1

MC LC

NI DUNG

TRANG

MC LC ................................................................................................................................... 1
LI M U................................................................................................................................ 3
TNG QUAN V TI ........................................................................................................ 4
CHNG 1 C S L THUYT
1.1 Gii thiu v vi x l PIC 16F877A.....................................................................................5
1.2 Gii thiu v SRF05............................................................................................................10
1.2.1 Cc ch hot ng ca SRF05....................................................................................11
1.2.2 Tnh ton khong cch s dng SRF05..........................................................................13
CHNG 2 S MCH V GII THUT
2.1 S mch nguyn l.........................................................................................................15
2.1.1 Cc khi chc nng trong s mch nguyn l............................................................15
2.1.1.1 Khi ngun....................................................................................................................15
2.1.1.2 Khi iu khin.............................................................................................................16
2.1.1.3 Khi hin th..................................................................................................................16
2.1.1.4 Khi giao tip my tnh................................................................................................17
2.2 S gii thut.................................................................................................................18
2.3 Gii thch nguyn tc hot ng ca mch.........................................................................19
2.4 Mt s hm s dng trong Matlab......................................................................................19

CHNG 3 HNG PHT TRIN TI

Kt lun- nh hng pht trin ti..............................................................................21

LI M U
Trong nhng nm gn y theo s tin b ca khoa hc k thut, cng cuc cng nghip
ha hin i ha t nc ang din ra kh tt p. Trc tnh hnh c kh nhiu yu cu
cp bch v cng l nhng thch thc c t ra cho gii tr thc.
L sinh vin ca mt ngi trng nng ng, l cng dn ca thnh ph nng ng bc nht
nc ta, hng ngy chng ti c tip xc vi bit bao nhiu ngun kin thc mi t bo ch,
truyn hnh, internet thy c s tin b vt bc ca khoa hc cng ngh, thy c s pht
trin khng ngng ca khoa hc; khoa hc lm cho con ngi ngy cng vn minh hn, lm cho
cuc sng con ngi thoi mi hn, con ngi c hng th nhiu hn nhng thnh qu m
nhn loi lm ra. V con ngi ngy cng o su, tm ti thm nhiu ci hay, ci mi, ci tin
ch hn na phc v cho cuc sng ca mnh.
Thnh ph c rt nhiu hot ng hng ti th h tng lai, hng ti th h tr. Phong
tro Nghin cu khoa hc trong sinh vin cng l mt trong nhng hot ng thng nin ca
thnh ph, nhm o to v pht trin tr tu, c sng to ca th h tr. M trc tip qun l v
hng dn thc hin l cc trng i hc, Cao ng trn ton thnh ph
i hc Tn c Thng, mt ngi trng cn kh tr, mi thnh lp c hn 10 nm
nhng c rt nhiu hot ng si ni, l mt trong nhng trng ca thnh ph c phong tro
Nghin cu khoa hc trong sinh vin pht trin mnh. C nhiu ti nghin cu khoa hc ca
sinh vin v ging vin nh trng t kt qu cao v tnh ng dng hiu qu. C nhng ti
c gii thng cp Thnh, cp B
Vi nhng iu nhn thy c trn y cng vi phn t m mun tm hiu su hn v
sng siu m v v cc ng dng ca n trong thc tin nn chng ti nghin cu v ti
ny.

TNG QUAN V TI
NH V HAI CHIU THIT B BNG SNG SIU M

Ngy nay, sng siu m ng vai tr rt quan trng trong lnh vc khoa hc k thut,
cng nh trong lnh y hc. ng dng ca n c kim chng thng qua cc nghin cu v
ng dng thc tin. Chng hn, Rada siu m c ng dng thm d y bin, xc nh tu
ngm do c u im l t b suy hao trong mi trng nc. Ngoi ra, mt s ng dng khc ca
sng siu m l gip pht hin li ca cc sn phm trong sn xut cng nghip, gip chn on,
pht hin v cha bnh trong y khoa Do , vic tm hiu v sng siu m cng nh cc ng
dng ca n l mt iu cn thit i vi chng ta.
Trn tinh thn , ti nghin cu ny nhm mc ch xc nh khong cch tng i,
s chuyn ng ca mt vt thng qua ng dng ca vic thu pht sng siu m. y l c s
c th pht trin ln nhng ti ln hn, c tnh ng dng cao hn trong cuc sng.
Sau mt thi gian tm ti, nghin cu v thc hin, chng ti hon thnh sn phm.
l m hnh dng nh v khong cch mt thit b. Tuy cn nhiu im hn ch nhng chng
ti ngh nu u t thm v k thut v kin thc chuyn mn th sn phm ca chng ti c tnh
ng dng thc t rt cao trong thc t cuc sng.
ti nghin cu c chia ra thnh 3 chng nh sau:
Chng 1: C s l thuyt.
Chng 2: S mch v gii thut.
Chng 3: Hng pht trin ti.

CHNG 1
C S L THUYT
1.1 GII THIU V VI X L PIC 16F877A
PIC 16F877A l dng PIC ph bin nht hin nay ( mnh v tnh nng, 40 chn, b
nh cho hu ht cc ng dng thng thng). Cu trc tng qut ca PIC 16F877A
nh sau:
8 K Flash ROM.
368 Bytes RAM.
256 Bytes EEPROM.
5 ports (A, B, C, D, E) vo ra vi tn hiu iu khin c lp.
2 b nh thi 8 bits (Timer 0 v Timer 2).
Mt b nh thi 16 bits (Timer 1) c th hot ng trong ch tit kim nng
lng (SLEEP MODE) vi ngun xung Clock ngoi.
2 b CCP( Capture / Compare/ PWM).
2 b bin i ADC 10 bits, 8 bits ng vo.
2 b so snh tng t (Compartor).
1 b nh thi gim st (WatchDog Timer).
Mt cng song song 8 bits vi cc tn hiu iu khin.
Mt cng ni tip.
15 ngun ngt.
C ch tit kim nng lng.
Np chng trnh bng cng ni tip ICSP(In-Circuit Serial Programming)
c ch to bng cng ngh CMOS
35 tp lnh c di 14 bits.
Tn s hot ng ti a 20MHz.

Hnh 1.1: S c c chn thc t ca Pic 16F877A

Hnh 1.2: S khi ca Pic 16F877A

S t chc b nh Pic16F877
Pic16F877 c 3 khi b nh. B nh chng trnh PLASH, b nh d liu RAM, b nh
EEPROM.
S t chc b nh chng trnh FLASH v Stack nh.
Vi iu khin PIC16F877 c mt b m chng trnh 13 bit v c 8Kx14 t m ca b
nh chng trnh FLASH, c chia thnh 4 trang mi trang 2Kx14 t m.
Khi Reset a ch bt u thc hin chy l 0000h, Vector ngt bt u 0004h.
Stack c 8 mc dng lu a (PC) ch lnh thc hin tip theo sau lnh CALL v khi
xy ra ngt.
S t chc b nh d liu RAM
RAM l b nh c th c v ghi, n khng lu d liu khi mt in, b nh RAM ca
PIC16F877 c 4 bank, mi bank c di a ch 0-7FH (128byte) trn cc bank nhng thanh
ghi a mc ch, n hot ngnh mt RAM tnh (General purpose register), v nhng thanh
ghi chc nng c bit (Special function registers) vng a ch thp. Bt RP1 (Status <6>)
v bit RP0 (Status <5>) dng la chn bank lm vic.

RP1:RP0

Bank

00

01

10

11

3
Hnh 1.3: Cc bank lm vic.

Hnh 1.4: Cc bank ca Pic 16F877A

Cc thanh ghi a mc ch (General Purpose Register)
Cc thanh ghi ny c truy cp bng c hai cch trc tip hoc gin tip qua thanh ghi
FSR,tng cng c 368 byte.
Cc thanh ghi chc nng c bit
Cc thanh ghi ny c dng bi CPU v cc khi ngoi vi iu khin s hot ng
theo yu cu ca thit b. Cc thanh ghi ny c th c phn loi vo hai b phn trung tm
(CPU) v ngoi vi.
Sau y l mt s thanh ghi c bit quan trng
Cc thanh ghi trng thi STATUS

C 4 thanh ghi trng thi trn 4 dy, ti cc a ch 03h, 83h, 103h, 183h. Cc thanh ghi
ny cho bit trng thi ca phn t lgic ton hc ALU, trng thi RESET, trng thi ca cc
bit la chn dy thanh ghi cho b nh d liu. Thanh ghi trng thi c th l kt qu ca mt
s lnh nh l vi mt s thanh ghi khc. Nu thanh ghi trng thi l kt qu bi mt lnh
m tc ng n cc bit Z, DC, C th vic ghi vo cc bit ny l khng th.
Cc thanh ghi la chn OPTION_REG
C hai thanh ghi la chn ti cc a ch 81h v 181h, cc thanh ghi ny c th c hoc
ghi, n cha ng nhiu bit iu khin khc nhau xc nh h s nh trc TMR0/h s
nh sau WDT, ngt ngoi INT, TMR0, cc in p treo trn cng B
Cc thanh ghi INTCON
C 4 thanh ghi INTCON ti cc a ch 0Bh, 8Bh, 10Bh, 18Bh. Cc thanh ghi ny c th
c v ghi, n cha ng nhiu s cho php v cc bit c cho vic trn thanh ghi TMR0, cc
ngt thay i cng RB v chn cc ngt ngoI RB0/INT.
Thanh ghi PIE1
Ti a ch 8Ch, cha ng cc bit cho php ring l cho cc ngt ngoi vi.
Thanh ghi PIR1
Ti a ch 0Ch, cha ng cc bit c ring l cho cc ngt ngoi vi.
Thanh ghi PIE2
Ti a ch 8Dh, cha ng cc bit cho php ring l cho cc ngt ngoi vi CCP2, ngt
xung t tuyn SSP v EEPROM ghi cc hot ng ngt .
Thanh ghi PIE2
Ti a ch 8Dh, cha ng cc c bit cho cc ngt ngoi vi CCP2, ngt xung t tuyn
SSP v EEPROM ghi cc hot ng ngt .
Thanh ghi PCON (Power Control)
Cha bit c cho php phn bit gia vic Reset h thng (POR) Reset MCLR ngoi
vi Reset WDT.
PCL v PCLATH
Chng trnh m ch r a ch ca lnh tip theo c thc hin. PC c rng 13 bit,
byte thp c gi l thanh ghi PCL, thanh ghi ny c th c hoc ghi.
Cng B v thanh ghi TRISB
Cng B l cng hai chiu vi rng ng truyn l 8 bit.Tng ng vi n iu
khin trc tip d liu ta s dng thanh ghi TRISB. Nu t bt TRISB bng 1 th lc ny cc

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chn ca cng B c nh ngha l chn vo. Nu xo bt TRISB bng 0 th lc ny cc

chn ca cng B c nh ngha l chn ra. Ni dung ca cht ra c th chn trn mi chn.
C 3 chn ca cng B c th a hp vi cc chng trnh vn hnh bng in p thp.
l cc chn sau: RB3/PGM, RB6/PGC, RB7/PGD. S thay i hot ng ca nhng chn
ny c miu t trong phn c tnh ni bt. Mi chn ca cng B c mt kh nng dng
bn trong nhng yu. iu ny c trnh by bi vic xo bt RBPU (bit 7 ca thanh ghi
OPTION_REG). Kh nng dng ny s t ng tt i khi cc chn ca cng c nh ngha
l chn ra. Kh nng dng ny s t ng mt i khi ta RESET. Bn chn ca cng B, t
RB7 n RB4 c c tnh l ngt khi thay i trng thi. Ch nhng chn c nh dng l
nhng chn vo th ngt ny mi tn ti. Mt vi chn RB7:RB4 c nh dng nh chn ra
n thi hnh ngt trn s thay i so snh. Chn vo B7:RB4 c so snh vi gi tr c ca
cht ln c cui cng ca cng B. S ghp i khng khp chn ra ca RB7:RB4 bng
lnh OR lm pht ra ngt vi c bt RBIF ca thanh ghi INTCON. Ngt ny c th khi ng
thit b t trng thi SLEEP.
1.2 GII THIU V SRF05
SRF05- Ultra-Sonic Rangger nh khong cch bng sng siu m l mt k thut mi
c pht trin t SRF04, v SRF05 c thit k tng tnh linh hot, tng phm vi, gim
chi ph so vi SRF04, phm vi ny c tng t 3 mt n 4 mt. SRF05 c mt ch
iu hnh mi l buc cc ch chn ni t, do cho php SRF05 s dng mt chn
duy nht cho c vic kch hot v phn x sng siu m nn s tit kim s chn lm vic.
Khi chn bn tri ca SRF05 cha c kt ni, cc chn SRF05 s hot ng ring bit ch
kch hot v phn x. SRF05 cng c mt tr nh do sng phn x di ngc v. Sau
y l hnh gii thiu v SRF05:

Hnh 1.5: Gii thiu v SRF05

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Cc c im k thut ca SRF05:
in p: 5V.
Dng:

t 30 mA 50 mA.

Tn s : 40khz.
Khong cch ti a: 3 m.
Khong cch ti thiu: 3 cm.
nhy : ng knh qut t 3 cm n ln hn 3m.
u vo kch hot: 10 uS nh nht. Thi gian sng mc xung.
Xung phn hi: tch cc thi gian sng tn hiu, t l thun vi chiu rng phm vi.
Kch thc nh: 43mm x 20mm x 17mm chiu cao.
1.2.1

Cc ch hot ng ca SRF05

SRF05 hot ng 2 ch :
Ch 1: Tng thch SRF04- Kch hot v phn x ring bit.
Ch ny c s dng ring bit cho chn kch hot v chn phn x, y l ch
n gin v d s dng nht. s dng ch ny th ta ch li cc chn ch
cha c kt ni trong SRF05 c mt b in tr ni ko in tr chn ln. y l
hnh s cc chn:

Hnh 1.6: S chn ca SRF05

Biu thi gian ca SRF05:

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Hnh 1.7: Biu thi gian SRF05, ch 1

Ch 2: Chn n cho c kch hot v phn x
Ch ny s dng mt pin duy nht cho c hai tn hiu Trigger v Echo, v c thit
k tit kim gi tr chn v iu khin nhng. s dng ch ny, kt ni ch
cc chn n chn mt t 0V. Cc tn hiu phn x s xut hin trn cc chn ging nh
cc tn hiu kch hot. Cc SRF05 s khng nng cao ting vang dng cho n khi 700uS
sau khi kt thc cc tn hiu kch hot. Ta phi mt thi gian xung quanh chn kch hot
v lm cho n mt u vo v phi c m o mch sn sng. Lnh PULSIN tm thy
trn cc b iu khin ph bin hin iu ny t ng.
Sau y l s cc chn ca SRF05 hot ng ch 2:

Hnh 1.8: S chn ca SRF05 hot ng ch 2

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Hnh 1.9: Biu thi gian ca SRF05 hot ng ch 2

1.2.2

Tnh ton khong cch s dng SRF05

Cc biu thi gian ca SRF05 c trnh by mc trn cho mi ch . Ta thy ch

cn cung cp mt xung ngn 10uS cho u vo kch hot bt u xc nh khong
cch. Cc SRF05 s pht ra v gi mt khi tn hiu gm 8 chu k ca sng siu m ti
tn s 40khz v nng cao dng ting vang phn hi ( hoc dng kch hot ch 2). V
sau khi pht hin c dng phn hi th n s lm gim dng vng li. Xung ca cc
dng vng li c rng t l vi khong cch n i tng, v bi xung thi gian c
th tnh ton trong phm vi n v inch/cm hoc cc n v khc. Nu khng c v th
no c pht hin th xung phn hi s c h thp dng sau khong 30ms.
Cc SRF04 s cung cp mt xung phn hi t l vi khong cch. Nu rng ca xung

c o l n v uS, th sau ta em chia cho 58 th s c n v khong cch theo

centimet hay em chia cho 148 s c n v khong cch theo inch: uS/58= cm hoc
uS/148= inch.
i vi cc SRF05 c mi 50mS s kch hot hoc 20 ln mi giy. Chng ta nn i
50ms trc khi xung kch hot k tip bt u ngay c khi SRF05 pht hin c mt i
tng gn v xung phn hi ngn hn. iu ny l m bo cc cnh bo siu m
mt dn i v s khng gy ra cc phn hi chng ln nhau.

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Chng ta khng th thay i c m hnh v chiu rng ca chm tia bi v cc m hnh

chm SRF05 l hnh nn vi chiu rng ca chm tia v din tch u d l c nh, c
quy nh bi nh sn xut c th hin nh hnh:

Hnh 1.10: S chm tia sng siu m.

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CHNG 2
S MCH V GII THUT
2.1 S mch nguyn l

2.1.1

Cc khi chc nng trong s mch nguyn l:

2.1.1.1

Khi ngun

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S dng p 5V (DC) v linh kin 7805 n p cho mch hot ng, led c s dng
kim tra ngun khi hot ng.

2.1.1.2

Khi iu khin

PIC 16F877A c s dng cho khi iu khin, thch anh 20MHz c s dng cho
dao ng ca mch. (Tnh nng ca PIC 16F877A c gii thiu chng II).

2.1.1.3

Khi hin th

17

Trong mch thit k, 4 leds 7 on dng hin th gi tr v ta 2 chiu ca vt.

Trong , 2 leds u dng hin th v chiu dc, cn 2 leds sau hin th gi tr chiu
ngang.

2.1.1.4

Khi giao tip my tnh

18

Giao tip gia mch thc t v my tnh c kt ni thng qua giao tip cng COM.
Trong kt ni ny, linh kin MAX 232 ng vai tr quan trng trong vic truyn d liu
t thit b ln my tnh m phng thc t trn my tnh.

2.2

S gii thut

CP NGUN

PHT SNG
SIU M

NHN D
LIU GI V

GI D LIU
LN MY
TNH

HIN TH

XC NH
V TR VT

X L
D LIU

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2.3

Gii thch nguyn tc hot ng ca mch:

Bc 1:
Cung cp ngun in cho mch: s dng adaptor 5V (ngun 220V chuyn thnh 5V)
cp ngun cho mch hot ng.
Bc 2:
2 ng c servor lm nhim v quay trn, to gc qut ln SRF05 pht v thu sng siu
m lin tc trong phm vi cho php, t nhn gi tr v khong cch ca vt theo 2 trc
ta , nhm xc nh v tr hin thi hoc qu o di chuyn ca vt.
Bc 3:
Gi tr khong cch nhn c s c gi ln my tnh thng qua giao tip cng COM.
Gi tr ny ang dng chui k t, nn s c x l chuyn sang gi tr s (digital), t
a ln m phng bng Matlab v xut gi tr ln khi hin th (led 7 on).
Bc 4:
V tr tng i ca vt s c m phng trn giao din GUI ca Matlab, theo 2 trc ta
tng ng, v tr vt s c cp nht lin tc bng nhng im O (mu ) trn giao
din. ng thi, gi tr khong cch s c hin th ln 4 leds 7 on gn trn board mch.

2.4

Mt s hm s dng trong Matlab:

Hm strcat
C php:
Strcat(data1, data2)
Chc nng:
Dng ghp 2 chui d liu ring bit cha trong data1 v data2 thnh mt
chui d liu ln hn.
Hm str2num
C php:
Str2num (text)
Chc nng:

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Chuyn gi tr t dng chui (text) sang gi tr s s dng cho vic tnh ton,
x l gi tr.
Hm circle
C php:
Circle (I, r, N)
Chc nng:
V ng trn trong Matlab vi ta tm I, bn knh r v s im trn ng
trn.
Hm intersections
C php:
Intersections (X1, Y1, X2, Y2, 0)
Chc nng:
Xc nh giao im ca 2 ng trn cho trc, nhm nh v tr ca vt theo
khng gian 2 chiu khi hin th bng matlab.
Hm plot
C php:
Plot (x, y, 'ro')
Chc nng:
Dng v th ln matlab, tng ng v x, y, v mu ng v theo ty theo
ngi s dng.

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CHNG 3
KT LUN NH HNG PHT TRIN TI
Qu trnh thc hin ti tng chng nh n gin, nhng khi bt tay vo thc hin chi
tit, chng ti gp rt nhiu kh khn v vic th hin tng ca mnh. Chng ti phi
thay i thit k ca m hnh v khng tm c linh kin tng ng. T vic lp thit b, lm
khung, hp chng ti gp vt v rt nhiu v dng c thc hin, phn ln chng ti u thiu
dng c v phi i nh, mn.
Tuy gp nhiu kh khn nhng chng ti cng c gng hon thnh c nh ban u
ca mnh l nh v khong cch ca thit b theo khng gian hai chiu.
Trong qu trnh thc hin, chng ti thc hin lu nht l phn thit k cho c hai ng c
quay ng thi, v khi s dng ngun chung thng dn n tnh trng dng yu, khng p ng
c.
Qua y ti cng mun ni thm rng vic thc hin ti mang li cho chng ti rt
nhiu kin thc thc t, v chnh chng ti tri qua v c gng hon thnh. Bt u t con s
0, chng ti hon thnh c nh ca mnh, tuy cn nhiu khim khuyt v cha tht ng
vi nhng g m chng ti ng k thc hin, cn nhiu khuyt im trn sn phm ca chng
ti. Nhng c mt iu m c ba thnh vin trong nhm rt t ho sn phm cng hon thnh
ng tin . Tuy hi vt v nhng chng ti thy rt b ch cho bn thn. Qua vic nghin cu,
chng ti c thm kin thc s dng cc phn mm (Orcad, Proteus, Matlab), nm c cc
cng on thc hin mt board mch th cng.
Mc ch pht trin ti trong tng lai:
-

C th ng dng vo thc tin nh v khong cch trong phm vi ln hn, nh v

theo khng gian 3 chiu xc nh chnh xc hnh nh, v tr ca vt th trong khng
gian.

Nu ci tin thm th sn phm s tr nn nh gn, d vn chuyn, c tnh ng dng

rt cao.

22

TI LIU THAM KHO

[1] Cm bin v tr v dch chuyn.
[2] o khong cch v xc nh v tr vt th bng phng php siu m- Trn Th Thy, Nguyn
Quang Thng, inh Sn Thch, Khoa Khoa Hc ng Dng Trng H Bch Khoa- DHQG
TP.HCM.
[3] ha vi matlab - Bin son Nguyn Th Hng Thy.
[4] Data sheet Pic 16F877A
[5] Ultrasonic Rangefinder - Carnegie Mellon Robotics Academy / For use with VEX Robotics
Systems