);
Serial.println(value);
delay(1000);
}

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接收方

- 電路連接

第 1 步：將三個(gè)伺服電機(jī)連接到 NodeMCU。

第二步：按照下圖定位伺服電機(jī)。

第三步：通過PC將代碼上傳到NodeMCU（ESP8266）。

第 4 步：檢查串行監(jiān)視器上的輸出。

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1 / 3 ? NodeMCU 連接

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- 接收方代碼：

將代碼上傳到 NodeMCU 的步驟：

• 將 NodeMCU (ESP8266) 連接到 PC。

• 從工具->端口選擇正確的 COM 端口。

• 將所需的庫添加到 Ardunio 編譯器。（參考 1.1）

• 從 Tools->Boards 選擇 NodeMCU (ESP8266)。

• 編譯并上傳代碼。

/*
This code basically sets up an ESP8266 board as a MQTT client and helps in subscribing to desired topics that are published.
It is required that the board in the 'Tools' section must be selected to NodeMCU and the ESP8266 drivers are installed.
The baud rate must be set at 115200
Here we are operating three servo motors using the nodeMCU based on the values received via the MQTT topic
*/
#include 
#include 
#include 
// Creating objects for the 3 servo motors
Servo servo;
Servo servo1;
Servo servo2;
// The pins we have used for the servo motors are D1,D2 and D3
// Update these with values suitable for your network.
const char* ssid = "CDI";
const char* password = "Cdi*1717";
const char* mqtt_server = "172.16.73.4";
WiFiClient espClient;
PubSubClient client(espClient);
long lastMsg = 0;
char msg[50];
int value = 0;
char old ;
void setup() {
 //Initial Setup Code
 Serial.begin(115200);
 setup_wifi();
 client.setServer(mqtt_server, 1883);
 client.setCallback(callback);
 delay(1000);
}
//Code for connecting to the wifi
void setup_wifi() {
 delay(10);
 // We start by connecting to a WiFi network
 Serial.println();
 Serial.print("Connecting to ");
 Serial.println(ssid);
 WiFi.begin(ssid, password);
 while (WiFi.status() != WL_CONNECTED) {
   delay(500);
   Serial.print(".");
 }
 Serial.println("");
 Serial.println("WiFi connected");
 Serial.println("IP address: ");
 Serial.println(WiFi.localIP());
}
//This function is responsible for subscribing to a topic and receiving the values from it 
void callback(char* topic, byte* payload, unsigned int length) {
 Serial.print("Message arrived [");
 Serial.print(topic);
 Serial.print("] ");
 old = (char)payload[0];
 //detach each time to avoid jitter of the servo motors
 servo2.detach();
 servo.detach();
 servo1.detach();
for (int i = 0; i < length; i++) {
 Serial.println("Received message is :");
 Serial.println((char)payload[i]);
 servo.detach();
 servo1.detach();
 servo2.detach();
 if((char)payload[i] == '1')
 {
   servo.detach();
   servo2.detach();
   servo1.detach();
   servo.attach(0);
   servo.write(89);
   delay(1000);
   servo.detach();
   servo1.attach(4);
   servo1.write(89);
   delay(1000);
   servo1.detach();
   servo2.detach();
   old='1';
   break;
 }
if((char)payload[i] == '2')
 {
   servo.detach();
   servo2.detach();
   servo1.detach();
   servo1.attach(4);
   servo1.write(89);
   delay(1000);
   servo1.detach();
   servo2.detach();
   old='2';
   break;
 }
if((char)payload[i] == '3')
 {
   servo.detach();
   servo2.detach();
   servo1.detach();
   servo.attach(0);
   servo.write(89);
   delay(1000);
   servo.detach();
   servo2.detach();
   old='3';
   break;
 }
if((char)payload[i] == '4')
 {
   servo.detach();
   servo1.detach();
   servo2.detach();
   servo.attach(0);
   servo.write(180);
   delay(1000);
   servo.detach();
   servo1.attach(4);
   servo1.write(180);
   delay(1000);
   servo1.detach();
   servo2.detach();
   old='4';
   break;
 }
 if((char)payload[i]=='5')
 {
   servo2.detach();
   servo2.attach(5);
   servo2.write(179);
   delay(1000);
   servo2.detach();
 }
 if((char)payload[i]=='6')
 { servo2.detach();
   servo2.attach(5);
   servo2.write(89);
   delay(1000);
   servo2.detach();
  }
 if((char)payload[i]=='7')
 { servo2.detach();
   servo2.attach(5);
   servo2.write(2);
   delay(1000);
   servo2.detach();
 }
   servo2.detach();
 }
   servo.detach();
   servo1.detach();
   servo2.detach();
}
//This function is to reconnect once the connection is lost
void reconnect() {
 // Loop until we're reconnected
 while (!client.connected()) {
   Serial.print("Attempting MQTT connection...");
   // Attempt to connect
   if (client.connect("ESP8266Client")) {
     Serial.println("connected");
     // Once connected, publish an announcement...
     // ... and resubscribe
     client.subscribe("Ultrasonic");
   } else {
     Serial.print("failed, rc=");
     Serial.print(client.state());
     Serial.println(" try again in 5 seconds");
     // Wait 5 seconds before retrying
     delay(5000);
   }
 }
}
void loop() {
 if (!client.connected()) {
   reconnect();
 }
 client.loop();
} 

未來的改進(jìn)

我們的目標(biāo)是減少延遲時(shí)間并開發(fā)客戶端監(jiān)控應(yīng)用程序作為進(jìn)一步改進(jìn)，使該項(xiàng)目可在各種行業(yè)中實(shí)施。