Relatorio Unificada Final

7/21/2019 Relatorio Unificada Final

http://slidepdf.com/reader/full/relatorio-unificada-final 1/15

UNIVERSIDADE FEDERAL DO ABCENGENHARIA UNIFICADA I - EN1002

Robô para auxílio de deficientes visuais

Augusto Martins !ra"a 2102#110

C$%u"io Go&!s 'unior 210(2)10

Ga*ri!$ Nas+i&!nto 2100##1(

Lu+as "! O$i,!ira Santos 2102110

Ma.ara i!&i Isaga/a 210#12

Santo André - SP



Dezembro de 20!

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- MOIVA3O- MEODOLOGIA- OB'EIVO

D!,i"o as "i4i+u$"a"!s !n+ontra"as

D!sta &an!ira5 o 6r!s!nt! 6ro7!to t!& +o&o o*7!ti,o a +onstru89o "! u&

ro*: ;u! 6ossa 4un+ionar "! 4or&a aut:no&a5 au<i$ian"o na $o+o&o89o "! 6!ssoas

;u! 6ossua& a$gu& ti6o "! "!4i+i=n+ia ,isua$5 !,itan"o !s4or8os "!sn!+!ss%rios !

atritos ;u! +ostu&a& o+orr!r no "ia a "ia> A i"!ia ? au<i$iar as 6!ssoas atra,?s "o

ro*: 6ara ;u! 6ossa& s! tornar &ais in"!6!n"!nt!s "! outras5 ! t!n@a& sua ,i"a

4a+i$ita"a "! a$gu&a 4or&a>

Ini+ia$&!nt! o 6ro7!to ir% tra*a$@ar +o& a&*i!nt!s 4!+@a"os5 no +aso o 4o+o

6rin+i6a$ s!r% a $o+o&o89o "!ntro "a Uni,!rsi"a"! F!"!ra$ "o ABC> U& 6rotti6o

s!r% "!s!n,o$,i"o unin"o os +on@!+i&!ntos "! a$unos "os +ursos "a Eng!n@aria "!

G!st9o ! "a Eng!n@aria "! Instru&!nta89o5 Auto&a89o ! Ro*ti+a5 o &at!ria$

uti$ia"o s!r% o I L!go Min"Stor& ! os r!su$ta"os 4inais s!r9o a6r!s!nta"os ao

4ina$ "o +urso Eng!n@aria Uni4i+a"a I EN1002> A i"!ia ? "! ;u! 4utura&!nt! o6ro7!to 6ossa s! !<6an"ir ta&*?& 6ara a&*i!nt!s !<t!rnos5 +o&o as ruas "a +i"a"!

"! S9o au$o>



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LISA DE ILUSRAES



2" ()*R&D$+,&

No a&*i!nt! a+a"=&i+o5 6rin+i6a$&!nt! nas uni,!rsi"a"!s5 ? +a"a ,! &ais

,is,!$ a ins!r89o "a ro*ti+a int!$ig=n+ia arti4i+ia$5 n9o s +o&o u&a 4!rra&!nta!s6!+4i+a 6ara "!t!r&ina"os +ursos5 &as ta&*?& s!n"o uti$ia"a 6ara au<i$iar na4or&a89o "os a$unos "os &ais ,aria"os +ursos5 !ntr! !$!s o "! !ng!n@aria> Isto nos"% u&a !,i"=n+ia "! +o&o o au<$io "! "i,!rsas 4ont!s5 !ntr! !$as ain4or&%ti+aJro*ti+a5 t!& si"o intro"ui"a !& nossas ,i"as>

;u! ? u& Kit !"u+a+iona$ $an8a"o no ano "! 200 6!$a LEGO> O s!u uso !& !s+o$as

! uni,!rsi"a"!s t!& si"o *!&-su+!"i"a !& "i,!rsos 6ro7!tos "! &*ito t!+no$gi+o

6or s!r "! 4%+i$ &ontag!& ! ,!rs%ti$> O Kit ? +o&6osto 6or "i,!rsas 6!8as "!

"i4!r!nt!s !n+ai<!s5 ta&an@os ! 4or&atos5 ;uatro s!nsor!s "! so&5 $u5 to;u! !

u$trasso&5 tr=s &otor!s5 s!t! +a*os "! +on!<9o5 u& +a*o USB5 u& +arr!ga"or5

Bri+K Int!$ig!nt! N ! u&a *at!ria r!+arr!g%,!$>

A 6rin+6io5 s!r9o uti$ia"os ( s!nsor!s 6ara r!a$iar suas tar!4as5 u& s!nsor

u$trass:ni+o 6ara 4a!r a ,arr!"ura "o a&*i!nt! ! "!t!+tar 6oss,!is o*st%+u$os !&

s!u +a&in@o ! "ois s!nsor!s "! $u5 ;u! s!r9o uti$ia"os 6ara "!t!+89o "as rotas

6r!!sta*!$i+i"as>

Bas!an"o-s! na !strat?gia uti$ia"a 6or gran"!s @os6itais "! uti$iar 4itas

+o$ori"as no +@9o 6ara in"i+ar ;ua$ o +a&in@o a s!r 6!r+orri"o 6ara "!t!r&ina"o

s!tor5 s!r9o uti$ia"as 4itas 6r!tas 6ara in"i+ar os 6oss,!is +a&in@os a s!r!&

6!r+orri"os 6!$o ro*: na uni,!rsi"a"!>

R!su&i"a&!nt!5 o ro*: ir% tra*a$@ar "a s!guint! 4or&a5 6ri&!ira&!nt! s!r9o

!sta*!$!+i"as as &!$@or!s rotas 6ara o 6onto ;u! s! "!s!7a a$+an8ar5 o ro*: !nt9o

ir% s!guir 6or !st! +a&in@o "!t!+tan"o as 6oss,!is a&!a8as ou "istr*ios ao

"!4i+i!nt! ,isua$ ! "!s,ian"o "os &!s&os> S! @ou,!r a 6r!s!n8a "! u&a

in+on4or&i"a"! 4ora "os 6a"r!s u& +orr!"or tota$&!nt! *$o;u!a"o o ro*: ir%

6ausar sua rota ! !n,iar u& sina$ 6ara u&a P+!ntra$Q 6ara ;u! a$gu?& r!s6ons%,!$

6ossa ir at? o $o+a$ ! +@!+ar o ;u! !st% a+ont!+!n"o>

D!sta &an!ira5 !s6!ra-s! 4a+i$itar ao &%<i&o a ,i"a "! 6!ssoas ;u!

n!+!ssit!& "! a$gu& ti6o au<$io 6ara s! $o+o&o,!r n!st!s a&*i!nt!s5 n!st! +aso a

uni,!rsi"a"!5 tornan"o "!sn!+!ss%rio !s6!ra "! a$gu& ti6o a+o&6an@ant!5 !

r!"uin"o o tra*a$@o ! a 6r!o+u6a89o "o usu%rio ! garantin"o &ais in"!6!n"=n+ia>



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Construir u& ro*: ;u! s!7a +a6a guiar "!4i+i!nt!s ,isuais !& a&*i!nt!s4!+@a"os ! +on@!+i"os>

1" /$S*((3A*(A

O 6ro7!to t!& +o&o 4o+o a&*i!nt!s 4!+@a"os5 +o&o !s+o$as5 uni,!rsi"a"!s5

@os6itais ! !t+5 4a!n"o +o& ;u! o &a6!a&!nto "o $o+a$ a s!r !<6$ora"o 6!$o ro*:

6ossa s!r "! u&a &an!ira &!$@or5 "o ;u! ;uan"o +o&6ara"o +o& a&*i!nt!s

a*!rtos5 +o&o 6or !<!&6$os as ruas "! u&a +i"a"!>

Atua$&!nt!5 6!ssoas +o& "!4i+i=n+ia ,isua$ !n4r!nta& "i,!rsos 6ro*$!&as

+orri;u!iros +o&o5 6or !<!&6$o5 o*st%+u$os ;u! "i4i+u$ta& a $o+o&o89o *ura+os5

t!rr!nos irr!gu$ar!s5 o*7!tos no +o&in@o5 !t+> Visan"o &ini&iar tais "i4i+u$"a"!s !

tornar a ,i"a "! 6!ssoas ;u! 6ossu!& "!4i+i=n+ia ,isua$ &ais 4%+i$ ! &!nos

"!6!n"!nt!5 surgiu a i"!ia "a +ria89o "! u& ro*: aut:no&o ;u! 6ossa au<i$iar a

$o+o&o89o "! tais 6!ssoas !& a&*i!nt!s 4!+@a"os>

D! a+or"o +o& a Organia89o Mun"ia$ "a Sa"!5 a "!4i+i=n+ia ,isua$ 6ossui a

s!guint! +$assi4i+a89o

T Nor&a$ - +o& a+ui"a"! "! 20J12 a 20J2# ! au<$io s9o a6!nas os *i4o+ais +o&unsT r<i&o "o Nor&a$- +o& a+ui"a"! ,isua$ !ntr! 20J(0 a 20J0> O au<$io uti$ia"o s9o

os *i4o+ais &ais 4ort!s ! $u6as "! *ai<o 6o"!rT Bai<a Vis9o Mo"!ra"a - a+ui"a"! "! 20J)0 a 20J1#0 ! o au<$io s9o $!nt!s

!s4!ro6ris&%ti+as ! $u6as &ais 4ort!sT Bai<a Vis9o S!,!ra - a+ui"a"! !ntr! 20J200 a 20J00 ! o au<$io s9o $!nt!s !s4?ri+as

! $u6as "! &!sa +o& a$to 6o"!rT Bai<a Vis9o ro4un"a - a+ui"a"! !ntr! 20J#00 a 20J1000 ! o au<$io ? a $u6a

&onta"a5 &agni4i+a89o ,"!o5 t!$!s+6io ! *!nga$aT r<i&o C!gu!ira - a+ui"a"! !ntr! 20J1200 a 20J2#00 ! o au<$io uti$ia"o s9o os

$i,ros 4a$a"os5 Brai$$!5 a6ar!$@os "! sa"a "! ,o5 *!nga$a5 &agni4i+a89o ,"!oT C!gu!ira ota$ - SL s!& 6!r+!689o "! $u ! os au<$ios s9o a6ar!$@os sa"a "!

,o5 *!nga$a>



A a+ui"a"! ,isua$ AV ? "!s+rita +o&o u&a +ara+t!rsti+a o+u$ar "! ;uan"o o

o$@o r!+on@!+! "ois 6ontos &uito 6r<i&os uns "os outros> Co&o a ,is9o torna-s!

in+:&o"a5 a 6!ssoa 6ossui "i4i+u$"a"! "! !n<!rgar o*7!tos ! 4or&as>

No Brasi$5 s!gun"o os "a"os "o C!nso 2010 "o Instituto Brasi$!iro "!

G!ogra4ia ! Estatsti+a IBGE5 !<ist!& &ais "! 5# &i$@!s "! 6!ssoas +o&

"!4i+i=n+ias ,isuais5 on"! #)2 &i$ 6ossu!& "!4i+i=n+ia ,isua$ +o&6$!ta>

Na Uni,!rsi"a"! F!"!ra$ "o ABC5 "! a+or"o +o& "a"os +on+!"i"os 6!$a

Di,is9o "! A+!ssi*i$i"a"!5 s9o no tota$ "! a$unos ;u! 6ossu!& "!4i+i=n+ia ,isua$

"istri*u"os !& "ois +a&6us5 ;uatro no +a&6us "! S9o B!rnar"o "o Ca&6o u&+o& "!4i+i=n+ia ,isua$ tota$ ! tr=s +o& "!4i+i=n+ia ,isua$ 6ar+ia$ ! s!is no +a&6us "!

Santo An"r? to"os +o& "!4i+i=n+ia ,isua$ 6ar+ia$>



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#>1Estrutura 4si+a

O ro*: 4oi &onta"o uti$ian"o os *$o+os "! !n+ai<! *%si+os5 tr=s ro"as5

"ois s!r,o&otor!s 6ara +ontro$ar s!us &o,i&!ntos5 u&a CU N ;u!

6ro+!ssa o 6rogra&a $gi+o ! r!a$ia o +ontro$! "os &otor!s ! ;uatro

s!nsor!s u& u$trass:ni+o 6ara i"!nti4i+ar os o*st%+u$os5 u& "! to;u! 6ara

;u! o usu%rio 6ossa t!r +ontro$! "o a,an8oJ6ara"a "o ro*: ! "ois "!

$u&inosi"a"! 6ara "!t!+tar a 4ai<a ;u! "!t!r&ina o 6!r+urso a s!r s!gui"o>

Os &otor!s ! s!nsor!s s9o +on!+ta"os a CU atra,?s "! +a*os int!grant!s

"o Kit LEGO>

O ,!+u$o ? "o ti6o tri+i+$o +o& "ois !i<os &otor!s ;u! r!a$ia& os

&o,i&!ntos $in!ar!s ! +ir+u$ar!s5 s!n"o o t!r+!iro !i<o $i,r!> Os "ois

s!nsor!s "! $u&inosi"a"! 4ora& 6osi+iona"os "! ta$ &o"o ;u! 4i+ass!& +o&

s!us $!itor!s o &ais 6r<i&o "o 6a,i&!nto5 o s!nsor u$trass:ni+o 4oi

6osi+iona"o na 6art! su6!rior 6ara &a<i&iar sua +a6a+i"a"! "! "!t!+89o "!

o*st%+u$os5 ! o s!nsor "! to;u! 4i+ar% $o+a$ia"o "! &o"o ;u! !st!7aa+!ss,!$ ao &anus!io "o usu%rio5 +on4or&! Figura >



#>2 rogra&a89o

A 6rogra&a89o 4oi r!a$ia"a uti$ian"o o a&*i!nt! "! "!s!n,o$,i&!nto

Bri+<++-NC Not !a+ta$$. C5 !st! 6!r&it! a +o"i4i+a89o si&i$ar a $inguag!&

C> O a&*i!nt! "! "!s!n,o$,i&!nto 4oi !s+o$@i"o "!,i"o a 6ossi*i$i"a"! "!

!$a*orar 6rogra&as &ais +o&6$!<os ! 4$!<,!is>

O so4t/ar! !& si r!a$ia a $gi+a s!gun"o o 4$u<ogra&a "a Figura >



#>(!st!s

Foi tra8a"o +o& 4ita iso$ant! 6r!ta u& tra7!to +ir+u$ar "u6$o5 Figura >



Figura WW !r+urso t!st!

!$a 6rogra&a89o r!a$ia"a5 !ra !s6!ra"o ;u! o ro*: s!guiss! a 4ai<a

6r!ta !<t!rna "! &an!ira inint!rru6ta at? s! "!6arar +o& a$gu& o*st%+u$o sua 4r!nt!5 +aso isto o+orr!ss! !$! "!,!ria &u"ar "! 4ai<a ! +ontinuar o6!r+urso>

Esta rotina "!,!ria s!r !<!+uta"a at? ;u! o ro*: +@!gass! ao "!stino5!&itin"o u& sina$ sonoro +ontnuo> A$?& "isto5 s! 4oss! !n+ontra"o u&o*st%+u$o ;u! o*struss! as "uas 4ai<as o ro*: iria 6arar ! s!ria !&iti"o u&sina$ sonoro int!r&it!nt!>

Fora& r!a$ia"os "i,!rsos t!st!s5 a6ro<i&a"a&!nt! 1# @oras5 at? ;u!

o +o&6orta&!nto "o ro*: at!n"!ss! as !<6!+tati,as> Nas si&u$a8!s ini+iais"!t!+ta&os "i,!rsas in+onsist=n+ias +o&o n9o s!guir o tra7!to5 n9o &u"ar "! 4ai<a ao !n+ontrar u& o*st%+u$o5 n9o !n+ontrar a 4ai<a 6ara$!$a ! s!nsor!s"! $u&inosi"a"! +o& +o&6orta&!ntos "istintos> o"os os 6ro*$!&as 4ora&r!so$,i"os ,ia so4t/ar!>

#> Cronogra&a

21=0; 0=0 09=0 !=0 22=0 2;=0 0!= 2=

D!4ini89o "o6ro7!to

Con@!+i&!nto"o it L!go

A6r!s!nta89o"os 6ro7!tos

Constru89o "oro*:

rogra&a89o"o ro*:



!st!s ini+iais

R!su$ta"os6r?,ios

Dis+uss9o "osr!su$ta"os

Entr!ga "or!$atrio6ar+ia$



5" 6(%(*A+8#S D& PR&/#*&

ara ;u! o 6ro7!to 6u"!ss! s!r uti$ia"o !& u& a&*i!nt! &a+ro5 ou s!7a5

a$?& "! atuar !& a&*i!nt!s 4!+@a"os ta&*?& atuass! !& a&*i!nt!s a*!rtos ruas

"a +i"a"!5 ? "! !<tr!&a n!+!ssi"a"! ;u! o ro*: 6ossua u& GS G$o*a$

ositioning S.st!&5 6ois ? in,i%,!$5 s! n9o i&6oss,!$5 +o$o+ar a$gu& ti6o "!

sina$ia89o 4ai<as +o$ori"as !& to"as as ruas 6ara ;u! o ro*: t!n@a a$gu& ti6o "!

r!4!r!n+ia$>Co&o ain"a !st% s!n"o tra*a$@a"o !& u& 6rotti6o "a i"!ia g!ra$5 n9o ?

,i%,!$ r!;uisitar ;u! a 4a+u$"a"! insira 4ai<as +o$ori"as +o&o nos gran"!s +!ntros

@os6ita$ar!s5 6ortanto s!r9o r!a$ia"os os t!st!s ini+iais +o& 4ai<as "! a6!nas u&a

+or 6r!ta5 ;u! @i6ot!ti+a&!nt! r!6r!s!ntaria& as 4ai<as +o$ori"as5 a$?& "isso5 o it

L!go Min"Stor& "is6on,!$ 6ara uso n9o 6ossui s!nsor "! +or5 s!n"o uti$ia"o o

s!nsor "! $u&inosi"a"! 6ara !sta 4un89o>

Ain"a n9o 4oi !n+ontra"a u&a so$u89o !4i+i!nt! 6ara +asos !& ;u! a

tra7!tria 6r? "!4ini"a !st!7a +o&6$!ta&!nt! o*stru"a5 ou s!7a5 n!st!s +aso o ro*:

6araria suas 4un8!s ! !&itiria a$gu& ti6o "! sina$ 6ara a P+!ntra$Q 4a!n"o +o& ;u!

a$gu& r!s6ons%,!$ 6u"!ss! +@!+ar o &oti,o "a 6ara"a5 a i"!ia 6ara o 4uturo ? ;u! o

ro*: 6ossa to&ar u&a P"!+is9o in"!6!n"!nt!Q5 &o,!n"o-s! 6ara u&a rota

+o&6$!ta&!nt! "i4!r!nt! "a 6ri&%ria>

M!s&o ;u! o 6ro7!to s! &ostr! +o&6$!ta&!nt! !4i+i!nt! "! a+or"o +o& o

;u! !$! "!,a !<!r+!r5 6ara intro"ui-$o nas uni,!rsi"a"!s ain"a s!ria n!+!ss%rio u&

!stu"o "! ,ia*i$i"a"! !+on:&i+a 6ara 6ro,ar ;u! o 6ro7!to ? r!a$&!nt! int!r!ssant!

6ara so+i!"a"!>



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At? o "ia 12 "! "!!&*ro "! 201#5 "ata !sti6u$a"a 6ara !ntr!ga "o r!$atrio

6ar+ia$5 4oi 6oss,!$ r!a$iar a$guns t!st!s ini+iais +o& o ro*:5 ;u! "!i<ara& u&

4!!"*a+K 6ositi,o> At? o 6r!s!nt! &o&!nto o ro*: s! !n+ontra +a6a "! r!a$iar a

$gi+a 6rogra&a"a5 no !ntanto5 a 4$u=n+ia +o& ;u! r!a$ia suas 4un8!s ain"a n9o ?

a "!s!7a"a>

V%rias a&ostras "! 6!r+urso 4ora& t!sta"as5 +ons!guin"o +o& ;u! o 6ro7!to

!,o$uss! s!u "!s!&6!n@o a +a"a ,! ;u! !ra t!sta"o ! +ons!;u!nt!&!nt!r!6rogra&a"o 6ara +orrigir os !rros &ostra"os ant!rior&!nt!> A !<6!+tati,a ? ;u!

ao 6rao 4ina$ "o 6ro7!to o ro*: 6ossa "!s!n,o$,!r to"as as tar!4as "!s!7a"as ! "!

&an!ira !4i+i!nt!5 os t!st!s ini+iais "!i<a& 6!rs6!+ti,a 6ositi,a>



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D!4i+i=n+ia ,isua$> Dis6on,!$ !& X@tt6JJ///>a*+!gos>org>*rJ"!4i+i!n+ia-,isua$JY>

A+!sso !& 0J11J201#

G!ra$"o F> N!to5 Bruno L> E> "a Si$,a5 Ron"in!$i R> !r!ira5 Lin"o$6@o O> "! Ara7o>

UILIZA3O DO I LEGO MINDSORM N NO ENSINO DE CONROLE DE

ROCESSOS> L Congr!sso Brasi$!iro "! E"u+a89o !& Eng!n@aria> B!$?&5 2012>

[!$+o&! to N!<t B.t! Co"!s5 Not !a+t$. C5 an" Su6!rro C> Dis6on,!$ !&

X@tt6JJ*ri+<++>sour+!4org!>n!tJn*+JY

http://www.abcegos.org.br/deficiencia-visual/

http://www.abcegos.org.br/deficiencia-visual/

Relatorio Unificada Final

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