THIẾT KẾ VÀ THI CÔNG MÔ HÌNH XE THÁM HIỂM SV2021 105

BỘ GIÁO DỤC VÀ ĐÀO TẠO

TRƯỜNG ĐH SƯ PHẠM KỸ THUẬT TPHCM

BÁO CÁO TỔNG KẾT

ĐỀ TÀI NGHIÊN CỨU KHOA HỌC CỦA SINH VIÊN

THIẾT KẾ VÀ THI CƠNG MƠ HÌNH XE THÁM HIỂM

SV2021- 105

Chủ nhiệm đề tài: Hoàng Ngọc Thanh

TP Hồ Chí Minh, 10/ 2021
1


BỘ GIÁO DỤC VÀ ĐÀO TẠO
TRƯỜNG ĐH SƯ PHẠM KỸ THUẬT TPHCM

BÁO CÁO TỔNG KẾT

ĐỀ TÀI NGHIÊN CỨU KHOA HỌC CỦA SINH VIÊN

THIẾT KẾ VÀ THI CƠNG MƠ HÌNH XE THÁM HIỂM

SV2021- 105

Thuộc nhóm ngành khoa học: Kĩ thuật

SV thực hiện : Hoàng Ngọc Thanh

Nam, Nữ: Nam

Dân tộc: Kinh
Lớp, khoa: Lớp 17142CLA, Điện- Điện tử
4
Ngành học: Electrical Electronic Engineering

2

Năm thứ: 5

/Số năm đào tạo:


Contents
CHAPTER 1. OVERVIEW.........................................................................................11
1.1 PROBLEMS......................................................................................................11
1.2 GOALS.............................................................................................................. 13
1.3 RESEARCH CONTENT...................................................................................14
1.4 LIMITATION....................................................................................................14
1.5 LAYOUT...........................................................................................................14
CHAPTER 2. METHODOLOGY...............................................................................15
2.1 WIRELESS COMMUNICATION STANDARDS............................................15
2.1.1. Some connection technologies in wireless communication........................15
2.1.2. IEEE 208.16 Standard................................................................................16
2.2 ROBOT ENVIRONMENTAL INSPECTION...................................................16
2.2.1. Classify......................................................................................................16
2.2.2. Types of robot control................................................................................17

2.2.3. Types of robot movements.........................................................................17
2.3 PYTHON PROGRAMMING LANGUAGE.....................................................20
2.3.1. Introduction................................................................................................20
2.3.2. Properties...................................................................................................21
2.4 INTRODUCTION OF HARDWARE...............................................................21
2.4.1. RASPBERRY PI 3.....................................................................................21
2.4.2. MODULE L298N......................................................................................22
CHAPTER 3. CONSTRUCTION................................................................................34
3.1 PREPARATION OF COMPONENTS – MODULE.........................................34
3.2 ASSEMBLY – WIRING...................................................................................34
3.2.1. Wiring diagram..........................................................................................34
3.2.2. Draw the robot frame.................................................................................35
3.3 PROGRAMMING SYSTEM............................................................................41
3.3.1. Programming on Raspberry Pi 3................................................................41
CHAPTER 4. RESULTS - DISSCUSSION - ASSESSMENTS..................................51
4.1 RESULTS..........................................................................................................51
4.1.1. Hardware implement results.......................................................................51
4.1.2. The performance of model.........................................................................52
4.2 COMMENTS AND REVIEWS.........................................................................56
CHAPTER 5. CONCLUSIONS AND DEVELOPMENT ORIENTATIONS.............58
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5.1 CONCLUSION..................................................................................................58
5.2 DEVELOPMENT..............................................................................................58

4


CONTENT OF IMAGES

Figure 1.1 iRobot 210 negotiator................................................................................11
Figure 1.2 iRobot 710 Warrior....................................................................................11
Figure 1.3 iRobot 510 Packbot....................................................................................12
Figure 2.1 Two-legged robot BRAT...........................................................................17
Figure 2.2 Robot MANOI AT01 and MANOI PF01.................................................17
Figure 2.3 Robotic robot with chain movement..........................................................18
Figure 2.4 NASA robot moves the wheel...................................................................19
Figure 2.5 Raspberry pi 3............................................................................................20
Figure 2.6 Module L298N..........................................................................................22
Figure 2.7 Raspberry Pi Camera Rev 1.3....................................................................22
Figure 2.8 Deceleration engine V1.............................................................................23
Figure 2.9 Robot’s wheel V1......................................................................................23
Figure 3.1 The bottom of the chassis..........................................................................37
Figure 3.2 Top view of chassis..................................................................................38
Figure 3.3 Side view (2 sides) chassis.........................................................................38
Figure 3.4 Front view of chassis.................................................................................39
Figure 3.5 Side view of car model..............................................................................40
Figure 3.6 Side view of car model..............................................................................40
Figure 3.7 Front view of car model.............................................................................41
Figure 3.8 Raspbian OS download site.......................................................................41
Figure 3.9 Format the memory card using SD Card Formatter software.....................42
Figure 3.10 Registered Raspbian OS to memory card using NetBSD Disk Image Tool
..................................................................................................................................... 42
Figure 3.11 Enable VNC function on Raspberry Pi....................................................43
Figure 3.12 Activate VNC function on Raspberry Pi..................................................44
Figure 3.13 Check wifi connection.............................................................................44
Figure 3.14 Check Raspberry Pi IP.............................................................................45
Figure 3.15 Raspberry Pi's IP address.........................................................................45
Figure 3.16 Enter the Raspberry Pi's IP......................................................................46
Figure 3.17 Raspberry Pi's IP......................................................................................46

Figure 3.18 Login to Raspberry Pi..............................................................................47
Figure 3.19 Raspberry interface..................................................................................47
Figure 3.20 Raspberry Pi OS interface........................................................................48
Figure 3.21 Python software interface........................................................................48
Figure 4.1 Complete model.........................................................................................51
Figure 4.2 Complete model in other view...................................................................52
Figure 4.3 Observation results on VLC media Player.................................................52
Figure 4.4 Observation results on VLC media Player.................................................53

5


CONTENT OF TABLES

Table 2.1 Kit Raspberry Pi 3 Specifications................................................................21

6


BỘ GIÁO DỤC VÀ ĐÀO TẠO
TRƯỜNG ĐH SƯ PHẠM KỸ THUẬT TPHCM

THÔNG TIN KẾT QUẢ NGHIÊN CỨU CỦA ĐỀ TÀI
1. Thông tin chung:
- Tên đề tài: Thiết kế và thi cơng mơ hình xe thám hiểm
- Chủ nhiệm đề tài: Hoàng Ngọc Thanh Mã số SV: 17142047
- Lớp: 17142CLA
Khoa: Điện- Điện tử
- Thành viên đề tài:
Stt

Họ và tên

MSSV

Lớp
17142CLA

Khoa

1

Vũ Đức Thắng

17140249

Điện- Điện tử

2

Huỳnh Kiến Trung

17141031

Điện- Điện tử

3

Hồ Nguyễn Thành Long

18142036

Điện- Điện tử

4

Lê Quốc Tuấn

18142071

Điện- Điện tử

- Người hướng dẫn: Nguyễn Thanh Nghĩa
2. Mục tiêu đề tài:
Sử dụng Raspberry Pi, điều khiển trực tiếp vận hành xe để thăm dị mơi trường,
vận chuyển mẫu thí nghiệm mà khơng cần yếu tố con người trực tiếp tham gia, có thể
giám sát và điều khiển từ xa thơng qua mạng Internet.
3. Tính mới và sáng tạo:
- Thu video trực tiếp từ camera Raspberry Pi
4. Kết quả nghiên cứu:
- Kit Rapsberry Pi
- Điều khiển mô hình thơng qua module L298N
- Phát trực tiếp hình ảnh thu được từ camera Raspberry Pi
5. Đóng góp về mặt giáo dục và đào tạo, kinh tế - xã hội, an ninh, quốc phòng và
khả năng áp dụng của đề tài:
- Phục vụ cho việc học lập trình, giao tiếp giữa vi điều khiển với thiết bị ngoại vi.
6. Công bố khoa học của SV từ kết quả nghiên cứu của đề tài (ghi rõ tên tạp chí
nếu có) hoặc nhận xét, đánh giá của cơ sở đã áp dụng các kết quả nghiên cứu (nếu có):

7

Ngày

tháng

năm

SV chịu trách nhiệm chính
thực hiện đề tài
(kí, họ và tên)

8


SUMMARY
Since ancient times, the desire to conquer nature has always motivated people to
explore, do scientific research and constantly develop technology. To date, humans
have achieved great scientific achievements in many fields by creating intelligent
robots that can operate independently and flexibly in harsh environments, most
dangerous.
It can be said that robotics is an achievement that has appeared early and is
undergoing drastic changes, robots are getting smarter, more flexible and more
accurate. Robots can move with high speed and precision to perform repetitive tasks
such as welding or painting. Besides, the application of wireless technology to the
transmission of information between the operator and the robot helps the robot
operate more efficiently. The robot is controlled directly by a human in unexpected
situations that it cannot handle by itself, in addition, it also provides safety for the
operator in hazardous work environments.
Robots are increasingly diverse and complex, due to their different uses. There

are many types of robots such as self-propelled robots, house-keeping robots, stair
climbing robots, freight robots. In this day and age, robots are still used. widely
used for exploration, topographical and environmental exploration. To fulfil the
purpose of the robot, which is required to be able to move in complex terrain,
observe images and collect parameters of the environment. Exploration robots can
replace humans to explore and explore harsh and dangerous environments that
humans only need to control remotely.
The topic "Design and construction of an environmental exploration vehicle
model" is presented on robot theory and construction of a robot car model that is
controlled remotely via a web server connected to wifi to serve as an alternative to
humans in limited terrain. Due to limited knowledge and time, the group of students
working on the topic is looking forward to receiving suggestions from teachers and
students.

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OVERVIEW
1.1 PROBLEMS
Along with the continuous development of science and technology, the
automation industry also develops rapidly. The application of modern machinery to
production is an indispensable requirement in factories to increase productivity,
increase quality and reduce product costs. In parallel with that development, robot
manufacturing technology is also developing rapidly, especially in developed
countries to meet the needs of production, daily life and national security. Today's
robots are quite diverse in appearance as well as being able to perform many
functions such as space exploration, assisting the disabled, transporting objects and
monitoring home security.
The world has witnessed many natural disasters as well as man-made disasters.
The extent of the damage left by the destruction from these disasters is even more

severe when they occur. Natural disasters such as earthquakes, forest fires,
tsunamis, floods. From the human side, there are wars, fires, terrorism, mine
collapses. Disasters both bring significant loss to humans and material. Searching
and rescuing missing people is always tricky and dangerous.
In Vietnam, there are also many cases causing significant damage every year,
especially mines, house fires, apartment fires. However, rescue work is still
challenging due to the dependence mainly on human power. Safety for rescuers is
not guaranteed because they operate in potentially dangerous environments, with
many flammable and explosive substances and toxic gases.
Starting from the above points, along with the development of many types of
robots to serve different human needs, exploration robots have been researched and
produced by many countries thanks to its practical application. With the outstanding
development of the economy, science and technology, human health and life are
increasingly valued. Therefore, in hazardous working conditions, remote-controlled
exploration robots will be substituted by humans. Robot exploration with the
pioneering mission to search, sketch the terrain, measure some parameters such as
temperature and humidity, send images to the control center. Thanks to those
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features, humans can assess and control environmental hazards and offer reasonable
approaches.

Figure 1.1 iRobot 210 negotiator
Japan and the United States are pioneers in the application of robots in daily
life. I-robot Company is a leading giant robot manufacturing company in the United
States, specializing in researching and providing all kinds of exploration and terrain
robots to serve different needs of people. The robot model is in the figure above
specialized in infiltrating and scouting dangerous areas.
Its mission is such as entering a burning building to find victims instead of the

fire force or being used in the police hostage rescue mission with the camera
transmitting live images to the operator. As a result, they can know the specific
location of criminals as well as hostages.

Figure 1.2 iRobot 710 Warrior

This robot is used in the military. Therefore, it is like a warrior, carrying
military weapons as well as transporting other robots for combat.
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In addition, it also supports the mission of crossing the terrain to penetrate and
spy on dangerous places, they are also equipped with robotic arms to pick up objects,
especially for demining mines work.

Figure 1.3 iRobot 510 Packbot
These days, remote-controlled exploration robots are increasingly invested and
developed, used for mine detection, mine exploration, an inspection of underground
pipelines, operating in hazardous environments and along with many toxic
substances with a high radioactive concentration. This leads to danger with people.
Realizing that the study of robotic exploration vehicles is necessary for practice, the
team selected the topic "Design and construction of an environmental
exploration vehicle model".

1.2 GOALS
The topic "Design and construction of an environmental exploration vehicle
model" a group of students designed a model of a robot car with wheels covered
with rubber belts, controlled by Arduino via a serial port connected to raspberry pi 3
with the role as a server connecting to the internet. Equipped with a 720p Logitech
camera that transmits the video to be observed to the web server when needed.

Users can observe, control the robot car, observe the video, and chart humidity and
temperature from the web server. It also has sensors to prevent vehicle rollover.

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1.3 RESEARCH CONTENT
 CONTENT 1: Data collection, the process of robot car.
 CONTENT 2: System design solutions, robot car model.
 CONTENT 3: Design of vehicle control system.
 CONTENT 4: Model design.
 CONTENT 5: Evaluation of performance results.

1.4 LIMITATION
The robot car model is designed to run on flat terrain, unable to run on swampy
terrain and underwater. Besides, the car model is powered as a backup battery
source, so there is a limitation on the usage time.

1.5 LAYOUT
Chapter 1: Overview.
In this chapter, the project is presented with an overview of robot cars as well as
exploration and over terrain robot functions and some practical applications of robot
cars. From there, go to clarify the goals, limitations and layout of the topic.
Chapter 2: Theoretical basis.
In this chapter, some concepts of robot vehicle classification, some types of
robot vehicle control and movement types of robot vehicles are also mentioned. In
addition, an overview of the web server, some wireless communication standards
and HTML programming language.
Chapter 3: Design an environmental exploration vehicle model.
In this chapter, the exploration robot vehicle model is outlined with detailed

technical requirements. Hence, the performer can make the system block diagram,
choose the design type and pick up the appropriate hardware as well as the software
design.
Chapter 4: Construction results of the robot car model.
This chapter presents the results of the exploratory robot model after
implementation, the robot car tests according to the set goals.
Chapter 5: Conclusion and direction of the topic development.

13


This chapter draws conclusions about the research process and development
possibilities for robotic vehicles in the future.

14


METHODOLOGY
1.6 WIRELESS COMMUNICATION STANDARDS
1.6.1. Some connection technologies in wireless communication
Connecting to a wireless network can be made using some of following
connection standards:
 Infrared Data Association (IrDA)
This is an IR infrared data communication technology that is widely used in
remote control of radios, air conditioners, computers, printers... with short distance
and low cost.
 Bluetooth
Bluetooth is a wireless networking technology that allows electrical and
electronic devices to connect over short distances using radio waves in the 2.40–
2.48 GHz frequency range. This technology is designed to replace cables between

computers and personal communication devices, making it easier to connect
electronic gadgets..
Whenever Bluetooth is enabled, it will automatically detect and connect to other
devices in the vicinity that use the same technology..
 Wi-Fi
It is a wireless network system that uses radio waves in the same way as cell
phones, television, and radio do. The system allows access to the internet in areas
with signal strength without the need for cables. The radio waves used for wifi are
similar to those used for handheld devices, mobile phones, and other devices. Wifi
can transmit and receive radio waves, convert binary codes to radio waves, and vice
versa.
 Worldwide Interoperability for Microwave Access (WiMAX)
Wimax is a technology that allows for wireless access services to be provided at
any time and from any location. This technology enables wireless communication
across long distances in several methods, ranging from point-to-point to cellular
access. Wimax enables you to use your laptop's internet browser without physically
connecting to a router or switch through an Ethernet connection..
15


1.6.2. IEEE 208.16 Standard
IEEE 208.16 is a system of broadband wireless access standards that provides
the official specification for broadband wireless MAN networks. This standard
allows for fixed, portable, portable radio broadband connections without being in
direct line of sight to a base station. The IEEE 208.16 standard has the following
families:


IEEE 208.16-2001
This standard defines a radio interface consisting of the MAC and PHY layers

of a point-to-multipoint, fixed-point radio access system to enable rapid, widespread
deployment of wide-bandwidth radio access systems. Ensure compatibility between
broadband radio access devices.
 IEEE 208.16a-2003
This standard specifies non-permanent point-to-multipoint interfaces for
broadband wireless access systems that provide multiple services. Medium access
control layers capable of supporting multiple layers of engineering material
optimized for bands.
 IEEE 208.16c-2002
This is the standard fix of 802.16-11, which adds new profile definitions for the
10-66 GHz band to improve interoperability between sections.
 IEEE 802.16-200
This standard uses the band from 2-11 GHz, which is the band that attracts the
most attention because the transmitted signal can overcome obstacles on the
transmission line.

1.7 ROBOT ENVIRONMENTAL INSPECTION
Robotic inspection has considerable benefits over existing inspection methods,
including the capacity to assist human inspectors 24 hours a day, seven days a
week, and in dangerous, harsh, and filthy situations. As a result, robots are now in a
perfect position to be an essential element of inspection and maintenance programs.
1.7.1. Classify


Robots can classify according to the environment to move:
16


 There are two types of robots: outdoor and indoor robots. Robots

having legs, such as humanoid, animal, or insectoid robots, are
typically equipped with wheels.
 Aerial robots are often used for aerial vehicles, unmanned vehicles...
 Underwater robots are used for underwater vehicles or maneuvers,
they work independently.
 Categorization of robots based on movement technique:
 Robot with legs
 Robot with wheels x
 Robot moves by crawler
1.7.2. Types of robot control
 Manual remote control
Parts of a manual remote control robot with joysticks or other control devices.
Control equipment, such as a wireless lever or a wireless computer attachment, can
be attached directly to the robot. Remote control robots assist humans in avoiding
hazards.
 Robots follow the route
The early autonomous robots followed a path or painted lines cut into the floor,
ceiling, or a wire in the floor. The majority of these robots run on a basic algorithm
that retains the path in the center sensor at all times, cannot avoid obstacles, and
only stops when anything gets in their way.
 The random robot works independently
The robot operates independently of random movements, which are essentially
movements such as bouncing against walls, which are perceived by physical
obstruction.
1.7.3. Types of robot movements
There are other forms of movement, but we will concentrate on the three categories
listed below:


Foot movement

Foot-moving robots are robots that have complicated motions by discretizing
17


contact with the ground based on points. This sort of movement makes this type of
robot useful on complex and difficult terrains. ragged and discontinuous At the
same time, the robot walks very smoothly by adjusting the effective length of the
legs to fit the surroundings. It is divided into one-legged, two-legged, four-legged,
six-legged, or more robots based on the number of legs. Despite these benefits, this
sort of robot is challenging to manage and build.

Figure 2.4 Two-legged robot BRAT
Above is a picture of the first two-legged robot BRAT, which is still quite
primitive in appearance, the structure is quite complicated so that the robot can
move easily with two legs. The way it works moves quite flexibly because the joints

Figure 2.5 Robot MANOI AT01 and MANOI PF01
of the legs can be moved. There have been great developments in foot-moving
robots such as the appearance of the MANOI robot generation, the robot with a
more beautiful appearance than the old generations, the way of movement is also
18


easier and more flexible.
 Movement of a chain
This sort of robot rolls on wheels with chains, much like a tank, and is ideal for
traversing difficult terrain. It adjusts the rotating speed of the two driving sprockets
to shift direction. However, slippage will occur owing to the movement of the chain
while changing direction, making exact control difficult. Another issue is that this
sort of robot is highly susceptible to damaging the surface of the backdrop,

particularly while redirecting.

Figure 2.6 Robotic robot with chain movement

The image above depicts two varieties of crawler moving robots, both of which
have the benefit of being small but capable of navigating over uneven surfaces.
Aside from the benefit, this robot travels rather slowly as compared to travelling on
wheels or foot.
 Move by wheel
NASA deployed the robot above to investigate Mars under the name Curiosity;
this robot is configured in a self-propelled mode capable of moving freely across
flat ground and rather rapidl.

19


Figure 2.7 NASA robot moves the wheel
This type of robot uses wheels to move because the wheels are easy to control,
stable, and fast-moving compared to crawlers or legs. But the disadvantage is only
suitable for smooth and hard surfaces, soft surface robots are easy to get bogged
down.

1.8 PYTHON PROGRAMMING LANGUAGE
1.8.1. Introduction
Python is a popular programming language that is utilized in a range of
environments, from schools to big projects. Language for building a wide range of
applications and software, including desktop and server programs, web application
development, and so on. Furthermore, Python is the recommended language for
developing artificial intelligence applications. develop a product that combines
machine learning Python was originally designed to run on the Unix platform, but it

eventually operated on all operating systems, including MS-DOS, Mac OS, OS/2,
Windows, Linux, and others in the Unix family. Guido van Rossum invented
Python in 1989. Python is an open-source project that is administered by the nonprofit Python Software Foundation. Although many people contributed to the
creation of Python, Guido van Rossum is still the primary creator of Python today.
He was instrumental in determining the path of Python's development.
1.8.2. Properties
Python is a language with a basic form, succinct syntax, and a limited amount of
keywords, making it an easy language to learn for novices. Python is a simple
20


coding language. Python has numerous uses on many platforms; software developed
in Python may operate on a variety of operating systems, including Windows, Mac
OSX, and Linux.

1.9 INTRODUCTION OF HARDWARE
1.9.1. RASPBERRY PI 3
The Raspberry Pi 3 Model B+ is the newest member of the Raspberry Pi
family, with a 64-bit quad-core processor running at 1.4GHz — the fastest ever!
The updated version additionally has Dual-band 2.4GHz and 5GHz Wi-Fi,
Bluetooth 4.2/Bluetooth Low Energy, a High-Speed Ethernet connection
(300Mbps), and Power over Ethernet (PoE) through a PoE HAT.

Figure 2.8 Raspberry pi 3

Parameters
Processor
GPU
Processing speed
Power Ratings

RAM
Memory
Video and audio
GPIO
Connection

Model B
Broadcom BCM2837, ARMv8 (64bit) quad-core
Broadcom VideoCore IV, OpenGL ES 2.0,
OpenVG 1080p 60 , 400 MHz
1Ghz
800mA, 5V
1GB LPDDR2 (900Mhz)
Micro SD
1080p HDMI, stero audio 3.5mm jack
40 GPIO
4xUSB 2.0
21


10/100mb Ethernet
wifi 802.11 n
Bluetooth 4.1
Dimension
Weight
Operating system

CSI, DSI
85x56mm
45 g (1.6 oz)

Debian GNU/Linux, Raspbian OS, Arch Linux
ARM, RISC OS, FreeBSD, Plan 9, ...
Table 2.1 Kit Raspberry Pi 3 Specifications

1.9.2. MODULE L298N
The L298 DC motor driver circuit can operate two DC motors with a maximum
current of 2A each. The protection diode integrated circuit and the 7805 power IC
assist in supplying 5VDC power to other modules. There is a location to insert
screws into the model, which is ruggedly constructed. The IC has a heat sink,
allowing it to be regulated with a peak current of 2A.
The L298N IC has inbuilt diodes that protect the CPU from induced currents
caused by motor start/stop.

Figure 2.9 Module L298N
2.4.3. Module Raspberry Pi Camera
The Raspberry Pi camera is a camera module that was created by the
Raspberry Pi Foundation and has been in mass production since May 2013. Before
Pi Camera, the only way to add image recognition, video recording, and
22


photography capabilities to the Raspberry Pi was to utilize a USB-connected
webcam. The built-in mjpeg export format on Logitech webcams will make the
Raspberry process go more quickly. However, Logitech webcams, particularly
high-resolution webcams, are rather pricey.
The Raspberry Pi camera includes a 5-megapixel camera with exceptional
light sensitivity that can photograph in a variety of lighting settings, both indoors
and out. The camera's unique feature is the ability to capture high-definition photos
while filming.

Figure 2.10 Raspberry Pi Camera Rev 1.3
The CSI socket is securely connected to the camera. This reduces bandwidth
congestion for the Raspberry circuit's USB processor chip. The camera cable length
was carefully calibrated to reach the desired length while maintaining image
transmission speed from the module to the RPi.
2.4.3. Deceleration engine V1
For simple robot designs, the deceleration engine V1-DC motor is the most
popular and widely utilized version today. Cost savings and user convenience are
provided by the V1 geared DC motor's high quality and low cost, as well as its ease
of construction. Fast speed and excellent traction.

Figure 2.11 Deceleration engine V1
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2.4.4. Robot’s wheel V1
The 65mm V1 Geared Motor Yellow Wheel is composed of high-strength
plastic and has black rubber tires for use with the upgraded V1 geared motor.
Because of its low cost, high quality, and ease of assembly and application, the
golden wheel is the most commonly utilized wheel in today's robot designs.

Figure 2.12 Robot’s wheel V1
 Material: Plastic.
 Outside diameter: 65mm.
 Inside diameter: 51.8mm.
 Width: 26.6mm.
 Engine pivot: 3.665.3mm.
 Engine transmission ratio: 1:48

24

CHAPTER 3: CALCULATION AND DESIGN
3.1. INTRODUCTION
The topic "Design and building of an expedition vehicle model" comprises the
design and construction of a robot model that moves in response to the user's
commands. A CCTV camera is also attached to the Raspberry Pi on the robot,
which collects images and sends them to the processing center.
3.2. CALCULATION AND SYSTEM DESIGN
3.2.1. Block diagram design

Figure 3.1: Block diagram of the entire system
• Power block: This component supplies power to the entire system. The Raspberry
Pi requires 5V, but the L298N motor driver requires 12V.
25